We investigate the mechanisms of penetration inside a 2D dense and disordered granular material close to the jamming transition. We simultaneously measure the drag force exerted by the granular material on a rather small obstacle ("intruder") as well as the trajectories of the individual grains around this intruder. We explore these dynamical and kinematical features for various packing fractions of the granular material, intruder's diameters or system sizes.
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