The paper is a continuation of the work presented in [Comp. Meth. Appl. Mech. Eng. 190 (2001) 1903], aimed at modeling of a general class of dynamic contact/impact problems for systems of rigid bodies. The contact is assumed to be frictionless, and the main challenge is to model the exchange between the kinetic and elastic energies in the system. This calls for a discretization scheme that conserves linear and angular momentum and, first of all, the total energy at the discrete level.
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