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Pandolfi, A. and Kane, C. and Marsden, J. E. et al. (2002) Time-discretized variational formulation of non-smooth frictional contact. International Journal for Numerical Methods in Engineering, 53 (8). pp. 1801-1829. ISSN 0029-5981. http://resolver.caltech.edu/CaltechAUTHORS:20100913-101405977

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