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Hauret, P. and Salomon, J. and Weiss, A. A. et al. (2008) Energy-Consistent CoRotational Schemes for Frictional Contact Problems. SIAM Journal on Scientific Computing, 30 (5). pp. 2488-2511. ISSN 1064-8275. doi:10.1137/070687827. https://resolver.caltech.edu/CaltechAUTHORS:HAUsiamjsc08

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