Dynamics of mechanical systems with Coulomb friction, stiction, impact and constraint addition-deletion—III Spatial systems

Abstract The general theory and computational algorithms presented in Part I of this paper are implemented for spatial systems. A spatial Cartesian generalized coordinate formulation is used to obtain the explicit form of equations and transformations that are derived in Part I. Algorithms are implemented in the DADS 3D Computer Code, which is used to solve examples in this part of the paper.