# The contact problem in Lagrangian systems subject to bilateral and unilateral constraints, with or without sliding Coulomb’s friction: a tutorial

> Research article (Multibody System Dynamics, 2016) · cited 43× · AI/ML

**Wikidata**: [openalex:W2240883112](https://www.wikidata.org/wiki/openalex:W2240883112)  
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