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The incorporation of the friction phenomenon, based on the Coulomb friction law, is also discussed together with an effective computational strategy, which includes the automatic step size selection procedure. Impacts within a revolute clearance joint in a basic slider\u2014crank mechanism are used as an example to compare the different contact force models. The collision is a prominent phenomenon in many multi-body systems such as mechanisms with intermittent motion, kinematic discontinuities, and clearance joints. As a result of an impact, the values of the system state variables change very fast, eventually looking like discontinuities in the system velocities and accelerations. The impact is characterized by large forces that are applied and removed in a short time period. The knowledge of the peak forces developed in the impact process is very important for the dynamic analysis of multi-body systems and it has consequences in the design process. The model for the contact\u2014impact force must consider the material and geometric properties of the colliding surfaces, consider information on the impact velocity, contribute to an efficient integration, and account for some level of energy dissipation. These characteristics are ensured with a continuous contact force model, in which the deformation and contact forces are considered as continuous functions.<\/jats:p>","DOI":"10.1243\/146441906x77722","type":"journal-article","created":{"date-parts":[[2008,8,27]],"date-time":"2008-08-27T21:06:29Z","timestamp":1219871189000},"page":"21-34","source":"Crossref","is-referenced-by-count":55,"title":["Influence of the contact\u2014impact force model on the dynamic response of multi-body systems"],"prefix":"10.1177","volume":"220","author":[{"given":"P","family":"Flores","sequence":"first","affiliation":[{"name":"Departamento de Engenharia Mec\u00e2nica, Universidade do Minho, Guimar\u00e3es, Portugal"}]},{"given":"J","family":"Ambr\u00f3sio","sequence":"additional","affiliation":[{"name":"Instituto de Engenharia Mec\u00e2nica (IDMEC), Instituto Superior T\u00e9cnico, Lisboa, Portugal"}]},{"given":"J C P","family":"Claro","sequence":"additional","affiliation":[{"name":"Departamento de Engenharia Mec\u00e2nica, Universidade do Minho, Guimar\u00e3es, Portugal"}]},{"given":"H M","family":"Lankarani","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department, Wichita State University, Kansas, USA"}]}],"member":"179","published-online":{"date-parts":[[2006,3]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3260781"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1243\/0954406001522886"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.2899694"},{"key":"e_1_2_1_5_2","doi-asserted-by":"crossref","unstructured":"Maw N. 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