A version of the finite element method for frictional contact problems

We propose a method for solving frictional contact problems which is based on including the generalized coordinates of absolutely rigid bodies in the degrees of freedom of the system under study and on varying the functional of the variational problem with respect to these coordinates. As a result, one can include the generalized coordinates or the energy-conjugate generalized forces directly in the right-hand side of the resolving system of equations, which permits easily taking into account any laws of motion or loading of absolutely rigid bodies.