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A formulation of the linear discrete Coulomb friction problem via convex optimization

V. Acary, F. Cadoux, C. Lemaréchal and J. Malick
ZAMM - Journal of Applied Mathematics and Mechanics / Zeitschrift für Angewandte Mathematik und Mechanik 91 (2) 155 (2011)
DOI: 10.1002/zamm.201000073
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Using Nesterov's Method to Accelerate Multibody Dynamics with Friction and Contact

Hammad Mazhar, Toby Heyn, Dan Negrut and Alessandro Tasora
ACM Transactions on Graphics 34 (3) 1 (2015)
DOI: 10.1145/2735627
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