This is one out of a few books which treat the dynamics of non-smooth systems in finite degree of freedom mechanics. Based on the classical multibody system approach set-valued force laws are introduced to fully encompass situations like the frictional contact problem, unilateral constraints, the behavior of one-way clutches, and even velocity jumps not related to any kind of collisions. The book concentrates on modern mathematical methods and concepts from optimization theory combined with classical analytical mechanics, such that it should be valuable for people working on discontinuity problems in nearly all branches of classical physics.
