The mechanism of the slip of a rectangular rigid body during free lift-off motion is investigated analytically and experimentally. Equations of motion of slipping rectangular rigid body during free lift-off motion are derived by the variational approach. The time histories of both slip and lift-off motions are numerically computed and compared with corresponding experimental results to discuss the analytical accuracy; given an initial enforced lift-off angle to the rectangular rigid body and then gently released. The mechanical energy balance of simultaneous slip and lift-off motions is clarified to explain the considerable reduction of lift-off angle due to the slip.
Issue Section:Technical Papers
Keywords:slip, mechanical contact, variational techniques
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