Second-Order Contact Kinematics Between Three-Dimensional Rigid Bodies: Supplemental Video

This is the supplemental video for:
Woodruff, J. Zachary, and Kevin M. Lynch. "Second-Order Contact Kinematics Between Three-Dimensional Rigid Bodies." Journal of Applied Mechanics 86.8 (2019): 085501.

Abstract:
In this discussion, we provide corrections to the second-order kinematic equations describing contact between three-dimensional rigid bodies, originally published in Sarkar et al. (1996) [“Velocity and Acceleration Analysis of Contact Between Three-Dimensional Rigid Bodies,” ASME J. Appl. Mech., 63(4), pp. 974–984].

Full paper:

Video