Manuscript II@2 · II.tex · section · 50d64def

The exact contact evaluator

Locked kinematics, action, and contacts › The exact contact evaluator · lines 618–654

II@2#eq:Contr, II@2#eq:contact-evaluator

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For lower-index momenta , define

The differentiated response of a raw contact is

One is the prescribed . The momenta in have lower indices.

To derive this formula, substitute

in (eq:raw) and extract . All assignments to the factor positions appear. The two derivatives contribute .

Displayed formulas in this passage

  • II@2#eq:Contr · line 621

  • II@2#eq:contact-evaluator · line 632

  • unlabeled · line 648

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