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Theory Manual Version 3.4
 Chapter 7: Contact and Coupling Up Chapter 7: Contact and Coupling Subsection 7.1.1: Contact Kinematics 

7.1 Sliding Interfaces

This section summarizes the theoretical developments of the two body contact problem. After introducing some notation and terminology, the contact integral is presented, which contains the contribution to the virtual work equation from the contact tractions. Since the nonlinear contact problem is solved using a Newton based iterative method, the contact integral is linearized. Next, anticipating a finite element implementation, the contact integral and its linearization are discretized using a standard finite element approach. Finally the augmented Lagrangian method for enforcing the contact constraints is described.
 Chapter 7: Contact and Coupling Up Chapter 7: Contact and Coupling Subsection 7.1.1: Contact Kinematics 

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