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Theory Manual Version 3.6
 Subsection 7.2.3: Contact Kinematics Up Subsection 7.2.3: Contact Kinematics Subsubsection 7.2.3.2: Stick Kinematics 

7.2.3.1 Slip Kinematics

The kinematics of slip are developed by mapping points between the surfaces as they move relative to one another. The relationship between spatial points on each surface is given by where is the unit outward normal to given by and the gap function is defined as Here we note that is the spatial position of a material point on the primary surface, and is the corresponding spatial intersection point on the secondary surface, through which different material points identified by parametric coordinates may convect. At any given instant, are termed the parametric coordinates of intersection.
 Subsection 7.2.3: Contact Kinematics Up Subsection 7.2.3: Contact Kinematics Subsubsection 7.2.3.2: Stick Kinematics