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Theory Manual Version 3.6
 Subsubsection 7.2.3.1: Slip Kinematics Up Subsection 7.2.3: Contact Kinematics Subsubsection 7.2.3.3: Velocities 

7.2.3.2 Stick Kinematics

Implicit in the concept of stick is the assumption that the contact projection was previously resolved; thus points are not mapped between surfaces during stick. Rather, the current contact point on is given by the parametric coordinates of intersection from the previous time point, now denoted as with the subscripted referring to the previous time. The spatial position of the material point identified by is then given by where the vector gap in stick is defined to be Here is the vectorial distance, at the current time , between material points which were in contact at the previous time step; for perfect stick we must have .
 Subsubsection 7.2.3.1: Slip Kinematics Up Subsection 7.2.3: Contact Kinematics Subsubsection 7.2.3.3: Velocities