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Theory Manual Version 3.6
 Subsubsection 7.9.7.1: Spring Between Rigid Bodies Up Subsection 7.9.7: Other Rigid Connectors Subsubsection 7.9.7.3: Contractile Force Between Rigid Bodies 

7.9.7.2 Damper Between Rigid Bodies

Consider a damper (e.g., a dashpot) inserted between points on two rigid bodies. The force generated by this dashpot is where is the relative velocity between insertion points, This relative velocity is related to the rigid body degrees of freedom by Since the dashpot may freely rotate about its insertion points, we set . It follows that and the virtual work resulting from the dashpot is The linearization of may be written as where and
 Subsubsection 7.9.7.1: Spring Between Rigid Bodies Up Subsection 7.9.7: Other Rigid Connectors Subsubsection 7.9.7.3: Contractile Force Between Rigid Bodies