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Theory Manual Version 3.6
 Subsubsection 7.9.7.2: Damper Between Rigid Bodies Up Subsection 7.9.7: Other Rigid Connectors Section 7.10: Rigid-Deformable Coupling 

7.9.7.3 Contractile Force Between Rigid Bodies

Consider a contractile force between points on rigid bodies and . The force is oriented along , where Let and , so that the contractile force acting on body is given by We do not need to use the augmented Lagrangian method here, thus
where we assume that the contractile force pivots freely at the rigid body insertiones. The virtual work resulting from this contractile force is thus and its linearization is Here, the stiffness matrix is given by where
 Subsubsection 7.9.7.2: Damper Between Rigid Bodies Up Subsection 7.9.7: Other Rigid Connectors Section 7.10: Rigid-Deformable Coupling