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Theory Manual Version 3.6
 Subsection 6.3.5: Generalized- Method for Rigid Body Dynamics Up Main page Section 7.1: Sliding Interfaces 

7 Contact and Coupling

FEBio allows the user to connect the different parts of the model in various ways. Deformable parts can be connected to rigid bodies. Deformable objects can be brought in contact with each other. Rigid bodies can be connected with rigid joints. This chapter describes the different ways to couple parts together.
 Subsection 6.3.5: Generalized- Method for Rigid Body Dynamics Up Main page Section 7.1: Sliding Interfaces 

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