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Theory Manual Version 3.6
 Subsection 7.2.2: Biphasic Friction Formulation Up Section 7.2: Biphasic Contact Subsubsection 7.2.3.1: Slip Kinematics 

7.2.3 Contact Kinematics

 Subsection 7.2.2: Biphasic Friction Formulation Up Section 7.2: Biphasic Contact Subsubsection 7.2.3.1: Slip Kinematics 

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