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Theory Manual Version 3.6
 Subsection 7.2.5: Augmented Lagrangian Scheme Up Section 7.2: Biphasic Contact Subsection 7.2.7: Linearization and Discretization Outline 

7.2.6 Stick-Slip Algorithm

Determining whether stick or slip is occurring at a given instant is accomplished by a trial state and return map, and has the same form for both penalty and augmented Lagrangian regularization schemes [114]. We initially assume stick and calculate a trial traction , utilizing either eq.(7.2.4-1) or eq.(7.2.5-1). The trial normal and tangential components and are evaluated from and inserted into the slip criterion , Based on the slip criterion and trial traction vector, the traction vector is calculated from the return mapping as where is given by either eq.(7.2.4-2) or eq.(7.2.5-2).
 Subsection 7.2.5: Augmented Lagrangian Scheme Up Section 7.2: Biphasic Contact Subsection 7.2.7: Linearization and Discretization Outline