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Theory Manual Version 3.6
 Subsection 7.2.6: Stick-Slip Algorithm Up Section 7.2: Biphasic Contact Subsection 7.2.8: Definitions and Notation 

7.2.7 Linearization and Discretization Outline

The following sections provide the linearization and discretization of stick and slip for biphasic frictional contact, culminating in the final forms of the residual vectors and stiffness matrices which have been implemented into FEBio. Section 7.2.8↓ begins with an important discussion of kinematic definitions and notation which is assumed to hold without repetition. Sections 7.2.9↓ and 7.2.10↓ linearize and discretize biphasic stick and slip, respectively. Importantly, Section 7.2.9↓ sets up and uses more formal notation and definitions, before we dispense of this cumbersome notation for the remainder of the treatment.
 Subsection 7.2.6: Stick-Slip Algorithm Up Section 7.2: Biphasic Contact Subsection 7.2.8: Definitions and Notation