320276.fig.009a
(a)
320276.fig.009b
(b)
320276.fig.009c
(c)
320276.fig.009d
(d)
Figure 9: Simulation results of Example II by using (45) integrated by RK4 with timestep size 0.001 s. The gray regions indicate the time periods in which the objects and are in contact with each other. The parameters are chosen as  N/m, , and .