This book investigates the behavior of simple nonsmooth mechanical systems where the nonsmoothness arises from non-regularized unilateral contact and Coulomb friction.

The authors focus on Coulomb friction to discuss how regularization greatly simplifies the mathematics behind this dynamics but may remove the main qualitative features and thus lead to non-physical properties. The book explores the effects of the non-regularities and shows that the trajectories of mechanical systems include shocks, sliding and stick phases.
The authors draw from their own research as well as from studies in the wider field of solid mechanics to present their book in the context of the mechanics of discrete systems.