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G. Zavarise and P. Wriggers, “Contact with Friction between Beams in 3D Space,” International Journal for Numerical Methods in Engineering, Vol. 49, No. 8, 2000, 977-1006. doi;10.1002/1097-0207(20001120)49:8<977::AID-NME986>3.0.CO;2-C

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