Singularities of the Dynamics of Some Bar Systems with Unilateral Constraints

This paper deals with a formulation and a solution of problems of the dynamics of mechanical systems for which solutions that do not take into account the unilateral nature of the constraints imposed on the objects under study have been obtained before. The motive force in all the cases considered is the gravity force applied to the center of mass of each body of the mechanical system. Since unilateral constraints are imposed on all systems of bodies considered in the above-mentioned problems, their correct solution requires taking into account the unilateral action of the constraint reaction forces applied to the bodies of the systems under study. A detailed analysis of the motion of the systems after zeroing out the constraint reaction forces is carried out. Results of numerical experiments are presented which are used to construct motion patterns of the systems of bodies illustrating the motions of the above-mentioned systems after they lose contact with the supporting surfaces.