The constraint equations at the common point (the connection of the deformations of the shock, absorbers and the displacements of the bodies) have the form The accelerations on impact are assumed to be so large in comparison with the velocities that they satisfy , that is, normal accelerations are small compared to tangential ones. Then one can differentiate (5.20), ignoring the derivatives of the direction cosines, and terms with derivative angular velocities in (5.18), and obtain a system of equations for the deformations of the six shock absorbers
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