# Simscape Multibody Contact Forces Library

Library Overview
1. Using the Library
2. Library
3. Forces: Laws
....1. Basic 2D:
.......a. Circle-to-Circle Force: Description, Example (Disks in Box)
.......b. Circle-to-Finite Line Force: Description, Example (Ball on Finite Plane (spin))
.......c. Circle-to-Ring Force: Description; Examples: Disk in Ring, Catapult
....2. Composite 2D:
.......a. Box-to-Box Force: Description, Example (Spinning Boxes)
.......b. Box-to-Belt Force: Description, Example (Box on two Conveyor Belts)
....3. Basic 3D:
.......a. Sphere-to-Sphere Force: Description, Example (Ball on Ball)
.......b. Sphere-in-Sphere Force: Description, Example (Ball in Ball)
.......c. Sphere-to-Plane Force: Description, Example (Ball on Spinning Plane)
.......d. Sphere-to-Tube Force: Description; Example (Ball in Fixed Tube)
4. Friction Force: Laws
2D Collision Examples (Basic)
1. Ball on Infinite Plane: Model, Animation
2. Disk on Finite Plane (fixed): Model, Animation
3. Disk on Finite Plane (spin): Model, Animation
4. Disks in Box: Model, Animation (No Friction, With Friction)
5. Disk in Ring: Model, Animation (No Friction, With Friction)
6. Catapult: Model, Animation
7. Ball and Floating Beam: Model, Animation
2D Friction Examples (Basic)
1. Box on Ramp (Constraint): Model, Animation
2. Box on Ramp : Model, Animation
3. Double Pendulum (Constraint): Model, Animation
4. Disk Rolling on Ramp: Model, Animation
5. Beam on Wheel: Model, Animation
6. Disk on Disk: Model, Animation
7. Floating Disks: Model, Animation
8. Disks and Ring: Model, Animation
9. Ring on Disk: Model, Animation
10. Ball on Wheel: Model, Animation
2D Examples (Applications)
1. Cam Follower: Model, Animation, Force Description
2. Geneva Drive: Model, Animation, Force Description
... CAD Model -> Import XML, Simscape Multibody Model
3. Mini Golf: Model, Animation: Hole 6, Hole 7
4. Spinning Boxes: Model, Animation, Force Description
5. Two Conveyor Belts: Model, Animation
3D Collision Examples (Basic)
1. Ball on Fixed Plane: Model, Animation (No Friction, With Friction)
2. Ball on Spinning Plane: Model, Animation (No Friction, With Friction)
3. Balls in Box: Model, Animation (No Friction, With Friction)
4. Ball in Fixed Tube: Model, Animation
5. Ball on Peg Board: Model, Animation
6. Ball in Ball: Model, Animation
3D Friction Examples (Basic)
1. Box on Table: Model, Animation
2. Ball on Table: Model, Animation
3. Board on Balls: Model, Animation
4. Ball on Ball: Model, Animation
5. Tube on Balls: Model, Animation
6. Ball on Balls: Model, Animation
7. Ball in Ball: Model, Animation
3D Applications
1. Two-Wheel Robot: Model, Animation
2. Gripper with Conveyor Belts: Model, Animation

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