A THEORY OF SYSTEMS WITH UNILATERAL CONSTRAINTS

The realization of a unilateral constraint is considered in a situatio n in which the stiffness and coefficient of viscosity and the added ma sses tend to infinity simultaneously in a consistent manner. The main result is that limiting motions exist, which are identical on the boun dary with the motions of a holonomic system with fewer degrees of free dom. However, a special effect, not present in the classical model, oc curs here, namely, a delay in the time at which the constraint is rele ased.