A systematic theoretical approach is presented, revealing dynamics of a class of multibody systems. Specifically, the motion is restricted by a set of bilateral constraints, acting simultaneously with a unilateral constraint, representing a frictional impact. The analysis is carried out within the framework of Analytical Dynamics and uses some concepts of differential geometry, which provides a foundation for applying Newton's second law. This permits a successful and illuminating description of the dynamics. Starting from the unilateral constraint, a boundary is defined, providing a subspace of allowable motions within the original configuration manifold. Then, the emphasis is focused on a thin boundary layer. In addition to the usual restrictions imposed on the tangent space, the bilateral constraints cause a correction of the direction where the main impulse occurs. When friction effects are negligible, the dominant action occurs along this direction and is described by a single nonlinear ordinary differential equation (ODE), independent of the number of the original generalized coordinates. The presence of friction increases this to a system of three ODEs, capturing the essential dynamics in an appropriate subspace, arising by bringing the image of the friction cone from the physical to the configuration space. Moreover, it is shown that the classical Darboux–Keller approach corresponds to a special case of the new method. Finally, the theoretical results are complemented by a selected set of numerical results for three examples.

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