This paper presents an effective method for developing dynamic equations which realistically model dynamics of multibody mechanical systems with stiction, or stick-slip friction. This method is used in three examples—a mass-spring system, a top, and a robot linkage—to illustrate the facility with which the method is implemented. The method dynamically partitions sets of dynamic equations to model a system through discontinuities, changes in degrees of freedom and changes in states. Comparisons of this method with others is presented for simple and complex systems.

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