A method is presented for dynamic analysis of systems with impulsive forces, impact, discontinuous constraints, and discontinuous velocities. A method of computer generation of the equations of planar motion and impulse-momentum relations that define jump discontinuities in system velocity for large scale systems is presented. An event predictor, working in conjunction with a new numerical integration algorithm, efficiently controls the numerical integration and allows for automatic equation reformulation. A weapon mechanism and a trip plow are simulated using the method to illustrate its capabilities.

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