Question #245061 on Yade changed:
https://answers.launchpad.net/yade/+question/245061
Status: Open => Answered
Bruno Chareyre proposed the following answer:
Dear Fu,
Two papers are already mentioned in the section you refer to: Alonso2004 and
Luding2008, did you check them?
Basically, terms 1 and 2 are rotations of the contact, and 3 is the relative
motion.
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