Question #245062 on Yade changed:
https://answers.launchpad.net/yade/+question/245062
Status: Open => Answered
Bruno Chareyre proposed the following answer:
Only relative motion can change the magnitude of forces, yes.
However, a rotation of the contact pair leads to a rotation of the force (not a
translation) in the global frame, hence the (delta_Ut)1 + (delta_Ut)2 (rotation
decomposed in axial and ortho-axial parts).
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