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H. Parisch and C. Luebbing, “A Formulation of Arbitrarily Shaped Surface Elements for Three-dimensional Large Deformation Contact with Friction,” International Journal for Numerical Methods in Engineering, Vol. 40, No. 18, 1997, pp. 3359-3383. doi:10.1002/(SICI)1097-0207(19970930)40:18<3359::AID-NME217>3.0.CO;2-5

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