A contact force model with hysteresis damping for impact analysis of multibody systems. Lankarani, H. & Nikravesh, P. J. Mech. Des., 112(3):369–376, 1990.
bibtex   
@Article{SCC.Lankarani.Nikravesh1990,
  author    = {Lankarani, H. and Nikravesh, P.},
  title     = {A contact force model with hysteresis damping for impact analysis of multibody systems},
  journal   = {J. Mech. Des.},
  year      = {1990},
  volume    = {112},
  number    = {3},
  pages     = {369--376},
  owner     = {Shubhendu Bhasin},
  timestamp = {2010.05.03},
}

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