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Starting from Hamilton’s Principle, the current paper discusses how we can derive the Euler-Maupertuis Principle of Least Action in the context of non-smooth dynamics. This variational principle allows us to directly obtain the space curve y(x) of a point-mass in a potential field V (x, y) without referring to the temporal dynamics. This paper generalises the EulerMaupertuis Principle of Least Action to systems with impact by formulating the principle as a variational inequality.
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