 Normal contact penalty time scale

The normal contact penalty time scale describes the fast dynamics introduced by a stiff normal-contact approximation. For a compressed linear penalty spring with stiffness $k$ acting on a point mass $m$, small oscillations about equilibrium satisfy $m\ddot{x}+kx=0$. Their angular frequency, reference time and period areThe reference time $t_c$ is not the full oscillation period. Rescaling time by $s=t/t_c$ gives $d^{2}x/d{s}^2+x=0$, so a numerical step is controlled by its dimensionless size $h/t_c$, not just its duration in seconds. The primary compliant-contact treatment highlights the numerical stiffness caused by such springs.^[ref]

A modeling and numerical budget interact. Limiting equilibrium overlap under a specified maximum supported load $F_{\max }$ to $d_{\max }$ requires $k\ge F_{\max }/d_{\max }$ in this linear model. For an original choice $F_{\max }=10\mathrm{N}$ and $d_{\max }=10\mu \mathrm{m}$, choose $k=10^6\mathrm{N}{\mathrm{m}}^{-1}$. At $m=0.5\mathrm{kg}$,A chosen resolution target of twenty steps per contact oscillation would set $h\le 0.2221\mathrm{ms}$. This is a resolution target, not a universal accuracy or stability theorem for every integrator.

Increasing the stiffness by a factor of 100 reduces the same-load overlap by 100 but reduces these times by only ten. Keeping the old step then gives roughly two samples per new oscillation instead of twenty. The parent penalty approximation of unilateral contact also shows why the Forward Euler method's undamped-oscillator instability cannot be cured merely by calling the step small.

For a multibody contact, the effective mass in a normal-contact penalty mode replaces an arbitrary total body mass. Additional damping and nonlinear force laws can introduce other time scales. A convergence study should therefore check force histories and contact events as well as maximum overlap; smaller geometric penetration alone does not establish a more accurate simulation.