This second edition investigates nonsmooth hybrid dynamical systems, specifically finite-dimensional mechanical systems with unilateral constraints. The book provides a comprehensive overview of key mathematical, mechanical, stability, and control problems within this field. It details topics such as shock dynamics, multiple impacts, feedback control, Moreau's sweeping process, and complementarity formulations, supported by numerous examples ranging from simple mechanical systems to robotic applications. The text aims to bridge rigorous mathematical theory with practical engineering applications, drawing on extensive research and a bibliography of over a thousand references.

The second edition of Nonsmooth Mechanics is recognized for its significant expansion and detailed focus on nonsmooth hybrid dynamical systems, particularly those involving unilateral constraints in mechanics. Praised in its first edition for excellently combining rigorous mathematics with a wealth of examples, it is noted for its clarity and inclusion of the latest research in impact problems for rigid bodies. The book is recommended for both applied mathematicians and engineers seeking to understand basic concepts and advanced research in the field.