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For static or incremental contact problems with Coulomb friction there are satisfactory and well known existence results for the coercive case, i.e., when the elastic body is anchored so that rigid body motions are not possible, see [3, 1, 6, 7, 2]. The articles by Jaruusek and Cocu, [7, 2] indeed contain results for the noncoercive case, i.e., when rigid body motions are possible. However, the compatibility conditions which are used to ensure the existence of a solution, are the same that guarantee that the corresponding contact problem without friction has a solution. The condition is essentially that the applied force field should push the elastic body towards the obstacle. One of few previous articles containing friction-dependent compatibility conditions is [1].

Existence theorems for noncoercive incremental contact problems with Coulomb friction