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This paper concerns the numerical method for the motions of complicated shaped rigid bodies which consist of tetrahedral elements. Using tetrahedral elements makes it easier for us to aquire the exact volumes and inertial tensors of the complicated shaped bodies. Furthermore, this paper discribes how to probe the contact point between the bodies and evaluate thec ontact forces. The System Energy Minimize Method(SEMM) is applied to evaluate the contact forces. The motions of the bodies are solved based on Euler's equation. Although the validations are not carried out, the proposed method has predicted the motions of complicated shaped bodies such as coins, columns, and rings. This paper concludes that although the proposed method is in its infancy the insight of the proposed method is bright considering wide range of its applications.

A NUMERICAL PREDICTION METHOD FOR ARBITRARY-SHAPED RIGID BODIES' MOTIONS USING TETRAHEDRAL ELEMENTS