“…This method doesn't include the saturation effect of the friction force and, therefore, it is limited to cotact problems with small creepage values. Due to the simplicity and computational implementation easiness, Cartesian coordinates are used [26] in this work to formulate the equations of motion of the multibody systems. No kinematic constraints are added to the formulation, to avoid the complexity produced from the Differential Algebraic Equations (DAE), also the instabilities in the integration process, produced from the substitution of the algebraic equations of the system by their counterpart (ODE), are avoided.…”