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[Bruno Chareyre <bruno.chareyre@xxxxxxxxxxx>]

>  Prescribing displacement (even by fixing position of
> support) means that energy might disappear from the system...
>
>   

By definition, you impose displacement on a non-equilibrated body. So 
that if you impose a displacement "du" on body "i", you provide energy 
du*force[i] to the system, which is in turn transformed into elastic, 
plastic, or kinetic (in other bodies) energy.
Not sure I understood the point, though. I must admit I still don't 
understand how a velocity can be imposed to dynamic bodies. Also, 
kinetic energy of velocity/displacement controlled bodies should not 
count in the total kinetic energy, only prescribed-force bodies should.

Chiara, did you try the blockedDOF trick?

Bruno