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[Bruno Chareyre <question271394@xxxxxxxxxxxxxxxxxxxxx>]

Question #271394 on Yade changed:
https://answers.launchpad.net/yade/+question/271394

Bruno Chareyre proposed the following answer:
momentRotationLaw =False just means that there is no moment _at contact_.
The shear force is as usual it produce a moment wrt to particle centers, as usual.

For total rotation, it's a bit more complicated to write. Total
rotations are represented by quaternions, but in the end yes it is a
decomposition into bending and twisting.

B

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