@article{forwarddynamicsofvariabletopologymechani,
  title = {Forward Dynamics of Variable Topology Mechanisms - The Case of Constraint Activation},
  author = {Andreas Mueller},
  year = {2026},
  eprint = {2604.19419},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.19419},
}