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The plane Signorini problem is considered in the cases, when there exist non-trivial rigid admissible displacements. The existence and uniqueness of the solution and the convergence of piecewise linear finite element approximations is discussed.
It is shown, in the context of the Thermomechanics of simple materials with memory, that frame indifference and, equivalently, rotation invariance are necessary consequences of the laws of classical Mechanics and the definition of the stress matrix and heat flux vector.
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