ComputeDynamicFrictionalForceLMMechanicalContact

Computes the tangential frictional forces for dynamic simulations

When the mortar mechanical contact constraints are used in dynamic simulations, the normal contact constraints need to be stabilized by ensuring that normal gap derivatives are included in the definition. This is a way of guaranteeing the 'persistency' condition, i.e. not only do we enforce the constraints instantaneously, but also that it will remain in contact. This approximate contact constraint stabilization is performed in ComputeDynamicWeightedGapLMMechanicalContact, from which this object inherits. Therefore ComputeDynamicFrictionalForceLMMechanicalContact is used as the base frictional mortar contact class to implement friction models that in a dynamic setting.

The capture_tolerance is an optional contact parameter used in dynamic contact constraints to determine when to impose the persistency condition for normal contact. For relevant, general equations, see (Tal and Hager, 2018).

Input Parameters

disp_xThe x displacement variable
C++ Type:std::vector<VariableName>
Unit:(no unit assumed)
Controllable:No
Description:The x displacement variable
disp_yThe y displacement variable
C++ Type:std::vector<VariableName>
Unit:(no unit assumed)
Controllable:No
Description:The y displacement variable
friction_lmThe frictional Lagrange's multiplier
C++ Type:std::vector<VariableName>
Unit:(no unit assumed)
Controllable:No
Description:The frictional Lagrange's multiplier
newmark_betaBeta parameter for the Newmark time integrator
C++ Type:double
Unit:(no unit assumed)
Controllable:No
Description:Beta parameter for the Newmark time integrator
newmark_gammaGamma parameter for the Newmark time integrator
C++ Type:double
Unit:(no unit assumed)
Controllable:No
Description:Gamma parameter for the Newmark time integrator
primary_boundaryThe name of the primary boundary sideset.
C++ Type:BoundaryName
Unit:(no unit assumed)
Controllable:No
Description:The name of the primary boundary sideset.
primary_subdomainThe name of the primary subdomain.
C++ Type:SubdomainName
Unit:(no unit assumed)
Controllable:No
Description:The name of the primary subdomain.
secondary_boundaryThe name of the secondary boundary sideset.
C++ Type:BoundaryName
Unit:(no unit assumed)
Controllable:No
Description:The name of the secondary boundary sideset.
secondary_subdomainThe name of the secondary subdomain.
C++ Type:SubdomainName
Unit:(no unit assumed)
Controllable:No
Description:The name of the secondary subdomain.

Required Parameters

aux_lmAuxiliary Lagrange multiplier variable that is utilized together with the Petrov-Galerkin approach.
C++ Type:std::vector<VariableName>
Unit:(no unit assumed)
Controllable:No
Description:Auxiliary Lagrange multiplier variable that is utilized together with the Petrov-Galerkin approach.
c1e+06Parameter for balancing the size of the gap and contact pressure
Default:1e+06
C++ Type:double
Unit:(no unit assumed)
Controllable:No
Description:Parameter for balancing the size of the gap and contact pressure
c_t1Numerical parameter for tangential constraints
Default:1
C++ Type:double
Unit:(no unit assumed)
Controllable:No
Description:Numerical parameter for tangential constraints
capture_tolerance1e-05Parameter describing a gap threshold for the application of the persistency constraint in dynamic simulations.
Default:1e-05
C++ Type:double
Unit:(no unit assumed)
Controllable:No
Description:Parameter describing a gap threshold for the application of the persistency constraint in dynamic simulations.
compute_lm_residualsTrueWhether to compute Lagrange Multiplier residuals
Default:True
C++ Type:bool
Unit:(no unit assumed)
Controllable:No
Description:Whether to compute Lagrange Multiplier residuals
compute_primal_residualsTrueWhether to compute residuals for the primal variable.
Default:True
C++ Type:bool
Unit:(no unit assumed)
Controllable:No
Description:Whether to compute residuals for the primal variable.
correct_edge_droppingFalseWhether to enable correct edge dropping treatment for mortar constraints. When disabled any Lagrange Multiplier degree of freedom on a secondary element without full primary contributions will be set (strongly) to 0.
Default:False
C++ Type:bool
Unit:(no unit assumed)
Controllable:No
Description:Whether to enable correct edge dropping treatment for mortar constraints. When disabled any Lagrange Multiplier degree of freedom on a secondary element without full primary contributions will be set (strongly) to 0.
debug_meshFalseWhether this constraint is going to enable mortar segment mesh debug information. An exodusfile will be generated if the user sets this flag to true
Default:False
C++ Type:bool
Unit:(no unit assumed)
Controllable:No
Description:Whether this constraint is going to enable mortar segment mesh debug information. An exodusfile will be generated if the user sets this flag to true
disp_zThe z displacement variable
C++ Type:std::vector<VariableName>
Unit:(no unit assumed)
Controllable:No
Description:The z displacement variable
epsilon1e-07Minimum value of contact pressure that will trigger frictional enforcement
Default:1e-07
C++ Type:double
Unit:(no unit assumed)
Controllable:No
Description:Minimum value of contact pressure that will trigger frictional enforcement
friction_lm_dirThe frictional Lagrange's multiplier for an addtional direction.
C++ Type:std::vector<VariableName>
Unit:(no unit assumed)
Controllable:No
Description:The frictional Lagrange's multiplier for an addtional direction.
function_frictionCoupled function to evaluate friction with values from contact pressure and relative tangential velocities (from the previous step).
C++ Type:FunctionName
Unit:(no unit assumed)
Controllable:No
Description:Coupled function to evaluate friction with values from contact pressure and relative tangential velocities (from the previous step).
ghost_higher_d_neighborsFalseWhether we should ghost higher-dimensional neighbors. This is necessary when we are doing second order mortar with finite volume primal variables, because in order for the method to be second order we must use cell gradients, which couples in the neighbor cells.
Default:False
C++ Type:bool
Unit:(no unit assumed)
Controllable:No
Description:Whether we should ghost higher-dimensional neighbors. This is necessary when we are doing second order mortar with finite volume primal variables, because in order for the method to be second order we must use cell gradients, which couples in the neighbor cells.
ghost_point_neighborsFalseWhether we should ghost point neighbors of secondary face elements, and consequently also their mortar interface couples.
Default:False
C++ Type:bool
Unit:(no unit assumed)
Controllable:No
Description:Whether we should ghost point neighbors of secondary face elements, and consequently also their mortar interface couples.
interpolate_normalsFalseWhether to interpolate the nodal normals (e.g. classic idea of evaluating field at quadrature points). If this is set to false, then non-interpolated nodal normals will be used, and then the _normals member should be indexed with _i instead of _qp
Default:False
C++ Type:bool
Unit:(no unit assumed)
Controllable:No
Description:Whether to interpolate the nodal normals (e.g. classic idea of evaluating field at quadrature points). If this is set to false, then non-interpolated nodal normals will be used, and then the _normals member should be indexed with _i instead of _qp
minimum_projection_angle40Parameter to control which angle (in degrees) is admissible for the creation of mortar segments. If set to a value close to zero, very oblique projections are allowed, which can result in mortar segments solving physics not meaningfully, and overprojection of primary nodes onto the mortar segment mesh in extreme cases. This parameter is mostly intended for mortar mesh debugging purposes in two dimensions.
Default:40
C++ Type:double
Unit:(no unit assumed)
Controllable:No
Description:Parameter to control which angle (in degrees) is admissible for the creation of mortar segments. If set to a value close to zero, very oblique projections are allowed, which can result in mortar segments solving physics not meaningfully, and overprojection of primary nodes onto the mortar segment mesh in extreme cases. This parameter is mostly intended for mortar mesh debugging purposes in two dimensions.
muThe friction coefficient for the Coulomb friction law
C++ Type:double
Unit:(no unit assumed)
Controllable:No
Description:The friction coefficient for the Coulomb friction law
normalize_cFalseWhether to normalize c by weighting function norm. When unnormalized the value of c effectively depends on element size since in the constraint we compare nodal Lagrange Multiplier values to integrated gap values (LM nodal value is independent of element size, where integrated values are dependent on element size).
Default:False
C++ Type:bool
Unit:(no unit assumed)
Controllable:No
Description:Whether to normalize c by weighting function norm. When unnormalized the value of c effectively depends on element size since in the constraint we compare nodal Lagrange Multiplier values to integrated gap values (LM nodal value is independent of element size, where integrated values are dependent on element size).
periodicFalseWhether this constraint is going to be used to enforce a periodic condition. This has the effect of changing the normals vector for projection from outward to inward facing
Default:False
C++ Type:bool
Unit:(no unit assumed)
Controllable:No
Description:Whether this constraint is going to be used to enforce a periodic condition. This has the effect of changing the normals vector for projection from outward to inward facing
prop_getter_suffixAn optional suffix parameter that can be appended to any attempt to retrieve/get material properties. The suffix will be prepended with a '_' character.
C++ Type:MaterialPropertyName
Unit:(no unit assumed)
Controllable:No
Description:An optional suffix parameter that can be appended to any attempt to retrieve/get material properties. The suffix will be prepended with a '_' character.
quadratureDEFAULTQuadrature rule to use on mortar segments. For 2D mortar DEFAULT is recommended. For 3D mortar, QUAD meshes are integrated using triangle mortar segments. While DEFAULT quadrature order is typically sufficiently accurate, exact integration of QUAD mortar faces requires SECOND order quadrature for FIRST variables and FOURTH order quadrature for SECOND order variables.
Default:DEFAULT
C++ Type:MooseEnum
Unit:(no unit assumed)
Options:DEFAULT, FIRST, SECOND, THIRD, FOURTH
Controllable:No
Description:Quadrature rule to use on mortar segments. For 2D mortar DEFAULT is recommended. For 3D mortar, QUAD meshes are integrated using triangle mortar segments. While DEFAULT quadrature order is typically sufficiently accurate, exact integration of QUAD mortar faces requires SECOND order quadrature for FIRST variables and FOURTH order quadrature for SECOND order variables.
use_interpolated_stateFalseFor the old and older state use projected material properties interpolated at the quadrature points. To set up projection use the ProjectedStatefulMaterialStorageAction.
Default:False
C++ Type:bool
Unit:(no unit assumed)
Controllable:No
Description:For the old and older state use projected material properties interpolated at the quadrature points. To set up projection use the ProjectedStatefulMaterialStorageAction.
use_petrov_galerkinFalseWhether to use the Petrov-Galerkin approach for the mortar-based constraints. If set to true, we use the standard basis as the test function and dual basis as the shape function for the interpolation of the Lagrange multiplier variable.
Default:False
C++ Type:bool
Unit:(no unit assumed)
Controllable:No
Description:Whether to use the Petrov-Galerkin approach for the mortar-based constraints. If set to true, we use the standard basis as the test function and dual basis as the shape function for the interpolation of the Lagrange multiplier variable.
variableThe name of the lagrange multiplier variable that this constraint is applied to. This parameter may not be supplied in the case of using penalty methods for example
C++ Type:NonlinearVariableName
Unit:(no unit assumed)
Controllable:No
Description:The name of the lagrange multiplier variable that this constraint is applied to. This parameter may not be supplied in the case of using penalty methods for example
wear_depthThe name of the mortar auxiliary variable that is used to modify the weighted gap definition
C++ Type:std::vector<VariableName>
Unit:(no unit assumed)
Controllable:No
Description:The name of the mortar auxiliary variable that is used to modify the weighted gap definition

Optional Parameters

absolute_value_vector_tagsThe tags for the vectors this residual object should fill with the absolute value of the residual contribution
C++ Type:std::vector<TagName>
Unit:(no unit assumed)
Controllable:No
Description:The tags for the vectors this residual object should fill with the absolute value of the residual contribution
extra_matrix_tagsThe extra tags for the matrices this Kernel should fill
C++ Type:std::vector<TagName>
Unit:(no unit assumed)
Controllable:No
Description:The extra tags for the matrices this Kernel should fill
extra_vector_tagsThe extra tags for the vectors this Kernel should fill
C++ Type:std::vector<TagName>
Unit:(no unit assumed)
Controllable:No
Description:The extra tags for the vectors this Kernel should fill
matrix_tagssystemThe tag for the matrices this Kernel should fill
Default:system
C++ Type:MultiMooseEnum
Unit:(no unit assumed)
Options:nontime, system
Controllable:No
Description:The tag for the matrices this Kernel should fill
vector_tagsnontimeThe tag for the vectors this Kernel should fill
Default:nontime
C++ Type:MultiMooseEnum
Unit:(no unit assumed)
Options:nontime, time
Controllable:No
Description:The tag for the vectors this Kernel should fill

Tagging Parameters

control_tagsAdds user-defined labels for accessing object parameters via control logic.
C++ Type:std::vector<std::string>
Unit:(no unit assumed)
Controllable:No
Description:Adds user-defined labels for accessing object parameters via control logic.
enableTrueSet the enabled status of the MooseObject.
Default:True
C++ Type:bool
Unit:(no unit assumed)
Controllable:Yes
Description:Set the enabled status of the MooseObject.
implicitTrueDetermines whether this object is calculated using an implicit or explicit form
Default:True
C++ Type:bool
Unit:(no unit assumed)
Controllable:No
Description:Determines whether this object is calculated using an implicit or explicit form
seed0The seed for the master random number generator
Default:0
C++ Type:unsigned int
Unit:(no unit assumed)
Controllable:No
Description:The seed for the master random number generator
use_displaced_meshTrueWhether or not this object should use the displaced mesh for computation. Note that in the case this is true but no displacements are provided in the Mesh block the undisplaced mesh will still be used.
Default:True
C++ Type:bool
Unit:(no unit assumed)
Controllable:No
Description:Whether or not this object should use the displaced mesh for computation. Note that in the case this is true but no displacements are provided in the Mesh block the undisplaced mesh will still be used.

Advanced Parameters

Input Files

(modules/contact/test/tests/mortar_dynamics/block-dynamics-friction.i)
(modules/contact/test/tests/mortar_aux_kernels/block-dynamics-aux-fretting-wear-test.i)
(modules/contact/test/tests/mortar_aux_kernels/block-dynamics-aux-wear-vel.i)
(modules/contact/test/tests/mortar_aux_kernels/block-dynamics-aux-fretting-wear-test-projection_angle.i)
(modules/contact/test/tests/mortar_dynamics/frictional-mortar-3d-dynamics.i)
(modules/contact/test/tests/mortar_dynamics/block-dynamics-friction-creep.i)
(modules/contact/test/tests/mortar_dynamics/frictional-mortar-3d-dynamics-light-function.i)
(modules/contact/test/tests/mortar_dynamics/frictional-mortar-3d-dynamics-light.i)

References

Yuval Tal and Bradford H Hager. Dynamic mortar finite element method for modeling of shear rupture on frictional rough surfaces. Computational Mechanics, 61(6):699–716, 2018.

@article{tal2018dynamic,
    author = "Tal, Yuval and Hager, Bradford H",
    title = "Dynamic mortar finite element method for modeling of shear rupture on frictional rough surfaces",
    journal = "Computational Mechanics",
    volume = "61",
    number = "6",
    pages = "699--716",
    year = "2018",
    publisher = "Springer"
}

(modules/contact/test/tests/mortar_dynamics/block-dynamics-friction.i)

starting_point = 2e-1
offset = -0.19

[GlobalParams]
  displacements = 'disp_x disp_y'
[]

[Mesh]
  file = long-bottom-block-1elem-blocks.e
  allow_renumbering = false
[]

[Variables]
  [disp_x]
    block = '1 2'
  []
  [disp_y]
    block = '1 2'
  []
  [mechanical_normal_lm]
    block = 3
    use_dual = true
  []
  [mechanical_tangential_lm]
    block = 3
    use_dual = true
  []
[]

[ICs]
  [disp_y]
    block = 2
    variable = disp_y
    value = '${fparse starting_point + offset}'
    type = ConstantIC
  []
[]

[Kernels]
  [DynamicTensorMechanics]
    displacements = 'disp_x disp_y'
    generate_output = 'stress_xx stress_yy'
    strain = FINITE
    block = '1 2'
    stiffness_damping_coefficient = 0.05
    hht_alpha = 0.0
  []
  [inertia_x]
    type = InertialForce
    variable = disp_x
    velocity = vel_x
    acceleration = accel_x
    beta = 0.25
    gamma = 0.5
    alpha = 0
    eta = 0.0
    block = '1 2'
  []
  [inertia_y]
    type = InertialForce
    variable = disp_y
    velocity = vel_y
    acceleration = accel_y
    beta = 0.25
    gamma = 0.5
    alpha = 0
    eta = 0.0
    block = '1 2'
  []
[]

[Materials]
  [elasticity_2]
    type = ComputeIsotropicElasticityTensor
    block = '2'
    youngs_modulus = 1e6
    poissons_ratio = 0.3
  []
  [elasticity_1]
    type = ComputeIsotropicElasticityTensor
    block = '1'
    youngs_modulus = 1e8
    poissons_ratio = 0.3
  []
  [stress]
    type = ComputeFiniteStrainElasticStress
    block = '1 2'
  []
  [strain]
    type = ComputeFiniteStrain
    block = '1 2'
  []
  [density]
    type = GenericConstantMaterial
    block = '1 2'
    prop_names = 'density'
    prop_values = '7750'
  []
[]

[AuxVariables]
  [vel_x]
    block = '1 2'
  []
  [accel_x]
    block = '1 2'
  []
  [vel_y]
    block = '1 2'
  []
  [accel_y]
    block = '1 2'
  []
  [vel_z]
    block = '1 2'
  []
  [accel_z]
    block = '1 2'
  []
  [gap]
    block = 3
  []
[]

[AuxKernels]
  [gap]
    type = WeightedGapAux
    variable = gap
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    use_displaced_mesh = true
  []
  [accel_x]
    type = NewmarkAccelAux
    variable = accel_x
    displacement = disp_x
    velocity = vel_x
    beta = 0.25
    execute_on = 'LINEAR timestep_end'
  []
  [vel_x]
    type = NewmarkVelAux
    variable = vel_x
    acceleration = accel_x
    gamma = 0.5
    execute_on = 'LINEAR timestep_end'
  []
  [accel_y]
    type = NewmarkAccelAux
    variable = accel_y
    displacement = disp_y
    velocity = vel_y
    beta = 0.25
    execute_on = 'LINEAR timestep_end'
  []
  [vel_y]
    type = NewmarkVelAux
    variable = vel_y
    acceleration = accel_y
    gamma = 0.5
    execute_on = 'LINEAR timestep_end'
  []
[]



# User object provides the contact force (e.g. LM)
# for the application of the generalized force
[UserObjects]
  [weighted_vel_uo]
    type = LMWeightedVelocitiesUserObject
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    lm_variable_normal = mechanical_normal_lm
    lm_variable_tangential_one = mechanical_tangential_lm
    secondary_variable = disp_x
    disp_x = disp_x
    disp_y = disp_y
  []
[]

[Constraints]
  [weighted_gap_lm]
    type = ComputeDynamicFrictionalForceLMMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    variable = mechanical_normal_lm
    friction_lm = mechanical_tangential_lm
    disp_x = disp_x
    disp_y = disp_y
    use_displaced_mesh = true
    c = 1e4
    c_t = 1e4
    mu = 0.5
    newmark_beta = 0.25
    newmark_gamma = 0.5
    capture_tolerance = 1.0e-5
  []
  [normal_x]
    type = NormalMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    variable = mechanical_normal_lm
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = weighted_vel_uo
  []
  [normal_y]
    type = NormalMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    variable = mechanical_normal_lm
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = weighted_vel_uo
  []
  [tangential_x]
    type = TangentialMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    variable = mechanical_tangential_lm
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = weighted_vel_uo
  []
  [tangential_y]
    type = TangentialMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    variable = mechanical_tangential_lm
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = weighted_vel_uo
  []
[]

[BCs]
  [botx]
    type = DirichletBC
    variable = disp_x
    boundary = 40
    value = 0.0
  []
  [boty]
    type = DirichletBC
    variable = disp_y
    boundary = 40
    value = 0.0
  []
  [topy]
    type = FunctionDirichletBC
    variable = disp_y
    boundary = 30
    function = '${starting_point} * cos(2 * pi / 4 * t) + ${offset}'
  []
  [leftx]
    type = FunctionDirichletBC
    variable = disp_x
    boundary = 30 # 50
    function = '0' # '1e-2*t'
  []
[]

[Executioner]
  type = Transient
  end_time = 75
  dt = 0.05
  dtmin = .005
  solve_type = 'PJFNK'
  petsc_options = '-snes_converged_reason -ksp_converged_reason -pc_svd_monitor '
                  '-snes_linesearch_monitor -snes_ksp_ew'
  petsc_options_iname = '-pc_type -pc_factor_shift_type -pc_factor_shift_amount -mat_mffd_err '
  petsc_options_value = 'lu       NONZERO               1e-15                   1e-5'
  nl_max_its = 50
  line_search = 'none'
  snesmf_reuse_base = false

  [TimeIntegrator]
    type = NewmarkBeta
    beta = 0.25
    gamma = 0.5
  []
[]

[Debug]
  show_var_residual_norms = true
[]

[Outputs]
  exodus = true
  csv = true
  checkpoint = true
[]

[Preconditioning]
  [smp]
    type = SMP
    full = true
  []
[]

[VectorPostprocessors]
  [mechanical_tangential_lm]
    type = NodalValueSampler
    block = '3'
    variable = mechanical_tangential_lm
    sort_by = 'x'
    execute_on = TIMESTEP_END
  []
[]

(modules/contact/test/tests/mortar_aux_kernels/block-dynamics-aux-fretting-wear-test.i)

starting_point = 0.5e-1
offset = -0.045

[GlobalParams]
  displacements = 'disp_x disp_y'
[]

[Mesh]
  file = long-bottom-block-1elem-blocks.e
[]

[Variables]
  [disp_x]
    block = '1 2'
  []
  [disp_y]
    block = '1 2'
  []
  [normal_lm]
    block = 3
    use_dual = true
  #  scaling = 1.0e-5
  []
  [frictional_lm]
    block = 3
    use_dual = true
    scaling = 1.0e-5
  []
[]

[ICs]
  [disp_y]
    block = 2
    variable = disp_y
    value = '${fparse starting_point + offset}'
    type = ConstantIC
  []
[]

[Kernels]
  [DynamicTensorMechanics]
    displacements = 'disp_x disp_y'
    generate_output = 'stress_xx stress_yy'
    strain = FINITE
    block = '1 2'
    zeta = 0.04
    hht_alpha = 0.0
  []
  [inertia_x]
    type = InertialForce
    variable = disp_x
    velocity = vel_x
    acceleration = accel_x
    beta = 0.25
    gamma = 0.5
    alpha = 0
    eta = 0.0
    block = '1 2'
  []
  [inertia_y]
    type = InertialForce
    variable = disp_y
    velocity = vel_y
    acceleration = accel_y
    beta = 0.25
    gamma = 0.5
    alpha = 0
    eta = 0.0
    block = '1 2'
  []
[]

[Materials]
  [elasticity_2]
    type = ComputeIsotropicElasticityTensor
    block = '2'
    youngs_modulus = 1e6
    poissons_ratio = 0.3
  []
  [elasticity_1]
    type = ComputeIsotropicElasticityTensor
    block = '1'
    youngs_modulus = 1e8
    poissons_ratio = 0.3
  []
  [stress]
    type = ComputeFiniteStrainElasticStress
    block = '1 2'
  []
  [strain]
    type = ComputeFiniteStrain
    block = '1 2'
  []
  [density]
    type = GenericConstantMaterial
    block = '1 2'
    prop_names = 'density'
    prop_values = '7750'
  []
[]

[AuxVariables]
  [worn_depth]
    block = '3'
  []
  [gap_vel]
    block = '3'
  []
  [vel_x]
    block = '1 2'
  []
  [accel_x]
    block = '1 2'
  []
  [vel_y]
    block = '1 2'
  []
  [accel_y]
    block = '1 2'
  []
  [vel_z]
    block = '1 2'
  []
  [accel_z]
    block = '1 2'
  []
[]

[AuxKernels]
  [gap_vel]
    type = WeightedGapVelAux
    variable = gap_vel
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    disp_x = disp_x
    disp_y = disp_y
  []
  [worn_depth]
    type = MortarArchardsLawAux
    variable = worn_depth
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    displacements = 'disp_x disp_y'
    friction_coefficient = 0.5
    energy_wear_coefficient = 1.0e-6
    normal_pressure = normal_lm
    execute_on = 'TIMESTEP_END'
  []
  [accel_x]
    type = NewmarkAccelAux
    variable = accel_x
    displacement = disp_x
    velocity = vel_x
    beta = 0.25
    execute_on = 'linear timestep_end'
  []
  [vel_x]
    type = NewmarkVelAux
    variable = vel_x
    acceleration = accel_x
    gamma = 0.5
    execute_on = 'linear timestep_end'
  []
  [accel_y]
    type = NewmarkAccelAux
    variable = accel_y
    displacement = disp_y
    velocity = vel_y
    beta = 0.25
    execute_on = 'linear timestep_end'
  []
  [vel_y]
    type = NewmarkVelAux
    variable = vel_y
    acceleration = accel_y
    gamma = 0.5
    execute_on = 'linear timestep_end'
  []
[]

[UserObjects]
  [weighted_vel_uo]
    type = LMWeightedVelocitiesUserObject
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    secondary_variable = disp_x
    lm_variable_normal = normal_lm
    lm_variable_tangential_one = frictional_lm
    disp_x = disp_x
    disp_y = disp_y
  []
[]

[Constraints]
  [weighted_gap_lm]
    type = ComputeDynamicFrictionalForceLMMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    variable = normal_lm
    disp_x = disp_x
    disp_y = disp_y
    use_displaced_mesh = true
    wear_depth = worn_depth
    c = 1e6
    c_t = 1e6
    normalize_c = true
    mu = 0.5
    friction_lm = frictional_lm
    capture_tolerance = 1.0e-5
    newmark_beta = 0.25
    newmark_gamma = 0.5
  []
  [normal_x]
    type = NormalMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    variable = normal_lm
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = weighted_vel_uo
  []
  [normal_y]
    type = NormalMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    variable = normal_lm
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    weighted_gap_uo = weighted_vel_uo
  []
  [tangential_x]
    type = TangentialMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    variable = frictional_lm
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = weighted_vel_uo
  []
  [tangential_y]
    type = TangentialMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    variable = frictional_lm
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = weighted_vel_uo
  []
[]

[BCs]
  [botx]
    type = DirichletBC
    variable = disp_x
    boundary = 40
    value = 0.0
  []
  [boty]
    type = DirichletBC
    variable = disp_y
    boundary = 40
    value = 0.0
  []
  [topy]
    type = FunctionDirichletBC
    variable = disp_y
    boundary = 30
    function = '${starting_point} * cos(4.0 * pi / 4 * t) + ${offset}'
  []
  [leftx]
    type = FunctionDirichletBC
    variable = disp_x
    boundary = 50
    function = '1e-5 * (cos(32.0 * pi / 4 * t) - 1.0)'
  []
[]

[Executioner]
  type = Transient
  end_time = 0.5
  dt = 0.05
  dtmin = .002
  solve_type = 'NEWTON'
  petsc_options = '-snes_converged_reason -ksp_converged_reason -pc_svd_monitor '
                  '-snes_linesearch_monitor -snes_ksp_ew'
  petsc_options_iname = '-pc_type -pc_factor_mat_solver_type -pc_factor_shift_type -pc_factor_shift_amount'
  petsc_options_value = 'lu       superlu_dist                  NONZERO               1e-15'
  nl_max_its = 40
  l_max_its = 15
  line_search = none
  snesmf_reuse_base = true

  [TimeIntegrator]
    type = NewmarkBeta
    beta = 0.25
    gamma = 0.5
  []
[]

[Debug]
  show_var_residual_norms = true
[]

[Outputs]
  exodus = true
[]

[Preconditioning]
  [smp]
    type = SMP
    full = true
  []
[]

[Postprocessors]
  active = 'contact'
  [contact]
    type = ContactDOFSetSize
    variable = normal_lm
    subdomain = '3'
    execute_on = 'nonlinear timestep_end'
  []
[]

(modules/contact/test/tests/mortar_aux_kernels/block-dynamics-aux-wear-vel.i)

starting_point = 0.5e-1
offset = -0.05

[GlobalParams]
  displacements = 'disp_x disp_y'
[]

[Mesh]
  file = long-bottom-block-1elem-blocks.e
[]

[Variables]
  [disp_x]
    block = '1 2'
  []
  [disp_y]
    block = '1 2'
  []
  [normal_lm]
    block = 3
    use_dual = true
    scaling = 1.0e3
  []
  [frictional_lm]
    block = 3
    use_dual = true
  []
[]

[ICs]
  [disp_y]
    block = 2
    variable = disp_y
    value = '${fparse starting_point + offset}'
    type = ConstantIC
  []
[]

[Kernels]
  [DynamicTensorMechanics]
    displacements = 'disp_x disp_y'
    generate_output = 'stress_xx stress_yy'
    strain = FINITE
    block = '1 2'
    zeta = 1.0
    hht_alpha = 0.0
  []
  [inertia_x]
    type = InertialForce
    variable = disp_x
    velocity = vel_x
    acceleration = accel_x
    beta = 0.25
    gamma = 0.5
    alpha = 0
    eta = 0.0
    block = '1 2'
  []
  [inertia_y]
    type = InertialForce
    variable = disp_y
    velocity = vel_y
    acceleration = accel_y
    beta = 0.25
    gamma = 0.5
    alpha = 0
    eta = 0.0
    block = '1 2'
  []
[]

[Materials]
  [elasticity_2]
    type = ComputeIsotropicElasticityTensor
    block = '2'
    youngs_modulus = 1e6
    poissons_ratio = 0.3
  []
  [elasticity_1]
    type = ComputeIsotropicElasticityTensor
    block = '1'
    youngs_modulus = 1e8
    poissons_ratio = 0.3
  []
  [stress]
    type = ComputeFiniteStrainElasticStress
    block = '1 2'
  []
  [strain]
    type = ComputeFiniteStrain
    block = '1 2'
  []
  [density]
    type = GenericConstantMaterial
    block = '1 2'
    prop_names = 'density'
    prop_values = '7750'
  []
[]

[AuxVariables]
  [worn_depth]
    block = '3'
  []
  [gap_vel]
    block = '3'
  []
  [vel_x]
    block = '1 2'
  []
  [accel_x]
    block = '1 2'
  []
  [vel_y]
    block = '1 2'
  []
  [accel_y]
    block = '1 2'
  []
  [vel_z]
    block = '1 2'
  []
  [accel_z]
    block = '1 2'
  []
[]

[AuxKernels]
  [gap_vel]
    type = WeightedGapVelAux
    variable = gap_vel
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    disp_x = disp_x
    disp_y = disp_y
  []
  [worn_depth]
    type = MortarArchardsLawAux
    variable = worn_depth
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    displacements = 'disp_x disp_y'
    friction_coefficient = 0.5
    energy_wear_coefficient = 1.0
    normal_pressure = normal_lm
  []
  [accel_x]
    type = NewmarkAccelAux
    variable = accel_x
    displacement = disp_x
    velocity = vel_x
    beta = 0.25
    execute_on = 'linear timestep_end'
  []
  [vel_x]
    type = NewmarkVelAux
    variable = vel_x
    acceleration = accel_x
    gamma = 0.5
    execute_on = 'linear timestep_end'
  []
  [accel_y]
    type = NewmarkAccelAux
    variable = accel_y
    displacement = disp_y
    velocity = vel_y
    beta = 0.25
    execute_on = 'linear timestep_end'
  []
  [vel_y]
    type = NewmarkVelAux
    variable = vel_y
    acceleration = accel_y
    gamma = 0.5
    execute_on = 'linear timestep_end'
  []
[]

[UserObjects]
  [weighted_vel_uo]
    type = LMWeightedVelocitiesUserObject
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    secondary_variable = disp_x
    lm_variable_normal = normal_lm
    lm_variable_tangential_one = frictional_lm
    disp_x = disp_x
    disp_y = disp_y
  []
[]

[Constraints]
  [weighted_gap_lm]
    type = ComputeDynamicFrictionalForceLMMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    variable = normal_lm
    disp_x = disp_x
    disp_y = disp_y
    use_displaced_mesh = true
    c = 1e4
    c_t = 1e6
    mu = 0.15
    friction_lm = frictional_lm
    capture_tolerance = 1.0e-5
    newmark_beta = 0.25
    newmark_gamma = 0.5
  []
  [normal_x]
    type = NormalMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    variable = normal_lm
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = weighted_vel_uo
  []
  [normal_y]
    type = NormalMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    variable = normal_lm
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = weighted_vel_uo
  []
  [tangential_x]
    type = TangentialMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    variable = frictional_lm
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = weighted_vel_uo
  []
  [tangential_y]
    type = TangentialMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    variable = frictional_lm
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = weighted_vel_uo
  []
[]

[BCs]
  [botx]
    type = DirichletBC
    variable = disp_x
    boundary = 40
    value = 0.0
  []
  [boty]
    type = DirichletBC
    variable = disp_y
    boundary = 40
    value = 0.0
  []
  [topy]
    type = FunctionDirichletBC
    variable = disp_y
    boundary = 30
    function = '${starting_point} * cos(16.0 * pi / 4 * t) + ${offset}'
  []
  [leftx]
    type = FunctionDirichletBC
    variable = disp_x
    boundary = 50
    function = '1e-2 * t'
  []
[]

[Executioner]
  type = Transient
  end_time = 0.3
  dt = 0.03
  dtmin = .002
  solve_type = 'NEWTON'
  petsc_options = '-snes_converged_reason -ksp_converged_reason -pc_svd_monitor '
                  '-snes_linesearch_monitor -snes_ksp_ew'
  petsc_options_iname = '-pc_type -pc_factor_mat_solver_type -pc_factor_shift_type -pc_factor_shift_amount'
  petsc_options_value = 'lu       superlu_dist                  NONZERO               1e-15'
  nl_max_its = 40
  nl_abs_tol = 1.0e-11
  nl_rel_tol = 1.0e-11
  line_search = 'none'
  snesmf_reuse_base = true

  [TimeIntegrator]
    type = NewmarkBeta
    beta = 0.25
    gamma = 0.5
  []
[]

[Debug]
  show_var_residual_norms = true
[]

[Outputs]
  exodus = true
  checkpoint = true
[]

[Preconditioning]
  [smp]
    type = SMP
    full = true
  []
[]

[Postprocessors]
  active = 'contact'
  [num_nl]
    type = NumNonlinearIterations
  []
  [cumulative]
    type = CumulativeValuePostprocessor
    postprocessor = num_nl
  []
  [contact]
    type = ContactDOFSetSize
    variable = normal_lm
    subdomain = '3'
    execute_on = 'nonlinear timestep_end'
  []
[]

(modules/contact/test/tests/mortar_aux_kernels/block-dynamics-aux-fretting-wear-test-projection_angle.i)

starting_point = 0.5e-1
offset = -0.045

[GlobalParams]
  displacements = 'disp_x disp_y'
[]

[Mesh]
  file = long-bottom-block-1elem-blocks-multiple-projections-lowerd.e
[]

[Variables]
  [disp_x]
    block = '1 2'
  []
  [disp_y]
    block = '1 2'
  []
  [normal_lm]
    block = 3
    use_dual = true
  #  scaling = 1.0e-5
  []
  [frictional_lm]
    block = 3
    use_dual = true
  #  scaling = 1.0e-5
  []
[]

[ICs]
  [disp_y]
    block = 2
    variable = disp_y
    value = '${fparse starting_point + offset}'
    type = ConstantIC
  []
[]

[Kernels]
  [DynamicTensorMechanics]
    displacements = 'disp_x disp_y'
    generate_output = 'stress_xx stress_yy'
    strain = FINITE
    block = '1 2'
    zeta = 1.0
    hht_alpha = 0.0
  []
  [inertia_x]
    type = InertialForce
    variable = disp_x
    velocity = vel_x
    acceleration = accel_x
    beta = 0.25
    gamma = 0.5
    alpha = 0
    eta = 0.0
    block = '1 2'
  []
  [inertia_y]
    type = InertialForce
    variable = disp_y
    velocity = vel_y
    acceleration = accel_y
    beta = 0.25
    gamma = 0.5
    alpha = 0
    eta = 0.0
    block = '1 2'
  []
[]

[Materials]
  [elasticity_2]
    type = ComputeIsotropicElasticityTensor
    block = '2'
    youngs_modulus = 1e6
    poissons_ratio = 0.3
  []
  [elasticity_1]
    type = ComputeIsotropicElasticityTensor
    block = '1'
    youngs_modulus = 1e8
    poissons_ratio = 0.3
  []
  [stress]
    type = ComputeFiniteStrainElasticStress
    block = '1 2'
  []
  [strain]
    type = ComputeFiniteStrain
    block = '1 2'
  []
  [density]
    type = GenericConstantMaterial
    block = '1 2'
    prop_names = 'density'
    prop_values = '7750'
  []
[]

[AuxVariables]
  [worn_depth]
    block = '3'
  []
  [gap_vel]
    block = '3'
  []
  [vel_x]
    block = '1 2'
  []
  [accel_x]
    block = '1 2'
  []
  [vel_y]
    block = '1 2'
  []
  [accel_y]
    block = '1 2'
  []
  [vel_z]
    block = '1 2'
  []
  [accel_z]
    block = '1 2'
  []
[]

[AuxKernels]
  [gap_vel]
    type = WeightedGapVelAux
    variable = gap_vel
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    disp_x = disp_x
    disp_y = disp_y
    debug_mesh = true
    minimum_projection_angle = 0.0
  []
  [worn_depth]
    type = MortarArchardsLawAux
    variable = worn_depth
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    displacements = 'disp_x disp_y'
    friction_coefficient = 0.5
    energy_wear_coefficient = 1.0e-6
    normal_pressure = normal_lm
    execute_on = 'TIMESTEP_END'
    debug_mesh = true
    minimum_projection_angle = 0.0
  []
  [accel_x]
    type = NewmarkAccelAux
    variable = accel_x
    displacement = disp_x
    velocity = vel_x
    beta = 0.25
    execute_on = 'linear timestep_end'
  []
  [vel_x]
    type = NewmarkVelAux
    variable = vel_x
    acceleration = accel_x
    gamma = 0.5
    execute_on = 'linear timestep_end'
  []
  [accel_y]
    type = NewmarkAccelAux
    variable = accel_y
    displacement = disp_y
    velocity = vel_y
    beta = 0.25
    execute_on = 'linear timestep_end'
  []
  [vel_y]
    type = NewmarkVelAux
    variable = vel_y
    acceleration = accel_y
    gamma = 0.5
    execute_on = 'linear timestep_end'
  []
[]

[UserObjects]
  [weighted_vel_uo]
    type = LMWeightedVelocitiesUserObject
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    secondary_variable = disp_x
    lm_variable_normal = normal_lm
    lm_variable_tangential_one = frictional_lm
    disp_x = disp_x
    disp_y = disp_y
    debug_mesh = true
  []
[]

[Constraints]
  [weighted_gap_lm]
    type = ComputeDynamicFrictionalForceLMMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    variable = normal_lm
    disp_x = disp_x
    disp_y = disp_y
    use_displaced_mesh = true
    wear_depth = worn_depth
    c = 1e6
    c_t = 1e6
    normalize_c = true
    mu = 0.5
    friction_lm = frictional_lm
    capture_tolerance = 1.0e-5
    newmark_beta = 0.25
    newmark_gamma = 0.5
    debug_mesh = true
    minimum_projection_angle = 0.0
  []
  [normal_x]
    type = NormalMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    variable = normal_lm
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    debug_mesh = true
    minimum_projection_angle = 0.0
    weighted_gap_uo = weighted_vel_uo
  []
  [normal_y]
    type = NormalMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    variable = normal_lm
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    debug_mesh = true
    minimum_projection_angle = 0.0
    weighted_gap_uo = weighted_vel_uo
  []
  [tangential_x]
    type = TangentialMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    variable = frictional_lm
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    debug_mesh = true
    minimum_projection_angle = 0.0
    weighted_velocities_uo = weighted_vel_uo
  []
  [tangential_y]
    type = TangentialMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    variable = frictional_lm
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    debug_mesh = true
    minimum_projection_angle = 0.0
    weighted_velocities_uo = weighted_vel_uo
  []
[]

[BCs]
  [botx]
    type = DirichletBC
    variable = disp_x
    boundary = 40
    value = 0.0
  []
  [boty]
    type = DirichletBC
    variable = disp_y
    boundary = 40
    value = 0.0
  []
  [topy]
    type = FunctionDirichletBC
    variable = disp_y
    boundary = 30
    function = '${starting_point} * cos(4.0 * pi / 4 * t) + ${offset}'
  []
  [leftx]
    type = FunctionDirichletBC
    variable = disp_x
    boundary = 50
    function = '1e-2 * (cos(32.0 * pi / 4 * t) - 1.0)'
  []
[]

[Executioner]
  type = Transient
  end_time = 0.0
  dt = 0.05
  dtmin = .002
  solve_type = 'NEWTON'
  petsc_options = '-snes_converged_reason -ksp_converged_reason -pc_svd_monitor '
                  '-snes_linesearch_monitor -snes_ksp_ew'
  petsc_options_iname = '-pc_type -pc_factor_mat_solver_type -pc_factor_shift_type -pc_factor_shift_amount'
  petsc_options_value = 'lu       superlu_dist                  NONZERO               1e-15'
  nl_max_its = 40
  l_max_its = 15
  line_search = 'l2'
  snesmf_reuse_base = true

  [TimeIntegrator]
    type = NewmarkBeta
    beta = 0.25
    gamma = 0.5
  []
[]

[Debug]
  show_var_residual_norms = true
[]

[Outputs]
  exodus = true
  checkpoint = true
[]

[Preconditioning]
  [smp]
    type = SMP
    full = true
  []
[]

[Postprocessors]
  active = 'num_nl cumulative contact'
  [num_nl]
    type = NumNonlinearIterations
  []
  [cumulative]
    type = CumulativeValuePostprocessor
    postprocessor = num_nl
  []
  [contact]
    type = ContactDOFSetSize
    variable = normal_lm
    subdomain = '3'
    execute_on = 'nonlinear timestep_end'
  []
[]

(modules/contact/test/tests/mortar_dynamics/frictional-mortar-3d-dynamics.i)

starting_point = 0.25
offset = 0.00

[GlobalParams]
  displacements = 'disp_x disp_y disp_z'
  volumetric_locking_correction = true
[]

[AuxVariables]
  [mortar_tangent_x]
    family = LAGRANGE
    order = FIRST
  []
  [mortar_tangent_y]
    family = LAGRANGE
    order = FIRST
  []
  [mortar_tangent_z]
    family = LAGRANGE
    order = FIRST
  []
[]

[AuxKernels]
  [friction_x_component]
   type = MortarFrictionalPressureVectorAux
   primary_boundary = 'bottom_top'
   secondary_boundary = 'top_bottom'
   tangent_one = mortar_tangential_lm
   tangent_two = mortar_tangential_3d_lm
   variable = mortar_tangent_x
   component = 0
   boundary = 'top_bottom'
  []
  [friction_y_component]
   type = MortarFrictionalPressureVectorAux
   primary_boundary = 'bottom_top'
   secondary_boundary = 'top_bottom'
   tangent_one = mortar_tangential_lm
   tangent_two = mortar_tangential_3d_lm
   variable = mortar_tangent_y
   component = 1
   boundary = 'top_bottom'
  []
  [friction_z_component]
   type = MortarFrictionalPressureVectorAux
   primary_boundary = 'bottom_top'
   secondary_boundary = 'top_bottom'
   tangent_one = mortar_tangential_lm
   tangent_two = mortar_tangential_3d_lm
   variable = mortar_tangent_z
   component = 2
   boundary = 'top_bottom'
  []
[]

[Mesh]
  [top_block]
    type = GeneratedMeshGenerator
    dim = 3
    nx = 3
    ny = 3
    nz = 3
    xmin = -0.25
    xmax = 0.25
    ymin = -0.25
    ymax = 0.25
    zmin = -0.25
    zmax = 0.25
    elem_type = HEX8
  []
  [rotate_top_block]
    type = TransformGenerator
    input = top_block
    transform = ROTATE
    vector_value = '0 0 0'
  []
  [top_block_sidesets]
    type = RenameBoundaryGenerator
    input = rotate_top_block
    old_boundary = '0 1 2 3 4 5'
    new_boundary = 'top_bottom top_back top_right top_front top_left top_top'
  []
  [top_block_id]
    type = SubdomainIDGenerator
    input = top_block_sidesets
    subdomain_id = 1
  []
  [bottom_block]
    type = GeneratedMeshGenerator
    dim = 3
    nx = 10
    ny = 10
    nz = 2
    xmin = -.5
    xmax = .5
    ymin = -.5
    ymax = .5
    zmin = -.3
    zmax = -.25
    elem_type = HEX8
  []
  [bottom_block_id]
    type = SubdomainIDGenerator
    input = bottom_block
    subdomain_id = 2
  []
  [bottom_block_change_boundary_id]
    type = RenameBoundaryGenerator
    input = bottom_block_id
    old_boundary = '0 1 2 3 4 5'
    new_boundary = '100 101 102 103 104 105'
  []
  [combined]
    type = MeshCollectionGenerator
    inputs = 'top_block_id bottom_block_change_boundary_id'
  []
  [block_rename]
    type = RenameBlockGenerator
    input = combined
    old_block = '1 2'
    new_block = 'top_block bottom_block'
  []
  [bottom_right_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = block_rename
    new_boundary = bottom_right
    block = bottom_block
    normal = '1 0 0'
  []
  [bottom_left_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = bottom_right_sideset
    new_boundary = bottom_left
    block = bottom_block
    normal = '-1 0 0'
  []
  [bottom_top_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = bottom_left_sideset
    new_boundary = bottom_top
    block = bottom_block
    normal = '0 0 1'
  []
  [bottom_bottom_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = bottom_top_sideset
    new_boundary = bottom_bottom
    block = bottom_block
    normal = '0  0 -1'
  []
  [bottom_front_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = bottom_bottom_sideset
    new_boundary = bottom_front
    block = bottom_block
    normal = '0 1 0'
  []
  [bottom_back_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = bottom_front_sideset
    new_boundary = bottom_back
    block = bottom_block
    normal = '0 -1 0'
  []
  [secondary]
    input = bottom_back_sideset
    type = LowerDBlockFromSidesetGenerator
    sidesets = 'top_bottom' # top_back top_left'
    new_block_id = '10001'
    new_block_name = 'secondary_lower'
  []
  [primary]
    input = secondary
    type = LowerDBlockFromSidesetGenerator
    sidesets = 'bottom_top'
    new_block_id = '10000'
    new_block_name = 'primary_lower'
  []
  uniform_refine = 0
  allow_renumbering = false
[]

[Variables]
  [mortar_normal_lm]
    block = 'secondary_lower'
    use_dual = true
  []
  [mortar_tangential_lm]
    block = 'secondary_lower'
    use_dual = true
  []
  [mortar_tangential_3d_lm]
    block = 'secondary_lower'
    use_dual = true
  []
[]

[Physics/SolidMechanics/Dynamic]
  [all]
    add_variables = true
    hht_alpha = 0.0
    newmark_beta = 0.25
    newmark_gamma = 0.5
    mass_damping_coefficient = 0.0
    stiffness_damping_coefficient = 0.1
    displacements = 'disp_x disp_y disp_z'
    generate_output = 'stress_xx stress_xy stress_xz stress_yy stress_zz'
    block = '1 2'
    strain = FINITE
    density = density
  []
[]

[Materials]
  [density]
    type = GenericConstantMaterial
    block = '1 2'
    prop_names = 'density'
    prop_values = '1.0'
  []
  [tensor]
    type = ComputeIsotropicElasticityTensor
    block = '1'
    youngs_modulus = 1.0e4
    poissons_ratio = 0.0
  []
  [stress]
    type = ComputeFiniteStrainElasticStress
    block = '1'
  []

  [tensor_1000]
    type = ComputeIsotropicElasticityTensor
    block = '2'
    youngs_modulus = 1e5
    poissons_ratio = 0.0
  []
  [stress_1000]
    type = ComputeFiniteStrainElasticStress
    block = '2'
  []
[]

[UserObjects]
  [weighted_vel_uo]
    type = LMWeightedVelocitiesUserObject
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    lm_variable_normal = mortar_normal_lm
    lm_variable_tangential_one = mortar_tangential_lm
    lm_variable_tangential_two = mortar_tangential_3d_lm
    secondary_variable = disp_x
    disp_x = disp_x
    disp_y = disp_y
  []
[]

[Constraints]
  [friction]
    type = ComputeDynamicFrictionalForceLMMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_normal_lm
    disp_x = disp_x
    disp_y = disp_y
    disp_z = disp_z
    use_displaced_mesh = true
    friction_lm = mortar_tangential_lm
    friction_lm_dir = mortar_tangential_3d_lm
    mu = 0.4
    c = 1e4
    c_t = 1.0e4
    newmark_gamma = 0.5
    newmark_beta = 0.25
  []
  [normal_x]
    type = NormalMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_normal_lm
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = weighted_vel_uo
  []
  [normal_y]
    type = NormalMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_normal_lm
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = weighted_vel_uo
  []
  [normal_z]
    type = NormalMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_normal_lm
    secondary_variable = disp_z
    component = z
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = weighted_vel_uo
  []
  [tangential_x]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_tangential_lm
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = weighted_vel_uo
  []
  [tangential_y]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_tangential_lm
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = weighted_vel_uo
  []
  [tangential_z]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_tangential_lm
    secondary_variable = disp_z
    component = z
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = weighted_vel_uo
  []
  [tangential_dir_x]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_tangential_3d_lm
    secondary_variable = disp_x
    component = x
    direction = direction_2
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = weighted_vel_uo
  []
  [tangential_dir_y]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_tangential_3d_lm
    secondary_variable = disp_y
    component = y
    direction = direction_2
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = weighted_vel_uo
  []
  [tangential_dir_z]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_tangential_3d_lm
    secondary_variable = disp_z
    component = z
    direction = direction_2
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = weighted_vel_uo
  []
[]

[BCs]
  [botx]
    type = DirichletBC
    variable = disp_x
    boundary = 'bottom_left bottom_right bottom_front bottom_back'
    value = 0.0
  []
  [boty]
    type = DirichletBC
    variable = disp_y
    boundary = 'bottom_left bottom_right bottom_front bottom_back'
    value = 0.0
  []
  [botz]
    type = DirichletBC
    variable = disp_z
    boundary = 'bottom_left bottom_right bottom_front bottom_back'
    value = 0.0
  []
  [topx]
    type = DirichletBC
    variable = disp_x
    boundary = 'top_top'
    value = 0.0
  []
  [topy]
    type = DirichletBC
    variable = disp_y
    boundary = 'top_top'
    value = 0.0
  []
  [topz]
    type = FunctionDirichletBC
    variable = disp_z
    boundary = 'top_top'
    function = '-${starting_point} * sin(2 * pi / 40 * t) + ${offset}'
  []
[]

[Executioner]
  type = Transient
  end_time = .025
  dt = .025
  dtmin = .001
  solve_type = 'PJFNK'
  petsc_options = '-snes_converged_reason -ksp_converged_reason -snes_ksp_ew'
  petsc_options_iname = '-pc_type -pc_factor_shift_type -pc_factor_shift_amount'
  petsc_options_value = 'lu       NONZERO               1e-14'
  nl_rel_tol = 1e-11
  nl_abs_tol = 1e-11
  line_search = 'basic'
  [TimeIntegrator]
    type = NewmarkBeta
    gamma = 0.5
    beta = 0.25
  []
[]

[Debug]
  show_var_residual_norms = true
[]

[Outputs]
  exodus = true
  csv = true
[]

[Preconditioning]
  [smp]
    type = SMP
    full = true
  []
[]

[Postprocessors]
  active = 'contact'
  [contact]
    type = ContactDOFSetSize
    variable = mortar_normal_lm
    subdomain = 'secondary_lower'
    execute_on = 'nonlinear timestep_end'
  []
[]

[VectorPostprocessors]
  [contact-pressure]
    type = NodalValueSampler
    block = secondary_lower
    variable = mortar_normal_lm
    sort_by = 'id'
    execute_on = NONLINEAR
  []
  [frictional-pressure]
    type = NodalValueSampler
    block = secondary_lower
    variable = mortar_tangential_lm
    sort_by = 'id'
    execute_on = TIMESTEP_END
  []
  [frictional-pressure-3d]
    type = NodalValueSampler
    block = secondary_lower
    variable = mortar_tangential_3d_lm
    sort_by = 'id'
    execute_on = TIMESTEP_END
  []
  [tangent_x]
    type = NodalValueSampler
    block = secondary_lower
    variable = mortar_tangent_x
    sort_by = 'id'
    execute_on = TIMESTEP_END
  []
  [tangent_y]
    type = NodalValueSampler
    block = secondary_lower
    variable = mortar_tangent_y
    sort_by = 'id'
    execute_on = TIMESTEP_END
  []
[]

(modules/contact/test/tests/mortar_dynamics/block-dynamics-friction-creep.i)

starting_point = 1e-1
offset = -0.095

[GlobalParams]
  displacements = 'disp_x disp_y'
[]

[Mesh]
  file = long-bottom-block-1elem-blocks.e
[]

[Variables]
  [normal_lm]
    block = 3
    use_dual = true
  []
  [frictional_lm]
    block = 3
    use_dual = true
  []
[]

[AuxVariables]
  [creep_strain_xx]
    order = CONSTANT
    family = MONOMIAL
    block = '2'
  []
  [creep_strain_yy]
    order = CONSTANT
    family = MONOMIAL
    block = '2'
  []
  [creep_strain_xy]
    order = CONSTANT
    family = MONOMIAL
    block = '2'
  []
[]
[AuxKernels]
  [creep_strain_xx]
    type = RankTwoAux
    rank_two_tensor = creep_strain
    variable = creep_strain_xx
    index_i = 0
    index_j = 0
    block = '2'
  []
  [creep_strain_yy]
    type = RankTwoAux
    rank_two_tensor = creep_strain
    variable = creep_strain_yy
    index_i = 1
    index_j = 1
    block = '2'
  []
  [creep_strain_xy]
    type = RankTwoAux
    rank_two_tensor = creep_strain
    variable = creep_strain_xy
    index_i = 0
    index_j = 1
    block = '2'
  []
[]

[ICs]
  [disp_y]
    block = 2
    variable = disp_y
    value = '${fparse starting_point + offset}'
    type = ConstantIC
  []
[]

[Physics/SolidMechanics/Dynamic]
  [all]
    add_variables = true
    alpha = 0.0
    newmark_beta = 0.25
    newmark_gamma = 0.5
    mass_damping_coefficient = 0.0
    stiffness_damping_coefficient = 0.01
    displacements = 'disp_x disp_y'
    generate_output = 'stress_xx stress_yy'
    block = '1 2'
    strain = FINITE
  []
[]

[Materials]
  [elasticity_2]
    type = ComputeIsotropicElasticityTensor
    block = '2'
    youngs_modulus = 1e6
    poissons_ratio = 0.3
  []
  [elasticity_1]
    type = ComputeIsotropicElasticityTensor
    block = '1'
    youngs_modulus = 1e8
    poissons_ratio = 0.3
  []
  [multiple_inelastic]
    type = ComputeMultipleInelasticStress
    inelastic_models = 'creep'
    block = '2'
  []
  [creep]
    type = PowerLawCreepStressUpdate
    coefficient = 1.0e-23 # 10e-24
    n_exponent = 4
    activation_energy = 0
    block = '2'
  []
  [stress]
    type = ComputeFiniteStrainElasticStress
    block = '1'
  []
  [density]
    type = GenericConstantMaterial
    block = '1 2'
    prop_names = 'density'
    prop_values = '775'
  []
[]

# User object provides the contact force (e.g. LM)
# for the application of the generalized force
[UserObjects]
  [weighted_vel_uo]
    type = LMWeightedVelocitiesUserObject
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    lm_variable_normal = normal_lm
    lm_variable_tangential_one = frictional_lm
    secondary_variable = disp_x
    disp_x = disp_x
    disp_y = disp_y
  []
[]

[Constraints]
  [weighted_gap_lm]
    type = ComputeDynamicFrictionalForceLMMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    variable = normal_lm
    friction_lm = frictional_lm
    disp_x = disp_x
    disp_y = disp_y
    use_displaced_mesh = true
    c = 1e4
    c_t = 1e4
    mu = 0.5
    interpolate_normals = false
    newmark_beta = 0.25
    newmark_gamma = 0.5
    capture_tolerance = 1e-04
  []
  [normal_x]
    type = NormalMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    variable = normal_lm
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = weighted_vel_uo
  []
  [normal_y]
    type = NormalMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    variable = normal_lm
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = weighted_vel_uo
  []
  [tangential_x]
    type = TangentialMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    variable = frictional_lm
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = weighted_vel_uo

  []
  [tangential_y]
    type = TangentialMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    variable = frictional_lm
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = weighted_vel_uo
  []
[]

[BCs]
  [botx]
    type = DirichletBC
    variable = disp_x
    boundary = 40
    value = 0.0
  []
  [boty]
    type = DirichletBC
    variable = disp_y
    boundary = 40
    value = 0.0
  []
  [topy]
    type = FunctionDirichletBC
    variable = disp_y
    boundary = 30
    function = '${starting_point} * cos(2 * pi / 4 * t) + ${offset}'
  []
  [leftx]
    type = FunctionDirichletBC
    variable = disp_x
    boundary = 30 # 50
    function =  '1e-2*t' #'0.1 *sin(2 * pi / 12 * t)'
  []
[]

[Executioner]
  type = Transient
  end_time = 0.25
  dt = 0.05
  dtmin = 0.05
  solve_type = 'PJFNK'
  petsc_options = '-snes_converged_reason -ksp_converged_reason -pc_svd_monitor '
                  '-snes_linesearch_monitor -snes_ksp_ew'
  petsc_options_iname = '-pc_type -pc_factor_shift_type -pc_factor_shift_amount -mat_mffd_err '
  petsc_options_value = 'lu       NONZERO               1e-15                   1e-5'
  nl_max_its = 50
  line_search = 'none'
  snesmf_reuse_base = false

  [TimeIntegrator]
    type = NewmarkBeta
    beta = 0.25
    gamma = 0.5
  []
[]

[Debug]
  show_var_residual_norms = true
[]

[Outputs]
  exodus = true
  checkpoint = true
[]

[Preconditioning]
  [smp]
    type = SMP
    full = true
  []
[]

[Postprocessors]
  active = 'num_nl cumulative contact'
  [num_nl]
    type = NumNonlinearIterations
  []
  [cumulative]
    type = CumulativeValuePostprocessor
    postprocessor = num_nl
  []
  [contact]
    type = ContactDOFSetSize
    variable = normal_lm
    subdomain = '3'
    execute_on = 'nonlinear timestep_end'
  []
[]

(modules/contact/test/tests/mortar_dynamics/frictional-mortar-3d-dynamics-light-function.i)

[GlobalParams]
  displacements = 'disp_x disp_y disp_z'
  volumetric_locking_correction = true
[]

[AuxVariables]
  [mortar_tangent_x]
    family = LAGRANGE
    order = FIRST
  []
  [mortar_tangent_y]
    family = LAGRANGE
    order = FIRST
  []
  [mortar_tangent_z]
    family = LAGRANGE
    order = FIRST
  []
[]

[AuxKernels]
  [friction_x_component]
    type = MortarFrictionalPressureVectorAux
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    tangent_one = mortar_tangential_lm
    tangent_two = mortar_tangential_3d_lm
    variable = mortar_tangent_x
    component = 0
    boundary = 'top_bottom'
  []
  [friction_y_component]
    type = MortarFrictionalPressureVectorAux
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    tangent_one = mortar_tangential_lm
    tangent_two = mortar_tangential_3d_lm
    variable = mortar_tangent_y
    component = 1
    boundary = 'top_bottom'
  []
  [friction_z_component]
    type = MortarFrictionalPressureVectorAux
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    tangent_one = mortar_tangential_lm
    tangent_two = mortar_tangential_3d_lm
    variable = mortar_tangent_z
    component = 2
    boundary = 'top_bottom'
  []
[]

[Mesh]
  [top_block]
    type = GeneratedMeshGenerator
    dim = 3
    nx = 2
    ny = 2
    nz = 1
    xmin = -0.25
    xmax = 0.25
    ymin = -0.25
    ymax = 0.25
    zmin = -0.25
    zmax = 0.25
    elem_type = HEX8
  []
  [rotate_top_block]
    type = TransformGenerator
    input = top_block
    transform = ROTATE
    vector_value = '0 0 0'
  []
  [top_block_sidesets]
    type = RenameBoundaryGenerator
    input = rotate_top_block
    old_boundary = '0 1 2 3 4 5'
    new_boundary = 'top_bottom top_back top_right top_front top_left top_top'
  []
  [top_block_id]
    type = SubdomainIDGenerator
    input = top_block_sidesets
    subdomain_id = 1
  []
  [bottom_block]
    type = GeneratedMeshGenerator
    dim = 3
    nx = 2
    ny = 2
    nz = 1
    xmin = -.5
    xmax = .5
    ymin = -.5
    ymax = .5
    zmin = -.3
    zmax = -.25
    elem_type = HEX8
  []
  [bottom_block_id]
    type = SubdomainIDGenerator
    input = bottom_block
    subdomain_id = 2
  []
  [bottom_block_change_boundary_id]
    type = RenameBoundaryGenerator
    input = bottom_block_id
    old_boundary = '0 1 2 3 4 5'
    new_boundary = '100 101 102 103 104 105'
  []
  [combined]
    type = MeshCollectionGenerator
    inputs = 'top_block_id bottom_block_change_boundary_id'
  []
  [block_rename]
    type = RenameBlockGenerator
    input = combined
    old_block = '1 2'
    new_block = 'top_block bottom_block'
  []
  [bottom_right_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = block_rename
    new_boundary = bottom_right
    block = bottom_block
    normal = '1 0 0'
  []
  [bottom_left_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = bottom_right_sideset
    new_boundary = bottom_left
    block = bottom_block
    normal = '-1 0 0'
  []
  [bottom_top_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = bottom_left_sideset
    new_boundary = bottom_top
    block = bottom_block
    normal = '0 0 1'
  []
  [bottom_bottom_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = bottom_top_sideset
    new_boundary = bottom_bottom
    block = bottom_block
    normal = '0  0 -1'
  []
  [bottom_front_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = bottom_bottom_sideset
    new_boundary = bottom_front
    block = bottom_block
    normal = '0 1 0'
  []
  [bottom_back_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = bottom_front_sideset
    new_boundary = bottom_back
    block = bottom_block
    normal = '0 -1 0'
  []
  [secondary]
    input = bottom_back_sideset
    type = LowerDBlockFromSidesetGenerator
    sidesets = 'top_bottom' # top_back top_left'
    new_block_id = '10001'
    new_block_name = 'secondary_lower'
  []
  [primary]
    input = secondary
    type = LowerDBlockFromSidesetGenerator
    sidesets = 'bottom_top'
    new_block_id = '10000'
    new_block_name = 'primary_lower'
  []
  uniform_refine = 0
[]

[Functions]
  # x: Contact pressure
  # y: Magnitude of tangential relative velocity
  # z: Temperature (to be implemented)
  [mu_function]
    type = ParsedFunction
    expression = '0.3 + 0.5 * 2.17^(-x/100) - 10.0 * y'
  []
[]

[Variables]
  [mortar_normal_lm]
    block = 'secondary_lower'
    use_dual = true
    scaling = 1e-3
  []
  [mortar_tangential_lm]
    block = 'secondary_lower'
    use_dual = true
    scaling = 1e-3
  []
  [mortar_tangential_3d_lm]
    block = 'secondary_lower'
    use_dual = true
    scaling = 1e-3
  []
[]

[Physics/SolidMechanics/Dynamic]
  [all]
    add_variables = true
    hht_alpha = 0.0
    newmark_beta = 0.25
    newmark_gamma = 0.5
    mass_damping_coefficient = 0.0
    stiffness_damping_coefficient = 0.02
    displacements = 'disp_x disp_y disp_z'
    generate_output = 'stress_xx stress_xy stress_xz stress_yy stress_zz'
    block = '1 2'
    strain = FINITE
    density = density
  []
[]

[Materials]
  [density]
    type = GenericConstantMaterial
    block = '1 2'
    prop_names = 'density'
    prop_values = '1.0'
  []
  [tensor]
    type = ComputeIsotropicElasticityTensor
    block = '1'
    youngs_modulus = 1.0e4
    poissons_ratio = 0.0
  []
  [stress]
    type = ComputeFiniteStrainElasticStress
    block = '1'
  []

  [tensor_1000]
    type = ComputeIsotropicElasticityTensor
    block = '2'
    youngs_modulus = 1e5
    poissons_ratio = 0.0
  []
  [stress_1000]
    type = ComputeFiniteStrainElasticStress
    block = '2'
  []
[]

[UserObjects]
  [weighted_vel_uo]
    type = LMWeightedVelocitiesUserObject
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    lm_variable_normal = mortar_normal_lm
    lm_variable_tangential_one = mortar_tangential_lm
    lm_variable_tangential_two = mortar_tangential_3d_lm
    secondary_variable = disp_x
    disp_x = disp_x
    disp_y = disp_y
  []
[]

[Constraints]
  [friction]
    type = ComputeDynamicFrictionalForceLMMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_normal_lm
    disp_x = disp_x
    disp_y = disp_y
    disp_z = disp_z
    use_displaced_mesh = true
    friction_lm = mortar_tangential_lm
    friction_lm_dir = mortar_tangential_3d_lm
    c = 1e5
    c_t = 1.0e5
    newmark_beta = 0.25
    newmark_gamma = 0.5
    interpolate_normals = false
    correct_edge_dropping = true
    capture_tolerance = 1e-04
    function_friction = mu_function
  []
  [normal_x]
    type = NormalMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_normal_lm
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    interpolate_normals = false
    correct_edge_dropping = true
    weighted_gap_uo = weighted_vel_uo
  []
  [normal_y]
    type = NormalMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_normal_lm
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    interpolate_normals = false
    correct_edge_dropping = true
    weighted_gap_uo = weighted_vel_uo
  []
  [normal_z]
    type = NormalMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_normal_lm
    secondary_variable = disp_z
    component = z
    use_displaced_mesh = true
    compute_lm_residuals = false
    interpolate_normals = false
    correct_edge_dropping = true
    weighted_gap_uo = weighted_vel_uo
  []
  [tangential_x]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_tangential_lm
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    interpolate_normals = false
    correct_edge_dropping = true
    weighted_velocities_uo = weighted_vel_uo
  []
  [tangential_y]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_tangential_lm
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    interpolate_normals = false
    correct_edge_dropping = true
    weighted_velocities_uo = weighted_vel_uo
  []
  [tangential_z]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_tangential_lm
    secondary_variable = disp_z
    component = z
    use_displaced_mesh = true
    compute_lm_residuals = false
    interpolate_normals = false
    correct_edge_dropping = true
    weighted_velocities_uo = weighted_vel_uo
  []
  [tangential_dir_x]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_tangential_3d_lm
    secondary_variable = disp_x
    component = x
    direction = direction_2
    use_displaced_mesh = true
    compute_lm_residuals = false
    interpolate_normals = false
    correct_edge_dropping = true
    weighted_velocities_uo = weighted_vel_uo
  []
  [tangential_dir_y]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_tangential_3d_lm
    secondary_variable = disp_y
    component = y
    direction = direction_2
    use_displaced_mesh = true
    compute_lm_residuals = false
    interpolate_normals = false
    correct_edge_dropping = true
    weighted_velocities_uo = weighted_vel_uo
  []
  [tangential_dir_z]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_tangential_3d_lm
    secondary_variable = disp_z
    component = z
    direction = direction_2
    use_displaced_mesh = true
    compute_lm_residuals = false
    interpolate_normals = false
    correct_edge_dropping = true
    weighted_velocities_uo = weighted_vel_uo
  []
[]

[BCs]
  [botx]
    type = DirichletBC
    variable = disp_x
    boundary = 'bottom_left bottom_right bottom_front bottom_back bottom_top bottom_bottom'
    value = 0.0
  []
  [boty]
    type = DirichletBC
    variable = disp_y
    boundary = 'bottom_left bottom_right bottom_front bottom_back bottom_top bottom_bottom'
    value = 0.0
  []
  [botz]
    type = DirichletBC
    variable = disp_z
    boundary = 'bottom_left bottom_right bottom_front bottom_back bottom_top bottom_bottom'
    value = 0.0
  []
  [topx]
    type = FunctionDirichletBC
    variable = disp_x
    boundary = 'top_top'
    function = '0.1*t'
  []
  [topy]
    type = DirichletBC
    variable = disp_y
    boundary = 'top_top'
    value = 0.0
  []
  [topz]
    type = FunctionDirichletBC
    variable = disp_z
    boundary = 'top_top'
    function = '-0.1*t'
  []
[]

[Executioner]
  type = Transient
  end_time = .04
  dt = .02
  dtmin = .001
  solve_type = 'NEWTON'
  petsc_options = '-snes_converged_reason -ksp_converged_reason -snes_ksp_ew'
  petsc_options_iname = '-pc_type  -pc_factor_shift_type'
  petsc_options_value = ' lu       NONZERO             '
  nl_rel_tol = 5e-13
  nl_abs_tol = 5e-13
  line_search = 'basic'

  [TimeIntegrator]
    type = NewmarkBeta
    gamma = 0.5
    beta = 0.25
  []
[]

[Debug]
  show_var_residual_norms = true
[]

[Outputs]
  exodus = true
  csv = true
[]

[Preconditioning]
  [smp]
    type = SMP
    full = true
  []
[]

[Postprocessors]
  active = 'contact'
  [contact]
    type = ContactDOFSetSize
    variable = mortar_normal_lm
    subdomain = 'secondary_lower'
    execute_on = 'nonlinear timestep_end'
  []
[]

[VectorPostprocessors]
  [contact-pressure]
    type = NodalValueSampler
    block = secondary_lower
    variable = mortar_normal_lm
    sort_by = 'id'
    execute_on = TIMESTEP_END
  []
  [frictional-pressure]
    type = NodalValueSampler
    block = secondary_lower
    variable = mortar_tangential_lm
    sort_by = 'id'
    execute_on = TIMESTEP_END
  []
  [frictional-pressure-3d]
    type = NodalValueSampler
    block = secondary_lower
    variable = mortar_tangential_3d_lm
    sort_by = 'id'
    execute_on = TIMESTEP_END
  []
  [tangent_x]
    type = NodalValueSampler
    block = secondary_lower
    variable = mortar_tangent_x
    sort_by = 'id'
    execute_on = TIMESTEP_END
  []
  [tangent_y]
    type = NodalValueSampler
    block = secondary_lower
    variable = mortar_tangent_y
    sort_by = 'id'
    execute_on = TIMESTEP_END
  []
[]

(modules/contact/test/tests/mortar_dynamics/frictional-mortar-3d-dynamics-light.i)

starting_point = 0.25
offset = 0.00

[GlobalParams]
  displacements = 'disp_x disp_y disp_z'
  volumetric_locking_correction = true
[]

[AuxVariables]
  [mortar_tangent_x]
    family = LAGRANGE
    order = FIRST
  []
  [mortar_tangent_y]
    family = LAGRANGE
    order = FIRST
  []
  [mortar_tangent_z]
    family = LAGRANGE
    order = FIRST
  []
[]

[AuxKernels]
  [friction_x_component]
   type = MortarFrictionalPressureVectorAux
   primary_boundary = 'bottom_top'
   secondary_boundary = 'top_bottom'
   tangent_one = mortar_tangential_lm
   tangent_two = mortar_tangential_3d_lm
   variable = mortar_tangent_x
   component = 0
   boundary = 'top_bottom'
  []
  [friction_y_component]
   type = MortarFrictionalPressureVectorAux
   primary_boundary = 'bottom_top'
   secondary_boundary = 'top_bottom'
   tangent_one = mortar_tangential_lm
   tangent_two = mortar_tangential_3d_lm
   variable = mortar_tangent_y
   component = 1
   boundary = 'top_bottom'
  []
  [friction_z_component]
   type = MortarFrictionalPressureVectorAux
   primary_boundary = 'bottom_top'
   secondary_boundary = 'top_bottom'
   tangent_one = mortar_tangential_lm
   tangent_two = mortar_tangential_3d_lm
   variable = mortar_tangent_z
   component = 2
   boundary = 'top_bottom'
  []
[]

[Mesh]
  [top_block]
    type = GeneratedMeshGenerator
    dim = 3
    nx = 2
    ny = 2
    nz = 1
    xmin = -0.25
    xmax = 0.25
    ymin = -0.25
    ymax = 0.25
    zmin = -0.25
    zmax = 0.25
    elem_type = HEX8
  []
  [rotate_top_block]
    type = TransformGenerator
    input = top_block
    transform = ROTATE
    vector_value = '0 0 0'
  []
  [top_block_sidesets]
    type = RenameBoundaryGenerator
    input = rotate_top_block
    old_boundary = '0 1 2 3 4 5'
    new_boundary = 'top_bottom top_back top_right top_front top_left top_top'
  []
  [top_block_id]
    type = SubdomainIDGenerator
    input = top_block_sidesets
    subdomain_id = 1
  []
  [bottom_block]
    type = GeneratedMeshGenerator
    dim = 3
    nx = 2
    ny = 2
    nz = 1
    xmin = -.5
    xmax = .5
    ymin = -.5
    ymax = .5
    zmin = -.3
    zmax = -.25
    elem_type = HEX8
  []
  [bottom_block_id]
    type = SubdomainIDGenerator
    input = bottom_block
    subdomain_id = 2
  []
  [bottom_block_change_boundary_id]
    type = RenameBoundaryGenerator
    input = bottom_block_id
    old_boundary = '0 1 2 3 4 5'
    new_boundary = '100 101 102 103 104 105'
  []
  [combined]
    type = MeshCollectionGenerator
    inputs = 'top_block_id bottom_block_change_boundary_id'
  []
  [block_rename]
    type = RenameBlockGenerator
    input = combined
    old_block = '1 2'
    new_block = 'top_block bottom_block'
  []
  [bottom_right_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = block_rename
    new_boundary = bottom_right
    block = bottom_block
    normal = '1 0 0'
  []
  [bottom_left_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = bottom_right_sideset
    new_boundary = bottom_left
    block = bottom_block
    normal = '-1 0 0'
  []
  [bottom_top_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = bottom_left_sideset
    new_boundary = bottom_top
    block = bottom_block
    normal = '0 0 1'
  []
  [bottom_bottom_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = bottom_top_sideset
    new_boundary = bottom_bottom
    block = bottom_block
    normal = '0  0 -1'
  []
  [bottom_front_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = bottom_bottom_sideset
    new_boundary = bottom_front
    block = bottom_block
    normal = '0 1 0'
  []
  [bottom_back_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = bottom_front_sideset
    new_boundary = bottom_back
    block = bottom_block
    normal = '0 -1 0'
  []
  [secondary]
    input = bottom_back_sideset
    type = LowerDBlockFromSidesetGenerator
    sidesets = 'top_bottom' # top_back top_left'
    new_block_id = '10001'
    new_block_name = 'secondary_lower'
  []
  [primary]
    input = secondary
    type = LowerDBlockFromSidesetGenerator
    sidesets = 'bottom_top'
    new_block_id = '10000'
    new_block_name = 'primary_lower'
  []
  uniform_refine = 0
  allow_renumbering = false
[]

[Variables]
  [mortar_normal_lm]
    block = 'secondary_lower'
    use_dual = true
  []
  [mortar_tangential_lm]
    block = 'secondary_lower'
    use_dual = true
  []
  [mortar_tangential_3d_lm]
    block = 'secondary_lower'
    use_dual = true
  []
[]

[Physics/SolidMechanics/Dynamic]
  [all]
    add_variables = true
    hht_alpha = 0.0
    newmark_beta = 0.25
    newmark_gamma = 0.5
    mass_damping_coefficient = 0.0
    stiffness_damping_coefficient = 0.1
    displacements = 'disp_x disp_y disp_z'
    generate_output = 'stress_xx stress_xy stress_xz stress_yy stress_zz'
    block = '1 2'
    strain = FINITE
    density = density
  []
[]

[Materials]
  [density]
    type = GenericConstantMaterial
    block = '1 2'
    prop_names = 'density'
    prop_values = '1.0'
  []
  [tensor]
    type = ComputeIsotropicElasticityTensor
    block = '1'
    youngs_modulus = 1.0e4
    poissons_ratio = 0.0
  []
  [stress]
    type = ComputeFiniteStrainElasticStress
    block = '1'
  []

  [tensor_1000]
    type = ComputeIsotropicElasticityTensor
    block = '2'
    youngs_modulus = 1e5
    poissons_ratio = 0.0
  []
  [stress_1000]
    type = ComputeFiniteStrainElasticStress
    block = '2'
  []
[]

[UserObjects]
  [weighted_vel_uo]
    type = LMWeightedVelocitiesUserObject
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    lm_variable_normal = mortar_normal_lm
    lm_variable_tangential_one = mortar_tangential_lm
    lm_variable_tangential_two = mortar_tangential_3d_lm
    secondary_variable = disp_x
    disp_x = disp_x
    disp_y = disp_y
  []
[]

[Constraints]
  [friction]
    type = ComputeDynamicFrictionalForceLMMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_normal_lm
    disp_x = disp_x
    disp_y = disp_y
    disp_z = disp_z
    use_displaced_mesh = true
    friction_lm = mortar_tangential_lm
    friction_lm_dir = mortar_tangential_3d_lm
    mu = 0.4
    c = 1e4
    c_t = 1.0e4
    newmark_beta = 0.25
    newmark_gamma = 0.5
    correct_edge_dropping = true
  []
  [normal_x]
    type = NormalMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_normal_lm
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    correct_edge_dropping = true
    weighted_gap_uo = weighted_vel_uo
  []
  [normal_y]
    type = NormalMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_normal_lm
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    correct_edge_dropping = true
    weighted_gap_uo = weighted_vel_uo
  []
  [normal_z]
    type = NormalMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_normal_lm
    secondary_variable = disp_z
    component = z
    use_displaced_mesh = true
    compute_lm_residuals = false
    correct_edge_dropping = true
    weighted_gap_uo = weighted_vel_uo
  []
  [tangential_x]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_tangential_lm
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    correct_edge_dropping = true
    weighted_velocities_uo = weighted_vel_uo
  []
  [tangential_y]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_tangential_lm
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    correct_edge_dropping = true
    weighted_velocities_uo = weighted_vel_uo
  []
  [tangential_z]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_tangential_lm
    secondary_variable = disp_z
    component = z
    use_displaced_mesh = true
    compute_lm_residuals = false
    correct_edge_dropping = true
    weighted_velocities_uo = weighted_vel_uo
  []
  [tangential_dir_x]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_tangential_3d_lm
    secondary_variable = disp_x
    component = x
    direction = direction_2
    use_displaced_mesh = true
    compute_lm_residuals = false
    correct_edge_dropping = true
    weighted_velocities_uo = weighted_vel_uo
  []
  [tangential_dir_y]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_tangential_3d_lm
    secondary_variable = disp_y
    component = y
    direction = direction_2
    use_displaced_mesh = true
    compute_lm_residuals = false
    correct_edge_dropping = true
    weighted_velocities_uo = weighted_vel_uo
  []
  [tangential_dir_z]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    variable = mortar_tangential_3d_lm
    secondary_variable = disp_z
    component = z
    direction = direction_2
    use_displaced_mesh = true
    compute_lm_residuals = false
    correct_edge_dropping = true
    weighted_velocities_uo = weighted_vel_uo
  []
[]

[BCs]
  [botx]
    type = DirichletBC
    variable = disp_x
    boundary = 'bottom_left bottom_right bottom_front bottom_back'
    value = 0.0
  []
  [boty]
    type = DirichletBC
    variable = disp_y
    boundary = 'bottom_left bottom_right bottom_front bottom_back'
    value = 0.0
  []
  [botz]
    type = DirichletBC
    variable = disp_z
    boundary = 'bottom_left bottom_right bottom_front bottom_back'
    value = 0.0
  []
  [topx]
    type = DirichletBC
    variable = disp_x
    boundary = 'top_top'
    value = 0.0
  []
  [topy]
    type = DirichletBC
    variable = disp_y
    boundary = 'top_top'
    value = 0.0
  []
  [topz]
    type = FunctionDirichletBC
    variable = disp_z
    boundary = 'top_top'
    function = '-${starting_point} * sin(2 * pi / 40 * t) + ${offset}'
  []
[]

[Executioner]
  type = Transient
  end_time = .025
  dt = .025
  dtmin = .001
  solve_type = 'PJFNK'
  petsc_options = '-snes_converged_reason -ksp_converged_reason -snes_ksp_ew'
  petsc_options_iname = '-pc_type -pc_factor_shift_type -pc_factor_shift_amount'
  petsc_options_value = 'lu       NONZERO               1e-14'
  nl_rel_tol = 1e-11
  nl_abs_tol = 1e-11
  line_search = 'basic'
  [TimeIntegrator]
    type = NewmarkBeta
    gamma = 0.5
    beta = 0.25
  []
[]

[Debug]
  show_var_residual_norms = true
[]

[Outputs]
  exodus = true
  csv = true
[]

[Preconditioning]
  [smp]
    type = SMP
    full = true
  []
[]

[Postprocessors]
  active = 'contact'
  [contact]
    type = ContactDOFSetSize
    variable = mortar_normal_lm
    subdomain = 'secondary_lower'
    execute_on = 'nonlinear timestep_end'
  []
[]

[VectorPostprocessors]
  [contact-pressure]
    type = NodalValueSampler
    block = secondary_lower
    variable = mortar_normal_lm
    sort_by = 'id'
    execute_on = TIMESTEP_END
  []
  [frictional-pressure]
    type = NodalValueSampler
    block = secondary_lower
    variable = mortar_tangential_lm
    sort_by = 'id'
    execute_on = TIMESTEP_END
  []
  [frictional-pressure-3d]
    type = NodalValueSampler
    block = secondary_lower
    variable = mortar_tangential_3d_lm
    sort_by = 'id'
    execute_on = TIMESTEP_END
  []
  [tangent_x]
    type = NodalValueSampler
    block = secondary_lower
    variable = mortar_tangent_x
    sort_by = 'id'
    execute_on = TIMESTEP_END
  []
  [tangent_y]
    type = NodalValueSampler
    block = secondary_lower
    variable = mortar_tangent_y
    sort_by = 'id'
    execute_on = TIMESTEP_END
  []
[]

Input Parameters
Input Files
References