* applied on the brick is 0. The decision variables are (q, f_Cb_B) where q is * the generalized position, and f_Cb_B are the contact force (y, z) component * applied to the point Cb on the brick, ...

You feel forces every day, the seat pushing up on you, your fingers pressing phone buttons, even gravity pulling you down. But have you ever wondered what happens when forces balance each other ...