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Presents a systematic view of vibro-impact dynamics based on the nonlinear dynamics analysis§Comprehensive understanding of any vibro-impact system is critically impeded by the lack of analytical tools viable for properly characterizing grazing bifurcation. The authors establish vibro-impact dynamics as a subset of the theory of discontinuous systems, thus enabling all vibro-impact systems to be explored and characterized for applications.§Vibro-impact Dynamics presents an original theoretical way of analyzing the behavior of vibro-impact dynamics that can be extended to discontinuous dynamics. All topics are logically integrated to allow for vibro-impact dynamics, the central theme, to be presented. It provides a unified treatment on the topic with a sound theoretical base that is applicable to both continuous and discrete systems§Vibro-impact Dynamics:§Presents mapping dynamics to determine bifurcation and chaos in vibro-impact systems§Offers two simple vibro-impact systems with comprehensive physical interpretation of complex motions§Uses the theory for discontinuous dynamical systems on time-varying domains, to investigate the Fermi-oscillator§Essential reading for graduate students, university professors, researchers and scientists in mechanical engineering.