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The simulation of multi-body systems with frictional contacts is a fundamental tool for many fields, such as robotics, computer graphics, and mechanics. Hard frictional contacts are particularly troublesome to simulate because they make the differential equations stiff, calling for computationally demanding implicit integration schemes. We suggest to tackle this issue by using exponential integrators, a long-standing class of integration schemes (first introduced in the 60's) that in recentdoi:10.48550/arxiv.2101.06846 fatcat:l2pa2phyq5cydb3x2kkfexd6ti