We study stable periodic motions of a body placed inside a container that performs rectilinear harmonic oscillations. The body itself performs one-dimensional oscillations with impacts under the action of dry friction force which varies with the relative velocity following the piecewise-linear law. We have found analytically the conditions of existence and stability of system periodic motions in a mode of motion that does not include the phase of the body zero relative velocity. The existence and stability of periodic motions of the system in a mode of motion that includes the above-mentioned phase are investigated numerically. The problem is of practical interest, since the considered scheme idealizes the performance of vibrorammers and springless vibration motors.
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