Technical problems often lead to differential equations with piecewise-smooth right-hand sides. Problems in mechanical engineering, for instance, violate the requirements of smoothness if they involve collisions, finite clearances, or stickslip phenomena. Systems of this type can display a large variety of complicated bifurcation scenarios that still lack a detailed description.This book presents some of the fascinating new phenomena that one can observe in piecewise-smooth dynamical systems. The practical significance of these phenomena is demonstrated through a series of well-documented and...