The main objective of this work is to present general methodologies for contact-impact analysis under the framework of nonsmooth dynamics approach, contributing towards the multibody systems formulations. This desideratum is achieved by employing a solid mathematical and computational program on this field of investigation, that is, the formulations associated with non-smooth dynamics approach, the Lagrangian dynamic systems and the impact laws are taken into account. The dynamics of rigid multibody systems are stated as an equality of measures, which are formulated at the velocity-impulse...