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This paper proposes the use of a specific combination of discrete and finite element methods for the simulation of systems of deformable bodies in order to reduce the computational cost, when certain assumptions can be made. In particular, the Updated Lagrangian finite element formulation and the central difference time integration method are employed together with certain simplifying assumptions in order to linearize this highly nonlinear contact problem and obtain solutions with realistic computational cost and sufficiently good accuracy. Furthermore, the paper discusses software implementation issues and the advantages that the Java technologies can offer in the development of such engineering applications. [ABSTRACT FROM AUTHOR]