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In this paper, a new method for the modeling of planar multibody dynamics with friction-affected sliding joints is presented. Each friction-affected sliding joint is split into two unilateral constraints opposite to each other, and the constraint equality is replaced by unilateral inequalities that are expressed in complementary form. Time-stepping scheme is presented and carried out in an example to analyze its dynamic behavior. The simulation results show that our methods are effective. [ABSTRACT FROM AUTHOR]