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                <term xml:lang="en">UNILATERAL CONSTRAINTS</term>
                <term xml:lang="en">NONSMOOTH MECHANICS</term>
                <term xml:lang="en">IMPACTS</term>
                <term xml:lang="en">CONTROLLABILITY</term>
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              <p>This paper deals with the controllability of a class of nonsmooth complementa- rity mechanical systems. Due to their particular structure they can be decomposed into an "object" and a "robot", consequently they are named juggling systems. It is shown that the accessibility of the "object" can be characterized by nonlinear constrained equations, or generalized equations. Examples are presented, including a simple model of backlash. The main focus of the work is about linear jugglers, but extensions towards more complicated models are considered.</p>
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