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This work is devoted to the theory of chaotic oscillators in mechanical systems. Detailed descriptions of the basic types of nonlinearity - impacts and dry friction - are presented. The properties of such behaviour are discussed, and the numerical and experimental results obtained by the authors are presented. The dynamic properties of systems described here should be useful in the proper design and use of mechanics where such behaviour still creates problems. The book is designed for anyone with a fundamental knowledge of nonlinear mechanics who is beginning research in the field.