Methods and systems for simulating beam-to-surface contacts in finite element analysis (FEA) are disclosed. A FEA model contains at least one beam element and at least one surface mesh. Surface mesh comprises a plurality of two-dimensional finite elements having arbitrary mesh density. A minimum characteristic length (CL) of the surface mesh is calculated. One or more interior points are defined for those beam elements with length longer than CL. For every nodal point (i.e., end nodes and interior points if any), a parametric coordinate between 0 and 1 inclusive is established and kept constant throughout the FEA analysis. Distributed nodal masses are used for calculating a stiffness value for calculating nodal force to resist penetration. Initial penetration with the surface mesh at each nodal point along the beam element is compensated with a set of displacements subtracting from the initial nodal displacements, such that the compensational forces remain at zero as the nodal point's initial interpenetration decreases.
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