Figure 10:

(a) The trajectory of the centroid of the soft disk for three selected pairs of $(\kappa ,\eta )$ within the stable cells in Fig. 9(b), including a case with $\eta =0$. (b) Nodal positions of the surface of the structure for the same pairs of $(\kappa ,\eta )$ at $t=10\text{s}$. The results are largely insensitive to the values of penalty parameter values considered here.