There are times when parts with exterior constraints on them are dependent upon contact to prevent rigid body motion. In addition, when small gaps exist (especially for curved contact conditions), rigid body motion can occur at the beginning of the solution before contact engages.
When nonlinear contact is present, small gaps that are initially open can lead to rigid body motion (as shown below).
Changing the Initial Interface Treatment property to Adjust to Touch can be an effective means to resolve this gap. Mathematical adjustment to close the gap causes an open region to be visible when post-processing. This gap is simply offset by the contact elements. Note that for concentric cylinders, Adjust to Touch is not recommended. Instead, enter the offset manually.
Alternatively, you can employ Numerical Damping. Rather than ignoring the gap by offsetting the contact elements, the solver applies damping. Then the solver can more easily handle the approach of the bodies towards each other, leading eventually to closed contact. Note that you need to use care and verify that the damping does not negatively impact the accuracy of your analysis.