The aim of this report is to propose a unified framework for the determination of non-smooth trajectories for structure-variant mechanical systems along with a computational scheme. The benefits to represent the dynamics as a measure-differential inclusion are presented. The optimal control problem is transcribed into a nonlinear programming problem (NLP) and transformed from the infinite dimensional representation into a finite dimensional representation. The relation to bilevel programming is established. A numerical scheme is proposed for the determination of the state and costate trajectories, which can bear discontinuities and set-valuedness