Add option to normalize penalty based on area Ref #3532.

Adds penalty and kinematic dirac contact tests for this feature.

The tests include contact release.
Merge pull request #3569 from jasondhales/penalty_3532

Add option to normalize penalty based on area Ref #3532.
Merge commit 'fe4f91e9a18bf9c23dae2f9ff821964a511c8613'