Two-Dimensional Rigid-Body Collisions With Friction

[+] Author and Article Information
Yu Wang

Department of Mechanical Engineering, University of Maryland, Baltimore, MD 21228

Matthew T. Mason

School of Computer Science, Carnegie Mellon University, Pittsburgh, PA 15213

J. Appl. Mech 59(3), 635-642 (Sep 01, 1992) (8 pages) doi:10.1115/1.2893771 History: Received March 26, 1990; Revised January 07, 1991; Online March 31, 2008


This paper presents an analysis of a two-dimensional rigid-body collision with dry friction. We use Routh’s graphical method to describe an impact process and to determine the frictional impulse. We classify the possible modes of impact, and derive analytical expressions for impulse, using both Poisson’s and Newton’s models of restitution. We also address a new class of impacts, tangential impact , with zero initial approach velocity. Some methods for rigid-body impact violate energy conservation principles, yielding solutions that increase system energy during an impact. To avoid such anomalies, we show that Poisson’s hypothesis should be used, rather than Newton’s law of restitution. In addition, correct identification of the contact mode of impact is essential.

Copyright © 1992 by The American Society of Mechanical Engineers
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