Planar collision-type dependence on incident angle and on friction coefficient

This work addresses the ‘hard collision’ approach to the solution of planar, simple non-holonomic systems undergoing a one-point collision-with-friction problem, showing that (i) there are no coherent types of collision whereby forward sliding follows sticking, unless the initial relative tangential velocity of the colliding points vanishes; and (ii) the type of collision can be determined directly , given the collision angle of incidence α and Coulomb’s coefficient of friction μ between the colliding points. The classic hitting rod problem is used to illustrate the α – μ collision-type dependence. Finally, the relation between collision with friction and tangential impact problems in multibody systems is briefly discussed.