Simultaneous Collision of the Rigid Body at Two Points

We present a new approach based on the notion of inertance for the simultaneous collisions without friction of a rigid solid. The calculations are performed using the screw (plückerian) coordinates, while the results are obtained in matrix form, and they may be easily implemented for different practical situations. One calculates the velocities after collision, the energy of lost velocities, and the loss of the kinetic energy. The general algorithm of calculation is described in the paper. The main assumption is that the normal velocities at the contact points vanish simultaneously. The coefficients of restitution at the contact points may be equal or not. Some completely solved applications are also presented, and the numerical results are discussed. The numerical values depend on which coefficient of restitution is used.