Dynamics of shallow impact cratering

We present data for the time-dependence of wooden spheres penetrating into a loose non-cohesive packing of glass beads. The stopping time is a factor of three longer than the time \(d/v_\circ\) needed to travel the total penetration distance \(d\) at the impact speed \(v_\circ\). The acceleration decreases monotonically throughout the impact. These kinematics are modelled by a position- and velocity-dependent stopping force that is constrained to reproduce prior observations for the scaling of the penetration depth with the total drop distance.