On The Problem of Constrained Collision
Collision of solids is a complex phenomenon which involves various physical aspects: deformations, vibrations, sound, heating, and so on. It is impossible to account for all these effects in full scale, and any model of impact is more or less approximate. In multibody dynamics, collisions are treated as instantaneous changes of velocities and angular velocities under impulsive reactions. The problem is to determine such changes or, similarly, the impulses.
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