The dynamics of a rigid body under impact (Q1108073)

The motion of an absolutely rigid body under impact (impulsive motion) is considered. The analogy between this motion and the motion of a rigid body in a fluid is pointed out: the influence of the inertial properties of the body on the motion is defined in both cases by three second-order surfaces. Using the moments of the impact pulses at the point of contact (the influence of rolling friction and revolving friction), the necessary conditions are obtained for the appearance of ``tangential'' impact (TI). A well-known characteristic of TI is that the reaction assists in increasing the approach velocity of the points of contact of the colliding bodies, including the case when the initial approach velocity is zero (``collision without impact''). Previously studies of TI have only taken account of the impact pulse (the normal component of the reaction and sliding friction). The physical meaning of TI has been elucidated in a discussion of the ``paradoxes'' of dry friction and in the popular literature. In working devices TI often makes its appearances as dynamic selfbraking, and as unwanted cases of ``sticking'' and ``seizing''.