Treatment of impact with friction in planar multibody mechanical systems. (Q5955362)

The title problem is formulated using Poisson's hypothesis instead of the traditional Newtonian hypothesis for the coefficient of restitution in impact analyses. The Cartesian momentum/impulse balance equations are then developed and solved for planar systems. In the methodology, the impact problems are classified into seven cases depending upon the collision conditions. Application is envisioned for both open-loop and closed-loop systems. Examples are given. The paper, although restricted to two-dimensional problems, is nevertheless a meaningful contribution to the understanding of complex phenomena of multibody system impact.