Rough Collisions with Finite Tangential Stiffness

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3 1 2

R

R

2=2

s

L

3

s

L

1 L

1 3 1=1 2

B B

B

1

B

vt dt

2

C

0

C C

0,1,2

3

4

3

B

4

Ft

E n

2

n

D G F

3

n

C

1

n

B A 1

t

2

t

3

t t

3 1 2

R

R

2=2

s

L

3

s

L

1 L

1 3 1=1 2

2=2

2 1’ 1

2’

3 1=1 3

3 = 3’

3 1 2

R

R

2=2

s

L

3

s

L

1 L

1 3 1=1 2