Two Rigid Bodies Colliding
This chapter starts with the dynamics of two rigid bodies with one contact/impact point, including the local kinematics which allow one to define the unilateral constraint between the two bodies. Rigid body impact laws with or without friction are reviewed in details. Kinematic (Newton), kinetic (Poisson), and energetic (Stronge) coefficients of restitution are analyzed. Several examples are presented in details, as well as the Darboux-Keller’s impact dynamics with Coulomb’s friction. Models based on Hertz’ contact theory and its extension to elastoplastic materials (with or without adhesive or frictional effects) are described, completing the presentation of viscoelastic rheological models made in Chap. 2. A brief introduction to impacts in flexible structures ends the chapter.