In this study, an analytical model of the elastic impact of a solid rubber sphere with a rigid flat is analyzed. The linear and angular motion of the sphere have been simulated for the oblique (60°) and normal (0°) impact cases. The impact of the sphere with the rigid flat has been represented with a nonlinear contact force. The damping term of a previous normal contact force has been modified with a new expression. The normal contact force as a function of deflection has been studied for different cases.
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