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Principles, Assumptions, and Definitions Point-Mass Collisions in a Plane Restitution, Friction, and Energy Loss Three-Dimensional Particle Collisions Planar Rigid Body Collisions Planar Barrier Collisions Three-Dimensional Impact of Rigid Bodies Planar Impact of Linkages and Articulated Rigid Bodies Vibratory Impact Application to Vehicle Collisions Index.
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Brach et al. (1991) studied this question.
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