Rigid body impact with moment of rolling friction

In this paper, the impact between a rigid pendulum and rough surfaces is studied. The rolling friction moment and the coefficient of rolling friction are introduced, and an improved mathematical model of the planar impact with friction is presented. The influence of the moment of rolling friction on the energy dissipated by friction during the impact is analyzed. For a simple pendulum, using the energetic coefficient of restitution, more energy is dissipated for larger values of the coefficient of kinetic friction and contact radius, and for smaller values of the length of the beam. For a double pendulum using the kinematic coefficient of restitution, some energetically inconsistent results can be solved for some values of the coefficient of rolling friction.