On Newtons and Poissons Rules of Percussive Dynamics

The equivalence between both rules and a broad condition for them to be energetically consistent is presented for single point collisions in multibody systems with perfect constraints. It is fulfilled in collisions described by equations of motion with constant coefficients -sliding in the same direction or no sliding- and in balanced collisions -sliding velocity would not change if friction were negligible- coulomb's friction and infinite tangential stiffness are assumed at the collisions point