On the Use of the Momentum Balance in the Impact Analysis of Constrained Elastic Systems

In elastic systems, impulsive forces that act at a point on a deformable body produce stress waves that travel with finite speeds. This paper examines, both theoretically and numerically, the validity of using the generalized impulse momentum approach in modeling impact or collisions in the constrained motion of deformable bodies. The generalized impulse momentum equations that involve the coefficient of restitution and the kinematic constraint Jacobian matrix are used to predict the jump discontinuity in the velocity vector as well as the joint reaction forces