This is true, for example, in a situation where objects are making and breaking contact at high enough velocities that contact dynamics play a significant effect in the motion of the colliding objects. There has been some work studying models of collision, in particular for the design and analysis of systems with intermittent constraints, and for the design of juggling robots. Our work extends previous studies in planar juggling to the case of a polygonal object, using the model of rigid body impulsive collision.
Simulations verify the results of a linearized analysis.