The planar oblique impact of a homogeneous sphere on an infinitely massive rough plane is described assuming that normal and tangential restitution mechanisms operate independently of friction, and that frictional effects include not only the usual Coulomb model but also rolling friction effects. This formulation extends early models including rolling friction effects in the description of impact events to include the independent friction restitution closure. The model yields velocity-independent equations for postimpact linear and angular velocities in four impact regimes, namely, sliding plus rolling, sliding nonrolling, stick plus rolling, and stick nonrolling whose predictions are compared with experimental data from the literature.
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