Rigid body collisions of a special class of planar kinematic chains

The rigid body collisions of a special class of planar kinematic chains with rough and flat surfaces are studied. The common aspect of this class of problems is the configuration of the chain immediately before impact. One end of the mechanism strikes the surface while the other end is resting on the surface before contact and both ends are free to detach following the impact event. The methodology also accounts for velocity reversals at the contact points and addresses the difficulties associated with the resting end. Two examples are presented to demonstrate the application of the proposed methodology and emphasize some special aspects of the underlying problems