Abstract This paper is concerned with the modeling and simulation of two- and three-dimensional impact in the presence of friction. Single impacts are considered, and the impact equations are solved algebraically. Impact generates impulsive normal and frictional forces and the direction of sliding can change during impact. A procedure is developed to estimate the change in direction of sliding during three-dimensional impact. The modes of impact, such as sliding, sticking, or change in direction of sliding, are classified for both two- and three-dimensional impact. Simulations are conducted to analyze the energy lost, change in impact direction, and stick-slip conditions, where different models for restitution are compared. A closed-form solution is developed to analyze the modes of sliding for two-dimensional impact.

Abstract This paper presents an explanation of why a spinning football rotates so that the spin axis remains nearly aligned with the velocity vector, and approximately parallel to the tangent to the trajectory. The paper derives the values of the characteristic frequencies associated with the football’s precession and nutation. The paper presents a graphical way of visualizing how the motions associated with these frequencies result in the observed ”wobble” of the football. A solution for the linearized dynamics shows that there is a minimum amount of spin required for the motion to be stable and for the football not to tumble. This paper notes the similarity of this problem to that of spun projectiles. The results show that the tendency of a football to align itself with and rotate with the velocity vector is associated with an equilibrium condition with a non-zero aerodynamic torque. The torque is precisely the value required for the football to rotate at the same angular rate as the velocity vector. An implication of this is that a release with the football spin axis and velocity vector aligned (zero aerodynamic torque) is not the condition that results in minimum motion after release. Minimum “wobble” occurs when the ball is released with its symmetry axis slightly to the right or left of the velocity vector, depending on the direction of the spin. There are additional forces and moments acting on the football that affect its trajectory and its stability, but it is not necessary to consider these to explain the tendency of the ball to align with the velocity vector and to ”wobble.” The results of this paper are equally applicable to the spiral pass in American football and the screw kick in rugby.