“…Since the bodies are rigid, there is a constraining relation between these velocities for each body υ = V − ω × R (11) both initially and finally, where R is the position of the CM relative to the impact point on each object. Equation (11) specifies the initial values of υ 1 and υ 2 , plus four expressions for υ 1fx , υ 1fy , υ 2fx and υ 2fy .…”