Experiments on the low-speed impact of solid objects into granular media have been used both to mimic geophysical events 1-5 and to probe the unusual nature of the granular state of matter [6][7][8][9][10] . Observations have been interpreted in terms of conflicting stopping forces: product of powers of projectile depth and speed 6 ; linear in speed 7 ; constant, proportional to the initial impact speed 8 ; and proportional to depth 9,10 . This is reminiscent of high-speed ballistics impact in the nineteenth and twentieth centuries, when a plethora of empirical rules were proposed 11,12 . To make progress, we developed a means to measure projectile dynamics with 100 nm and 20 μs precision. For a 1-inch-diameter steel sphere dropped from a wide range of heights into noncohesive glass beads, we reproduce previous observations 6-10 either as reasonable approximations or as limiting behaviours. Furthermore, we demonstrate that the interaction between the projectile and the medium can be decomposed into the sum of velocity-dependent inertial drag plus depth-dependent friction. Thus, we achieve a unified description of low-speed impact phenomena and show that the complex response of granular materials to impact, although fundamentally different from that of liquids and solids, can be simply understood.To measure dynamics, we use a line-scan digital CCD (chargecoupled device) camera to image a finely striped transparent rod attached vertically to the top of the projectile (see the Methods section). The instantaneous speed is the key quantity, deduced from the displacement of the striped pattern between successive frames. The temporal precision is 20 μs, set by the 50 kHz frame rate of the line-scan camera. The position resolution is 100 nm, set by the 3.8 μm per pixel magnification divided by the square root of the number of pixels. These combine to give a velocity resolution of 0.5 cm s −1 . Besides measurement fidelity, another advantage of our method is that it applies even to very deep impacts-as long as the striped rod does not submerge.Our complete dynamics data set is shown in Fig. 1, which shows position z, velocity v, and acceleration a, versus time t, for initial impact speeds, v 0 , ranging from 0 to −400 cm s −1 . Time is measured from initial impact; position is measured upwards from the granular surface, opposite to gravity. A striking feature is that, although the final position is approached smoothly, the velocity vanishes abruptly with a discontinuity in acceleration. Similar behaviour is evident in data from an embedded accelerometer (P. B. Umbanhowar, private communication, 2004; J. C. Amato, private communication, 2005). This is counter to the viscous approach to a stable equilibrium, where acceleration vanishes continuously, but it permits the stopping time, t stop , to be easily gauged from the velocity versus time data. Note that t stop actually decreases with increasing impact speed; surprisingly, deeper penetration requires less time. Evidently, granular matter is very different from ordinary ...