 Floor-impulse dependence of a rolling-cylinder collision

A smooth central collision leaves a cylinder's angular velocity unchanged if the floor supplies negligible tangential impulse. Imposing rolling without slipping during the impact instead requires a floor impulse and changes the cylinder's effective translational mass to $m+I/r^2$. Consequently a pre-impact rolling condition alone does not determine the outgoing velocities: the impulsive contact law must also be specified. For a uniform solid cylinder striking a stationary point mass $2m$ in an elastic collision, the target acquires $2u/3$ with negligible floor impulse, and $6u/7$ with an enforced rolling constraint, where $u$ is the incoming centre speed.