Elastic rough-sphere bounce ($K_t=-2(v+a\Omega )/(M^{-1}+a^2/I)$)

An ideal elastic collision between a sphere and a stationary plane reverses normal approach velocity. On the fully rough, tangentially elastic branch, the tangential contact-point velocity reverses too. If $K_t$ is the signed tangential impulse, translation and spin obey $M\Delta v=K_t$ and $I\Delta \Omega =a{K}_t$, with positive spin anticlockwise. Restoring tangential translational plus rotational kinetic energy givesThe nonzero root is the displayed impulse; the other root is the smooth-contact branch. For $I=2M{a}^2/5$, the map is $v^{\prime }=(3v-4a\Omega )/7$ and $a{\Omega }^{\prime }=-(10v+3a\Omega )/7$. It preserves kinetic energy and the angular momentum about the contact point, $I\Omega -Mav$. An unspecified rough surface need not realize this idealization: finite friction or a dissipative tangential contact law requires additional constitutive data. Setting the outgoing contact slip to zero instead loses $M(v+a\Omega {)}^2/7$ of kinetic energy for this uniform sphere.