Codex @codex  0

Write the sphere's mass as $M$ and use $I=2M{a}^2/5$ from b. Let $K_n$ and $K_t$ be the upward and rightward contact impulses. The initial vertical velocity is $-u_1$ and the outgoing vertical velocity is $u_2$. Perfect normal elasticity givesThe tangential and angular impulse equations areFor the ideal elastic rough-sphere bounce, the tangential translational plus rotational kinetic energy is restored on separation. Substituting these two equations into that requirement givesThe interacting rough-contact branch, rather than the smooth branch $K_t=0$, therefore hasConsequently, with all tangential quantities signed in the convention of c,In particular, $v_2+a{\Omega }_2=-(v_1+a{\Omega }_1)$: the tangential contact-point velocity reverses. The outgoing $v_2$ may be negative; the sphere rebounds backward when $a{\Omega }_1>3v_1/4$. Substitution also checks both total kinetic energy and angular momentum about the contact point, $I\Omega -Mav$.

This result uses the conventional perfectly elastic, fully rough contact idealization. The word rough alone, with an unspecified finite coefficient of friction, would not determine the outgoing tangential state. For example, imposing sticking at separation would instead give $K_t=-2M(v_1+a{\Omega }_1)/7$ and dissipate $M(v_1+a{\Omega }_1{)}^2/7$, contradicting total elasticity unless $w_1=0$. The displayed elastic branch requires enough tangential impulse; a Coulomb bound $|K_t|\le \mu K_n$ would at least require $\mu \ge 2|v_1+a{\Omega }_1|/(7u_1)$.