Overview: No mathematical theory can completely describe the complex world around us. Every theory is aimed at a certain class of phenomena, formulates their essential features, and disregards what is of minor importance. The theory meets its limits of applicability where a dis regarded influence becomes important. Thus, rigid-body dynamics describes in many cases the motion of actual bodies with high accu racy, but it fails to produce more than a few general statements in the case of impact, because elastic or anelastic deformation, no matter how local or how small, attains a dominating inf
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