Abstract:Painlevé paradox may appear in multi-rigid-body systems subjected to Coulomb’ friction. No solution or multiple solutions make the systems inconsistent or indeterminate. It is worth investigating how the subsequent motions of the systems in inconsistent states evolve since the actual systems will always move on. The theoretical analysis and the experimental verification are carried out to confirm the tangential impact in the inconsistent case of the systems. The characteristic of the stick motions are confirmed during tangential impact.