Abstract: The impact problem between bodies is an important research task in the domain of modern engineering. Most previous researching work has focused on the impact problem of multi rigid body systems. In this kind of multi rigid body systems, two rigid bodies are connected by a hinge. But there is another kind of impact systems. In this kind of impact systems, there is no hinge among the colliding bodies. All of bodies may be free or constrained by their surroundings but for the hinges among them. This collisio...