Impact of moving bodies on structures

Mathematical model of rigid body motion on a rigid rough surface or structure in space is developed. Rigid bodies of different shapes are replaced with a sphere. The equations of fundamental modes of motion of a rigid sphere, i.e. rolling, sliding, flying in the air and collision are given, as well as switching conditions from one phase to another. The equations are solved numericaly with Runge-Kutta methods provided by Matlab. The computer code in the Matlab environment is made. Program is capable of including all types of motion and switching between different phases. The results are shown in a form of diagrams and animations. The numerical solution is verified against the plane motion example, which is analytically solutable. The applications consist of examples of sphere motion on a water slide and motion of rock masses on a steep slope