A contact model based on volumetric properties is presented. The model properties are derived assuming the elastic behavior of the contacting objects can be approximated as a modified Winkler elastic foundation model, and that the contact surface between the objects is approximately flat. The resulting model includes friction and features a contact force proportional to the inter-penetration volume. The work shows that the Coulomb friction is affected by the relative motion. The contact model can be used as a general-purpose tool to model contact dynamics for a broad range of object shapes because the volumetric quantities that serve as input to the contact model can be determined for any object shape. A numerical simulation of a Tippe-Top is presented, and the results are shown to be consistent with published data, but with a higher spinning friction torque.

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