This work analyzes the effects of the stick-slip transition of planar rigid body systems undergoing simultaneous, multiple point impact with Coulomb friction. A discrete, algebraic approach is used in conjunction with an event-driven scheme which detects impact events. The system equations of motion for the examples considered are indeterminate with respect to the impact forces. Constraints consistent with rigid body assumptions are implemented to overcome the indeterminacy. The post-impact velocities of a system are determined by exploiting the work-energy relationship of a collision and using an energetic coefficient of restitution to model energy dissipation. These developments lead to a unique and energetically consistent solution to the post-impact velocities. A frictionless rocking block example is analyzed as a benchmark case and compared to experimental results to demonstrate the accuracy of the proposed method. Simulation results are also presented for a planar ball example with friction.

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