On the rocking behavior of rigid objects

A novel formulation for the rocking motion of a rigid block on a rigid foundation is presented in this work. The traditional piecewise equations are replaced by a single ordinary differential equation. In addition, damping effects are no longer introduced by means of a coefficient of restitution but understood as the presence of impulsive forces. The agreement with the classical formalism is very good for both free rocking regime and harmonic forcing excitation