Fig. 7
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Peak acceleration, penetration depth, and collision duration for simulations in pkdgrav with different coefficients of rolling friction μr and shape parameters β. The coefficient of static friction μs = 1.0 and the coefficient of twisting friction μt = 1.3. The simulation results match the experimental data best when μr = 0.5 and β = 0.1 and when μr = 1.05 and β = 0.05.
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