After the effect of momentum N the velocity of the center of mass changes; in system of coordinates 1 the velocities at the end of impact are equal to: Then the relative velocity of the center of mass of the bodies in system of coordinates 1 after impact is defined by the formula where is determined from the expression The momenta on bodies 1 and 2 change the angular velocities of the bodies; in projections into the linked axes these velocities are equal to
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