Errata

Proc. R. Soc. Lond . A 431, 169–181 (1990) Rigid body collisions with friction By W. J. Stronge Page 172, equation (7), for û o > 0 and û o < 0 read û > and û < 0. Page 172, line 11, for As read Though. Page 173, figure 2 caption, for 0 < û o / v o ≤ μ * read 0 < û o , μ ≤ μ * and for û o / v o > μ * read 0 < û o , μ > / μ * Page 175, equations (26) and (28), for 2D n /v o read 2D n / v ^ o . The impact process termed jamb (page 177) is a counterpart of Painleve’s paradox for dynamics of sliding (P. Lötstedt, Z . angew. Math. Mech . 61, 605–615 (1981)).