But I feel something did not look correct so that I did not post it earlier. May be you can provide more input to modify the model.

New model used in the simulation:

vy' = -COR *vy; when the ball touch table.

then, the change of momentum in vertical direction is dPy=m*(vy'-vy)= -m*(COR+1)*vy;

The Normal force N= dPy/dt=-m*(COR+1)*vy/dt;

The friction force fr= u*N = -u*m*(COR+1)*vy/dt;

Change of momentum in horizontal direction is dPx= fr*dt

So vx'= vx+dPx/m =vx -u*(COR+1)*vy;

Torque = R*fr = I *dw/dt

so dw=R*fr*dt/I = R*dPx/ I

Air resistance is also included in the model. F= 0.5*rho*v[sup]2[/sup]*A/2= -0.143 (vx*vx+vy*vy);

Press the