Abstract
The dynamics of a rigid 2-dimensional body in contact with walls is systematically considered. The body is seen to exhibit four different kinds of motion when it is contact with one wall and nine different kinds of motion when it is in contact with two walls. Each kind of motion is discussed and the region in the (F,T) space where the motion is exhibited is delineated. In addition it is seen that in some situations two or more of these regions can overlap leading to ambiguities.
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