Motion of a Ball Rolled over a Shallow Step.

A ball rolled over a shallow step will experience an increase in velocity along the direction perpendicular to the step. We work with shallow step heights relative to the radius of the ball so that the motion of the ball is easy to observe at all times, and so that the ball does not bounce when it encounters the lower platform. At the instant the ball contacts the lower platform, it has an I x i -direction linear velocity of I v i SB e sb cos I i and a I z i -direction angular velocity of I i = - I v i SB e sb / I R i . [Extracted from the article]