The erosion of substrates of arbitrary dynamic hardness and friction coeffi
cient, due to the impact of individual angular particles, was analyzed with
the purpose of predicting crater size, shape, and rebound parameters as a
function of incident particle velocity, angle, orientation, and shape. A ri
gid-plastic theory due to Hutchings (International Journal of Mechanical Sc
iences 1997; 19:45-52), developed for square prates impacting frictionless
surfaces, is generalized for arbitrarily shaped particles impacting surface
s having nonzero friction. The specific case of symmetric angular particles
of arbitrary angularity is studied in detail. The model is shown to match
Hutchings' [1] experimental data for square steel plates on smooth steel su
rfaces. In a companion paper (Papini, Spelt, under review), a parametric st
udy of the input parameters is presented. (C) 2000 Elsevier Science Ltd. Al
l rights reserved.