Bifurcations and chaos for the quasiperiodic bouncing ball

Abstract
We investigate the influence of a second frequency on the classical periodic bouncing-ball problem, and call it the quasiperiodic bouncing ball. We indicate how to compute the Lyapunov exponent for implicit maps and confirm the presence of chaos for the periodic bouncing ball. We have numerically found a series of nontrivial bifurcations for the quasiperiodic bouncing ball. We have also found several cases of nonperiodic attractors with negative Lyapunov exponents.