the electrons that orbit the nucleus repel each other, because they have a negative charge. remember, opposites attract, but if two things have the same charge they repel.
so the electron clouds of atoms tend to bounce off each other, (or bond with each other). But it’s almost impossible for the nuclei of two atoms to get close to each other.
And the nuclei of atoms repel each other VERY strongly all by themselves, because the nuclei both have positive charges.
So you can think of each atom as a teeny tiny nucleus surrouded by a large forcefield made of electrons. and there is a second, smaller forcefield that is closer to the nucleus. It’s those forcefields that prevent solid objects from passing through each other.
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