Most objects have some elasticity in them. This is the amount of non permanent deformation it can abosorb i.e. how much can you stretch/compress it and it still returns to it’s original shape.
What happens is that when an Object hits the floor, and the impact force is below it’s elasticity, it will non permanently deform. Because it’s non permanent, the object will expand back to it’s original shape as soon as the impact force subsides. This expansion causes it to propel itself back into the air again
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