  We consider the problem of a rigid body, subject to a unilateral constraint,
in the presence of Coulomb friction. We regularize the problem by assuming
compliance (with both stiffness and damping) at the point of contact, for a
general class of normal reaction forces. Using a rigorous mathematical
approach, we recover impact without collision (IWC) in both the inconsistent
and indeterminate Painlev\'e paradoxes, in the latter case giving an exact
formula for conditions that separate IWC and lift-off. We solve the problem for
arbitrary values of the compliance damping and give explicit asymptotic
expressions in the limiting cases of small and large damping, all for a large
class of rigid bodies.
