Equations of Impact with Dependent Angles

Can this be a solution? But I'm very unsure about it...

I've tried to describe that the joint velocities variation is dependent on multiple links.

Please help :-) !

I just see equations for momentum. I don't see any equations where you've looked at the kinetic energy, or potential energy either for that matter. Is there something I've missed in the description that allows you to ignore the energy?

Thank you for looking at it.

It are indeed equations for momentum. Variation of momentum is in fact also variation of kinetic energy. There is no variation of potential energy immediately after impact, because positions are the same. There is only a jump in velocities, immediately after impact.

Equations are based at this principle:

Yes, but I don't see any terms of the form v² or (dθ/dt)².

I'm sure that the principle to use equations for momentum is correct.

But if you have another idea, you may allways suggest it to me...

Sorry but was not clear to me the pictures of the system,first that, then the equations: may be my fault.-