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This paper describes an algorithm for real-time synthesis of contact sounds for interactive simulations and animation. The algorithm is derived from a physically-based impact model, and the acoustic characteristics of colliding objects can be realistically simulated by properly adjusting the physical parameters of the model. A technique for describing the spatial dynamics of a resonating object is proposed, which allows simulation of position-dependent interaction. It is shown that the numerical implementation leads to an efficient sound synthesis module, that runs in real-time on low cost platforms. The effectiveness of the model is demonstrated, and its applications are discussed.