It is well-known that for vibro-impact systems an existence of a periodic solution with a low-velocity impact (so-called grazing) may yield a complex behavior of solutions. Slightly changing the parameters of a system with grazing, we may obtain a periodic solution which passes near the delimiter without touching it. In this paper we show that sometimes existence of these solutions can provide chaos.
Kryzhevich, S., Ing, J., & Wiercigroch, M. (2012). Through the looking-glass of the grazing bifurcation. In IEEE 4th International Conference on Nonlinear Science and Complexity, NSC 2012 - Proceedings (pp. 69-74). IEEE Press. https://doi.org/10.1109/NSC.2012.6304728