This model simulates a rolling ball on plane. It is constructed in SimMechanics (2nd generation). The contact between ball and plane is modelled by taking into accout the support force and simple friction force. The model uses an S-function coded in C language. It must be compiled first by giving a command "mex ballplanecontact.c" in the MATLAB Command Window. The model was inspired by SimMechanics Contact Forces Library.