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Collisions can be classified as completely elastic or inelastic. Collision mechanics theory has gradually developed from elastic to inelastic collision theories. Based on the Hertz elastic collision contact theory and Zener inelastic collision theory model, we derive and explain the Hertz and Zener collision theory model equations in detail in this study and establish the Zener inelastic collision theory, which is a simple and fast calculation of the approximate solution to the nonlinear differential equations of motion. We propose an approximate formula to obtain the Zener nonlinear differential equation of motion in a simple manner. The approximate solution determines the relevant values of the collision force, material displacement, velocity, and contact time.