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Impulsive actuation has been researched in the past two decades as an inexpensive alternative to multi-degree-of-freedom precision positioning systems. The position of a sliding workpiece can be controlled by a 2-degree-offreedom actuation system through simple pushing path planning. However, the final part position as a result of the last touch of the actuator is subject to uncertainty in the friction model used for actuation planning, particularly the free-sliding distance undergone by the workpiece after losing contact with the actuator. This paper first reviews an impact planning method, then augments it using a restitutionbased model that results in an explicit actuator velocity function. Results are given for positioning of a continually rotating workpiece that show improvement over constant-velocity pushing actuation. Such a positioning system is applicable to dynamic positioning for precision metrology or positioning prior to manufacturing operations (e.g., magnetic chuck grinding with part being moved while the table is rotating).