This model models a pendulum on a moving cart. The card moves in the x dimension and the pendulum moves in x-z plane, as shown in the image above. The pendulum collides with the surface of the cart and bounces back with some energy loss, specified by the lambda parameter. There is no extra force except the gravity force applied on the pendulum. In the 3D animation, the x dimension is coming out of the screen.
This model is a Zeno model, where an infinite number of events occur in a finite time. The model has two modes, one for pre-Zeno and for post-Zeno dynamics. This illustrates the ability to model Zeno systems in a reasonable way.