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Jeff, thanks for your reply.
I think I found the problem (for the 2nd example) was because the ball's center was at (0,0,0) and the position was initially (0,0,0) as well. Therefore, the ball was initially colliding with the ground and thus it pops or bounces up.
If I moved the initial position to (0,.25,0), then I didn't notice a bounce.
Thanks again!
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