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The proposed work describes the design and construction of an experimental test rig used to quantify the mechanical energy dissipation due to the propagation of elastic waves during the impact of cylinders and validate the background theoretical models. Firstly, the impact of perfectly elastic cylinders is studied using finite element and lumped parameter models. The main result obtained is the coefficient of dissipation, which allows quantifying the total mechanical energy dissipation of the system. Then, the final layout of the test rig designed to reproduce the test conditions of the theoretical models is shown. Two kinds of tests are performed to obtain the energy dissipation of the system with and without impacts. The position of one cylinder during its motion is acquired with an industrial camera. Finally, the experimental results are compared with an analytical model of a nonlinear pendulum and used to quantify the coefficient of dissipation.