Some interesting parts of the 1995 paper (of course 20 m/s is absolutely unrealistic running speed for an adult T. rex):
Farlow and fellow researchers turned their attention to some theoretical constraints on galloping for a 6,000kg T. rex. Specifically, they were interested in the forces that would be exerted on the body of such an animal if it were to fall while moving at speeds of 10 metres per second or the higher speed of 20 metres per second.
The forces could be broken into two components, a vertical force and a horizontal force. The vertical force would be the same regardless of the speed at which the animal was travelling. Because T. rex had puny arms that would not effectively break the fall, the forces were calculated as direct drops of the mass of the torso and the head from their respective heights. The torso, falling 1.46 metres, would experience an impact force of approximately 260,000 newtons and a deceleration of around 6g while the head, falling 3.46 metres would impact with a force of 99,000 newtons and a deceleration of 14g. This should have been enough to do considerable damage to the skull and rupture vital internal organs.
Do the numbers not mean too much to you? Then think of it this way: the head of a T. rex is about the same size and make up as an adult pig. Imagine what would happen to this hapless piggy if you were to drop it from a height of 3.5 metres. Not a pretty site.
Things only get worse for T. rex when it starts moving and, the faster it moves, the worse it gets. The horizontal component of forces during an impact are more difficult to calculate and require such grizzly factors as the "skid distance" and a "friction coefficient". If the T. rex was running at 20 metres per second (72kmh) and skidded 3 metres on impact, the torso would experience a horizontal force of 300,000 newtons or 7g. The resulting net force of both the horizontal and vertical vectors would run out to 400,000 newtons or 9g for the torso and 110,000 newtons or 16g for the head. At 7g, a fighter pilot blacks out. At 16g his head would pop open.
Tyrannosaurus rex could avoid these lethal forces by not travelling at such high speeds but even at half that speed (10 metres per second or 36kmh) the risk of serious injury from a fall would still be very high. There is another benefit from going slower; the slower the animal travelled, the better the chance of being able to recover from a stumble before impacting with the ground.
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Late reply, but Alexander also had something on the 1995 paper (https://www.nature.com/articles/379121a0). His main point was largely that even if a T. rex was capable of running at high speeds (something which is highly unlikely) and faced risk of injury, it almost certainly still would run at said high speeds. Notably, other animals like giraffes still move pretty quickly despite the risk to themselves and animals like monkeys also swing through trees quickly despite similar risk. Granted, as others have pointed out, how animals fall generally is fairly survivable, even at higher speeds since they are not landing straight. An adult T. rex probably isn't moving that fast either, and most of the results from models I have run indicate it is a problem of force generation and ability to support high contact forces, rather than fears of dying from a fall. As such, a T. rex moving at a slower clip and not falling straight down (sliding and skidding some distance) while also transmitting that force over a broad area would likely be pretty survivable. Unpleasant, and in some extreme cases risking some degree of injury? Definitely. But always fatal? Probably not. All said though, Farlow et al. (1995) is still an excellent paper and represents serious quantitative analysis which is almost always a good thing in these matters.
Best,
Adrian
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