Understanding Energy Loss to Heat and Friction in Bouncing Objects

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If a ball is dropped on a table it doesn't bounce back at the same height. Is this because some energy is lost to heat? If so, is this an example of friction, or is friction only when objects are being rubbed together?
 
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Yes, mechanical energy is lost as heat (to increase internal energy).
It's not due to friction between the ball and the table (which doesn't really rub in this collision)...
but there is internal friction between the bits of material that make up the ball.