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The skipping is an effect of inertia combined with the geometry of a curved Earth surface, that is, there is not necessarily any particular force as such that bounce the vehicle. If you regard the orbit of a vehicle on reentry without considering the atmosphere, you would see it make an elliptical orbit, that is, the height of the vehicle would initially drop but then flatten out at perigee (closest distance to earth) and then start to rise again as the vehicle would climb back up to apogee (farthest distance, assuming a closed orbit here). So, without atmosphere the vehicle would "skip out" every time (as long as it didn't actually hit the earth, of course).
To make a direct reentry with atmosphere, the reentry orbit of the vehicle must be made such that the vehicle enters sufficiently low into the atmosphere to break to low speed. There are then two extremes.
If the reentry is made too high (corresponding to a "too shallow" reentry angle) the vehicle will not encounter air dense enough to slow it down from orbital speed and it will leave the atmosphere again (only, a bit slower than it came in). If the initial speed was very high, as when entering directly from another planet (on a so-called hyperbolic entry), the loss in speed may not even be enough to place the vehicle in a closed (elliptical) orbit around Earth and it may in that case continue "out into interplanetary space". If the orbit after passing through the atmosphere is elliptical the vehicle will continue around almost one full orbit and then reentry the atmosphere again where it will slow even more, and so forth until it is finally captured in the atmosphere.
If, on the other hand, the reentry orbit is made too close to Earth (corresponding to a "too steep" angle), the vehicle may enter the denser part of the atmosphere too quickly where the subsequent release of energy from friction will overwhelm the thermal protection system of the vehicle (consider here that the low orbital energy of just 1 kg of mass is enough to make around 100 liters of 20 degree C water boil and all that energy has to be bleed off into the atmosphere in a controlled fashion in order not to "burn up").
So, depending on the speed and the ballistic characteristics of the vehicle, there is a usually small range of initial entry orbit perigees that will allow for a safe slow-down of the vehicle. By using a vehicle that is capable of generating aerodynamic lift (which is the norm for manned vehicles), the safe range can be extended a bit compare to a purely ballistic (drag-only) reentry.