So what is R? How do you calculate it's magnitude? If a 10kg block falls under gravity and hits the floor, what will R be?
Interesting question. It's a little trickier to calculate than you might think.
A few things we can point out right away:
1. R is zero until the block actually touches the floor.
2. After the event is over (or to put it another way, reaches a new static equilibrium with the block resting on the floor), R is equal and opposite to the weight of the block.
3. We know that when the block hits the floor, its velocity must go from v (the velocity it was traveling just before it hit the floor) to zero over a period of time. That time might be very short but it cannot be instantaneous (zero duration). An instantaneous change in velocity from v to 0 would require infinite force. Instead there is some finite amount of time, that we can call delta t, between reaching the floor and coming to rest.
4. We also know that because of 3, the block must continue to move downward after the initial moment it touches the floor, even if it lands perfectly flat, because it doesn't come to a stop until the additional time delta t has elapsed. That means that even though the block and the floor are both solid rigid objects in our everyday understanding, the laws of physics say one or both must deform during the collision, at least a little.
That gives us some basic boundary conditions. We know that we can make a graph of the block's position, velocity, and acceleration for the time interval delta t. The block's velocity will decrease from v to 0 on some curve. The position of the block's center of gravity will be moving downward at the start of the time interval, and will be at rest at the end. The force the floor exerts on the block (R) will be 0 in the instant before contact with the floor, the weight of the block at the end of delta t, and the difference (force R minus the weight of the block) will be proportional to the slope of the velocity graph at all points along the way (which, since the slope of the velocity curve is the block's acceleration, is just restating Newton's third law as pertains to the block).
Beyond that, things start depending on the exact qualities of the block and the floor, and other factors. The force between the floor and the block in any given moment is a function of the current amount of elastic and inelastic deformation of the materials, which depends on the position the block has reached, which depends on its movement and acceleration, which are affected by the force. And the force versus deformation curve is not linear, in the real world. A physicist or engineer who needs a definite answer would lay out the differential equations involved and execute a numerical solution, or would do tests with the actual materials, or some combination.
One thing we can do, short of that, is to look at an ideal solution that answers the question, "For a block of mass m, dropped from height h, what is the least possible maximum force the floor could exert on it, and still bring it to a stop within a given distance of floor deflection (assuming the floor yields and the block is perfectly rigid)?" That best case occurs if the floor exerts a constant force from the moment the block contacts it to the moment the block comes to rest. (For this to happen, the block must not bounce, so the floor must be deforming inelastically; that's unrealistic for e.g. a wooden floor but roughly fits how a floor with a few inches of wet sand on it might behave.)
The velocity v of the block on reaching the floor is sqrt(2gh).
By our ideal assumptions, the block decelerates at a constant rate a from velocity v to velocity 0 through a total distance of s. Similarly to the initial fall, v = sqrt(2as), so a = v^2 / (2s).
Substituting sqrt(2gh) for v, and solving for a, that works out to a = g * h/s. In other words, the acceleration of the block when it hits the floor, expressed in g's, is the ratio of the height from which it was dropped, to the total distance it deflects the floor before it stops. If you drop the block from a meter, and it hits something resisting and stops after another meter (a pit full of shaving cream perhaps?), it decelerates at 1g. If you drop the block from a meter, and it hits the floor and stops after deflecting the floor a centimeter, it decelerates at 100g.
The actual force the floor exerts on the block will be the mass times the acceleration, plus the mass times the static force of gravity, so 2mg (twice the weight of the block) for the shaving cream pit that deflects a meter, and 101mg (101 times the weight of the block) for the sand floor that deflects a centimeter.
For a real wooden block landing on a real wooden floor, flat on, the peak forces will be higher. That's because (even though in the real world the block and the floor will both deform) a centimeter of additional movement before the floor stops the block after a 1 meter fall is unrealistically large (for a small building block size block at least). Also, the force is not constant for the entire delta t as in the ideal case, but increases roughly in proportion to the current amount of deformation. The result is a higher peak force applied for a shorter time. The real block will also likely bounce; that is to say, some or all of the deformation will be elastic.
The key understanding here is that to bring the block to rest, the floor must do work on it. The force alone doesn't determine what happens; the distance through which the force is applied matters just as much. (Hence, a smaller force of 2x the weight of the block will bring it to a stop, but only after a much greater distance of additional fall.)
If we're talking about work, force applied over distance, then we're talking about energy. This is important because other things that can happen when the block meets the floor, such as the block breaking or the floor breaking, become very difficult to analyze in terms of the forces over time and distance, especially if they're all happening during the same time interval. These can be much easier to characterize in terms of energy. That's why many solutions to collision problems involve using energy rather than explicit forces. For instance: the falling block develops x amount of kinetic energy, y amount of energy is converted by fracturing the block, leaving z amount of energy to be absorbed by deformation of the floor, which deforms s amount to do so. The underlying physics principles are the same and the results will be the same, but it's often easier to get raw data on e.g. how much total energy it takes to break something, than for a full equation or complete data relating resisting force to velocity and displacement for something in the process of breaking.
Respectfully,
Myriad