I should have not posted that paper as Baraff solves for forces globally, sorry. You don't need to relate to force using the SI/PGS if you want.

Thus, the relationship between a force F and an impulse P is simply: P = integral( F dt ) from t1-t2 or P = m * ( v(t2) - v(t1) ) or P ~= F * dt, that is, the change in velocity.

Kenny Erleben PhD thesis talks about the e/in-equalities your asking.