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As to the advantages and disadvantages of the different densities, at its most basic level, the softer the pool cue tip, the more likely it is to mushroom or flatten out with each hit of the cue ball. What this means is that a soft tip will require more maintenance than a harder tip.
A hard tip will create more CB speed for a given cue speed. From the experiment in the video, the range of coefficients of restitution (COR or e) were between 0.71 to 0.75 for playing cues with medium-hardness tips and 0.81 to 0.87 for jump and break cues with phenolic tips.