thump
Definitions
A dull, heavy sound, such as that made by an object hitting a soft surface.
A heavy blow or strike with a blunt object or part of the body.
To strike or hit something heavily, producing a dull sound.
Examples
I heard a loud thump as the heavy book fell onto the floor.
My heart began to thump in my chest as I waited for the results.
He gave the old machine a sharp thump to get it working again.