A body acted upon by a force moves in such a manner that the time rate of change of momentum equals the force. $${\bf{F}} = \frac{ {\rm d}\, \mathbf{p}}{{\rm d} \, t}, \qquad {\bf p }= m {\bf v}.$$
Consider a collision process involving two rigid bodies. Their momentum changes instantaneously when they bump into each other, and still the net force has to be some finite number. So why isn't it necessary to introduce some Dirac delta function so "fix" this singularity?