Brandon Trabon wrote me (a comment on this post) the other day and said thanks for my "simple-samples" for the Farseer Physics Engine. It had helped him getting started with the engine, which makes me very happy to hear, as that were the exact reason I created them.
As a bonus Brandon have made similar sample with collision too, so I have put this on my blog too.
Note: I haven't been able to test this my self due to my Silverlight 2 beta 2 problems, but I'll put it up anyway with this disclaimer :)
Download the sample with collision of the Farseer Physics Engine 220.127.116.11 here