I searched the web and found a couple entries on Wikipedia (Skip reentry & Atmospheric entry) that kind brush at the topic. The article on Stone skipping has some science and physics involved (speed, etc) but I don't find any about skipping off the atmosphere.
I recall seriously worded concerns during the Apollo Program of the returning ships skipping off the atmosphere with dire results.
It is fairly easy to image the stone skipping scenario, when the stone brushes across the surface of the water as it moves at an angle. But the atmosphere does not have a "surface" it is more of a continual thinning as you get farther from the planet.
How do you skip off of a boundary that does not have a solid scientific existance?