Basically, OnCollisionStay gives information about the impact ( impact velocity, etc ) as where OnTriggerStay simply says, yes, we have had a collision
This will help explain them better then I can! =]
OnCollisionStay:
http://docs.unity3d.com/Documentation/ScriptReference/Collider.OnCollisionStay.html
OnTriggerStay:
http://docs.unity3d.com/Documentation/ScriptReference/Collider.OnTriggerStay.html
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