Methods for forming elastomeric polyurethane articles are provided in which an isocyanate component including an isocyanate prepolymer is mixed with an isocyanate-reactive component having a viscosity ranging from 50,000 to 200,000 centipoise as measured by ASTM standard D2196, and wherein is applied as one or more layers onto a surface of a carrier substrate at an application rate ranging from 0.5 to 20 g/sec, with each one of said applied one or more layers independently having a thickness ranging from 0.2 and 10 millimeters and having a total thickness ranging from ranging from 0.2 to 60 millimeters. The applied layers are cured in the absence of added heat via an exothermic reaction to form the elastomeric polyurethane article having an abrasion resistance ranging from 20 to 250 mm3, a hardness ranging from 60 Asker C to 90 Asker C, and a density ranging from 330 and 1000 kg/m3.