A disk of mass in and radius r rolls without slip inside a, Mechanical Engineering

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A disk of mass in and radius r rolls without slip inside a

Question: A disk of mass In and radius r rolls without slip inside a rough circular surface- of radius R, as shown in Fig. Derive the differential equation for the angular motion θ by writing two equations of motion, one for the translation of C and one for the rotation of the disk about C, and then eliminating the force at the point of contact A. The angle B can be arbitrarily large.

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