Question: The cylinder in Figure has mass M and radius r and rolls without slipping on the horizontal plane. It is connected at A via a frictionless joint to a bar OA of mass m and length l. The right end of the bar slides without friction on a horizontal plane.
Tasks: (a) Select coordinates and state the required kinematic-constraint relationships.
(b) Draw the required free-body diagrams for the two bodies and develop the governing equations of motion.
(c) State the governing equations for the unknowns in matrix format.
