Two wheels, each of mass m, are connected by a massless axle of length 1. Each...

 

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Two wheels, each of mass m, are connected by a massless axle of length 1. Each wheel is considered to have its mass concentrated as a particle at its hub. The wheels can roll without slipping on a horizontal plane. The hub of wheel A is attached by a spring of stiffness k and unstressed length 1 to a fixed point O. Use the generalized coordinated r, 0, and to describe the system. a. Write the constraint equation for this system and indicate if it is holonomic or non-holonomic. b. Obtain the differential equations of motion using the Lagrange Dynamics approach. m m B Two wheels, each of mass m, are connected by a massless axle of length 1. Each wheel is considered to have its mass concentrated as a particle at its hub. The wheels can roll without slipping on a horizontal plane. The hub of wheel A is attached by a spring of stiffness k and unstressed length 1 to a fixed point O. Use the generalized coordinated r, 0, and to describe the system. a. Write the constraint equation for this system and indicate if it is holonomic or non-holonomic. b. Obtain the differential equations of motion using the Lagrange Dynamics approach. m m B