The condition of rolling in a circle with both constant radius and angle of tilt constitutes a good test of the

derivation of the equations of motion and the means of simulating the dynamic system. This particular situation is characterized by the behavior of the coordinates of the contact point varying in a sinusoidal fashion with constant amplitude and frequency. The angle is a constant. The angle varies at a constant rate which characterizes the constant rate of roll of the wheel.. The time derivative of the angle is also a constant, which characterizes the uniform change of orientation the wheel undergoes as it follows the circular path. The angle changes by 2 radians during each period of oscillation of the contact point coordinates. From this brief discussion, it is seen that the second time derivatives of , , and vanish as does the first time derivative of . Since there is no damping in the model of the rolling wheel, the circular motion will persist without the necessity of the actuators. The applied torques 1 and 2 are both zero. Given this information, the seven equations of motion simplify to d2x m 2 mR sin() sin() 2 + 1 = 0 dt
m d2y + mR sin( ) cos() 2 + 2 = 0 2 dt R cos() 1 + R sin() 2 = 0
2

(1) (2) (3) (4)

d x I 2 cos() + ( I 1 mR 2 I 2 ) cos() sin() 2 + mR cos() sin() 2 dt d2y mR cos() cos() 2 mgR sin() = 0 dt 2 d2y d x mR sin() cos() 2 + mR sin() sin() 2 = 0 dt dt d2x + R sin() = 0 dt 2 d2y R cos() = 0 dt 2

(5) (6) (7)

Eqs.(6) and (7) provide the accelerations of the contact points. The amplitude of the contact point acceleration is R while the amplitude of the velocity is R. The amplitude of the displacement is R / for both x and y of the contact point. Substituting Eqs.(6) and (7) into Eqs.(1) and (2) provides expressions for the multipliers. Substituting the expressions for the multipliers into Eq.(3) shows that the equation is exactly satisfied. Substituting Eqs.(6) and (7) into Eq.(5) also shows that Eq.(5) is exactly satisfied. Eq.(4) is not trivial and determines the angle of tilt. Substituting Eqs.(6) and (7) into Eq.(4) along with the expressions for the inertias provides the relation 3 5 R 2 m cos() R 2 m sin() cos() 2 mgR sin() = 0. (8) 2 4 Eq.(8) contains three unknowns being , , and and two unknowns can be freely chosen to determine the third. If the rates of and are chosen, then can be determined for Eq.(8). In order to determine , let sin() in Eq.(8) be replaced by Q. By substituting for the trigonometric functions in Eq.(8) in terms of Q, then Eq.(8) can be written as after some simplification

 Solving the Eq.(9) for Q determines the tilt angle .

g (6 + 5 Q) (1 Q ) 16 R
2 2 2

Q 2 = 0.

(9)