'A disk of mass M and radius R rolls without slipping down fixed inclined plane that makes an angle & with the horizontal plane. (see figure) .
PE = 0
Write down the constraint equations and determine the number of degrees of freedom Choose convenient generalized coordinate: Write down an expression for the Lagrangian of rolling ball. Given: the moment of inertia of the ball about its center is [p = H-MR? Calculate the generalized momenta:'