4. A rod is attached to a collar at A and a wheel on the other end at B. It has a length L and weight W. Given the wheel rolls freely along a cylindrical surface, which has the radius R, and friction can be neglected, derive an equation for the rod in equilibrium as a function of $\theta$, L, and R. Hint: Start by drawing the freebody diagram of AB, the three equilibrium equations, and relating the angle ACB to $\theta$.