Motion of a Rolling Disk Driven by a Rod and Spring

A rod of mass is attached to a spring of stiffness . The spring is attached to a wall and the rod rests on a disk of the same mass . When the spring is stretched from its original length and released, the rod moves as the disk rolls without slipping between the ground and the rod.

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DETAILS

Developed from the teaching materials of Thomas Peacock and David Gossard for Course 2.003 in the Department of Mechanical Engineering at MIT.
The equation of motion of the rod is .
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