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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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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