Rolling Cylinder with a Hole

A cylinder of radius has a cylindrical hole of radius as shown in the figure. Vary the radius, density, and initial angular velocity to see the cylinder move in some interesting ways.
Since this is a one degree of freedom system, only one equation of motion is needed to fully locate it. This equation is: .


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Developed from the teaching materials of Prof Peacock and Prof Gossard for Course 2.003 in the Department of Mechanical Engineering at MIT.
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