This Demonstration shows snapshots of a disk rolling on a plane. For the calculation, it is assumed that the disk has infinitesimal thickness, rolls without friction, and does not slide or slip. Thickness is allowed so as to give a more interesting image. A rolling disk is one of the simplest examples of a nonholonomic system. It is completely integrable, and as a result, the sequence of snapshots form nonchaotic sequences exhibiting a certain symmetry.
Contributed by: Michael Trott with permission of Springer (March 2011)
From: The Mathematica GuideBook for Programming, second edition by Michael Trott (© Springer, 2008).
Open content licensed under CC BY-NC-SA
D. T. Greenwood, Advanced Dynamics, Cambridge: Cambridge University Press, 2003.