============== A rolling disc ============== The disc is assumed to be infinitely thin, in contact with the ground at only 1 point, and it is rolling without slip on the ground. See the image below. .. image:: rollingdisc.* :height: 350 :width: 350 :align: center We model the rolling disc in three different ways, to show more of the functionality of this module. .. toctree:: :maxdepth: 1 rollingdisc_example_kane.rst rollingdisc_example_kane_constraints.rst rollingdisc_example_lagrange.rst