Question

A cylinder of mass, M, radius, and moment of inertia I = 1/2Mρ2 rolls without slipping...

A cylinder of mass, M, radius, and moment of inertia I = 1/2Mρ2 rolls without
slipping at the bottom of a pipe of inside radius R.
a) What is the equation of constraint?
b) Find Lagrange’s equation of motion.
c) Find the frequency of small oscillations (use the approximation: sin(θ) ≈ θ).

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