Sphere rolling on a moving surface: Application of the fundamental equation of constrained motion.

Firdaus E. Udwadia Giandomenico Di Massa Sphere rolling on a moving surface: Application of the fundamental equation of constrained motion. 1118-1138 2011 19 Simulation Modelling Practice and Theory 4 http://dx.doi.org/10.1016/j.simpat.2011.01.004 db/journals/simpra/simpra19.html#UdwadiaM11