I solved it. I rewrote the equations:
domega1 = - a_o1 / R ; % Angle acceleration wheel 1 (positive domega1 in counterclockwise direction)
domega2 = - a_o2 / R ; % Angle acceleration wheel 2 (positive domega2 in counterclockwise direction)
Equilibrium of the Forces for wheel 1 along x1
m * g*...
1. The problem is the following:
Starting from stillness @ t = 0, we are looking for the acceleration @T=0 of the 2 wheels (rolling without slip, in particular in point P4 we have a gear wheel contact so we can have that the reaction R2y of the plane could be also in direction y2, in this case...