(adsbygoogle = window.adsbygoogle || []).push({}); 1. The problem statement, all variables and given/known data

I'm wondering how to write the equation of constraint for a solid disk (mass m, radius R) that is attached to a spring (spring constant k) and rolls without slipping. Any suggestions?

2. Relevant equations

there are no equations to use, but this has to do with lagrange's equations of motion

3. The attempt at a solution

my first thought was to set this equal to the arclength, but realized that wouldn't work as it is attached to a spring. im just unsure of how to incorporate the spring into the equation

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# Constraint equation for a solid disk

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