% Rolling coin problem in Section 8-8
% This is also a good review of rolling contact.
% Set up problem
bodies d % so that D will have inertia
% Mass center of D is point do
% Rotation matrices
% Rotational kinematics
% Note that we don't need to form w_a_n>=0>
% explicitly, since a can serve as our Newtonian
% reference frame just as well as N can.
alf_d_a>=dt(w_d_a>,d) % Million dollar formula under the covers
% Could also do dt(w_d_a>,a)
% Question: Why do we want to calculate alf_d_a>?
% Translational kinematics
v_dhat_a>=0> % Rolling contact
a_do_a>=dt(v_do_a>,a) % Million dollar formula again
% Question: Could I say a_dhat_a>=0> and then used two points