Introduction to Classical Mechanics · Problem 6.13
The Lagrangian method — Morin
Physics — Mechanics · small-oscillations
Problem
Mass on a wheel **
A mass m is fixed to a given point on the rim of a wheel of radius R that rolls without slipping on the ground. The wheel is massless, except for a mass M located at its center. Find the equation of motion for the angle through which the wheel rolls. For the case where the wheel undergoes small oscillations, find the frequency.