Example: Consider a disk rolling without slipping on an inclined plane Determine the equation of constraint in terms of the "coordinates"* y and 0. The relation between the coordinates (which are not independent) is y = R 0, where R is the radius of the disk. Hence the equation of constraint is f(y, 0) = y-R 0 = 0. Find the equations of motion, the force of constraint, and the angular acceleration. R