Question: The cylinder shown in Figure P5.108 has mass M and radius r and rolls without slipping on the horizontal plane. At O, it is connected via a frictionless joint to bar OA, having mass m and length l. The right end of the bar is connected to point B by an inextensible cord of length l and negligible mass.
Tasks: (a) Select coordinates and state the required kinematic-constraint equations.
(b) Draw the required free-body diagrams for the two bodies and develop the governing equations of motion.
(c) State the governing equations for unknowns in matrix format.
