A thin wheel of radius R and mass m rolls without sliding on the inclined surface shown with a constant speed vO. It is free to turn relative to the massless shaft of length L with
negligible friction. The shaft itself rotates about the vertical.
Find: (i) the relation between vO and the angular velocities ωS and ωT. (ii) Using Euler’s
equations of motion for a rigid body, derive the equations that govern the support force
at A as well as the normal force of the ground on the wheel.