New Aspects Concerning Dynamics of Rigid Solid Body in Plane-Parallel Motion Subjected to Real Constraints. Part One

The present paper approaches in an original manner the dynamic analysis of a wheel which climbs on an inclined plane under the action of a horizontal force. The wheel rolls and slides in the same time. The two movements, rolling and sliding are considered to be independent of each other. Therefore we are dealing with a solid rigid body with two degrees of freedom. The difficulty of approaching the problem lies in the fact that in the differential equations describing the motion of the solid rigid body are also present the constraint forces and these are unknown. For this reason they must be eliminated from the differential equations of motion. The paper presents as well an original method of the constraint forces elimination