The geometrical equations, expressing that the point of contact is at rest on the plane, are
u − ry + qz = 0,
(1)
v − pz + rx = 0,
(2)
w − qx + py = 0.
(3)
The dynamical equations are
du/dt − θ3v + θ2w = gα + X/M,
(4)
The geometrical equations, expressing that the point of contact is at rest on the plane, are
u − ry + qz = 0,
(1)
v − pz + rx = 0,
(2)
w − qx + py = 0.
(3)
The dynamical equations are
du/dt − θ3v + θ2w = gα + X/M,
(4)