3D Rolling Disc

I developed this 3D simulation of a rolling disc as my final project for MAE 6700: Advanced Dynamics, a graduate course at Cornell taught by Dr. Andy Ruina. This is a general solution based on rigid body dynamics, assuming a no-slip condition for the contact between the disc and the ground. I have outlined my solution to this problem in the following presentation:

• Solution Overview (PPT with videos)
• Solution Overview (PDF without videos)

More background material of modelling dynamic systems may be found in my course notes:

• MAE 6700: Course Notes