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The rolling disk is the cornerstone to nonholonomic analysis. Its nonholonomic property constitute on equal translational and rotational velocity on the contact point. However, if the speeds are equal in modulus, but opposite in direction, the contact point absolute velocity is zero. Hence, how does this point move respective the body its rollig over?

Best regards.

Bruno Peixoto
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  • I am not sure I see a paradox yet. The velocity of the point touching the floor is $0$ at the moment touching the floor. (Otherwise there would be friction!) As soon as it doesn't touch the floor, its velocity is nonzero. This is no different from the case of a ball thrown in the air and reaching the highest point - its velocity at that point is zero, but it does not stay zero as its acceleration (change of velocity over time) is nonzero. –  Aug 28 '20 at 14:17
  • Thanks for the answer. I was not aware of the comparison. I thank you for the explanation. – Bruno Peixoto Aug 28 '20 at 15:05

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