Consider the unicycle and rider in Figure 9.42. The mass of the unicycle is m and the mass of the rider is 8m. Using the shape frame associated with a 3-2-3 Euler angle transformation and assuming...

Consider the unicycle and rider in Figure 9.42. The mass of the unicycle is m and the mass of the rider is 8m. Using the shape frame associated with a 3-2-3 Euler angle transformation and assuming roll without slip, obtain the equations of motion using Kane’s equations, as well as the kinematic differential equations. Assume that the rider does not move with respect to the shape frame of the wheel. Select the generalized speeds as the angular velocities ωi , (i = 1, 2, 3) as expressed in the shape frame.