Question

A homogeneous disk of radius R, depth H and mass M rolls without slipping on a horizontal surface and is attracted to a point a distance d below the plane. (a) Find disks inertia tensor in the center of mass reference frame with z-axis aligned with disks axis of axial symmetry. b) If the force of attraction is proportional to the distance from the disks center of mass to the force center, find the frequency of oscillations around the position of equilibrium
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