A wheel with center O, radius R, weight W, radius of gyration kG, and center of mass G at...

A wheel with center O, radius R, weight W, radius of gyration kG, and center of mass G at a distance ρ from O is released from rest on a rough incline. The angle ϕ is the angle between the segment OG (which rotates with the wheel) and the horizontal direction.

Figure P7.82

Assuming that there is enough friction for the wheel to roll without slip, determine the equation(s) of motion of the wheel as well as the constraint force equations, that is, those equations that would allow you to compute the reaction forces at the contact point with the incline if the motion were known.