Q A uniform spherical ball of mass m rolls without slipping down a wedge of mass M and angle α, which itself can slide w

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Q A uniform spherical ball of mass m rolls without
slipping down a wedge of mass M and angle α, which itself can slide
without friction on a horizontal table. The system moves in the
plane shown in Fig. Here g denotes the gravitational
acceleration
(a) Find the Lagrangian and the equations of motion for this
system.
(b) For the special case of M = m and α = π/4 find
(i) the acceleration of the wedge and
(ii) the acceleration of the ball relative to the
wedge.

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