11.85 Use Lagrange's equations to describe the motion of a sphere of radius "a" rolling on the inner surface of a smooth

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11.85 Use Lagrange's equations to describe the motion of a sphere of radius "a" rolling on the inner surface of a smooth

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11.85 Use Lagrange's equations to describe the motion of a
sphere of radius "a" rolling on the inner surface of a smooth
hemispherical shell of radius b > a.
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