Using Lagrangian formalism, solve the following problem: A solid cylinder is released from rest to roll without slipping down a ramp of slope ϕ. a) What is the best choice of generalized coordinates to be used?

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Using Lagrangian formalism, solve the following problem: A solid cylinder is released from rest to roll without slipping down a ramp of slope ϕ. a) What is the best choice of generalized coordinates to be used?
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