a wheel of mass m and radius R is rolling down a wedge without slipping. The wedge

has mass M, angle α, and is free to slide on a smooth horizontal table. Ignore

friction between the wedge and the table.

(a)find the Euler-Lagrange equations of motion.

(b) assuming that the wheel is gently placed on top of the wedge att= 0,determine the speed of

the wheel when it reaches the bottom of the wedge.