Q.1. In the system shown below, a wheel with radius "r" is rolling on the horizontal plane without slipping. One end of the massless rod "AB" is placed in the middle of the wheel at point A, and the other end is pinned at the center of a disk. The forces F, and F2 are external forces applied in horizontal direction. The length of the beam is"L". The masses of the wheel and the disk are M, and M2, respectively. Derive the differential equation describing the dynamic behavior of the system using Lagrangian equation.