Introduce two additional points, whose positions coincide with the instantaneous points of contact between the wheel and the plane on the tire and the surface of the plane, respectively.
Use toral angles to describe the position of the contact point on the tire relative to the body observer.
Use Cartesian coordinates to describe the position of the contact point on the surface of the plane relative to the world observer.
In the MAMBO toolbox, type
>DeclarePoints(P1,P2);
>DefinePoints([B,P1,b,R*(1+1/20*cos(q8))*cos(q7),R*(1+1/20*cos(q8))*sin(q7),R/20*sin(q8)],[W,P2,w,q9,q10,0]);
Associate a MAMBO sphere with the world observer to mark the instantaneous point of contact on the surface of the plane. Associate a MAMBO sphere with the body observer to mark the instantaneous point of the contact on the tire.
In the MAMBO toolbox,type
>DefineObjects([B,'Sphere',point=P1,radius=marker,color=magenta],[W,'Sphere',point=P2,radius=marker,color=magenta]);
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