(Solved): The free body diagram is shown below, where Ff is the friction force between wheel and ground, N is ...

The free body diagram is shown below, where Ff is the friction force between wheel and ground, N is the normal force between wheel and ground, Td is the drive torque, Tf is the Coulombs friction torque at the pivot, mw is the wheel mass, mp is the pendulous mass, ????is the angular position of wheel, B is viscous friction, g is gravity acceleration, ? is tilt angle, G is the center mass of the pendulum, r is the radius of the wheel, and ?????is the distance between the pivot and G. Find the equations of motion using the method Euler–Lagrange.