Consider a uniform thin disk that rolls without slipping on ahorizontal plane. A horizontal force is applied to the center ofthe disk and in a…

Consider a uniform thin disk that rolls without slipping on ahorizontal plane. A horizontal force is applied to the center ofthe disk and in a direction parallel to the plane of the disk. a.Derive Lagrange’s equations and find the generalized force.b)Discuss the motion if the force is not applied parallel to theplane of the disk ?