This paper proposes a Lagrangian approach to find the state equations of a disk rolling on a plane without friction. The approach takes advantage of a symbolic computation to simplify the reasoning.

翻译：本文提出了一种拉格朗日方法，用于求解无摩擦平面上滚盘的状态方程。该方法利用符号计算简化了推理过程。