On a non-holonomic problem proposed by Greenwood (Q1261590)

A nonholonomic problem proposed by \textit{D. T. Greenwood} [Principles of dynamics (1988)] is solved by reducing it to a Carathéodory problem. The resulting equations of motion are formulated in terms of natural physical variables corresponding to quasi-velocities. A connection between the two available methods of integration of the equations of motion is established that closes an existing gap in the literature. The explicit analytical results obtained for the particular set of initial conditions are confirmed by the numerical integration of the equations of motion performed on a computer.