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2D wheel physics

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I've been recently working on my own physics engine (for Flash). I decided it would be neat if I implemented some wheel particles with nice interaction with some "floor" particles - rotation/torque and simultaneous linear movement along the floor. Unfortunately, I'm stuck on this part. Could anybody familiar with wheel physics help me with this problem, or at least post links to some tutorials/articles explaining the whole wheel dynamics (angular & linear displacement)? I attach an image with my concept on the whole thing (although I think it's pretty obvious). http://korzo.aspnet.pl/wheel.jpg

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