Mechanical seals, rotors, and wobbling bodies are characterized by a kinematical constraint that prevents them from having integral motion with respect to their own frame. A valid kinematical model is a prerequisite to subsequent dynamic analyses. Three previous works have suggested distinctly different kinematical models to the same problem. The analysis herein presents yet another kinematical model that preserves (actually enforces) the proper kinematical constraint. The outcome reaffirms one of the previous models. The equations of motion are derived using Lagrange’s equations to complement results obtained previously by Newton-Euler mechanics.

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