I wanted to write the equations of the motion of a tilted spinning wheel. I am aware of the effects of precession on spinning things, and I know the equations for the case where the pivot point of the wheel is in its center of mass. But when the wheel is rolling on the ground like in the drawn, the pivot point is also on the ground and not on the center of mass. enter image description here

In this case it doesn't seems to be correct to consider that dL/dt=T, where T is the total torque, because the torque is calculated considering one pivot point (the ground) and the moment L is with respect to the center of mass.

How can I solve this? Thank you.


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