Fuente TeX:

m((2R \omega sen \theta \dot \theta-d \omega^2)\hat i+(R \ddot \theta + R \omega^2 sen \theta cos \theta) \hat{e_ \theta}+(-R \dot \theta ^2 -R \omega cos \theta) \hat {e_ r}) = (N_1)\hat i+(-mg cos \theta) \hat{e_ \theta}+(N_2 -mg sen \theta) \hat {e_ r}