Correct sign error in rolling without slip explanation.

[moorepants]

No description provided.

[moorepants]

@Peter230655 do you agree I have a sign error here?

[github-actions]

Preview this pull request here https://moorepants.github.io/htmlpreview/?https://github.com/moorepants/learn-multibody-dynamics/blob/preview-pr-176/index.html

[Peter230655]

I believe you had.

$\bar x_z \times \bar n_y = - \bar n_x$

Maybe $..\times (-r \bar n_y)$ would look a bit nicer than without brackets?

Eq 108 and Eq 109 look correct to me in the preview.

[Peter230655]

Applying the motion constraint and knowing that ${}^Nv^G=0$, and using eq (104)
gives us this scalar constraint equation.
Would it make sense to refer to eq(104)?
(of course it is in plain sight)