Hi! I'm trying to get into mechanics module of sympy. Can someone point me on a better way to add uneven terrain to example of rolling disc with Kanes method (http://docs.sympy.org/latest/modules/physics/mechanics/examples/rollingdisc_example_kane.html)? For example I could have an inclination of terrain 'alpha' as a smooth function of q3 (disc angle of rotation). Should I introduce new variable to equations? Or account for alpha somewhere else?
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