A homogeneous disk of radius R and mass M rolls without slipping on a horizontal surface and is attracted to a point Q which lies a distance d below the plane, with a force F where r is the vector from the point to the center of mass of the disk.
(a) Write down the Lagrangian for this system. As your generalized coordinate, use the horizontal distance of the disk from the equilibrium point on the surface
(b) Derive the equation of motion and find the frequency of oscillations about the equilibrium position