Rolling condition

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% Author: Izaak Neutelings (October 2020)
\documentclass[border=3pt,tikz]{standalone}
\usepackage{physics}
\usepackage{tikz}
\usetikzlibrary{calc}
\usetikzlibrary{angles,quotes} % for pic
\usetikzlibrary{arrows.meta}
\usetikzlibrary{patterns}
\tikzset{>=latex} % for LaTeX arrow head
\colorlet{xcol}{blue!70!black}
\colorlet{vcol}{green!60!black}
\colorlet{myred}{red!65!black}
\colorlet{mypurple}{blue!60!red!80}
\colorlet{acol}{red!50!blue!80!black!80}
\tikzstyle{rvec}=[->,xcol,very thick,line cap=round]
\tikzstyle{vvec}=[->,vcol,very thick,line cap=round]
\tikzstyle{myarr}=[{Latex[length=3,width=3]}-,xcol]
\tikzstyle{force}=[->,myred,very thick,line cap=round]
\tikzstyle{mass}=[line width=0.6,draw=red!30!black, %rounded corners=1,
                  top color=red!40!black!30,bottom color=red!40!black!10,shading angle=30]
\tikzstyle{ground}=[preaction={fill,top color=black!10,bottom color=black!5,shading angle=20},
                    fill,pattern=north east lines,draw=none,minimum width=0.3,minimum height=0.6]
\tikzstyle{metal}=[fill,top color=black!40,bottom color=black!20,shading angle=10]
\begin{document}
% ROLLING
\begin{tikzpicture}
  \def\W{4.8} % ground width
  \def\H{3.2} % ground height
  \def\D{0.3} % ground depth
  \def\R{0.8} % disk radius
  \def\d{1.0} % disks' distances from edge
  \def\angb{{(2*\d-\W)*180/pi-90}} % angle point 2
  \coordinate (A)  at (\d,\R);     % disk 1 origin
  \coordinate (B)  at (\W-\d,\R);  % disk 2 origin
  \coordinate (RA) at ($(A)+(-90:\R)$);   % point 1
  \coordinate (RB) at ($(B)+(\angb:\R)$); % point 2
  \coordinate (BB) at ($(B)+(-90:\R)$);   % point 2 bottom
 
 
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