Question: How can I define the nonhonolomic constraints of a rolling thin disk?

Hello, I'm creating a rolling thin disk (rolling without slip) in the MapleSim, the model like the picture below (Fig. 1).


                       Fig. 1                                                             Fig. 2

It has 5 DOF and 3 constraints (Fig. 2).

How can I define the nonholonomic constraints of this model.

I will appreciate any help.

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