
Originally Posted by
An Introduction to Dynamics 4th Edition David J. McGill Wilton W. King
Let B1 and B2 be two rigid bodies in motion. We define rolling to exist between B1 and B2 if during their motion:
1. A continuous sequence of points on the surface of B1 comes into one-to-one contact with a continuous sequence of points on the surface of B2.
2. At each instant during the interval of the motion, the contacting points have the same velocity vector.
Note that according to this definition there can be no slipping or sliding between the surface B1 and B2 if rolling exists.