here is applet with the motion i need :[url=http://zamestnanci.fai.utb.cz/~schauer/contents/mechanics/two_d_kinematics/ex3_6.html]http://zamestnanci.fai.utb.cz/~schauer/contents/mechanics/two_d_kinematics/ex3_6.html[/url]
i mean the rotating wheel.