Conditions for the feasibility of multiple rolling for mechanical   systems with multiple contact points
  We illustrate a theoretical procedure determining necessary conditions for which simultaneous pure rolling kinetic constraints acting on a mechanical system can be fulfilled. We also analyze the sufficiency of these conditions by generalizing to this case a well known and usually accepted assumption on the behavior of pure rolling constraint. We present in detail the application of the procedure to some significative mechanical systems. 
Stefano Pasquero
physics.class-ph