Reducing the number of constraint equations to three:
Wheel 1, Rolling. Not constrained.
Wheel 2, Rolling. Not constrained
Wheel 3, Rolling. Constraint no.1.
Wheel 1, Sliding.
Constraint no.2.
Wheel 2, Sliding. Identical to Wheel 1, Sliding.
Wheel 3, Sliding. Constraint no.3.
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