https://reference.wolfram.com/system-modeler/libraries/Modelica/Modelica.Mechanics.Rotational.Components.IdealRollingWheel.html
Modelica: Mechanics.Rotational.Components.IdealRollingWheel - System Modeler Documentation
Simple 1-dim. model of an ideal rolling wheel without inertia
system modelermodelicamechanicsrotationalcomponents