Vertical ground reaction forces EOM

[jtheinen]

reviewer 2: “During wheel-ground contact, we use a sliding joint for the rear wheel contact to eliminate the ground reaction forces from the equations of motion (EoMs).”

Probably, I misunderstood. Were the ground reaction forces in the vertical direction considered?

[jtheinen]

I suggest we keep the paper as is for this issue, the original sentence suggests that we do take the forces into account. But just don't have to calculate them.

[moorepants]

It's best to make an adjustment for every reviewer comment (even if only minor). This "elimination" of ground reaction forces is being interpreted by the reviewer as not inlcude versus the equation of motion idea that you are saying (that generalized coordinate approach avoids having to have non-contributing forces). Maybe the word "non-contributing forces" can be used to clarify.

[moorepants]

I updated it to:

"During the wheel-ground contact phase, we use a sliding joint for the rear wheel ground contact to avoid having to expose the ground reaction forces in the \glspl{eom} derivation."