A horizontal circular platform with rotational inertia IP rotates freely without friction on a vertical axis. A small motor-driven wheel that is used to rotate the platform is mounted under the platform and touches it. The wheel has radius r and touches the platform a distance D from the vertical axis of the platform, as shown above. The platform starts at rest, and the wheel exerts a constant horizontal force of magnitude F tangent to the wheel until the platform reaches an angular speed ωP after time Δt. During time Δt, the wheel stays in contact with the platform without slipping.