Hi, it seems like you are looking for how to create a ball-on-wheel model. If you have created a model and are having difficulty, we may be able to troubleshoot it for you.
Further, It may be useful for you to look at the File Exchange submission, Simscape Multibody Contact Forces Library , particularly the Sphere to Belt Contact Force (3D) example. Feel free to contact the author of this submission directly for specific questions about the implementation.
If you are looking to learn how to use Simulink to model a system, Simulink Onramp is a self-paced, interactive guide.
