How to model a rolling wheel in SimMechanics (second generation)?

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Nick on 28 Oct 2013
I'm am planning to use SimMechanics in order to simulate a truck and trailer. However, in order to get the truck to move I need to roll a wheel with respect to the world.
I have seen that this is possible in SimMechanics first generation. However, for animation purposes I would like to use SimMechanics second generation. I am using release 2013b.

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