Regularization of a Disk in a Frictionable Wedge

It is known that the motion of bodies in frictional contact with each other is not always determinable within the principles of rigid-body mechanics. One example of such is when forces are applied to a disk lying inside a V-shaped wedge. Here, we approach this example by considering a linear regularization of the wedge. Under certain conditions, we obtain results which, on the one hand, are meaningful independently of any given regularization of the wedge, and yet which, on the other hand, cannot be obtained by consideration of rigidity alone.