Use a "dummy body" that has a Translational Joint to Ground. In the example below, I used a Beam element.
Then put a Revolute joint between the "dummy body" and the solid cylinder.
Use a Joint Load to move the translational joint along X. Note that you have to edit the Coordinate frame under the Translational Joint to get the X axis pointing in the direction you want.
Use a Joint Load to rotate the disk about Y.