Thank you very much for your help.
I'm choosing a model between the tire and the road so I'll do another similar problem later on.
In the previous paper, they would leave the tire standing still. The pavement has velocity and the upper surface will move upwards.
In this problem, I want the tire to move and rotate on the pavement.
I want to set the rotational velocity of the tire, how should I set it?
Thank you again.