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Zhe paper introduces ideas from shape optimization to multibody system dynamics. A disk rolling down a given slope is taken as a simple example, for which it is the goal of the optimization to shape the rolling contour of the disk such that it takes a minimum time to cover a certain distance. The shape of the sontour is described by its radius of curvature. The governing equations of motion result from the kinematics of relative motion and the Nowton-Euler formalism. Three different kinds of spirals are defined and optimized.