The square wheel with a 2X2 cross-section rolls on a special bumpy road in an Abaqus/Standard dynamic simulation. The bumps have the shape of a catenary. There are videos on YouTube that show the derivation of the bump equation. The bump's profile was created with a Python script and read into a sketch in Abaqus/CAE. The wheel is pulled at a constant horizontal speed by a link connector element. The XY plots are the force in the link and the vertical displacement at the center of the wheel. The motion is a little less than perfect because of the discretization, the flexible properties of the wheel, friction effects, etc. If someone tried to roll a wheel like this for real then it would also not live up to the mathematical ideal.