In a control system, in order to go from any initial point to any nal point a necessary and su cient condition is needed: controllability. However, in a general controllable nonlinear system, it still is an open problem to nd a constructive algorithm to generate the desired trajectory. However, this problem is solved for systems that are feedback linearizable: that is, systems which we can transform to equivalent linear systems for which a control law is easy to design. Via the inverse coordinate change, one can take back the designed trajectory in the linear system to obtain a trajectory for the original problem. In this paper, the algorithm for dynamic feedback linearization is studied, and it is applied to the speci c example of the rolling disk. This example is then simulated using Matlab, where the good performance of the desgin is illustrated. 2019/2020