r=1;
backgroundAxes=Plot[0,{x,-Pi,5Pi},PlotRange->{Automatic,{-r/2,2r+.5}},AspectRatio->Automatic];
Animate[Show[{backgroundAxes,
ListPlot[Table[{x-Sin[x],1-Cos[x]},{x,0,t,.1}],Joined->True],Graphics[{PointSize[Large],Red,Point[{t-Sin[t],1-Cos[t]}]}],
Graphics[Circle[{t,1},r]]}],{t,0,4Pi}]