(a) A solid cylinder having mass m and radius R rolls down on a wedge without slipping (figure below).
(i) Draw an accurate force diagram indicating all the forces exerting on m.
(ii) What is the angular acceleration and the linear acceleration of m?
The moment of inertia of the cylinder is mR^2/2.
(b) The cylinder initially spinning with the angular velocity ω₀ is now placed on the wedge (figure shown below). The coefficient of kinetic friction between the cylinder and the wedge surface is μ. Draw a force diagram indicating all the forces exerting on the cylinder just after it is placed on the wedge. Find the corresponding acceleration and angular acceleration of m, as well as their directions.