An object with weight $W$ is dragged along a horizontal plane by a force acting along a rope attached to the object. If the rope makes an angle $\theta$ with the plane, then the magnitude of the force is
$$F=\frac{\mu W}{\mu \sin \theta+\cos \theta}$$
where $\mu$ is a positive constant called the coefficient(s) of friction and where $0 \leqslant \theta \leqslant \pi / 2$. Show that $F$ is minimized when $\tan \theta=\mu$.