In rolling motion without slipping, a static friction force is present between the rolling object and the surface. The relations v CM = R ω , a CM = R α , and d CM = R θ v CM = R ω , a CM = R α , and d CM = R θ all apply, such that the linear velocity, acceleration, and distance of the center of mass are the angular variables…

In rolling motion with slipping, a kinetic friction force arises between the rolling object and the surface. Energy conservation can be used to analyze rolling motion.

angular momentum — rotational analog of linear momentum, found by taking the product of moment of inertia and angular velocity. rolling motion — combination of rotational and translational motion with or without slipping. static friction force — present between the rolling object and the surface. precession — circular motion of the pole of the axis of a spinning object around another axis due to a torque.