Rolling of cylindrical body without slip

Force required to accelerate a cylindrical body which rolls without slipping on a horizontal plane (mass of cylindrical body is m, radius of the cylindrical surface in contact with plane is r, radius of gyration of body is k and acceleration of the body is a) is:

(m k^2/r+1) a m k^2 a m(k^2/r^2+1)*a (m k^2/r^2) a

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