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Slipping, then Rolling
A disc and a hoop are thrown along the floor without spinning: both slide at first, friction slows the centre and spins the body up until v = ωR, then both roll steadily at v₀/(1 + k): ⅔ v₀ for the disc, a little over half for the hoop.
Use in Ordinate 2DOpens as a new scene in Research mode, with its graphs and table. Free, no account needed.