A wheel of radius r and centroidal radius of gyration k is released from rest on the incline shown at time t = 0. Assuming that the wheel rolls without sliding, determine
(a) the velocity of its center at time t,
(b) the coefficient of static friction required to prevent slipping.
![1477_35e9cb98-6cd1-4d2e-b17b-761fd5b9f6d7.png](https://secure.tutorsglobe.com/CMSImages/1477_35e9cb98-6cd1-4d2e-b17b-761fd5b9f6d7.png)