A 20kg cylinder with radius of gyration 0.602m slips on a surface 20 degrees to the horizontal. The cylinder rotates with an angular velocity of 3 rad/s and has a radius of 0.25m. O is the centre of the cylinder and G is the centre of mass and the distance between these two points is 0.075m. What is the angular acceleration of the cylinder? What is the frictional and normal force?