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What conditions must be met for a ball to roll perfectly down an incline without slipping?

What conditions must be met for a ball to roll perfectly down an incline without slipping? A mathematically rigorous definition, please. I honestly don't know where to begin with answering this ...

asked Feb 21 '12 at 4:22

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What conditions must be met for a ball to roll perfectly down an incline without slipping?

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