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This question has been asked and answered numerous times. I went through almost all of them and found no consensus. I found that all of the answers can be divided into two categories:

1. Friction does work, but that work is converted to rotational kinetic energy: A B C
2. Friction does not do work, because the point of contact has no instantaneous displacement/has no relative motion/moves in a cycloid path which is perpendicular to direction of friction acting at that point: D E

The first argument feels sketchy because derivation A is wrong, B does not seem rigorous and C offers none.

The second argument makes sense but reason varies depending on who is answering. I also would like to point out that the force of friction creates a torque which rotates the body about the Centre of Mass and hence does rotational work.

Which answer is correct? If the answer is the first, is a more rigorous derivation available? If the answer is second, how do you explain the work done by torque due to friction in rotating the body?

This question has been asked and answered numerous times. I went through almost all of them and found no consensus. I found that all of the answers can be divided into two categories:

1. Friction does work, but that work is converted to rotational kinetic energy: A B C
2. Friction does not do work, because the point of contact has no instantaneous displacement/has no relative motion/moves in a cycloid path which is perpendicular to direction of friction acting at that point: D E

The first argument feels sketchy because derivation A is wrong, B does not seem rigorous and C offers none.

The second argument makes sense but reason varies depending on who is answering. I also would like to point out that the force of friction creates a torque which rotates the body about the Centre of Mass and hence does rotational work.

Which answer is correct? If the answer is the first, is a more rigorous derivation available? If the answer is second, how do you explain the work done by torque due to friction in rotating the body?

EDIT: I did not find any of the answers completely satisfactory. I thought for a while and came to a conclusion which I think satisfactorily provides and answer to this question and have added it as an answer.

This question has been asked and answered numerous times. I went through almost all of them and found no consensus. I found that all of the answers can be divided into two categories:

1. Friction does work, but that work is converted to rotational kinetic energy: A B C
2. Friction does not do work, because the point of contact has no instantaneous displacement/has no relative motion/moves in a cycloid path which is perpendicular to direction of friction acting at that point: D E

The first argument feels sketchy because derivation A is wrong, B does not seem rigorous and C offers none.

The second argument makes sense but reason varies depending on who is answering. I also would like to point out that the force of friction creates a torque which rotates the body and hence does rotational work.

Which answer is correct? If the answer is the first, is a more rigorous derivation available? If the answer is second, how do you explain the work done by torque due to friction in rotating the body?

This question has been asked and answered numerous times. I went through almost all of them and found no consensus. I found that all of the answers can be divided into two categories:

1. Friction does work, but that work is converted to rotational kinetic energy: A B C
2. Friction does not do work, because the point of contact has no instantaneous displacement/has no relative motion/moves in a cycloid path which is perpendicular to direction of friction acting at that point: D E

The first argument feels sketchy because derivation A is wrong, B does not seem rigorous and C offers none.

The second argument makes sense but reason varies depending on who is answering. I also would like to point out that the force of friction creates a torque which rotates the body about the Centre of Mass and hence does rotational work.

Which answer is correct? If the answer is the first, is a more rigorous derivation available? If the answer is second, how do you explain the work done by torque due to friction in rotating the body?

This question has been asked and answered numerous times. I went through almost all of them and found no consensus. I found that all of the answers can be divided into two categories:

1. Friction does work, but that work is converted to rotational kinetic energy: A B C
2. Friction does not do work because the point of contact no instantaneous displacement/no relative motion/moves in a cycloid path which is perpendicular to friction at that point: D E

The first argument feels sketchy because derivation A is wrong, B does not seem rigorous and C offers none.

The second argument makes sense but depending on who is answering. I also would like to point out that the force of friction creates a torque which rotates the body and hence does rotational work.

Which answer is correct? If the answer is the first, is a more rigorous derivation available? If the answer is second, how do you explain the work done by torque due to friction in rotating the body?

This question has been asked and answered numerous times. I went through almost all of them and found no consensus. I found that all of the answers can be divided into two categories:

1. Friction does work, but that work is converted to rotational kinetic energy: A B C
2. Friction does not do work, because the point of contact has no instantaneous displacement/has no relative motion/moves in a cycloid path which is perpendicular to direction of friction acting at that point: D E

The first argument feels sketchy because derivation A is wrong, B does not seem rigorous and C offers none.

The second argument makes sense but reason varies depending on who is answering. I also would like to point out that the force of friction creates a torque which rotates the body and hence does rotational work.

Which answer is correct? If the answer is the first, is a more rigorous derivation available? If the answer is second, how do you explain the work done by torque due to friction in rotating the body?