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][1] [B][2] [C][3]
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][5] [E][4]

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?

  [1]: https://physics.stackexchange.com/a/465039/201761
  [2]: https://www.youtube.com/watch?v=1zem9Pnjl9Y
  [3]: https://physics.stackexchange.com/a/427354/201761
  [4]: https://physics.stackexchange.com/a/465040/201761
  [5]: https://physics.stackexchange.com/a/158879/201761