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take rigid body a solid cylinder then fi...

take rigid body a solid cylinder then find out the work done by friciton form time t = 0 to t = t `(at v = r omega)`

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Let us suppose that in between time t = 0 to t = t cylinder displaced s.
Translational work done by friciton + Rotational work Done by friciton
Now calculate each type of work done one by one
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