A round uniform body of radius R , mass M and moment of inertia ' I ', rolls down (without slipping) an inclined plane making an angle θ with the horizontal. Then its acceleration is

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Mg sin θ − f = Ma ​ fR = I R a ​ ⇒ a = ( 1 + M R 2 I ​ ) g sin θ ​ ​

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