1. The problem statement, all variables and given/known data A wheel with rotational inertia I = 1/2MR^2 about its horizontal central axle is set spinning with initial angular speed omega_0. It is then lowered, and at the instant its edge touches the ground the speed of the axle is zero. Initially the wheel slips when it touches the ground, but then begins to move forward and eventually rolls without slipping. What is the wheel's final translational speed? 2. Relevant equations torque=I*alpha=FR 3. The attempt at a solution I solved for friction force using the torque equation above, f=(1/2)(Ma) But when I look at the force diagram, wouldn't it be just f that's causing the overall acceleration so f=Ma? I'm so confused. In addition, what other equations should I use to find the final translational speed?