A disk of mass M, radius R, is rolling down an incline dragging a box mass M attached with alight rod to attached at the center of the disk. The friction coefficients are the same for both masses: .

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Centripetal Force

A particle, body, object or certain mass while travelling in a rotational path or semicircular path, experiences an inertia force. If that inertia force pulls the towards the inward of the imaginary circle in the rotation, it is termed as centripetal force.