A hemisphere of weight W and radius r is released from rest in the position shown. Determine (a) the minimum value of μs for which the hemisphere starts to roll without sliding, (b) the corresponding acceleration of point B. (Hint: Note that
Fig. P16.111
16.112 Solve Prob. 16.111, considering a half cylinder instead of a hemisphere. (Hint: Note that OG = 4r/3π and that, by the parallel-axis theorem,
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