A plank with a mass M = 6.00 kg rides on top of two identical solid cylindrical rollers that have R = 5.00 cm and m = 2.00 kg (Fig. P10.86). The plank is pulled by a constant horizontal force F of magnitude 6.00 N applied to the end of the plank and perpendicular to the axes of the cylinders (which are parallel). The cylinders roll without slipping on a flat surface. There is also no slipping between the cylinders and the plank.
(a) Find the acceleration of the plank and of the rollers.
(b) What friction forces are acting?

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帮 VE Figure P10.86