A uniform disk and a hoop are both allowed to roll without slipping down a ramp of height H $.$ Both are rigid bodies and have the same radius $R$ and the same mass $M.$ If the disk and hoop start from rest at the same time, which one reaches the bottom of the ramp first?

$I_{\text{d}\text{i}\text{s}\text{k}}=\frac{1}{2}M{R}^2,I_{\text{h}\text{o}\text{o}\text{p}}=M{R}^2$