Chapter 10, Problem 87CP

A plank with a mass M = 6.00 kg rests on top of two identical, solid, cylindrical rollers that have R = 5.00 cm and m = 2.00 kg (Fig. P 10.87). The plank is pulled by a constant horizontal force $\stackrel{\to }{F}$ 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 initial acceleration of the plank at the moment the rollers are equidistant from the ends of the plank, (b) Find the acceleration of the rollers at this moment, (c) What friction forces are acting at this moment?