##\tau_c = -T r + f R = \dfrac{a_c}{R-r}##
##m a = T - f = m \alpha r##
I don't know if I should include the belt's acceleration (in the form of ## + m a_C## on the left-hand side) as a force. Does an accelerating surface count as a force? I feel like it should, but on the other hand, if you...