1. The problem statement, all variables and given/known data (Refer to attachment) 2. Relevant equations None. 3. The attempt at a solution 5.1 Inelastic collision because they stick together. 5.2 Impulse = Lf - Li = Iwf - Iwi = (1/2MR^2 + mR^2)w1 - (1/2MR^2)w0 + mRv0 I tried to use this equation which is related to the linear one, but not sure if it is right for angular impulse. Also I dont understand whether you can have an impulse for 2 objects at the same time (as for example the linear equation F(t) = m(vf - vi), only has the mass of 1 of the objects, not both of them).