please see attached drawing. I am trying to understand how this would work. Imagine a vertical cylinder of diameter "D". I would like to tie a mass M to it, using a rope. what is the tension "T" that is required on the rope? I assume the force required will depend on the coefficient of friction between the cylinder and the mass, let us assume that to be "mu". but in this case, friction force = mu * force perpendicular to the cylinder surface how to calculate this perpendicular force? is it just equal to the tension T? I am confused because when a rope goes though a pully we always assume tension to be tangential to the pully at any given point... any clarifications of my understanding is welcome!