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Just to add a point:Ehyeh Asher Ehyeh said:"For many dynamics problems, rolling without slipping means there is a friction force acting on the wheel at the contact point P. This friction force prevents slipping. In this instance the friction is known as static friction since there is no relative sliding between the wheel and surface at the contact point P."~https://www.real-world-physics-problems.com/rolling-without-slipping.html
I'll go away now.![]()
If the wheel is accelerating or decelerating (in the case of rolling without slipping), then a non zero static friction force acts. If the wheel is rolling at constant speed, on a horizontal surface, then no friction acts. To see this, simply consider the wheel moving with constant angular momentum about its centre. No external force is needed to maintain this.