Hey PF! 1. The problem statement, all variables and given/known data I've attached the problem to this post along with my free body diagram. 2. Relevant equations Moment of inertia of a cylinder: 1/2MR^2 3. The attempt at a solution Since the cylinder is moving at a constant velocity and is not slipping, ƩF = 0. For the torques around the instantaneous axis of rotation, we can see that Ʃt = -(1.2 m)(Ft1) - (0.4m)(Ft2). However, I'm not sure how to proceed from here, and also have a few conceptual questions related to rolling without slipping. In which direction does the force due to static friction act in these problems? Does it act in such a way that it opposes the translational motion of the object in question or does it act to oppose rotational motion? EDIT: Just realized that I forgot Fn and Fg on my free body diagram, but they're not terribly pertinent to this problem anyway.