1. The problem statement, all variables and given/known data A plank with mass M = 6 kg rides on top of two identical solid cylindrical rollers that have R = 0.05 m and m = 2 kg. The plank is pulled by a constant horizontal force F of magnitude 6 N applied to an endpoint of the plank and perpendicular to the axes of both cylinders. The cylinders roll without slipping on a horizontal surface and the plank does not slip on the cylinders either. Knowing that there must be rolling friction (not sliding friction) between the plank and the cylinders and between the cylinders and the surace, calculate: (a)the linear acceleration of the plank and of the rollers (b)the magnitudes of all friction forces that are acting. http://img389.imageshack.us/img389/61/figureio5.th.jpg [Broken] 2. Relevant equations Not sure... 3. The attempt at a solution I have no idea how to go about this...any help with starting would be appreciated.