1. The problem statement, all variables and given/known data Hello everyone, Please help me with this problem, as I am getting stuck solving this problem. A solid sphere of Mass M and Radius R rolling (pure) encounters a protrusion on the surface of height R/4. Its in the form of a step. What can be the maximum velocity V of sphere so that it doesn't leave contact from surface and final velocity? Attached below is a figure: 2. Relevant equations ζ=Iα I=MR.R.2 / 5 for sphere MV=P.dt where P is impulse 3. The attempt at a solution Assume the impule duration is dt Impulse force in in X and Y direction is X,Y I used linear conservation equations. Then conserve angular momentum about the corner point. Also The torque about the same point which is only due to weight. The normal force from ground and friction will be 0 just after it lifts off. The velocity component would be perpendicular to line joining corner to center of sphere for it to not loose contact.