1. The problem statement, all variables and given/known data mass = M radius = r rot. inertia = i height = h Sphere of mass M is released from rest at the top of an inclined plane. The speed of the center of mass at the bottom of the incline, without friction, is sqrt(2gh). I need to find the velocity of the center of mass assuming the plane has friction and the sphere rolls without slipping. 2. Relevant equations I'm perplexed. My only guess would be vcm = (Σmivi)/(Σmi) 3. The attempt at a solution The correct answer is √(2MgHr2)/(I+Mr2).