Rolling without slipping
No slip constrains velocity at the contact point.
Key knowledge
For a rigid circular wheel rolling in a plane on a stationary surface, no slip makes the instantaneous contact-point velocity zero. Its centre speed satisfies v_CM=R|ω| and its kinetic energy is Mv_CM²/2+I_CMω²/2. Ideal static friction can enforce this condition without local sliding dissipation; static friction is not required to be nonzero in every rolling motion.
Values and equations
v_CM=R|ω|; K=½Mv_CM²+½I_CMω²
- v_CM
- Centre-of-mass speed m s⁻¹
- R
- Wheel radius m
- ω
- Signed planar angular velocity rad s⁻¹
- M
- Wheel mass kg
- I_CM
- Moment about its centre perpendicular to the plane kg m²
- K
- Kinetic energy J
Conditions and scope
- Rigid circular wheel of fixed R>0 on a fixed, undeforming surface; no slip is an additional constraint to check.
- Real tyres and rolling resistance involve deformation/hysteresis. Moving supports or powered wheels require application-point work accounting; the fixed-surface zero-work statement does not apply unchanged.
Sources · 1
References
Sources retain their recorded scope. A source link alone does not establish verification of every statement.
Evidence and review
Read §11.1 contact-point no-slip derivation11.1, static-friction discussion and energy decomposition. Exclude the source’s occasional implication that all rolling contacts necessarily have a nonzero static friction force.
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Entry details
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- foundation-physics-rolling-without-slip
- Revision
- foundations-refresh.1
- Structured reference record
- Foundational reference additions