A cylinder of radius r and mass m rests on two small casters A and B as shown. Initially,...

A cylinder of radius r and mass m rests on two small casters A and B as shown. Initially, the cylinder is at rest and is set in motion by rotating caster B clockwise at high speed so that slipping occurs between the cylinder and caster B. Denoting byµk the coefficient of kinetic friction and neglecting the moment of inertia of the free caster A, derive an expression for the angular acceleration of the cylinder.