A solid cylinder of mass m and radius R rolls down a ramp, starting from rest at a height h above a nearby horizontal surface. The coefficients of kinetic and static friction and are non-zero, and sufficiently large that the cylinder rolls down the ramp without slipping. Assume that the coefficient of rolling friction is zero. As the cylinder leaves the ramp, it continues along a horizontal surface (with the same frictional coefficients as the ramp).

Required:
What is the speed V of the cylinder after it has traveled a distance D along the horizontal surface?