Dynamics of a Rolling Solid Disk

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A uniform solid disk of mass M and radius R is on a horizontal surface with a coefficient of kinetic friction μ. A horizontal force F is applied to the top edge of the disk. Which of the following relationships must be true for the disk to roll without slipping?

$F - f = 2MR\alpha$

$F = μMg$

$F = μMg - MR^{2}α/R$

$F = MR^{2}α/R$

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