radius).* Vcom = wR (smooth rolling motion) - 위의 식 t 로 미분.* Vtop = (w)(2R) = 2(wR) = 2Vcom.12-2. The ... through P.)- Ip = Icom +MR2. (M is mass of wheel, Icom is its rotational inertia)- 1/2 (Icom + MR2) W2 ... = 1/2 Icom W2 + 1/2 MR2 W2. - w2R2 = V2com* K = 1/2 Icom W2 + 1/2 M V2com. (원형 키네틱 + 직선적 키네틱)12-3. The