A uniform disc of mass M and radius R rolls without slipping down a plane inclined at an angle $ \theta $ with the horizontal. The acceleration of the centre of mass of the disc is
$ Mg sin \theta - f = Ma $ $ \tau = I . \alpha $ $ As I = { 1 \over 2} MR^2 , \alpha = { a \over R} and \tau = fR$ $ Hence fR = { 1 \over 2} MR^2 . { a \over R } = { 1 \over 2 } MRa $