A solid sphere 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 µk and µs are non-zero, and sufficiently large that the ball rolls down the ramp without slipping. Assume that the coefficient of rolling friction is zero. As the sphere leaves the ramp, it continues along a horizontal surface (with the same frictional coefficients as the ramp). What is the speed vCM of the sphere after it has traveled a distance D along the horizontal surface?

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