You are investigating an avalanche scene where a boulder of massM and radius R rolled down a slope of angle theta from a height of h before rolling off a cliff some height H above the valley floor. (Thereis a very small frictionless horizontal ledge at the bottom of the slope,as shown, so that it leaves the cliff initially in the horizontal direction).

Your measure a coefficient of rolling friction u_r for the boulder.

Find an expression for the distance D that it lands from the base of the cliff.

You may assume that the boulder started from rest and that it rolls without slipping.