Torque, Couple & Equilibrium of Rigid Bodies
A uniform cylinder of mass M and radius R is to be pulled over a step of height a (a < R) by applying a force F at its centre ‘O’ perpendicular to the plane through the axes of the cylinder on the edge of the step (see figure). The minimum value of F required is:

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Answer: (a)
- Just before lift-off the floor reaction is zero; take moments about the step edge P (the cylinder pivots about it).
- at O is perpendicular to OP, so its arm is (the largest possible), which gives the minimum .
- Weight arm = horizontal distance of O from P
- So the answer is (a).