Using Lagrangian formalism, solve the following problem: A solid cylinder is released from rest to roll without slipping down a ramp of slope . a) What is the best choice of generalized coordinates to be used? b) How many coordinates are required if the equations are simplified? c) What is the Lagrangian for the system written in such a way that the friction force at the contact point between the cylinder and ramp is able to be found? d) Solve the equations to find acceleration. e) Solve for the friction force expression