A uniform cylinder of mass M and radius R is to be pulled over a step of height a (a

Assume no slipping about PTorque of F about P> torque of gravity⇒FR>Mgx​⇒FR>MgRsinθ​⇒Fmin=Mgsinθ=MgxR=MgR2−R−a2Rfrom figure opp=Hyp2−adj2​=MgR2−R−a2R2=Mg1−R−aR2