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The force of static friction in the rolling wheel performs much the same
function as does the force of static friction between your foot and the
floor when you walk. Think of a wheel as the limit of an infinite number
of spokes, each with a shoe at its distal end!
But I still worry about why
there are no non-conservative forces doing work--for example the force
of static friction, which prevents slipping. Can anyone give a SIMPLE
explanation of why we don't have to include it in the work-energy
equation?