text: 
  
  friction. 
  
  to mate quite closely when 
  the maximum possible rolling 
  
  the wheel is stationary 
  the tire 
  
  The relationship of friction 
  
  force, normal 
  torque is 
  
  force, braking 
  illustrated 
  
  torque, and rolling 
  
  in figure 6.11. 