Physics Olympiad #009 [A Yo-Yo Maximum Speed]

A yo-yo of radius r rolls without slipping with speed v on a flat plane, then falls on an inclined plane with an angle of inclination theta. Determine the maximum v value at which the yoyo remains in contact with the plane when rolling from a flat plane to an inclined plane. Assume the mass of the yo-yo is concentrated at its center and the yo-yo moves without slipping.

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