From a rough inclined plane forming an angle a with the horizon, two cylinders having the same mass m and the same radius roll down without slipping (figure). One of them is solid, the other is hollow, thin-walled. Friction coefficient between cylinders k. Should the hollow cylinder be placed in front of the solid cylinder or behind it so that the cylinders roll together? Find the acceleration a of the cylinders and the pressure force N on one another.

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