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Originally Posted by Ninja_Bait
Can normal force increase to balance the increase in tau_k?
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No.
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I don't think that actually makes sense but it seems to be the only variable that can change in this case.
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If the system is in equilibrium, and then you increase the motor torque that's driving the wheel, what happens?
Think torque=momentOfInertia*angularAcceleration. Then follow the causes and effects as they ripple through the system.