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For all of our purposes, F = (constant) (force normal)
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It's a whee bit more complicated than that. You could in theory get a coefficent of friction higher than one even though in physics they don't teach you that. Of course your right in saying that momentum is more important because forces involve acceleration and I don't think many bots will be accelerating all the time.
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If either a public officer or any one else saw a person attempting to cross a bridge which had been ascertained to be unsafe, and there were no time to warn him of his danger, they might seize him and turn him back without any real infringement of his liberty; for liberty consists in doing what one desires, and he does not desire to fall into the river. -Mill
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It made me want to do a swerve drive, but then I smacked myself. - Nemo [more] 
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