Abelt of negligible mass passes between cylinders a and b and is pulled to the right with a force p. cylinders a and b weigh, respectively, 5 and 20 lb. the shaft of cylinder a is free to slide in a vertical slot and the coefficients of friction between the belt and each of the cylinders are µs = 0.50 and µk = 0.40. for p = 3.6 lb, determine (a) whether slipping occurs between the belt and either cylinder, (b) the angular acceleration of each cylinder.