 Solution

Let the uniform mass density be $\rho =3M/(4\pi a^3)$. In spherical polar coordinates about the rotation axis, the perpendicular distance is $r\sin \theta$ and the volume element is $r^2\sin \theta drd\theta d\varphi$. The moment of inertia is thereforeIn the given rigid body kinetic energy decomposition, $\frac{1}{2}M|\dot{\mathbf{R}}{|}^2$ is the translational kinetic energy of the whole mass moving at its center of mass velocity. The term $\frac{1}{2}I{\omega }^2$ is the rotational kinetic energy about the center of mass. The mixed term vanishes because the mass-weighted relative positions sum to zero.

For rolling without slipping, the point of contact has zero instantaneous velocity relative to the stationary surface. Its rotational velocity is opposite the center of mass velocity and has magnitude $a|\omega |$. Hence $V=a|\omega |$. Substituting this and the moment of inertia of a uniform solid sphere givesThe rotational axis is through the center of mass and parallel to the surface, perpendicular to the direction of rolling.