 Solution

An impulse is $\mathbf{J}=\int \mathbf{F}dt$, giving $\Delta \mathbf{P}=\mathbf{J}$. For a short localized impulse at displacement $\mathbf{r}$ from the centre of mass, the angular impulse is $\Delta {\mathbf{L}}_{\mathrm{CM}}=\mathbf{r}\times \mathbf{J}$; for a changing lever arm use its instantaneous value inside the integral. For a uniform solid sphere with volume density ${\rho }_V$, direct integration about the $z$ axis givesTake forward translation $u$ and forward-rolling clockwise spin $\Omega$ as positive. Neglect the table's tangential impulse during the much shorter cue impact. Immediately afterwards,The bottom contact point has slip velocity $s_0=u_0-a{\Omega }_0$. The cue height for immediate rolling is therefore $d=2a/5$.

For the impulse-driven slipping-to-rolling transition of a sphere at an arbitrary admissible impact height, let $J_f$ be the signed friction impulse accumulated before slipping ends. Translation and spin then obey $u_f=u_0+J_f/M$ and ${\Omega }_f={\Omega }_0-a{J}_f/I$. Impose $u_f=a{\Omega }_f$ and eliminate $J_f$:This expression handles both sliding directions. If $d<2a/5$, the contact point slips forward and friction slows the centre; if $d>2a/5$, excess spin makes it slip backward and friction accelerates the centre. friction still dissipates total mechanical energy. For ${\mu }_d>0$, $\dot{s}=-(7/2){\mu }_{d}g\mathrm{sgn}s$, so the slipping time is $2|s_0|/(7{\mu }_{d}g)$. Its duration depends on friction, while the final speed does not. With zero friction no slipping-to-rolling transition occurs unless rolling was present from the outset.