 Spring-mounted rolling cylinder

Attach a spring of spring constant $k$ to the axle of a round body of mass $m$, radius $R$ and axial moment of inertia $I$. Assume rolling without slipping, a horizontal drag force $-b\dot{x}$ applied through the axle, and no additional resisting torque. The translational force equation is $m\ddot{x}=-kx-b\dot{x}+f$, where $f$ is signed static friction. The rotational equation and rolling constraint give $f=-I\ddot{x}/R^2$, yielding the displayed equation. Equivalently, the kinetic energy is $(m+I/R^2){\dot{x}}^2/2$. This added effective inertia lowers the undamped angular frequency to $\sqrt{k/(m+I/R^2)}$. A distributed viscous torque would add a separate damping term and cannot be inferred from the drag force alone.