Pulley coupled to a rolling disc ($q=g(m-M\sin \theta )/(m+3M/2)$)

A hanging mass $m$ pulls the centre of a uniform disc of mass $M$ up an incline of angle $\theta$, using a light string and light frictionless pulley. If the disc rolls without slipping and the string is parallel to the slope, its effective translational mass is $M+I/a^2=3M/2$. With downward hanging acceleration $q$, $q=g(m-M\sin \theta )/(m+3M/2)$. Static friction has signed downslope component $Mq/2$ and supplies the rolling torque. The acceleration threshold is unchanged from a sliding block, although rotational inertia reduces the magnitude.