Tension is a force along the length of a medium, in particular, a force carried by a flexible medium, such as a rope or cable. The word "tension" comes from Latin, meaning "to stretch". Not coincidentally, the flexible cords that carry muscle forces to other parts of the body are called tendons. Any flexible connector, such as a string, rope, chain, wire, or cable, can exert pull only parallel to its length; so, a force carried by a flexible connector is a tension with a direction parallel to...

People have observed the rolling motion without slipping ever since the invention of the wheel. For example, one can look at the interaction between a car's tires and the surface of the road. If the driver presses the accelerator to the floor so that the tires spin without the car moving forward, there must be kinetic friction between the wheels and the road's surface. If the driver slowly presses the accelerator, causing the car to move forward, the tires roll without slipping. It is essential...