Neglect my last message. I have thought of a way where rotation need not be
a factor. But, I am wondering why you are limiting the work done by the
frictional force to just the change in kinetic energy. You write:
1 2 2
WA = - MA * ( VAf - VAi )
2
and:
1 2 2
WB = - MB * ( VBf - VBi )
2
Where I would have written:
1 2 2
WA = - MA * ( VAf - VAi ) + CA*(TA - Ti)
2
and: