The homogeneous sphere of mass m = 2.6 kg and radius r = 255 mm is placed on the incline of angle θ = 20° with no initial speed (v0 = 0), however, it has an initial clockwise angular velocity ω0 = 2.1 rad/s. if the coefficient of kinetic friction is μk = 0.16, determine the time duration t of the period of slipping. in addition, state the velocity v of the mass center g and the magnitude of the angular velocity ω at the end of the period of slipping.