An impulse to the ground to end rolling with slipping

Several scenarios used to teach mechanics feature a rolling motion with slipping that transitions to one without slipping through friction with the ground. We present a compact approach for determining the final velocity in these scenarios: we summarise the transition by introducing an impulse that is transferred to the ground and account for it in the conservation of angular and linear momentum. In contrast to common approaches, we do not require any assumptions on the friction. Our approach thus serves to illustrate how using conservation laws and collisions allows to simplify problems by summarising complex interactions. We exemplify our approach with three scenarios: a sliding ball starting to roll, a turning wheel being released onto the ground, and a braking monowheel