where does the friction come from?

A uniform ball rolls smoothly from rest down a ramp at some angle.

So for equation 2, why friction equals to -Icom*acom,x/R2 as shown?
And does the equation on the right hand side come from the combination of equations 1) and 2)?
I really can’t figure it out…

Thank you very much!

Attached Images
File Type: jpg rollballfriction.jpg (44.9 KB)

http://ift.tt/O0yocd

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