A plank with a mass M = 6.00 kg rides on top of two identical solid cylindrical rollers that have R = 5.00 cm and m = 2.00 kg. The plank is pulled by a constant horizontal force F of magnitude 6.00 N applied to the end of the plank and perpendicular to the axes of the cylinders (which are parallel). The cylinders roll without slipping on a flat surface. There is also no slipping between the cylinders and the plank. Find the acceleration of both the plank and rollers.