A wheel rolls without slipping with the centre of mass having velocity v. The instantaneous velocity of the point of contact with the ground is:

1. Pure rolling means no slipping at the contact point. 2. Velocity of contact point = v_cm + ω × r_contact = v + (−v) = 0. 3. Friction at the contact point does no work because the contact point is momentarily at rest. 4. The TOP of the wheel moves at 2v (sum of v_cm and ωR). _Source: syllabus Physics Ch 6 §6.13 Rolling Motion_