5. A solid wheel with mass M, radius R, and rotational inertia MR²/2, rolls without sliding on a horizontal surface. A horizontal force F is applied to the axle and the center of mass has an acceleration a. The magnitudes of the applied force F and the frictional force f of the surface, respectively, are: (A)F = Ma, f = 0 (B)F = Ma, f = Ma/2 (C)F = 2Ma, f = Ma (D)F = 2Ma, f = Ma/2 (E)F = 3Ma/2, f = Ma/2