When force is applied on extended objects at some point, the work done by this force on this object $\vec{F} \cdot \vec{dr_{P}}$ where $P$ is the point of application of force. When the object is rolling and friction is acting on it, the point at which it acts is moving with respect to the ground frame, yet work done by friction in rolling is zero.
I would have thought that work is force times distance. How can this be?
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