A driver wishes to drive in a circle of radius R on the parking lot, inclined

at the certain angle with respect to horizontal, without slipping.

There is a friction between the car's tires and the parking lot's ground.

What's the maximum speed of the car? What is the speed of the car at the opposite points

of the circle, lying on its horizontal diameter?

Sorry, but I could not figure out the way to insert 'teta' for the angle and 'mu' for the coefficient of friction...