Why is the velocity at the point of contact (between wheel and surface when the condition is rolling without slipping) with respect to the surface remains zero all the times although the center of wheel moves forward?
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The velocity difference at the point of contact between wheel and surface doesn't have to remain zero, that's the point e.g. of ABS brakes.
Rolling is defined as the case when it does. You can read about this on wikipedia, and understand how velocity can differ between contact point and center of wheel:
Finally, rolling friction is related with the fact that during real instances rolling, there will be dissipation taking place.
Joce
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If the velocity at point is non zero slipping is occurring, but since velocity is zero it is rolling.
The definition of a body that is rolling is that there is no apparent slipping between point of contact.
Hope that answers something.
Linkin
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