The axis of the wheel
is subject to two forces:
In the center of the wheel
acts the weight G of the wheel,
whereas, at the position where the axis is attached to the rope,
acts the reaction force R
which causes tension in the rope.
R is equal, but opposite, to
G.
Their balance results
in vertical equilibrium.
However, the two forces cause a torque τ
which is horizontal and points backward in the above figure.
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