Energy losses in a rolling ball

A ball rolling on a horizontal surface slows down as it rolls, due to rolling friction. The friction force is due to static friction so no net work is done by that force, and it does not act to dissipate energy. The loss of energy in one revolution is given by 2 pi MgD where M is the mass of the ball and D is the offset distance in the line of action of the normal reaction force. The loss in energy is equal to the work done by the torque MgD. The work required to compress and expand the bottom of the ball accounts for most of that loss.