Step 1: Apply conservation of mechanical energy.
Initially, the solid cylinder is at height \(h\), so its total energy is purely gravitational potential energy:
\[
PE=mgh
\]
When it reaches the ground, the energy is converted into:
(i) Translational kinetic energy
and
(ii) Rotational kinetic energy
Therefore,
\[
mgh=\frac12 mv^2+\frac12 I\omega^2
\]
Step 2: Use moment of inertia of a solid cylinder.
For a solid cylinder,
\[
I=\frac12 mR^2
\]
Also, for rolling without slipping,
\[
v=R\omega
\]
Hence,
\[
\omega=\frac{v}{R}
\]
Substitute these into the energy equation:
\[
mgh=\frac12 mv^2+\frac12\left(\frac12 mR^2\right)\left(\frac{v}{R}\right)^2
\]
Step 3: Simplify the equation.
\[
mgh=\frac12 mv^2+\frac14 mv^2
\]
\[
mgh=\frac34 mv^2
\]
Cancel \(m\):
\[
gh=\frac34 v^2
\]
Thus,
\[
v^2=\frac{4gh}{3}
\]
Therefore,
\[
v=\sqrt{\frac{4gh}{3}}
\]
Step 4: Final conclusion.
Hence, the velocity of the cylinder on reaching the ground is
\[
\boxed{\sqrt{\frac{4gh}{3}}}
\]