Yes, when external unbalanced force on an object is zero, the object can be travelling with a non-zero velocity
This can happen under the following conditions:
(a) The object should already be travelling with a uniform speed in a straight line path.
(b) There should be no change in the magnitude of speed.
(c) There should be no change in the direction of motion.
(d) The friction between the object and the ground must be zero.
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