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If you are new to RISC OS you should read Introduction to RISC OS.
The download link provides a copy of the stable RISC OS ROM image suitable for the following devices:
To get started with one of these boards, you need the OMAP3 firmware as well. This is how to get started – a full explanation of what to do to create an SD card that will let you start up with RISC OS on the Beagleboard.