Meriam, Kraige & Bolton — Introduction to Three-Dimensional Dynamics of Rigid Bodies: Problem 7_115

7/115 The motor turns the disk at the constant speed \(p = 30 \text{ rad/sec}\). The motor is also swiveling about the horizontal axis \(B\)-\(O\) (\(y\)-axis) at the constant speed \(\dot{\theta} = 2 \text{ rad/sec}\). Simultaneously, the entire assembly is rotating about the vertical axis \(C\)-\(C\) at the constant rate \(q = 8 \text{ rad/sec}\). For the instant when \(\theta = 30^\circ\), determine the angular acceleration \(\alpha\) of the disk and the acceleration \(\mathbf{a}\) of point \(A\) at the bottom of the disk. Axes \(x\)-\(y\)-\(z\) are attached to the motor housing, and plane \(O\)-\(x_0\)-\(y\) is horizontal.