Meriam, Kraige & Bolton — Introduction to Three-Dimensional Dynamics of Rigid Bodies: Problem 7_121

7/121 Determine the acceleration a of point A on the disk of Prob. 7/119 for the position shown. Context from 7/119: The circular disk of radius r is mounted on its shaft, which is pivoted at O so that it may rotate about the vertical z₀-axis. If the disk rolls at constant speed without slipping and makes one complete turn around the circle of radius R in time τ, determine the expression for the absolute angular velocity ω of the disk. Use axes x-y-z which rotate around the z₀-axis.