Meriam, Kraige & Bolton — Introduction to Three-Dimensional Dynamics of Rigid Bodies: Problem 7_27

7/27 The collar at $O$ and attached shaft $OC$ rotate about the fixed $x_0$-axis at the constant rate $\Omega = 4 \text{ rad/s}$. Simultaneously, the circular disk rotates about $OC$ at the constant rate $p = 10 \text{ rad/s}$. Determine the magnitude of the total angular velocity $\omega$ of the disk and find its angular acceleration $\alpha$.