Meriam, Kraige & Bolton — Introduction to Three-Dimensional Dynamics of Rigid Bodies: Problem 7_38

7/38 The circular disk of 100-mm radius rotates about its $z$-axis at the constant speed $p = 240\text{ rev/min}$, and arm $OCB$ rotates about the $Y$-axis at the constant speed $N = 30\text{ rev/min}$. Determine the velocity $\mathbf{v}$ and acceleration $\mathbf{a}$ of point $A$ on the disk as it passes the position shown. Use reference axes $x$-$y$-$z$ attached to the arm $OCB$.