The disk D is rotating with angular speed ωD about its central point O in the direction sh...

The disk D is rotating with angular speed ωD about its central point O in the direction shown. The particle P moves in the slot with known motion s(t), which is measured relative to the disk. Express your answers using the xyz frame that is attached to the disk D with its origin at O as shown.

If ωD is constant, determine the Coriolis acceleration of P and its total acceleration as functions of d, s and its time derivatives, and ωD.

Figure P6.136