At the instant shown, point B is moving with speed vB and acceleration aB. The bar AB has...

At the instant shown, point B is moving with speed vB and acceleration aB. The bar AB has length 3R and is pinned to the outer edge of the wheel at A, and the end B remains in contact with the surface. If the wheel rolls without slip, determine the angular velocity  and angular acceleration of the wheel at the instant shown. Express all your answers in the component system shown.

Figure P6.111