Bar AB is pinned to the fixed support at A, and the pin P is fixed to the disk at radius R...

Bar AB is pinned to the fixed support at A, and the pin P is fixed to the disk at radius Ri. The disk with outer radius Ro rolls without slipping over the horizontal flat surface with angular speed ωd and angular acceleration αd in the directions shown. At the instant shown, s = 35 in., Ri = 8.3 in., Ro = 11 in., and ωd = 15rad/s.

If αd is zero at the instant shown, determine the angular velocity and angular acceleration of the bar AB.

Figure P6.142