The thin circular disk of mass m and radius r is rotating about its z-axis with a consta...

The thin circular disk of mass m and radius r is rotating about its z-axis with a constant angular velocity p, and the yoke in which it is mounted rotates about the X-axis through OB with a constant angular velocity ω₁. Simultaneously, the entire assembly rotates about the fixed Y-axis through O with a constant angular velocity ω₂. Determine the velocity v and acceleration a of point A on the rim of the disk as it passes the position shown where the x-y plane of the disk coincides with the X-Y plane. The x-y-z axes are attached to the yoke.