The 50-kg wheel is a solid circular disk which rolls on the horizontal plane in a circle...

The 50-kg wheel is a solid circular disk which rolls on the horizontal plane in a circle of 600-mm radius. The wheel shaft is pivoted about the axis O-O and is driven by the vertical shaft at the constant rate about the Z-axis. Determine the normal force R between the wheel and the horizontal surface. Neglect the weight of the horizontal shaft.