The disk has a constant angular velocity p about its z-axis, and the yoke A has a consta...

The disk has a constant angular velocity p about its z-axis, and the yoke A has a constant angular velocity ω₂ about its shaft as shown. Simultaneously, the entire assembly revolves about the fixed X-axis with a constant angular velocity ω₁. Determine the expression for the angular acceleration of the disk as the yoke brings it into the vertical plane in the position shown. Solve by picturing the vector changes in the angular-velocity components.