The circular disk of 120-mm radius rotates about the z-axis at the constant rate ωz = 20...

The circular disk of 120-mm radius rotates about the z-axis at the constant rate ω_z = 20 rad/s, and the entire assembly rotates about the fixed x-axis at the constant rate ω_x = 10 rad/s. Calculate the magnitudes of the velocity v and acceleration a of point B for the instant when θ = 30°.