Q4. A vertical disk of radius r rolls around rotates at a constant rate 2, about a vertical axis. The center of the disk moves at a horizontal track of radius R which itself constant angular rate ø, about the same vertical axis. Using the shown cylindrical unit vector system, find the velocity and acceleration of point P on the edge of the disk when this point is at its highest position. (Problem 2-19 in the text).

Q4. A vertical disk of radius r rolls around rotates at a constant rate 2, about a vertical axis. The center of the disk moves at a horizontal track of radius R which itself constant angular rate ø, about the same vertical axis. Using the shown cylindrical unit vector system, find the velocity and acceleration of point P on the edge of the disk when this point is at its highest position. (Problem 2-19 in the text).