Please help. This problem involves angular velocity and acceleration. Thank you. Q2. The circular disk rolls to the left without slipping. The acceleration of A relative to B isaA/B = – 3jm/s². Represent all answers below as vectors in Cartesian in terms of i and j.a) What is the instantaneous center of rotation of the disk?b) Determine the linear velocity of the center O of the disk. (Cartesian vector in terms of i and j)c) Determine the acceleration of the center O of the disk. (Cartesian vector in terms of i and j)d) Determine the linear velocity of point B.e) Determine the acceleration of the bottommost point on the disk, momentarily in contact withthe ground.Hint: Assume that you do not know the angular velocity ok and the angular acceleration ak.Then, write the equation for the relative acceleration aR = a, - ap in terms of the scalars wand a. Expand everything. You will now have a single vector equation with i and jcomponents. This will give two scalar equations, one for i component, one for j component.You can now solve for w and a. Once you've done so, you can solve for everything else.150 mm150 B200 mmmm

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