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Q4. A vertical disk of radius r rolls around a horizontal track of radius R which itself
rotates at a constant rate 2, about a vertical axis. The center of the disk moves at a
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).

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