In Prob. 15.146, show that the path of P is a vertical straight line when r=R/2. Derive expressions for the corresponding velocity and acceleration of P at any time t. Problem 15.146: A wheel of radius r rolls without slipping along the inside of a fixed cylinder of radius R with a constant angular velocity ?. Denoting by P the point of the wheel in contact with the cylinder at t = 0, derive expressions for the horizontal and vertical components of the velocity of P at any time t. (The curve described by point P is a hypocycloid.)

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