The circular disk is spinning about its own axis (y-axis) at the constant rate p = 10π rad/s. Simultaneously, the frame is rotating about the Z-axis at the constant rate Ω = 4π rad/s. Calculate the angular acceleration a of the disk and the acceleration of point A at the top of the disk. Axes x-y-z are attached to the frame, which has the momentary orientation shown with respect to the fixed axes X-Y-Z.

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Z 300 mm A 100 mm Ω B Y