The circular disk of 100-mm radius rotates about its z-axis at the constant speed p = 240 rev/min, and arm OCB rotates about the Y-axis at the constant speed N = 30 rev/min. Determine the velocity v and acceleration a of point A on the disk as it passes the position shown. Use reference axes x-y-z attached to the arm OCB.

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180 mm 100 mm A B D Y 100 mm Z -X