The disk of mass m_d is originally at rest, and the spring holds it in equilibrium. A couple moment M is then applied to the disk as shown. Determine its angular velocity at the instant its mass center G has moved distance d down along the inclined plane. The disk rolls without slipping.

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Given: md = 20 kg M = 30 N-m r = 0.2 m d = 0.8 m k = 150 8 = 30 deg N m 8 = 9.81 m וון 2 S