The small motor M is pivoted about the x-axis through O and gives its shaft OA a

Question:

The small motor M is pivoted about the x-axis through O and gives its shaft OA a constant speed p rad/s in the direction shown relative to its housing. The entire unit is then set into rotation about the vertical Z-axis at the constant angular velocity Ω rad/s. Simultaneously, the motor pivots about the x-axis at the constant rate β˙ for an interval of motion. Determine the angular acceleration a of the shaft OA in terms of β. Express your result in terms of the unit vectors for the rotating x-y-z axes.