$(1)$

The circular disk rotates about its center O with the angular velocity $$ of $2ra\frac{d}{s}$ and angular acceleration a of $-3ra\frac{d}{s^2}.$

$($a$)$ Determine the velocity $v_A$ and acceleration $a_A$ of point A moving inward with a constant speed of $1\frac{m}{s}$ using polar coordinates

$($b$)$ Draw $a_A$

$($c$)$ Determine the relative velocity $V_{\frac{A}{B}}$ using rectangular coordinates