A ball of radius R is rotatably mounted on an arm of the bar DOE bent at

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Question:

A ball of radius R is rotatably mounted on an arm of the bar DOE bent at right angle at point O. The other part of this bar is vertical and rotatably mounted in a stationary ball of the same radius. The OE arm of the bar rotates with velocity omega1, causing the ball to roll without slipping on a stationary one. Find the accelerations of the points A, B, D, M of the moving ball shown in the figure.