Disk: sum forces in $x$ and $y,$ sum moments about $z(3)$

Bar: sum forces in $x$ and $y,$ sum moments about $z(3)$

Disk rolls without slipping $(1)$

Pin constraint at $A(2)$

Surface constraint at B$(1)$

Solve $10$ equations, $10$ unknowns for theta$\_$ddot

Disk: sum forces in $x$ and $y,$ sum moments about $z(3)$

Bar: sum forces in $x$ and $y,$ sum moments about $z(3)$

Disk rolls without slipping $(1)$

Pin constraint at $A(2)$

Surface constraint at B $(1)$

Solve $10$ equations, $10$ unknowns for theta$\_$ddot