HW$09\mathrm{.}1-$ The wheel is rolling without slipping with the angular velocity $$ and angular acceleration $$ shown.

"Rolling without slipping" means

vec$(v{)}_C=($:$0,0$:$),$vec$(v{)}_G=($:$r,0$:$),$ and vec$(a{)}_G=($:$r,0$:$)$

$=$

$=1.$

To find the vector form of acceleration of points $B,C,$ an $D,$ use:

vec$(a{)}_B=$vec$(a{)}_G+$vec$()$vec$(r{)}_{GB}-{}^2$vec$(r{)}_{GB}$

vec$(a{)}_C=$vec$(a{)}_G+$vec$()$vec$(r{)}_{GC}-{}^2$vec$(r{)}_{GC}$

vec$(a{)}_D=$vec$(a{)}_G+$vec$()$vec$(r{)}_{GD}-{}^2$vec$(r{)}_{GD}$

For each of the points $B,C,$ and $D,$ sketch the normal acceleration vector and tangential acceleration vector that would exist at those points for Fixed$-$Axis Rotation about point $G.$ Also sketch the linear acceleration vector of point