Problem $16\mathrm{.}130!$

Arm ACB rotates clockwise about the fixed point $C,$ which is at the midpoint between points A and $B,$ with constant angular speed ${}_0.$ Two friction disks $D$ and $E$ are pinned at their centers to arm ACB as shown. Knowing that the disks roll without slipping at all contact surfaces, determine the angular velocities of disks $D$ and $E$ as functions of ${}_0.$ Also, determine the accelerations of points $P$ and $Q,$ which are the points on disks $D$ and $E,$ respectively, that are in contact with one another at this instant.