Consider the disk rolling without slipping in Figure 9.18. The 3-1-2 coordinate transformation sequence is used, which begins with the disk upright. The following values are given: heading angle ψ =...

Consider the disk rolling without slipping in Figure 9.18. The 3-1-2 coordinate transformation sequence is used, which begins with the disk upright. The following values are given: heading angle ψ = 30◦ , ψ˙ = 0.1 rad/s, lean angle θ = 15◦ = constant, spin rate φ˙ = 2 rad/sec, and radius of disk 7 in. Find the velocity of the center of the disk. Then, for ψ¨ = ¨θ = 0, φ¨ = 0.2 rad/s2 , calculate the angular acceleration of the disk.

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