Adisk of radius r is attached to a rod of length l2, and it rotates about it with angular velocity @ (as shown). the rod pivots about an arm of length l1, with angle o. this arm is attached to a vertical shaft that is rotating with the constant angular velocity of q. find (a) the angular velocity and (b) angular acceleration of the disk, and (c) the velocity and (d) acceleration of the center of the disk.