The planetary gear system is used in an automatic transmission for an automobile. By locking or releasing certain gears, it has the advantage of operating the car at different speeds. Consider the case where the ring gear R is rotating with angular velocity ω_R, and the sun gear S is held fixed, ω_S = 0. Determine the angular velocity of each of the planet gears P and shaft A.

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Given: r₁ = 40 mm r1 r2 = 80 mm OR = 3 VB = 0 rad S