Note: Please do not copy previous versions of the solution. I have reviewed and have not found the right one.

A circular disk (wheel) of radius r rolls in its plane along a general convex curve of

varying radius of curvature R such that all motion is confined to a single vertical plane. The contact point O'

traverses the curve at a constant speed of v0. (a) Find the absolute velocity of the point P on the rim. (b) Find

the absolute acceleration of the point P on the rim. Express the results in terms of the unit vectors en and et.