Relative to reference frame e, the large disk B rotates at a constant rate about an axis which passes through point O and is parallel to . The small disk A rotates relative to e at a constant rate w about an axis which passes through point Q and is parallel to 3. The bug P is strolling along the radial line fixed in A. 3 B a A Introduce new frames and use the BKE to find simple expressions for e and cap.