Question: The disk at O in Figure has a constant torque T applied to it and is rotating at a constant angular speed ω0 in the clock-wise direction. Rolling without slipping exists between disks O and A. The pin at B is rigidly attached to the disk at B and slides with negligible friction in the slot on the yoke. Treat the two disks as thin disks and assume that the assembly operates in the plane of the paper. Friction is negligible.
Tasks: (a) Select coordinates and state the kinematic relationships.
(b) Draw the required free-body diagrams.
(c) Obtain the EOM for each body.
(d) Develop a single EOM for the rotation of the disk supported at A.