# The acceleration and velocity of a rolling disk

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A disk of radius R is accelerating to the right over a plane. At t=0 the speed and the acceleration of the axle are v1 and a1 what is the velocity and the acceleration of each point (1-4 and point P, which makes an angle θ as shown in the figure) with respect to the plane. Note its direction.

I know to compute the velocity of a given point when the disk (or wheel) is moving in a constant velocity, using the parametric equations for the cycloid curve. Point (1) is moving with a velocity equal zero, point 3 is 2v and so on.

So I need some help with the accelerating case.

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