Calculate the velocity and acceleration of the particle P that is moving with constant speed relative to the disc along the groove. The bar OA is rotating with a constant counter-clockwise rotation of relative to the ground and the disc D is rotating at a constant CCW rate of relative to OA. The length of OA is l.
Substitution into (1) to get the velocity of P, this gives
To get the acceleration we have
Substitution into (2) gives the acceleration of P as