In the above expressions, we have already used the fact that uc=0. Now, rcp=Rose 1+ sin o)j Up=-wR(1+sin o)i+aRcos o j The calculation of ap, in this case, requires knowing ac. In the no sliding case, ac can be shown to be equal to Rw 2j, i. e, it only has a vertical component. With this, after some algebra, we obtain ap=[-aR(1+si)-2Rcs可i+ arcos-u2Bsin叫j ADDITIONAL READING L Meriam and L G. Kraige, Engineering Mechanics, DYNAMICS, 5th Edition 5/1,5/2,5/3.,5/4( review),5/5,5/6( review)In the above expressions, we have already used the fact that vC = 0. Now, r ′ CP = R cos φ i + R(1 + sin φ) j , ω = ωk , and, vP = −ωR(1 + sin φ) i + ωR cos φ j . The calculation of aP , in this case, requires knowing aC . In the no sliding case, aC can be shown to be equal to Rω2 j, i.e., it only has a vertical component. With this, after some algebra, we obtain, aP = [−αR(1 + sin φ) − ω 2R cos φ] i + [αR cos φ − ω 2R sin φ] j . ADDITIONAL READING J.L. Meriam and L.G. Kraige, Engineering Mechanics, DYNAMICS, 5th Edition 5/1, 5/2, 5/3, 5/4 (review) , 5/5, 5/6 (review) 7