5/144 All conditions of the previous problem remain the same, except now, rather than rotating about a fixed center, the disk rolls without slipping on the horizontal surface. If the disk has a clockwise angular velocity of 20 rad/s and a counterclockwise angular acceleration of 5 rad/s2, determine the velocity and acceleration of pin A relative to the slotted member BC and the angular velocity and angular acceleration of BC. The value of r is 200 mm. Neglect the distance from the center of pin A to the edge of the disk.