Relative to the earth, the disk rotates at a constant rate ω about a vertical axis. the bar rotates relative to the disk at a constant rate. the bug p is strolling along the bar at a constant speed find e v¯ p and e ¯a p where e is fixed in the earth using: i) standard procedure (take derivatives of position and velocity in e-frame without using bke or kinematic expansion) ii) using bke iii) using kinematic expansion