Fig. 6.

In Fig. 6 rod and disc are moving in opposite directions, and

w = BB',

t =p - w ,
r
t =w ,
r'

r'(p - w) = rw ,

w(r' + r) = pr' ,

w =pr' (5)
r' + r .

So that to include both cases (of movement in the same or in opposite directions), we have that