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