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2. A wheel of 100 mm radius and mass 5 kg spins at a constant rate of p = 120 rad/s about it's center (the y' axis through point O'). It is held at that axis by a fork that extends 300 mm from point O. The fork is clamped to the shaft OP, which is rotating about the x axis (along shaft OP) at a constant rate of w = 40 rad/s. Calculate a. The angular velocity vector of the wheel about axes (x', y',z'). b. The angular acceleration vector the wheel about axes (x', y',z'). c. The 3 x 3 moment of inertia matrix of the wheel about the end of the rotating shaft at point P (that is, Ip). Use axis directions (x, y, z). d. The angular momentum of the wheel about point P. e. The kinetic energy of the wheel. 120 rad/s 100 mm j 300 mm 100 mm x w = 40 rad/s