The velocity and position of P1 follow from at1 = const = v˙ with the initial conditions s01 = 0 and v01 = 0 as

Similarly, for point P2 we obtain from at2 = 0 with s02 = 0 and v02 = rω2:
v2 = rω2 , s2 = rω2t
a) Both points meet at time tB at point B thus

This leads to

b) The tangential acceleration at1 and the time tB are now known. Hence, we can calculate the angular velocity of P1 at B

c) The normal accelerations at B follow from an = rω2
