Problem 5/15  Page 335, Engineering Mechanics - Dynamics, Meriam and Kraige, 4th Edition

Given: Disk with known constant angular velocity and a fixed pivot point.

Find: Velocity and acceleration of a point on the disk.

w = w0 ( cos q k + sin q j )
w0 = 40 rad/s
cos q = 4/5    sin q = 3/5
r = 15 i + 16 j -12 k in

The two point velocity formula can be used to evaluate the velocity.
vP = v0 +  w X r
vP = 0 + ( 32 k + 24 j ) X ( 15 i + 16 j - 12 k ) in/s
vP = -800 i + 480 j - 360 k in/s

The two point acceleration formula can be used to evaluate the acceleration.  Note that as the angular velocity is constant, the angular acceleration is zero.
aP = a0 + w X ( w X r ) + a X r
aP = 0 + ( 32 k + 24 j ) X { ( 32 k + 24 j ) X ( 15 i + 16 j - 12 k ) } in/s² + 0
aP =   ( 32 k + 24 j ) X (-800 i + 480 j - 360 k ) in/s²
aP = -24000 i -25600 j  + 19200 k in/s²