The thin hoop of negligible mass and radius r = 605 mm contains a homogeneous semicylinder of mass m = 3.4 kg which is rigidly attached to the hoop and positioned such that its diametral face is vertical. the assembly is centered on the top of a cart of mass m = 15.9 kg which rolls freely on the horizontal surface. if the system is released from rest, determine the magnitude of the initial acceleration a of the cart and the magnitude of the angular acceleration α of the hoop and semicylinder. friction between the hoop and cart is suffi cient to prevent slip. motion takes place in the x-y plane. neglect the mass of the cart wheels and any friction in the wheel bearings.