A disk of mass m and radius R is released from rest at the top of an inclined plane and rolls without slipping on the plane. If the angle of inclination is theta and the height is h, find:
(a) The velocity of the disk when it reaches the lowest point of the inclined plane.
(b) The angular acceleration a and the linear acceleration a along the inclined plane.
(c) The time it takes the disk to roll down.