17.42 A disc drive is driven by a friction driver, as shown in Fig. P17.42. Initially, the angular velocity of the disc is $\omega_2$ [rad/s], clockwise, and that of the driver is $\omega_1$ [rad/s], counterclockwise. Derive a formula for the constant angular acceleration $\alpha_1$ [rad/s²] that the driver must have to increase the disc's angular speed from $\omega_2$ to $\omega_3$ in time t [s]. Express the result in terms of $r_1$, $r_2$, $\omega_1$, $\omega_3$, and t.