The circular disk rotates with a constant angular velocity $\omega = 40$ rad/sec about its axis, which is inclined in the y-z plane at the angle $\theta = \tan^{-1}(3/4)$. Determine the vector expressions for the velocity and acceleration of point P, whose position vector at the instant shown is $r_P = 15i + 16j - 12k$ in. (Check the magnitudes of your results from the scalar values $v = r\omega$ and $a_n = r\omega^2$.)