As shown in the figure below, a uniform solid sphere rotates about a vertical support on a frictionless bearing. A light cord passes around the equator of the sphere, over a uniform solid disk, and is attached to a hanging mass. The sphere, disk and hanging mass all have equal mass M. The sphere and disk have the same radius R. Find the acceleration of the hanging mass if the string does not slip on the sphere or the disk. Express your answer in terms of M, R and g as needed...