With the wheel as the frame of reference, the point M moves in a circle relative to the wheel.

If the wheel only rolls without slipping, the displacement of the center of mass of the wheel once rolls is 2 π r.

Suppose the angular velocity of the wheel is ω and the time is t.

Then it is: 2π/ω=2πR/v0, and we get: ω=v0/R,

Then the angle between the relative velocity and v0 is θ = ω t = v0t/r.

Then: the relative velocity vector is: v=-v0cosv0t/Ri+v0sinv0t/Rj.

So there is an absolute velocity vector: v' = (v0-v0cos v0t/r) i+v0sinv0t/rj.

Acceleration vector: a = dv'/dt = (v02s inv0t/r) I/r+(v02cos v0t/r) j/r.