I have added a Rack Pinion to get the Linear Rotational Speed of a 'Pinion' Rolling up a Stationary Rack' - see the model attached.

This was only to get the linear speed vs rotational speed correct.

I want to add a Cam - either a cam in the frame and a rolling star of rollers

or a rolling cam with pins fixed in the frame.

In both cases the cam is not correct and no doubt to do with the relative velocities.