https://youtu.be/FUHkTs-Ipfg?t=209 Any point on the boundary of the coin (or B) rotates through an angle of 4π by the time B reaches its original position. Velocity of COM of B is 2ωR, and its COM is rotating about COM of A in a circle with radius 2R. So it takes 2π/ω to complete one revolution. This implies that angular velocity of B about its axis should be 4π/(2π/ω) = 2ω.
Where am I going wrong here?