Concept:
For rolling bodies,
\[
a=\frac{g\sin\theta}
{1+\frac{I}{mR^2}}
\]
Acceleration depends on the moment of inertia.
Step 1: Write acceleration of solid sphere.
For sphere,
\[
I=\frac25 mR^2
\]
Therefore,
\[
a_s=\frac{g\sin\theta}{1+\frac25}
\]
\[
a_s=\frac57 g\sin\theta
\]
Given
\[
a_s=5
\]
Hence,
\[
g\sin\theta=7
\]
Step 2: Find acceleration of disc.
For disc,
\[
I=\frac12mR^2
\]
Thus,
\[
a_d=
\frac{g\sin\theta}{1+\frac12}
\]
\[
a_d=\frac23(7)
\]
\[
a_d=\frac{14}{3}
\]
Step 3: Calculate time of descent.
\[
s=\frac12 at^2
\]
\[
21=\frac12\times\frac{14}{3}\times t^2
\]
\[
21=\frac73 t^2
\]
\[
t^2=9
\]
\[
t=3\,s
\]
Hence,
\[
\boxed{3\,s}
\]