We establish, in the setting of an infinite dimensional Hilbert space, results concerning the existence of solutions of second order ”nonconvex sweeping process” for a class of uniformly prox-regular sets depending on time and state. The perturbation considered here is general and takes the form of a sum of a single-valued Carath´eodory mapping and a set-valued unbounded mapping. We deal also with a delayed perturbation, that is the external forces applied on the system in presence of a finite delay. We extend a discretization approach known for the time-dependent case to the time and state-dependent sweeping process.