Rapper Yo-Yo recalls an inappropriate encounter with R. Kelly. Saturday night (January 19th), TMZ caught up with veteran emcee Yo-Yo as she entered the Trumpet Awards at the Cobb Energy Performing Arts Center in Atlanta. Naturally, the outlet brought up the topic of R. Kelly and the controversy surrounding the newly-minted Surviving R. Kelly documentary series.When prompted, Yo-Yo revealed that she …