Professional Documents
Culture Documents
• + w2 𝒆𝟐
𝑾𝑯𝒐𝒓𝒒 = (𝒘𝟏 𝒆𝟏 ) rad/s • + α2 𝒆𝟐
𝞪𝑯𝒐𝒓𝒒 = (α𝟏 𝒆𝟏 + w1 x w2) rad/𝒔𝟐
• 𝑹𝑸/𝑷 = (-0.1 𝟑 𝒊 − 𝟎. 𝟏 𝒌 ) 𝒎
• 𝑹𝑪/𝑸 = (0.2 𝒊 − 0.2 𝒋 + 0.1𝒌 ) 𝒎
𝒚 𝒆𝟐
• PRIMERO CALCULAMOS LOS VECTORES UNITARIOS 𝒆𝟏 :
𝒆𝟏 = (0 , 0, 1)
𝒆𝟏
𝒙 𝑹𝑪/𝑸
𝒆𝟏
𝑹𝑪/𝑸 =
𝒆𝟐
𝒙 𝑹𝑪/𝑸
𝒆𝟏
𝒆𝟐
= (0.7559 , 0.6546, 0)
𝒆𝟐
+ w2 𝒆𝟐
𝑾𝑯𝒐𝒓𝒒 = (𝒘𝟏 𝒆𝟏 )
Siendo:
+ 𝜶2 𝒆𝟐
𝜶𝑺𝑴 = 𝜶𝑯𝒐𝒓𝒒 = (𝜶𝟏 𝒆𝟏 + w1 x w2)
= (𝟎, 𝟎, 𝟏. 𝟖𝟑𝟎𝟏)
𝑾𝟏𝒉𝒐𝒓𝒒 = 𝒘𝟏 𝒆𝟏
(w1 x w2)=(−1.085, 1.2533, 0)
𝑾𝟐𝒉𝒐𝒓𝒒 =w2
𝒆𝟐 = 𝟎. 𝟔𝟖𝟒𝟖, 𝟎. 𝟓𝟗𝟑𝟏, 𝟎
Reemplazando se obtendrá:
15m
12m
𝟓𝟑º
9m
՜ = 9𝑖Ƹ − 12𝑗 m
𝑅 𝐴𝐵
Calculamos la velocidad en A: P
՜ = x 9𝑗
x ՜ = −2𝑘
𝑉𝐴 ω 𝐴𝑃 𝑅
՜ = 18𝑖 m/s
𝑉𝐴
Calculamos las velocidades angulares:
• ՜ =՜ + x՜
𝑉𝐵 𝑉𝐷 ω 𝐵𝐷 𝑅
՜ = -6𝜔𝐵𝐷 𝑖 …(1)
՜ = x 6𝑗 𝑉𝐵
𝑉𝐵 ω 𝐵𝐷
• ՜ =՜ + x՜
𝑉𝐴 ω 𝐴𝐵 𝑅
𝑉𝐵
18𝑖 =-6𝜔𝐵𝐷 𝑖+ 𝜔𝐴𝐵 𝑘 x (9𝑖Ƹ − 12𝑗)
𝜔𝐴𝐵 = 0𝑘 rad/s
2
• 𝑎Ԧ𝐴 = 𝑎Ԧ𝑜 + 𝛼Ԧ𝐴𝑂 × 𝑅𝐴𝑂 − 𝑤𝐴𝑂 ⋅ 𝑅𝐴𝑂
x 3𝑗 - 4 x 3𝑗
𝑎Ԧ𝐴 = −24 𝑖Ƹ + 4𝑘