Calculo geomtrico:

Ley de coseno

a2=b2 +c 22bccos
b=0.16

En el grafico

c=0.1

=60

a= 0.162 +0.1220.160.1cos 60
a=0.1 4
Ley de senos

c
a
=
sin sin
0.1
0.14
=
=38.21321
sin sin 60
+ =90 =51.78679

Vectores unitarios
La barra 2

r A =0.1
o2

1=sin 60 icos 60 j=0.866 i0.5 j

[ ]

r A = r A 1
o2

o2

r A =0.0866 i0.05 j
o2

La barra 4
A-O4

r A =0.14
o4

[ ]

r A = r A 2
o4

o4

2=cos 51.78679 i+ sin51.78679 j=0.61859i+0.78571 j

r A =0.0866 i+0.11 j
o4

B-O4

[ ]

r B = r B 2
o4

o4

r B =0.28342 i+ 0.36 j
o4

El movimiento absoluto de A respecto al sistema inercial O 2

r A =0.0866 i0.05 j

2 =10 k

o2

rad/s

1=0.866 i0.5 j

a) Velocidad

v A = 2 r A =10 k (0.0866 i0.05 j)

o2

v A =0.5 i0.866 j
b) Aceleracin

2 r A
o2

|v A|1

)=10 k (10 k (0.0866 i0.05 j ) )

a A =2

a A =8.66 i +5 j
El movimiento absoluto de A respecto al sistema inercial O 4

r A =0.0866 i+0.11 j
o4

v A =0.5 i0.866 j

a A =8.66 i+5 j

2=0.61859 i+ 0.78571 j

a) Velocidad

v A =v o + 4 r A + v rel
4

o4

A
o4

0.5 i0.866 j= 4 ( 1 k ) (0.0866 i+0.11 j ) + v rel (0.61859 i+0.78571 j)

A
o4

0.5 i0.866 j= 4 (0.11 i0.0866 j)+ v rel (0.61859 i+0.78571 j)

A
o4

0.5=0.11 4 0.61859 v rel

0.866=0.0866 4 +0.78571 v rel

A
o4

A
o4

4=1.02
v rel =0.9897
A
o4

b) Aceleracin

4 r A
o4

)+2
4 v rel +arel
A
o4

A
o4

r +
a A =a o +

4
A 4
4

o4

4 ( 1 k ) (0.0866 i+0.11 j )+ ( 1.02k ) [ ( 1.02 k ) (0.0866 i+ 0.11 j ) ] + ( 2.04 k ) ( 0.61221 i0.777 j ) +a

8.66 i+ 5 j=
6.98483=0.11
4 0.61859 arel

4=56.281

3.865540=0.0866
4 +0.78571 arel

A
o4

arel =1.2834
A
o4

El movimiento absoluto de B respecto al sistema inercial O 4

r B =0.28342 i+ 0.36 j
o4

4=1.02

2=0.61859 i+ 0.78571 j

4=56.281

A
o4

a) Velocidad

v B=v o + 4 r B + v rel
4

o4

B
o4

v B i= (1.02 k ) ( 0.28342 i+ 0.36 j ) + vrel (0.61859 i+ 0.78571 j)

B
o4

v B=0.36720.61859 v rel

0=0.2890884 +0.78571 v rel

B
o4

B
o4

v B=0.594799
v rel =0.367932
B
o4

b) Aceleracin

4 r B
o4

)+2
4 v rel +arel
B
o4

B
o4

r +
aB =ao +

4
B 4
4

o4

a B i= (56.281 k ) (0.28342 i+0.36 j )+ ( 1.02k ) [ ( 1.02k ) (0.28342 i+ 0.36 j ) ] + ( 2.04 k ) (0.2276 i+0.2891 j )
a B=19.96620.61859 arel

arel =18.924
B
o4

B
o4

0=15.11231+0.78571 arel

a B= 31.6725

B
o4