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(0 0 )
( 0.8 0.2 )
( 0.7 0.95 )
( 0.1 1 )
O2
O4
G2
G3
:=
:=
:=
:=
O4
B O
2
( 0.7 0.225 )
( 0.2 0.2 )
( 0.75 0.35 )
( 0.75 1.75 )
G4 := ( 0.15 0.6 )
Los datos msicos y los momentos de inercia respecto de los centros de masas de las barras y sus
respectivos estados cinemticos son:
Masa
m2 := 40 kg
Momento
de inercia
I2 := 2 10 kg mm
Velocidad
angular
2 := 1
Aceleracin
angular
2 := 0
m3 := 500 kg
2
rad
s
rad
I3 := 200 10 kg mm
rad
s
3 := 0.153
3 := 0.078
m4 := 20 kg
rad
2
I4 := 1 10 kg mm
4 := 0.916
4 := 0.082
rad
s
rad
2
Se pide
a) Obtener valores de las fuerzas y pares de inercia que aparecen en el sistema
b) La fuerza F que debe aportar el cilindro AB (Newton)
Aceleracion centro de gravedad cuerpo 2
RG2O2 := G2 O2
T
rG2O2 := RG2O2 m
2
aG2 := 2 rG2O2
m
aG2x = 0.05
2
s
m
aG2y = 0.125
2
s
Daniel Milovic S
a2
G2
rG2O2
0.05
:= atan
0.125
= 21.801
2
O2
21 May 04
DM Fuerzas 02
aG4n=42 rG4O4
rG4O4 := RG4O4 m
2
aG4n := 4 rG4O4
m
aG4n = 0.338
2
s
G4 aG4t= -4 rG4O4
4
O4
aG4t := 4 rG4O4
m
aG4t = 0.033
2
s
4 := atan
0.4
0.05
( )
( )
m
aG4x = 0.009
2
s
( )
( )
m
aG4y = 0.34
2
s
4 = 82.875
rO4D := RO4D m
rO4D = 0.806 m
aDn := 4 rO4D
m
aDn = 0.676
2
s
aDt := 4 rO4D
m
aDt = 0.066
2
s
( )
( )
( )
( )
aDt
aDn
4
O4
m
aDx = 0.018
2
s
m
aDy := aDn sin 4 aDt cos 4
aDy = 0.679
2
s
Aceleracin relativa del centro de gravedad del cuerpo 3 respecto al punto D
aDx := aDn cos 4 + aDt sin 4
RDG3 := G3 D
T
rDG3 := RDG3 m
a G3_Dt
aG3_Dn := 3 rDG3
m
aG3_Dn = 0.023
2
s
aG3_Dt := 3 rDG3
m
aG3_Dt = 0.077
2
s
G3
3
3 := atan
0.75
0.65
Daniel Milovic S
aG3_Dn
3 = 49.086
21 May 04
DM Fuerzas 02
( )
( )
m
aG3_Dx = 0.0433
2
s
( )
( )
m
aG3_Dy = 0.068
2
s
m
aG3x = 0.062
2
s
m
aG3y = 0.748
2
s
Pares de inercia
T2 := I2 2
T2 = 0 mN
T3 := I3 3
T3 = 15.6 mN
T4 := I4 4
T4 = 0.082 m N
Pesos
Fuerzas de inercia
W2 := m2 g
W2 = 392 N
W3 := m3 g
W3 = 4903 N
W4 := m4 g
W4 = 196 N
FG2x := m2 aG2x
FG2x = 2 N
FG2y := m2 aG2y
FG2y = 5 N
FG3x := m3 aG3x
FG3x = 30.795 N
FG3y := m3 aG3y
FG3y = 373.851 N
FG4x := m4 aG4x
FG4x = 0.183 N
FG4y := m4 aG4y
FG4y = 6.794 N
O2 = ( 0.7 0.225 )
A = (0 0 )
G2 = ( 0.75 0.35 )
B = ( 0.8 0.2 )
Cy
C
C = ( 0.7 0.95 )
Distancias desde G2 G2O2 = ( 0.05 0.125 )
G2C = ( 0.05 0.6 )
G2B = ( 0.05 0.15 )
B0 , 1
Pendiente piston: P := atan
B0 , 0
Fx = 0
Fy = 0
( )
FB sin ( P) + FO2y + FG2y + FCy W2 = 0
W2
Bx
By
X
G2x
G2y
P = 14.036
Ecuaciones de equilibrio:
Cx
O2x
O2y
(1)
(2)
MG2 = 0
(3)
FO2x 0.125 + FO2y 0.05 FCx 0.6 + FCy 0.05 FBx 0.15 FBy 0.05 + T2 = 0
Daniel Milovic S
21 May 04
DM Fuerzas 02
Cintica Cuerpo 3
C = ( 0.7 0.95 )
D = ( 0.1 1 )
G3 = ( 0.75 1.75 )
T3
G3y
G3x
W3
Fx = 0
Cx
Cy
(4)
Fy = 0
MG3 = 0
Dy
(5)
(6)
Cintica Cuerpo 4
Dy
D = ( 0.1 1 )
O4 = ( 0.2 0.2 )
Dx
G 4y
G4 = ( 0.15 0.6 )
Fx = 0
Dx
T4
G 4x
W4
(7)
O 4x
Fy = 0
MG3 = 0
(8)
O 4y
(9)
0
0
0.158 0.125 0.05 0.6 0.05
0
1
1
0
0
0
0
1
1
K = 0
0
0
0
0
0
0
0 0.8 0.05 0.75 0.65
0
0
0
0
1
0
0
0
0
0
0
0
0
1
0.4 0.05
0
0
0
0
0
Daniel Milovic S
0
0
0
0
0
0
1
0
0.4
0
0
0
1
0.05
0
2
387.3
0
30.8
Q = 4529.5 N
15.6
0.2
189.3
0.1
21 May 04
DM Fuerzas 02
FB
F
O2x
F
O2y
F
Cx
F := K 1 Q
Cy
FDx
F
Dy
F
O4x
F
O4y
Daniel Milovic S
FB = 352 N
FO2x = 339 N
FO2y = 5144 N
FCx = 4 N
FCy = 4842 N
FDx = 27 N
FDy = 313 N
FO4x = 27 N
FO4y = 123 N
21 May 04
DM Fuerzas 02
FG3y
T3
FG3x
FD1
W3
FC1y
C
2
C
FC1x
FD1
FC1x
FC1y
FO21y
B
O4
FO21x
FB1
G3 = ( 0.75 1.75 )
D = ( 0.1 1 )
4 = 82.9
Analisis cuerpo 3
MC = 0
T3
= 0
FD1 cos 4 0.05 + FD1 sin 4 0.6 FG3x 0.8 FG3y 0.05 + W3 0.05 +
m
( )
FD1 := find ( FD1)
( )
FD1 = 316.105 N
( )
Fx = 0
Fy = 0
( )
FC1x
:= Find F
( C1x , FC1y)
FC1y
FC1x = 8 N
FD1 = 316 N
FC1y = 4843 N
Analisis cuerpo 2
O2 = ( 0.7 0.225 )
MO2 = 0
B = ( 0.8 0.2 )
( )
P = 14.036
( )
C = ( 0.7 0.95 )
FB1 = 126 N
6
21 May 04
DM Fuerzas 02
D = ( 0.1 1 )
CD = ( 0.6 0.05 )
CD
FD2
CD = 4.764
FC2
G4 = ( 0.15 0.6 )
O4 = ( 0.2 0.2 )
FG2y
C = ( 0.7 0.95 )
w2
O2 = ( 0.7 0.225 )
G2 = ( 0.75 0.35 )
FD2
FG4y
FC2
FG2x
T2
B = ( 0.8 0.2 )
FO22y
FB2
T4
W4
4
FG4x
O4
FO42x
FO42y
FO22x
Cuerpo 4
T4
FG4x 0.4 + FG4y 0.05 W4 0.05 = 0
FD2 cos CD 0.8 + FD2 sin CD 0.1 +
m
FD2 = 12 N
FC2 := FD2
MO2 = 0
T2
FG2x 0.125 FG2y 0.05 FB2 cos P 0.025 + sin P 0.1 +
FC2 cos CD 0.725 +
m
( ( )
( ) )
FB2 = 225.774 N
FB := FB1 + FB2
FB = 351.518 N
Daniel Milovic S
21 May 04
DM Fuerzas 02
( O4 O2)T
( C O 2) T
Link1 = 0.501
Link3 := ( D C)
Link2 = 0.725
Link4 :=
Angulo de tierra
O4 O2 = ( 0.5 0.025 )
Pendiente O2-C
C O2 = ( 0 0.725 )
Masas:
Inercia
m2 = 40 kg
( D O 4) T
1 := atan
Link4 = 0.806
0.025
1 = 2.862
0.5
2 :=
2 := 2 1
m3 = 500 kg
I2 = 2 kg m
Link3 = 0.602
2 = 92.9
m4 = 20 kg
2
I3 = 200 kg m
I4 = 1 kg m
G3 C = ( 0.05 0.8 )
D C = ( 0.6 0.05 )
G4 O4 = ( 0.05 0.4 )
D O4 = ( 0.1 0.8 )
Daniel Milovic S
( G2 O2)T
d2 :=
0.125
+
2
0.05
2 := atan
( G 3 C) T
d3 :=
3 := atan
0.8
0.05
+ atan
0.05
0.6
( G4 O4)T
d4 :=
4 := atan
0.4
0.8
atan
0.05
0.1
d2 = 0.135
2 = 21.801
d3 = 0.802
3 = 88.813
d4 = 0.403
4 = 0
21 May 04