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rev 2 rad
AB =120 (
min 1 rev )( 160mins )=12,566 rad /s
AB =12,566 k
V A =0
a A =0
V B =
V A +
AB x
AB
V B =0+12,566 k x(10 cos 60 i+10 sen 60 j)
V B =108,825i +62,830 j
10 sen 60
sen=
30
=sin1 ( 10 sen3060 )
=16,779
V C =
V B +
BC x
BC
V C =108,825 i+ 62,830 j+ BC k x (30 cos 16,779 i30 sen 16,779 j )
V C =108,825 i+ 62,830 j28,723 BC j+ 8,660 BC i
V C =( 108,825+ 8,660 BC ) i+ ( 62,830 j28,723 BC ) j
62,830 j28,723 BC =0
62,830
BC =
28,723
BC =2,187 rad / s
V C =[ 108,825+8,660 ( 2,187 ) ] i+ [ 62,83028,723 ( 2,187 ) ] j
V C =( 127,764 i ) cm/s
V A =0
a A =0
V B =
V A +
AB x
AB
V B =0+ AB k x ( 40 cos 35 i+40 sen 35 j)
V B =22,943 AB i+32,7666 AB j
40 sen 35
sen=
80
=sin1 ( 40 sen8035 )
=16,666
V C =
V B +
BC x
BC
V C =22,943 AB i+ 32,766 AB j + BC k x (80 cos 16,666 i80 sen 16,66 j)
V C =22,943 AB i+ 32,766 AB j+76,639 BC j+22,943 BC i
6131,120
AB =
2510,079
AB =2,44 rad / s
AB =8 k
V A =0
a A =0
V B =
V A +
AB x
AB
V B =0+8 k x (0,3 j)
V B =2,4 i
V C =
V B +
BC x
BC
V C =2,4 i+ BC k x (0,5 i+0,1 j)
V C =2,4 i+0,5 BC j0,1 BC i
V C =(2,40,1 BC )i+0,5 BC j
V D =
V C +
CD x
CD
V D =(2,40,1 BC ) i+0,5 BC j+ CD k x 0,2 j
V D =(2,40,1 BC ) i+0,5 BC j0,2 CD i
V D =(2,40,1 BC 0,2 CD )i+0,5 BC j
V D =0
a D =0
0,5 BC =0
BC =0
2,40,1 BC 0,2 CD =0
2,40,1(0)0,2 CD =0
2,40,2 CD =0
2,4
CD =
0,2
CD =12 rad /s
rev 2 rad
AB =2 (
min 1rev )( 160mins )=0,209rad /s
AB =0,209 k
V A =0
a A =0
V B =
V A +
AB x
AB
V B =6,717 i8,005 j
V C =
V B +
BC x
BC
V C =(6,717+77,942 BC ) i+(8,005+45 BC ) j
V D =
V C +
CD x
CD
V D =(6,717+77,942 BC )i+(8,005+ 45 BC ) j+ CD k x 60 j
V D =0
a D =0
8,005+ 45 BC =0
8,005
BC =
45
BC =0,178 rad / s
6,717+77,942 BC 60 CD =0
6,717+77,942 ( 0,178 )
CD=
60
CD =0,343rad /s
3
v =50 ( )( 3,6 1x h10 s )=13,889 m/ s
km 10 m
h 1 km 3
=15 m
v2
an =
13,8892
an =
15
an =12,86 m/s2
F y =m an
Ftotal ruedas W =ma n