θ (grados) θ (rads) ω2 (rad/s) BD 2(rad) 3(rad) 1(rad) 5(rad) 4(rad) ω4 (rad/s)

0 0.000 15 1.220 0.000 1.509 1.509 1.072 1.072 -12.100

5 0.087 15 1.227 0.071 1.506 1.435 1.072 1.143 -11.761
10 0.175 15 1.247 0.140 1.498 1.358 1.071 1.211 -10.993
15 0.262 15 1.281 0.204 1.484 1.280 1.069 1.272 -9.861
20 0.349 15 1.325 0.261 1.465 1.204 1.066 1.327 -8.468
25 0.436 15 1.380 0.311 1.443 1.132 1.061 1.372 -6.930
30 0.524 15 1.443 0.354 1.418 1.065 1.055 1.409 -5.349
35 0.611 15 1.514 0.389 1.392 1.003 1.047 1.436 -3.806
40 0.698 15 1.590 0.416 1.364 0.947 1.038 1.454 -2.354
45 0.785 15 1.670 0.437 1.335 0.898 1.027 1.464 -1.024
50 0.873 15 1.753 0.452 1.305 0.853 1.014 1.467 0.170
55 0.960 15 1.839 0.462 1.276 0.814 1.001 1.463 1.228
60 1.047 15 1.926 0.466 1.246 0.780 0.987 1.453 2.155
65 1.134 15 2.013 0.467 1.217 0.750 0.971 1.438 2.961
70 1.222 15 2.100 0.464 1.188 0.724 0.955 1.419 3.655
75 1.309 15 2.186 0.458 1.160 0.702 0.939 1.396 4.249
80 1.396 15 2.271 0.449 1.132 0.683 0.922 1.370 4.754
85 1.484 15 2.354 0.437 1.104 0.667 0.904 1.341 5.178
90 1.571 15 2.435 0.423 1.078 0.654 0.887 1.310 5.531
95 1.658 15 2.513 0.408 1.052 0.644 0.870 1.277 5.819
100 1.745 15 2.588 0.390 1.027 0.636 0.853 1.243 6.049
105 1.833 15 2.660 0.372 1.003 0.631 0.836 1.207 6.225
110 1.920 15 2.729 0.352 0.980 0.628 0.819 1.171 6.353
115 2.007 15 2.794 0.330 0.957 0.627 0.803 1.134 6.437
120 2.094 15 2.855 0.308 0.937 0.628 0.788 1.096 6.479
125 2.182 15 2.911 0.285 0.917 0.632 0.773 1.059 6.483
130 2.269 15 2.964 0.261 0.899 0.637 0.760 1.021 6.450
135 2.356 15 3.011 0.237 0.882 0.645 0.747 0.984 6.385
140 2.443 15 3.054 0.212 0.866 0.654 0.735 0.947 6.288
145 2.531 15 3.093 0.187 0.853 0.666 0.724 0.911 6.162
150 2.618 15 3.126 0.161 0.840 0.680 0.715 0.875 6.009
155 2.705 15 3.155 0.134 0.830 0.696 0.707 0.841 5.831
160 2.793 15 3.178 0.108 0.821 0.713 0.700 0.808 5.631
165 2.880 15 3.196 0.081 0.815 0.733 0.695 0.776 5.411
170 2.967 15 3.210 0.054 0.810 0.755 0.691 0.745 5.174
175 3.054 15 3.217 0.027 0.807 0.780 0.688 0.716 4.922
180 3.142 15 3.220 0.000 0.806 0.806 0.688 0.688 4.658
185 3.229 15 3.217 -0.027 0.807 0.834 0.688 0.661 4.384
190 3.316 15 3.210 -0.054 0.810 0.864 0.691 0.637 4.104
195 3.403 15 3.196 -0.081 0.815 0.896 0.695 0.614 3.820
200 3.491 15 3.178 -0.108 0.821 0.929 0.700 0.592 3.533
205 3.578 15 3.155 -0.134 0.830 0.964 0.707 0.572 3.245
210 3.665 15 3.126 -0.161 0.840 1.001 0.715 0.554 2.958
215 3.752 15 3.093 -0.187 0.853 1.039 0.724 0.538 2.673
220 3.840 15 3.054 -0.212 0.866 1.078 0.735 0.523 2.391
225 3.927 15 3.011 -0.237 0.882 1.119 0.747 0.510 2.110
230 4.014 15 2.964 -0.261 0.899 1.160 0.760 0.498 1.832
235 4.102 15 2.911 -0.285 0.917 1.202 0.773 0.488 1.556
240 4.189 15 2.855 -0.308 0.937 1.245 0.788 0.480 1.279
245 4.276 15 2.794 -0.330 0.957 1.288 0.803 0.473 1.002
250 4.363 15 2.729 -0.352 0.980 1.331 0.819 0.468 0.721
255 4.451 15 2.660 -0.372 1.003 1.374 0.836 0.464 0.435
260 4.538 15 2.588 -0.390 1.027 1.417 0.853 0.462 0.141
265 4.625 15 2.513 -0.408 1.052 1.459 0.870 0.462 -0.165
270 4.712 15 2.435 -0.423 1.078 1.501 0.887 0.464 -0.487
275 4.800 15 2.354 -0.437 1.104 1.541 0.904 0.467 -0.828
280 4.887 15 2.271 -0.449 1.132 1.580 0.922 0.473 -1.194
285 4.974 15 2.186 -0.458 1.160 1.617 0.939 0.481 -1.591
290 5.061 15 2.100 -0.464 1.188 1.652 0.955 0.491 -2.026
295 5.149 15 2.013 -0.467 1.217 1.684 0.971 0.504 -2.506
300 5.236 15 1.926 -0.466 1.246 1.713 0.987 0.520 -3.039
305 5.323 15 1.839 -0.462 1.276 1.738 1.001 0.539 -3.635
310 5.411 15 1.753 -0.452 1.305 1.758 1.014 0.562 -4.302
315 5.498 15 1.670 -0.437 1.335 1.772 1.027 0.589 -5.048
320 5.585 15 1.590 -0.416 1.364 1.780 1.038 0.621 -5.878
325 5.672 15 1.514 -0.389 1.392 1.780 1.047 0.658 -6.791
330 5.760 15 1.443 -0.354 1.418 1.772 1.055 0.701 -7.775
335 5.847 15 1.380 -0.311 1.443 1.754 1.061 0.750 -8.803
340 5.934 15 1.325 -0.261 1.465 1.726 1.066 0.805 -9.826
345 6.021 15 1.281 -0.204 1.484 1.687 1.069 0.865 -10.767
350 6.109 15 1.247 -0.140 1.498 1.637 1.071 0.931 -11.530
355 6.196 15 1.227 -0.071 1.506 1.577 1.072 1.001 -12.006
360 6.283 15 1.220 0.000 1.509 1.509 1.072 1.072 -12.100
ω3 (rad/s) Vxi (m/s) Vxj (m/s)
12.044 36.785 12.739
12.857 37.674 9.629
13.198 36.871 6.240
13.095 34.507 3.001
12.624 30.931 0.242 4 vs θ
11.889 26.590 -1.868
1.600
10.989 21.910 -3.315
10.013 17.228 -4.189 1.400
9.022 12.773 -4.627
1.200
8.059 8.674 -4.771
7.149 4.992 -4.742 1.000
6.303 1.739 -4.635 0.800
5.524 -1.102 -4.518
0.600
4.811 -3.557 -4.432
4.159 -5.662 -4.402 0.400
3.562 -7.450 -4.440 0.200
3.013 -8.953 -4.545
2.505 -10.199 -4.712 0.000
0 50 100 150 200 250 300 350 400
2.032 -11.216 -4.932
1.588 -12.025 -5.192
1.168 -12.648 -5.478
0.767 -13.104
0.381 -13.411
-5.777
-6.073
ω4 vs θ
10.000
0.006 -13.584 -6.354
-0.361 -13.639 -6.607
5.000
-0.722 -13.592 -6.820
-1.080 -13.458 -6.985
0.000
-1.437 -13.250 -7.091 0 50 100 150 200 250 300 350 400
-1.794 -12.983 -7.135
-5.000
-2.152 -12.671 -7.111
-2.510 -12.328 -7.017
-10.000
-2.869 -11.965 -6.855
-3.228 -11.595 -6.626
-15.000
-3.586 -11.228 -6.337
-3.941 -10.874 -5.993
-4.292 -10.540 -5.602
-4.636 -10.232 -5.175
-4.970 -9.955 -4.721
-5.293 -9.709 -4.251
-5.601 -9.496 -3.775
-5.893 -9.315 -3.303
-6.165 -9.160 -2.842
-6.415 -9.029 -2.400
-6.642 -8.916 -1.982
-6.844 -8.812 -1.590
-7.018 -8.713 -1.227
-7.164 -8.608 -0.891
-7.279 -8.490 -0.579
-7.361 -8.349 -0.287
-7.410 -8.179 -0.010
-7.422 -7.968 0.262
-7.396 -7.708 0.538
-7.328 -7.388 0.828
-7.215 -6.999 1.147
-7.053 -6.528 1.506
-6.835 -5.963 1.924
-6.556 -5.288 2.415
-6.208 -4.486 2.998
-5.781 -3.535 3.693
-5.264 -2.410 4.516
-4.645 -1.079 5.487
-3.907 0.496 6.618
-3.037 2.361 7.916
-2.015 4.565 9.374
-0.828 7.163 10.965
0.535 10.204 12.627
2.073 13.717 14.259
3.771 17.685 15.700
5.584 22.013 16.739
7.437 26.486 17.129
9.220 30.755 16.646
10.799 34.352 15.164
12.044 36.785 12.739
 ω3 vs θ
15.000

10.000
250 300 350 400

5.000

θ 0.000
0 50 100 150 200 250 300 350 400

-5.000

-10.000

0 250 300 350 400

0 350 400