Movimiento de traslación

⃗ = −𝑉𝑖
𝑉 ⃗ = 𝑉𝑖
𝑉 𝑎 = −𝑎𝑖 𝑎 = 𝑎𝑖

⃗ = 𝑉𝑗
𝑉 𝑎 = 𝑎𝑗

⃗ = −𝑉𝑗
𝑉 𝑎 = −𝑎𝑗

Movimiento de rotación

⃗⃗⃗
𝑉𝑝
𝑃
90°
𝑃
→ 𝑟𝑝
⃗⃗⃗
𝜔
𝜔
⃗
𝜔
⃗ = ⃗⃗⃗⃗⃗
𝜔𝑘

𝑑𝑟𝑝
⃗⃗⃗
𝑉𝑝 =
𝑑𝑡

⃗⃗⃗𝑝 = ⃗⃗⃗⃗⃗
𝑉 𝜔𝑘 × ⃗⃗⃗
𝑟𝑝

⃗⃗⃗𝑝 = Vector de velocidad del punto P

𝑉

𝜔𝑘 = Vector de velocidad angular

⃗⃗⃗⃗⃗
𝑟𝑝 = Vector de posición del punto P
⃗⃗⃗

⃗⃗⃗⃗⃗
𝑑𝑉𝑝 ⃗⃗⃗⃗⃗⃗
𝑑𝜔𝑘 ⃗⃗⃗⃗⃗
𝑑𝑟𝑝
⃗⃗⃗𝑝
𝑎
⃗⃗⃗⃗𝑝 = = × 𝑟𝑝 + 𝜔𝑘 × = ⃗⃗⃗⃗
𝛼𝑘 × ⃗⃗⃗
𝑟𝑝 + ⃗⃗⃗⃗⃗
𝜔𝑘 × 𝑉
𝑑𝑡 𝑑𝑡 𝑑𝑡
 𝑎
⃗⃗⃗⃗𝑝 = ⃗⃗⃗⃗
𝛼𝑘 × ⃗⃗⃗
𝑟𝑝 + ⃗⃗⃗⃗⃗
𝜔𝑘 × ⃗⃗⃗⃗⃗
𝜔𝑘 × ⃗⃗⃗
𝑟𝑝

𝑎
⃗⃗⃗⃗𝑝 = ⃗⃗⃗⃗ 𝑟𝑝 − 𝜔2 × ⃗⃗⃗
𝛼𝑘 × ⃗⃗⃗ 𝑟𝑝

𝑎 ⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗𝑝 = 𝑎 𝑝
⃗⃗⃗⃗⃗⃗⃗
𝑡 + 𝑎 𝑛
𝑝

𝑎
⃗⃗⃗⃗𝑝 = ⃗⃗⃗⃗
𝛼𝑘 × ⃗⃗⃗
𝑟𝑝 Aceleración tangencial

⃗⃗⃗⃗⃗⃗⃗
𝑎 𝑛 = ⃗⃗⃗⃗⃗
𝑝 𝜔𝑘 × ⃗⃗⃗⃗⃗ 𝑟𝑝 = −𝜔2 × ⃗⃗⃗
𝜔𝑘 × ⃗⃗⃗ 𝑟𝑝 Aceleración normal

⃗⃗⃗⃗⃗⃗
𝑎𝑡 𝑝
𝑃
𝑎
⃗⃗⃗⃗𝑝 ⃗⃗⃗⃗⃗⃗⃗
𝑛
𝑎 𝑝
⃗⃗⃗⃗𝑘
𝛼
𝜔𝑘
⃗⃗⃗⃗⃗
Movimiento combinado o complejo
𝑞
𝑟𝑞/𝑝
⃗⃗⃗⃗⃗⃗⃗

Tomas un punto como referencia ya sea p ó q

Ejemplo: referencia en p

⃗⃗⃗ ⃗⃗⃗𝑝 + ⃗⃗⃗⃗⃗⃗⃗⃗

𝑉𝑞 = 𝑉 𝑉𝑞/𝑝 Ecuación de movimiento relativo

Donde:

⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝑞/𝑝 = 𝜔 ⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑝𝑞𝑘 × ⃗⃗⃗⃗⃗⃗⃗
𝑟𝑞/𝑝

𝑎𝑞 = 𝑎
⃗⃗⃗⃗ ⃗⃗⃗⃗𝑝 + ⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝑞/𝑝 Ecuación de movimiento relativo

Donde:

𝑎𝑞/𝑝 = ⃗⃗⃗⃗
⃗⃗⃗⃗⃗⃗⃗⃗ 𝑟𝑞/𝑝 − 𝜔𝑝𝑞 2 × ⃗⃗⃗⃗⃗⃗⃗
𝛼𝑘 + ⃗⃗⃗⃗⃗⃗⃗ 𝑟𝑞/𝑝

Se puede cambiar el punto de referencia

⃗⃗⃗𝑝 = ⃗⃗⃗
𝑉 𝑉𝑞 + ⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝑝/𝑞 y 𝑎
⃗⃗⃗⃗𝑝 = ⃗⃗⃗⃗
𝑎𝑞 + ⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝑝/𝑞

Producto vectorial
j k×i=j

k + i k × j = -i

k
EJEMPLO. MECANISMO D 4 BARRAS
En la figura, si 𝜔𝐴𝐵 = 4𝑟𝑎𝑑/𝑠 y 𝛼𝐴𝐵 = 12𝑟𝑎𝑑/𝑠 2 , ambas en sentido contrario al de
las manecillas del reloj, ¿cuál es la aceleración del punto C?

DATOS
𝜔𝐴𝐵 = (4𝑟𝑎𝑑/𝑠)𝑘

𝛼𝐴𝐵 = (12𝑟𝑎𝑑/𝑠 2 )𝑘
𝑎𝐶 = ?
𝑉𝑐 = ?

Análisis de velocidades
Elemento AB
⃗⃗⃗⃗𝐵 = ⃗⃗⃗⃗⃗⃗⃗
𝑉 𝜔𝐴𝐵 × ⃗⃗⃗
𝑟𝐵

⃗⃗⃗⃗𝐵 = (4𝑟𝑎𝑑/𝑠)𝑘 × (0.3 + 0.6𝑗 )

𝑉 𝑖

𝑟𝐵 = 0.3𝑖 + 0.6𝑗
⃗⃗⃗
⃗⃗⃗⃗𝐵 = 1.2𝑗 − 2.4𝑖
𝑉
+ +

Elemento BD

Donde
𝑟𝐷/𝐵 = 0.8𝑖 − 0.1𝑗
⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗𝐵 = −2.4𝑖 + 1.2𝑗
𝑉
+ ⃗⃗⃗⃗⃗⃗⃗⃗
+𝑉𝐷/𝐵 = 𝜔 ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝐵𝐶𝐷𝑘 × ⃗⃗⃗⃗⃗⃗⃗⃗
𝑟𝐷/𝐵
⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝐷/𝐵 = 𝜔 ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝐵𝐶𝐷𝑘 × (0.8𝑖 − 0.1𝑗 )

⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝐷/𝐵 = 0.8𝜔𝐵𝐶𝐷𝑗 + 0.1𝜔𝐵𝐶𝐷𝑖
Elemento DE

⃗⃗⃗⃗
𝑉𝐷 = ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝜔𝐷𝐸𝑘 × 𝑟⃗⃗⃗𝐷
𝑟⃗⃗⃗𝐷 = −0.3𝑖 + 0.5𝑗
⃗⃗⃗⃗
𝑉𝐷 = ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝜔𝐷𝐸𝑘 × (−0.3𝑖 + 0.5𝑗 )
+
⃗⃗⃗⃗
𝑉𝐷 = −0.3𝜔𝐷𝐸𝑗 − 0.5𝜔𝐷𝐸𝑖
⃗⃗⃗⃗ ⃗⃗⃗⃗𝐵 + ⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝐷 = 𝑉 𝑉𝐷/𝐵

−0.3𝜔𝐷𝐸𝑗 − 0.5𝜔𝐷𝐸𝑖 = −2.4𝑖 + 1.2𝑗 + 0.8𝜔𝐵𝐶𝐷𝑗 + 0.1𝜔𝐵𝐶𝐷𝑖

Separación de términos
(𝑖) −0.5𝜔𝐷𝐸 = −2.4 + 0.1𝜔𝐵𝐶𝐷 (−3)

(𝑗) −0.3𝜔𝐷𝐸 = 1.2 + 0.8𝜔𝐵𝐶𝐷 (5)

1.5𝜔𝐷𝐸 = 7.2 − 0.3𝜔𝐵𝐶𝐷

−1.5𝜔𝐷𝐸 = 6 + 4𝜔𝐵𝐶𝐷

0 = 13.2 + 3.7𝜔𝐵𝐶𝐷
−13.2
𝜔𝐵𝐶𝐷 =
3.7
𝜔𝐵𝐶𝐷 = −3.567𝑟𝑎𝑑/𝑠

−2.4 + 0.1(−3.567)
𝜔𝐷𝐸 = = 𝜔𝐷𝐸 = 5.51𝑟𝑎𝑑/𝑠
−0.5

⃗⃗⃗⃗ ⃗⃗⃗⃗𝐵 + ⃗⃗⃗⃗⃗⃗⃗⃗

𝑉𝐶 = 𝑉 𝑉𝐶/𝐵

Elemento BC
𝑟𝐶/𝐵 = 0.6𝑖 + 0.3𝑗
⃗⃗⃗⃗⃗⃗⃗ Donde
+ ⃗⃗⃗⃗𝐵 = −2.4𝑖 + 1.2𝑗
𝑉 ⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝐶/𝐵 = 𝜔 ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝐵𝐶𝐷𝑘 × ⃗⃗⃗⃗⃗⃗⃗
𝑟𝐶/𝐵

+ ⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝐶/𝐵 = (−3.567)𝑘 × (0.6𝑖 + 0.3𝑗 )
⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝐶/𝐵 = −2.14𝑗 + 1.07𝑖
−1.33
⃗⃗⃗⃗
𝑉𝐶 = −2.4𝑖 + 1.2𝑗 − 2.14𝑗 + 1.07𝑖
−0.94
⃗⃗⃗⃗
𝑉𝐶 = −1.33𝑖 − 0.94𝑗 ⃗⃗⃗⃗
𝑉𝐶

𝑉𝐶 = √(−1.33)2 + (−0.94)2
𝑉𝐶 = 1.628𝑚/𝑠
Análisis de aceleraciones
𝑎𝐵 = ⃗⃗⃗⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗ 𝛼𝐴𝐵𝑘 × ⃗⃗⃗𝑟𝐵 − 𝜔𝐴𝐵 2 × ⃗⃗⃗
𝑟𝐵
𝑎𝐵 = (12)𝑘 × (0.3𝑖 + 0.6𝑗 ) − (4)2 × (0.3𝑖 + 0.6𝑗 )
⃗⃗⃗⃗
𝑎𝐵 = 3.6𝑗 − 7.2𝑖 − 4.8𝑖 − 9.6𝑗
⃗⃗⃗⃗
𝑎𝐵 = −12𝑖 − 6𝑗
⃗⃗⃗⃗

𝑎𝐷 = ⃗⃗⃗⃗
⃗⃗⃗⃗ 𝑎𝐵 + ⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝐷/𝐵

Donde
𝑎𝐵 = −12𝑖 − 6𝑗
⃗⃗⃗⃗ 𝑎𝐷/𝐵 = ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗⃗⃗⃗⃗⃗ 𝑟𝐷/𝐵 − 𝜔𝐵𝐶𝐷 2 × ⃗⃗⃗⃗⃗⃗⃗⃗
𝛼𝐵𝐶𝐷𝑘 + ⃗⃗⃗⃗⃗⃗⃗⃗ 𝑟𝐷/𝐵
𝛼𝐵𝐶𝐷𝑘 × (0.8𝑖 − 0.1𝑗 ) − (−3.567)2 × (0.8𝑖 − 0.1𝑗 )
𝑎𝐷/𝐵 = ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗⃗⃗⃗⃗⃗

𝑎𝐷/𝐵 = 0.8𝛼𝐵𝐶𝐷𝑗 + 0.1𝛼𝐵𝐶𝑖 − 10.178𝑖 + 1.27𝑗

⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝛼𝐷𝐸𝑘 × 𝑟⃗⃗⃗𝐷 − 𝜔𝐷𝐸 2 × 𝑟⃗⃗⃗𝐷
𝑎𝐷 = ⃗⃗⃗⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗
𝛼𝐷𝐸𝑘 × (−0.3𝑖 + 0.5𝑗 ) − (5.51)2 × (−0.3𝑖 + 0.5𝑗 )
𝑎𝐷 = ⃗⃗⃗⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗
𝑎𝐷 = −0.3𝛼𝐷𝐸𝑗 − 0.5𝛼𝐷𝐸𝑖 + 9.1𝑖 − 15.18𝑗
⃗⃗⃗⃗

−0.3𝛼𝐷𝐸𝑗 − 0.5𝛼𝐷𝐸𝑖 + 9.1𝑖 − 15.18𝑗 = −12𝑖 − 6𝑗 + 0.8𝛼𝐵𝐶𝐷𝑗 + 0.1𝛼𝐵𝐶𝐷𝑖 − 10.178𝑖 + 1.27𝑗

Separación de términos
(𝑖) −0.5𝛼𝐷𝐸 + 9.1 = −12 + 0.1𝛼𝐵𝐶𝐷 − 10.178
(𝑗) −0.3𝛼𝐷𝐸 − 15.18 = −6 + 0.8𝛼𝐵𝐶𝐷 + 1.27

−0.5𝛼𝐷𝐸 − 0.1𝛼𝐵𝐶𝐷 = −31.278 (−3)

−0.3𝛼𝐷𝐸 − 0.8𝛼𝐵𝐶𝐷 = 10.45 (5)
1.5𝛼𝐷𝐸 + 0.3𝛼𝐵𝐶𝐷 = 93.834
−1.5𝛼𝐷𝐸 − 4𝛼𝐵𝐶𝐷 = 52.25

0 − 3.7𝛼𝐵𝐶𝐷 = 146.084
146.084
𝛼𝐵𝐶𝐷 =
−3.7
𝛼𝐵𝐶𝐷 = −39.48𝑟𝑎𝑑/𝑠 2

−12 + 0.1(−39.48) − 10.178 − 9.1

𝛼𝐷𝐸 =
−0.5

𝛼𝐷𝐸 = 70.45𝑟𝑎𝑑/𝑠 2
 𝑎𝐶 = ⃗⃗⃗⃗
⃗⃗⃗⃗ 𝑎𝐵 + ⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝐶/𝐵
⃗⃗⃗⃗𝐵 = −12𝑖 − 6𝑗
𝑎
𝑎𝐶/𝐵 = ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗⃗⃗⃗⃗ 𝑟𝐶/𝐵 − 𝜔𝐵𝐶𝐷 2 × ⃗⃗⃗⃗⃗⃗⃗
𝛼𝐵𝐶𝐷𝑘 + ⃗⃗⃗⃗⃗⃗⃗ 𝑟𝐶/𝐵
𝑎𝐶/𝐵 = (−39.48)𝑘 × (0.6𝑖 + 0.3𝑗 ) − (−3.567)2 × (0.6𝑖 + 0.3𝑗 )
⃗⃗⃗⃗⃗⃗⃗⃗

𝑎𝐶/𝐵 = −23.688𝑗 + 11.844𝑖 − 7.63𝑖 − 3.81𝑗

⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝐶 = −12𝑖 − 6𝑗 − 23.688𝑗 + 11.844𝑖 − 7.63𝑖 − 3.81𝑗
⃗⃗⃗⃗

𝑎𝐶 = −7.786𝑖 − 33.498𝑗
⃗⃗⃗⃗
−7.786

𝑎𝑐 = √(−7.786)2 + (−33.498)2
𝑎𝐶
⃗⃗⃗⃗
𝑎𝑐 = 34.39𝑚/𝑠 2 −33.498