Cálculo del momento de inercia:

𝑀𝑡 2
𝑀𝑑 ∗ 𝑅 2
Ixx = [ (5) + 𝑀𝑡(0.5 + 1)] − [ + 𝑀𝑑(0.52 + 1.52 )]
12 2
Ixx = 16.455 Kg. 𝑚2
Mt ∗ 4 𝑀𝑑 ∗ 𝑅 2
Iyy = ( + 𝑀𝑡) − ( + 𝑀𝑑(1.52 )
12 4
Iyy = 13.0987 Kg. 𝑚2
𝑀𝑡 𝑀𝑑 ∗ 𝑅 2
Izz = [ + 𝑀𝑡(0.52 )] − [ + 𝑀𝑑(0.52 )]
12 4
Izz = 3.3503 Kg. 𝑚𝑚2
𝑀𝑡 𝑀𝑑 ∗ 𝑅 2
Iyz = (5) − [ + 𝑀𝑑(0.52 ) + 0.5 ∗ 1 ∗ 𝑀𝑡 − 𝑀𝑑]
12 2
Iyz = 9.20663 Kg. 𝑚2
Ixy = 0
Ixz = 0
Calculando el momento Angular:
16.455 0 0 0
HG = [ 0 13.0987 −9.20663] [−20] = [0; −261.974; 184.133]
0 −9.20663 3.3503 0
Kg. 𝑚2
HG = (−261.974(𝑗) + 184.133(𝑘)) ( )
𝑠
como: Wx = 0 y Wz = 0
HA = −Iyzw (i) + Iyyw (j) − Ixyw (k)
⇒ Ω = w = w (j)
→ ∑ 𝑀𝐴 = (𝐻𝐴)𝑤(𝑖) + 𝐼𝑦𝑦𝑤(𝑗) − 𝐼𝑥𝑦𝑤(𝑘)
⊳ 3j ∗ (Bx(i) + Bz(k)) + 1.5(j) ∗ (−98.1(k)) = −Iyz ∝ (i) − Iyy ∝ (j) +
w(j) ∗ (−Iyzw(i) + Iyyw(j) − Ixyw(k))
−3Bx(k) + 3Bz(i) − 147.15(i)
= (−Iyz ∝ −Ixy𝑤 2 )(𝑖) + (𝐼𝑦𝑦 ∝)(𝑗) + (−𝐼𝑥𝑦 ∝ +𝐼𝑦𝑧𝑤 2 )(𝑘)
𝐵𝑧 = 49.05𝑁
−3𝐵𝑥 = 𝐼𝑦𝑧𝑤 2 ⇒ 𝐵𝑥 = 1227.55𝑁
∑ 𝐹 = 𝑚𝑎 = 0

∑ 𝐹𝑥 = 0 → 𝐵𝑥 = −𝐴𝑥 → 𝐴𝑥 = −1227.55𝑁

∑ 𝐹𝑦 = 0 → 𝐴𝑧 + 𝐵𝑧 = 𝑚𝑔 → 𝐴𝑧 = 49.05
𝐴 = (−1227.55; 0; 49.05)
𝐵 = (1227.55; 0; 49.05)