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PRESENTADO POR:
DOCENTE
ELKIN YESID VESLIN DIAZ
FALTA EL VALOR 𝑃𝑎
𝑏𝑜𝑟𝑔 PARA QUE EL EJERCICIO SEA DE
TRASLACION O UN ANGULO DE ROTACION RESPECTO A UN EJE PAR
QUE SE AROTACION.
5 11 𝜋
cos co 𝜋 cos
𝜋 s
12
𝜋 12
5𝜋 2𝜋
𝑅𝑎 = cos cos cos
𝑏
12 12 2
𝜋 𝜋
cos cos cos 0
[ 2 2 ]
0.258 −0.9659 0 20 −14.158
𝑎𝑏 = [0.9659 0.258 0]*[20] = [ 24.478 ]
0 0 1 20 20
15 0 15 15 0 15
𝑎𝑏1 = [−20] + [0] = [−20] 𝑎𝑏2 = [−20] + [0] = [−20]
24 0 24 24 5 29
15 5 20 15 5 20
𝑎𝑏3 = [−20] + [0] = [−20] 𝑎𝑏4 = [−20] + [0] = [−20]
24 5 29 24 0 24
15 0 15 15 0 15
𝑎𝑏5 [−20] [−1 = [−3 𝑎𝑏6 = [−20] [−1 = [−3
= + 0] 0] + 0] 0]
24 0 24 24 5 29
15 5 20 15 5 20
𝑎𝑏7 [−20] [−1 = [−3 𝑎𝑏8 = [−20] [−1 = [−3
= + 0] 0] + 0] 0]
24 5 29 24 0 24