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SOLUCIÓN:
d
O
L
r G
D B
A
θ=Arctgθ ( 0.444
0.725 )
=31.48
V A =⃗
⃗ V G +ω AG × ⃗
R A /G
^ ⃗
V A Sen (31.48 ) i+
−⃗ ^ ( −ω AG k^ ) × (−0.725 i^ )
V A cos ( 31.48 ) j=−7 i+
−0.52 ⃗ ^ 0.85 V
V A i+ ^
⃗ A j=−7 i+0.725 ω AG j
V A =13.46
⃗
PROBLEMA 1
SOLUCIÓN:
∅= Arctg ( 46 )=33.69θ=90−∅=56.31
R B / A =16 k^ × 8 i=128
V B =ω AB × ⃗
⃗ ^ jm/ s
V B cos θ B =⃗
⃗ V C cos ∅ C
V C =85.33 m/ s
⃗
V C =V
⃗ ⃗ B +ω BC × ⃗
RC /B
^
−85.33 i=128 j+ ( −ω BC k^ ) × ( 6 i−4
^ j)
^
−85.33 i−128 ^
j=−4 ωBC i−6 ωBC j
^
−85.33 i=−4 ω BC i^
^
ω BC i=21.33rad /s
a⃗ B=⃗ R B/ A −( ω AB ) 2 × ⃗
∝ AB × ⃗ RB/ A
2
a⃗ B=−24 k^ ×8 i−16
^ × 8 i^
^
a⃗ B=−2048 i−192 j
a⃗ C =⃗a B +⃗ RC /B −( ω BC )2 × ⃗
∝BC × ⃗ RC /B
2
^
−⃗a C i=−2048 ^
i−192 ∝BC k^ ) × ( 6 i−4
j+ ( −⃗ ^ ^
j ) −( 21.33 ) × ( 6 i−4 j)
^
−⃗a C i=−2048 ^
i−192 ∝BC ^j−4 ⃗
j−6 ⃗ ^
∝BC i−2729.81 i+1819.88 j
^ ⃗
−⃗a C i+6 ∝BC ^j=−( 2048+ 4 ∝ ^ (−192+ 1819.88 ) j
⃗ BC +2729.81 ) i+
rad m
∝BC =271.31
⃗ 2
⃗aC =5863.05 2 ←
s s
R B / A =8 k^ × 8 i=64
V B =ω AB × ⃗
⃗ ^ j m/s
V B cos θ B =⃗
⃗ V C cos ∅ C
V C =42.67 m/s
⃗
PROBLEMA 1
4
∅= Arctg ()
6
=33.69θ=90−∅=56.31
R B / A =16 k^ × 8 i=128
V B =ω AB × ⃗
⃗ ^ jm/ s
VC V B
ω BC = =
rC rB
V B 128
ω BC = = =21.33 rad /s
rB 6
VC V B
=
rC rB
V C 128
=
4 6
V C =85,33 m/ s
a⃗ B=⃗ R B/ A −( ω AB ) 2 × ⃗
∝ AB × ⃗ RB/ A
2
a⃗ B=−24 k^ ×8 i−16
^ × 8 i^
^
a⃗ B=−2048 i−192 j
a⃗ C =⃗a B +⃗ RC /B −( ω BC )2 × ⃗
∝BC × ⃗ RC /B
2
^
−⃗a C i=−2048 ^
i−192 ∝BC k^ ) × ( 6 i−4
j+ ( −⃗ ^ ^
j ) −( 21.33 ) × ( 6 i−4 j)
^
−⃗a C i=−2048 ^
i−192 ∝BC ^j−4 ⃗
j−6 ⃗ ^
∝BC i−2729.81 i+1819.88 j
^ ⃗
−⃗a C i+6 ∝BC ^j=−( 2048+ 4 ∝ ^ (−192+ 1819.88 ) j
⃗ BC +2729.81 ) i+
rad m
∝BC =271.31
⃗ 2
⃗aC =5863.05 2 ←
s s
R B / A =8 k^ × 8 i=64
V B =ω AB × ⃗
⃗ ^ j m/s
V B cos θ B =⃗
⃗ V C cos ∅ C
V C =42.67 m/s
⃗
PROBLEMA 3
SOLUCIÓN:
V B =ω BC × ⃗
⃗ RC /B
V B =4 k^ × ( 3 i+4
⃗ ^ j)
⃗ ^
V B =−16 i+12 j
V A =⃗
⃗ V B + ωBA × ⃗
R A/B
^
V A i+0
−⃗ ^
j=−16 i+12 j+ ( ω BC k^ ) × (−6 i^ )
−⃗ ^
V A i+0 ^
j=−16 i+12 j+−6 ωBC j
⃗ ^
V A i=16 ^
m/s ω BC i=2 rad /s
V B =ω BA × ⃗
⃗ RA/B
V B =2 k^ ×6 i=12
⃗ ^ j
BLOQUE D
SOLUCIÓN:
V B =6 k^ a⃗ B=3 k^
⃗
ω sm 1=⃗
⃗ ω1 + ⃗ ^ k^
ω2/ 1=−6 i+8
∝sm 1=⃗
⃗ ∝1 + ⃗
∝2 /1 +⃗ ω2 /1=6 ^k+ 4 i+8
ω1 × ⃗ ^ k^ ×−6 i^
^
∝sm 1=4 i−48
⃗ j+6 k^
R P /B =−6 j−8 k^
L=10 m θ=37 ⃗
V P= ⃗
⃗ V B+ ⃗
ω sm1 × ⃗
R P/ B + V
⃗ relP/B
V P=6 k^ + (−6 i+
⃗ ^ 8 k^ ) × (−6 j−8 k^ ) +7 (−0.6 j−0. 8 k^ )
^
V P=48 i−52.2
⃗ j+36.4 k^
a⃗ P=⃗aB + ∝
⃗ sm1 × ⃗
R P/ B + ⃗
ωsm 1 × ( ⃗
ω sm 1 × ⃗
R P / B ) +2 ⃗
ωsm 1 × ⃗
V relP/ B + ⃗arelP / B
a⃗ P=3 k^ + ( 4 i−48
^ j+6 k^ ) × (−6 j−8 k^ )+ (−6 i+8
^ k^ ) ( ( −6 i+
^ 8 k^ ) × (−6 j−8 k^ ) ) +2 (−6 i+
^ 8 k^ ) × ( −4.2 j−5
^
V P=871.2 i−561.8
⃗ j+313.4 k^
u^ =0.6 j+0. 8 k^
⃗
ω sm 2=⃗
ω 1+ ⃗
ω2/ 1+ ⃗ ^ 8 k^ +10 ( 0.6 j+0. 8 k^ )
ω3 /2=−6 i+
^
⃗ sm 2=−6 i+6
ω j +16 k^
∝sm 2=⃗
⃗ ∝1 + ⃗∝2 /1 +⃗
∝3/ 2+ ⃗
ω1 ×⃗
ω 2/ 1+ ( ⃗
ω1 ×⃗
ω 2/ 1) × ⃗
ω3 /2
∝sm 2=6 k^ + 4 i+
⃗ ^ ( 3 j−4 k^ ) + (−6 i+8
^ k^ ) + (−6 i+
^ 8 k^ ) × ( 6 j+8 k^ )
^ 3 j−26 k^
∝sm 2=−44 i+
⃗
b ∝ 51,1957 rad / s2
c a CX 190,8 rad
s2
d a CY 2388,2 m
s2
e a CZ 316 m/s