UNIVERSIDAD DE PIURA | CAMPUS LIMA

FACULTAD DE INGENIERÍA
PROGRAMA ACADÉMICO DE INGENIERÍA INDUSTRIAL Y DE SISTEMAS
CURSO: MECÁNICA RACIONAL (MRA)
SEMESTRE: 2021 I
PRÁCTICA CALIFICADA N° 5 (no presencial)
FECHA: lunes, 31 de mayo de 2021 HORA: 02:00 p.m.
DURACIÓN: 1 hora y 40 min
CON LIBROS, APUNTES Y CALCULADORA SIMPLE. NOMBRE: ________________________________________

1. GeoGebra: mecanismo biela-manivela

2. GeoGebra: mecanismo de Grashof
3. Centro instantáneo
Pregunta 3.1

RESOLUCIÓN Aceleraciones:
%
𝑎:! = 𝑎:# + 𝛼:#! × 𝑟̅!/# − 𝜔#! . 𝑟̅!/#
Velocidades:
3𝚤̂ + C𝛼#! 𝑘E F × (0.75 cos 20 𝚤̂ − 0.75 sin 20 𝚥̂)
'
−𝑎!& 𝚤̂ + 𝑎! 𝚥̂ =
−(9.044)%(0.75 cos 20 𝚤̂ − 0.75 sin 20 𝚥̂)

𝑎# 1 √3
𝑣# − 𝑎! 𝚤̂ + 𝑎 𝚥̂ = (−54.646 + 0.257𝛼#! )𝚤̂ + (20.981 + 0.705𝛼#! )𝚥̂
𝑎! 2 2 !
𝑎(
𝑎! = 76.369 𝑚/𝑠 %
70° 𝛼#! = 64.052 𝑟𝑎𝑑/𝑠 %
𝑣!

%
𝑎:( = 𝑎:# + 𝛼:#! × 𝑟̅(/# − 𝜔#! . 𝑟̅(/#
30°
0.75 0.75
𝑎:( = 3𝚤̂ + C𝛼#! 𝑘E F × M cos 20 𝚤̂ − sin 20 𝚥̂N
2 2
0.75 0.75
−(9.044)% M cos 20 𝚤̂ − sin 20 𝚥̂N
2 2
𝑎:( = (−25.823 + 0.128𝛼#! )𝚤̂ + (10.491 + 0.352𝛼#! )𝚥̂
60°
𝑎:( = −17.624𝚤̂ + 33.037𝚥̂ (𝑚/𝑠 % )
𝐶

0.75 𝑟!" 𝑟#"

= = → 𝑟!" = 0.814 𝑚𝑚; 𝑟#" = 0.663 𝑚𝑚
sin 60 sin 70 sin 50

𝑣# 𝑣!
𝜔#! = = → 𝜔#! = 9.044 𝑟𝑎𝑑/𝑠; 𝑣! = 7.36 𝑚/𝑠
𝑟#" 𝑟!"
 Pregunta 3.2

RESOLUCIÓN Aceleraciones:
%
𝑎:! = 𝑎:# + 𝛼:#! × 𝑟̅!/# − 𝜔#! . 𝑟̅!/#
Velocidades:
𝑎# 𝚤̂ + C𝛼#! 𝑘E F × (0.75 cos 25 𝚤̂ − 0.75 sin 25 𝚥̂)
'
−𝑎!& 𝚤̂ + 𝑎! 𝚥̂ =
−(11.467)% (0.75 cos 25 𝚤̂ − 0.75 sin 25 𝚥̂)

𝑎# 2.25𝚤̂ − 2.25√3𝚥̂ = (𝑎# + 0.317𝛼#! − 89.379)𝚤̂ + (0.68𝛼#! + 41.678)𝚥̂

𝛼#! = −67.022 𝑟𝑎𝑑/𝑠 %
𝑣# 𝑎# = 112.875 𝑚/𝑠 %
65°
𝑎(
%
𝑎:( = 𝑎:# + 𝛼:#! × 𝑟̅(/# − 𝜔#! . 𝑟̅(/#
30°
0.75 0.75
𝑎:( = 𝑎# 𝚤̂ + C𝛼#! 𝑘E F × M cos 25 𝚤̂ − sin 25 𝚥̂N
2 2
𝑎! 0.75 0.75
𝑣! −(11.467)% M cos 25 𝚤̂ − sin 25 𝚥̂N
60° 2 2
𝑎:( = (𝑎# + 0.158𝛼#! − 44.69)𝚤̂ + (0.34𝛼#! + 20.839)𝚥̂
𝑎:( = 57.596𝚤̂ − 1.948𝚥̂ (𝑚/𝑠 % )

0.75 𝑟!" 𝑟#"

= = → 𝑟!" = 0.785 𝑚𝑚; 𝑟#" = 0.709 𝑚𝑚
sin 60 sin 65 sin 55

𝑣# 𝑣!
𝜔#! = = → 𝜔#! = 11.467 𝑟𝑎𝑑/𝑠; 𝑣# = 8.135 𝑚/𝑠
𝑟#" 𝑟!"
 Pregunta 3.3

RESOLUCIÓN Aceleraciones:
%
𝑎:! = 𝑎:# + 𝛼:#! × 𝑟̅!/# − 𝜔#! . 𝑟̅!/#
Velocidades:
1𝚥̂ + C𝛼#! 𝑘E F × (0.5 sin 25 𝚤̂ + 0.5 cos 25 𝚥̂)
'
𝑎!& 𝚤̂ + 𝑎! 𝚥̂ =
𝑎! −(3.172)% (0.5 sin 25 𝚤̂ + 0.5 cos 25 𝚥̂)
√3 1
𝑎 𝚤̂ + 𝑎! 𝚥̂ = (−2.126 − 0.453𝛼#! )𝚤̂ + (−3.559 + 0.211𝛼#! )𝚥̂
𝑣! 2 ! 2
𝑎! = −5.036 𝑚/𝑠 %
𝛼#! = 4.934 𝑟𝑎𝑑/𝑠 %
25°
30°
%
𝑎:( = 𝑎:# + 𝛼:#! × 𝑟̅(/# − 𝜔#! . 𝑟̅(/#
𝑎:( = 1𝚥̂ + C𝛼#! 𝑘EF × (0.25 sin 25 𝚤̂ + 0.25 cos 25 𝚥̂)
𝑎# 𝑣# −(3.172)%(0.25 sin 25 𝚤̂ + 0.25 cos 25 𝚥̂)
𝑎:( = (−1.063 − 0.227𝛼#! )𝚤̂ + (−1.28 + 0.106𝛼#! )𝚥̂
65° 60° 𝐶
𝑎:( = −2.183𝚤̂ − 0.757𝚥̂ (𝑚/𝑠 % )

0.5 𝑟!" 𝑟#"

= = → 𝑟!" = 0.523 𝑚𝑚; 𝑟#" = 0.473 𝑚𝑚
sin 60 sin 65 sin 55

𝑣# 𝑣!
𝜔#! = = → 𝜔#! = 3.172 𝑟𝑎𝑑/𝑠; 𝑣! = 1.66 𝑚/𝑠
𝑟#" 𝑟!"
 Pregunta 3.4

RESOLUCIÓN Aceleraciones:
%
𝑎:! = 𝑎:# + 𝛼:#! × 𝑟̅!/# − 𝜔#! . 𝑟̅!/#
Velocidades:
−𝑎# 𝚥̂ + C𝛼#! 𝑘E F × (0.5 sin 20 𝚤̂ + 0.5 cos 20 𝚥̂)
'
𝑎!& 𝚤̂ + 𝑎! 𝚥̂ =
𝑎! −(5.53)% (0.5 sin 20 𝚤̂ + 0.5 cos 20 𝚥̂)
√3 1
𝚤̂ + 𝚥̂ = (−5.23 − 0.47𝛼#! )𝚤̂ + (−𝑎# − 14.368 + 0.171𝛼#! )𝚥̂
𝑣! 2 2
𝛼#! = −12.97 𝑟𝑎𝑑/𝑠 %
50° 𝑎# = −17.086 𝑚/𝑠 %

%
𝑎:( = 𝑎:# + 𝛼:#! × 𝑟̅(/# − 𝜔#! . 𝑟̅(/#
𝑎:( = −𝑎# 𝚥̂ + C𝛼#! 𝑘E F × (0.25 sin 20 𝚤̂ + 0.25 cos 20 𝚥̂)
−(5.53)% (0.25 sin 20 𝚤̂ + 0.25 cos 20 𝚥̂)
70° 60° 𝐶 𝑎:( = (−2.61 − 0.235𝛼#! )𝚤̂ + (−𝑎# − 7.184 + 0.085𝛼#! )𝚥̂
𝑎:( = 0.438𝚤̂ + 8.8𝚥̂ (𝑚/𝑠 % )
𝑎#
𝑣#

0.5 𝑟!" 𝑟#"

= = → 𝑟!" = 0.543 𝑚𝑚; 𝑟#" = 0.442 𝑚𝑚
sin 60 sin 70 sin 50

𝑣# 𝑣!
𝜔#! = = → 𝜔#! = 5.53 𝑟𝑎𝑑/𝑠; 𝑣# = 2.446 𝑚/𝑠
𝑟#" 𝑟!"
4. Ranura recta:
Pregunta 4.1

RESOLUCIÓN Aceleraciones:
𝑎:# = 𝑎:" + 𝛼: × 𝑟̅#/" − 𝜔% . 𝑟̅#/"
= (3.692 )! (0.7)𝚥̂ + /𝛼𝑘2 3 × (−0.354𝚤̂ + 1.054𝚥̂) − (3.692 )!(−0.354𝚤̂ + 1.054𝚥̂)

=⋯

𝑎:# = 𝑎:! + 𝑎:#)*+ + 2𝜔

\#! × 𝑣̅#)*+ + 𝛼:#! × 𝑟̅#/! − 𝜔#!
%
. 𝑟̅#/!
𝑎:#)*+ = 𝑎#)*+ (cos 𝛼 𝚤̂ + sin 𝛼 𝚥̂) = 0.551𝑎#)*+ 𝚤̂ + 0.834𝑎#)*+ 𝚥̂
\#! × 𝑣̅#)*+ = 2C−2𝑘EF × 3.236(0.551𝚤̂ + 0.834𝚥̂) = ⋯
2𝜔
𝛼:#! × 𝑟̅#/! = C1𝑘E F × (0.696𝚤̂ + 1.054𝚥̂) = ⋯
%
−𝜔#! . 𝑟̅#/! = −2% (0.696𝚤̂ + 1.054𝚥̂) = ⋯

𝛼=⋯
Cálculos previos:
𝑎!)*+ = ⋯
𝑏 = R2% − 1.2% = 1.6 𝑓𝑡
𝜋 7
(0.7) =
𝑥 = 𝑦 = 0.5 cos 45 = 0.354 𝑓𝑡 ; 𝐿 = 𝜋 = 0.55 𝑓𝑡 𝑣 = 𝛼𝑟 = ⋯
4 40
0.7 + 𝑦 1.054
𝛼 = arctan = arctan = 56.56°
𝑏−𝐿−𝑥 0.696

Velocidades:
𝑣̅# = 𝑣̅" + 𝜔
\ × 𝑟̅#/"

= 0 + C𝜔𝑘E F × (−0.354𝚤̂ + 1.054𝚥̂) = −1.054𝜔𝚤̂ − 0.354𝜔𝚥̂

𝑣̅# = 𝑣̅! + 𝑣̅#)*+ + 𝜔

\#! × 𝑟̅#/!
=0+ 𝑣!)*+ (cos 𝛼 𝚤̂ + sin 𝛼 𝚥̂) + C−2𝑘EF × (0.696𝚤̂ + 1.054𝚥̂)
= (0.551𝑣!)*+ + 2.108)𝚤̂ + (0.834𝑣!)*+ − 1.392)

−1.054𝜔 = 0.551𝑣!)*+ + 2.108

−0.354𝜔 = 0.834𝑣!)*+ − 1.392
𝜔 = −3.692 𝑟𝑎𝑑/𝑠
𝑣#)*+ = 3.236 𝑓𝑡/𝑠

𝑣 = 𝜔𝑟 = (3.692)(0.7) = 2.584 𝑓𝑡/𝑠

 Pregunta 4.2

RESOLUCIÓN Aceleraciones:
𝑎:# = 𝑎:" + 𝛼: × 𝑟̅#/" − 𝜔% . 𝑟̅#/"

= (6.744 )% (0.7)𝚥̂ + C𝛼𝑘E F × (0.25𝚤̂ + 1.133𝚥̂) − (6.744 )%(0.25𝚤̂ + 1.133𝚥̂)

= ⋯

𝑎:# = 𝑎:! + 𝑎:#)*+ + 2𝜔

\#! × 𝑣̅#)*+ + 𝛼:#! × 𝑟̅#/! − 𝜔#!
%
. 𝑟̅#/!
𝑎:#)*+ = 𝑎#)*+ (𝑐𝑜𝑠 𝛼 𝚤̂ + 𝑠𝑖𝑛 𝛼 𝚥̂) = 0.89𝑎#)*+ 𝚤̂ + 0.455𝑎#)*+ 𝚥̂
\#! × 𝑣̅#)*+ = 2C−2𝑘E F × 6.039 (0.89𝚤̂ + 0.455𝚥̂) = ⋯
2𝜔
𝛼:#! × 𝑟̅#/! = C1𝑘E F × (2.217𝚤̂ + 1.133𝚥̂) = ⋯
%
−𝜔#! . 𝑟̅#/! = −2% (2.217𝚤̂ + 1.133𝚥̂) = ⋯

Cálculos previos:
𝛼=⋯
𝑏 = R2% − 1.2% = 1.6 𝑓𝑡
𝑎!)*+ = ⋯
𝑥 = 0.5 sin 30 = 0.25 𝑓𝑡 ; 𝑦 = 0.5 cos 30 = 0.433 𝑓𝑡
𝜋 7
𝐿= (0.7) = 𝜋 = 0.367 𝑓𝑡
6 60 𝑣 = 𝛼𝑟 = ⋯
0.7 + 𝑦 1.133
𝛼 = arctan = arctan = 27.07°
𝑏+𝐿+𝑥 2.217

Velocidades:
𝑣̅# = 𝑣̅" + 𝜔
\ × 𝑟̅#/"

= 0 + C𝜔𝑘EF × (0.25𝚤̂ + 1.133𝚥̂) = −1.133𝜔𝚤̂ + 0.25𝜔𝚥̂

𝑣̅# = 𝑣̅! + 𝑣̅#)*+ + 𝜔

\#! × 𝑟̅#/!
= 0 + 𝑣!)*+ (cos 𝛼 𝚤̂ + sin 𝛼 𝚥̂) + C−2𝑘EF × (2.217𝚤̂ + 1.133𝚥̂)
= (0.89𝑣!)*+ + 2.266)𝚤̂ + (0.455𝑣!)*+ − 4.434)

−1.133𝜔 = 0.89𝑣!)*+ + 2.266

0.25𝜔 = 0.455𝑣!)*+ − 4.434
𝜔 = −6.744 𝑟𝑎𝑑/𝑠
𝑣#)*+ = 6.039 𝑓𝑡/𝑠

𝑣 = 𝜔𝑟 = (6.744 )(0.7) = 4.721 𝑓𝑡/𝑠

 Pregunta 4.3

RESOLUCIÓN Aceleraciones:
𝑎:# = 𝑎:" + 𝛼: × 𝑟̅#/" − 𝜔% . 𝑟̅#/"
= (4.335 )!(0.7)𝚥̂ + .𝛼𝑘1 2 × (−0.25𝚤̂ + 1.133𝚥̂) − (4.335 )!(−0.25𝚤̂ + 1.133𝚥̂)
=⋯

𝑎:# = 𝑎:! + 𝑎:#)*+ + 2𝜔

\#! × 𝑣̅!)*+ + 𝛼:#! × 𝑟̅#/! − 𝜔#!
%
. 𝑟̅#/!
𝑎:#)*+ = 𝑎#)*+ (𝑐𝑜𝑠 𝛼 𝚤̂ + 𝑠𝑖𝑛 𝛼 𝚥̂) = 0.655𝑎#)*+ 𝚤̂ + 0.755𝑎#)*+ 𝚥̂
\#! × 𝑣̅ !)*+ = 2C2𝑘E F × −4.039 (0.655𝚤̂ + 0.755𝚥̂) = ⋯
2𝜔
𝛼:#! × 𝑟̅#/! = C−1𝑘EF × (0.983𝚤̂ + 1.133𝚥̂) = ⋯
%
−𝜔#! . 𝑟̅#/! = −2% (0.983𝚤̂ + 1.133𝚥̂) = ⋯

𝛼=⋯
Cálculos previos:
𝑎!)*+ = ⋯
𝑏 = R2% − 1.2% = 1.6 𝑓𝑡
𝑥 = 0.5 sin 30 = 0.25 𝑓𝑡 ; 𝑦 = 0.5 cos 30 = 0.433 𝑓𝑡
𝑣 = 𝛼𝑟 = ⋯
𝜋 7
𝐿= (0.7) = 𝜋 = 0.367 𝑓𝑡
6 60
0.7 + 𝑦 1.133
𝛼 = arctan = arctan = 49.05°
𝑏−𝐿−𝑥 0.983

Velocidades:
𝑣̅# = 𝑣̅" + 𝜔
\ × 𝑟̅#/"
= 0 + C𝜔𝑘E F × (−0.25𝚤̂ + 1.133𝚥̂) = −1.133𝜔𝚤̂ − 0.25𝜔𝚥̂

𝑣̅# = 𝑣̅! + 𝑣̅#)*+ + 𝜔

\#! × 𝑟̅#/!

= 0 + 𝑣!)*+ (cos 𝛼 𝚤̂ + sin 𝛼 𝚥̂) + C2𝑘E F × (0.983𝚤̂ + 1.133𝚥̂)

= (0.655𝑣!)*+ − 2.266)𝚤̂ + (0.755𝑣!)*+ + 1.966)

−1.133𝜔 = 0.655𝑣!)*+ − 2.266

−0.25𝜔 = 0.755𝑣!)*+ + 1.966
𝜔 = 4.335 𝑟𝑎𝑑/𝑠
𝑣#)*+ = −4.039 𝑓𝑡/𝑠

𝑣 = 𝜔𝑟 = (4.335)(0.7) = 3.035 𝑓𝑡/𝑠

 Pregunta 4.4

RESOLUCIÓN Aceleraciones:
𝑎:# = 𝑎:" + 𝛼: × 𝑟̅#/" − 𝜔% . 𝑟̅#/"

= (7.67 )% (0.7)𝚥̂ + C𝛼𝑘E F × (0.433𝚤̂ + 0.95𝚥̂) − (7.67 )% (0.433𝚤̂ + 0.95𝚥̂)

=⋯

𝑎:# = 𝑎:! + 𝑎:#)*+ + 2𝜔

\#! × 𝑣̅!)*+ + 𝛼:#! × 𝑟̅#/! − 𝜔#!
%
. 𝑟̅#/!
𝑎:#)*+ = 𝑎#)*+ (𝑐𝑜𝑠 𝛼 𝚤̂ + 𝑠𝑖𝑛 𝛼 𝚥̂) = 0.946𝑎#)*+ 𝚤̂ + 0.324𝑎#)*+ 𝚥̂
\#! × 𝑣̅!)*+ = 2C2𝑘E F × −5.694(0.946𝚤̂ + 0.324𝚥̂) = ⋯
2𝜔
𝛼:#! × 𝑟̅#/! = C−1𝑘EF × (2.583𝚤̂ + 0.95𝚥̂) = ⋯
%
−𝜔#! . 𝑟̅#/! = −2% (2.583𝚤̂ + 0.95𝚥̂) = ⋯

Cálculos previos:
𝛼=⋯
𝑏 = R2% − 1.2% = 1.6 𝑓𝑡
𝑎!)*+ = ⋯
𝑥 = 0.5 sin 60 = 0.433 𝑓𝑡 ; 𝑦 = 0.5 cos 60 = 0.25 𝑓𝑡
𝜋 7
𝐿= (0.7) = 𝜋 = 0.733 𝑓𝑡
3 30 𝑣 = 𝛼𝑟 = ⋯
0.7 + 𝑦 0.95
𝛼 = arctan = arctan = 18.89°
𝑏+𝐿+𝑥 2.776

Velocidades:
𝑣̅# = 𝑣̅" + 𝜔
\ × 𝑟̅#/"
= 0 + C𝜔𝑘EF × (0.433𝚤̂ + 0.95𝚥̂) = −0.95𝜔𝚤̂ + 0.433𝜔𝚥̂

𝑣̅# = 𝑣̅! + 𝑣̅!)*+ + 𝜔

\#! × 𝑟̅#/!
= 0 + 𝑣!)*+ (cos 𝛼 𝚤̂ + sin 𝛼 𝚥̂) + C2𝑘EF × (2.583𝚤̂ + 0.95𝚥̂)
= (0.946𝑣!)*+ − 1.9)𝚤̂ + (0.324𝑣!)*+ + 5.166)

−0.95𝜔 = 0.946𝑣!)*+ − 1.9

0.433𝜔 = 0.324𝑣!)*+ + 5.166
𝜔 = 7.67 𝑟𝑎𝑑/𝑠
𝑣!)*+ = −5.694 𝑓𝑡/𝑠

𝑣 = 𝜔𝑟 = (8.145)(0.7) = 5.369 𝑓𝑡/𝑠