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DE MATERIALES
EQUILIBRIO DE UN CUERPO RIGIDO EN EL ESPACIO
01.- El brazo horizontal 𝑂𝐶, que está sostenido por una junta de rótula y dos cables, soporta la fuerza
vertical 𝑃 = 10.0 kip. Calcule 𝑇𝐴𝐷 y 𝑇𝐶𝐸 , las tensiones en los cables y las componentes de la fuerza
ejercida sobre el brazo por la junta en O. (el peso del brazo es despreciable).
Solución
(−3.5; 0; 3)
(2.5; 0; 3)
(0; 3; 0)
𝑟⃗𝐴 (0; 5; 0)
𝑟⃗𝐵
(0; 6; 0)
𝑟⃗𝐶
𝑂 = 𝑂𝑥 𝑖̂ + 𝑂𝑦 𝑗̂ + 𝑂𝑧 𝑘̂
⃗⃗⃗𝑂 = 0
∑𝑀
5 6 6 7 10 6
(3𝑗̂) × ( 𝑇𝐴𝐷 𝑖̂ − 𝑇 𝑗̂ + 𝑇 𝑘̂) + (5𝑗̂) × (−10 000𝑘̂) + (6𝑗̂) × (− 𝑇𝐶𝐸 𝑖̂ − 𝑇 𝑗̂ + 𝑇 𝑘̂) =0
√97 √97 𝐴𝐷 √97 𝐴𝐷 √229 √229 𝐶𝐸 √229 𝐶𝐸
15 18 42 36
( 𝑇𝐴𝐷 (𝑗̂ × 𝑖̂) + 𝑇𝐴𝐷 (𝑗̂ × 𝑘̂)) − 50 000 (𝑗̂ × 𝑘̂) + (− 𝑇𝐶𝐸 (𝑗̂ × 𝑖̂) + 𝑇𝐶𝐸 (𝑗̂ × 𝑘̂)) = 0
√97 √97 √229 √229
15 18 42 36
( 𝑇𝐴𝐷 (−𝑘̂) + 𝑇𝐴𝐷 (𝑖̂)) − 50 000 (𝑖̂) + (− 𝑇𝐶𝐸 (−𝑘̂) + 𝑇𝐶𝐸 (𝑖̂)) = 0
√97 √97 √229 √229
15 18 42 36
(− 𝑇𝐴𝐷 (𝑘̂) + 𝑇𝐴𝐷 (𝑖̂)) − 50 000 (𝑖̂) + ( 𝑇𝐶𝐸 (𝑘̂) + 𝑇𝐶𝐸 (𝑖̂)) = 0
√97 √97 √229 √229
15 18 42 36
(− 𝑇𝐴𝐷 𝑘̂ + 𝑇𝐴𝐷 𝑖̂) − 50 000 𝑖̂ + ( 𝑇𝐶𝐸 𝑘̂ + 𝑇𝐶𝐸 𝑖̂) = 0
√97 √97 √229 √229
18 36 15 42
(−50 000 + 𝑇𝐴𝐷 + 𝑇𝐶𝐸 ) 𝑖̂ + (− 𝑇𝐴𝐷 + 𝑇𝐶𝐸 ) 𝑘̂ = 0
√97 √229 √97 √229
15 42
− 𝑇𝐴𝐷 +
𝑇𝐶𝐸 = 0 … (1)
√97 √229
18 36
− 50 000 + 𝑇𝐴𝐷 + 𝑇𝐶𝐸 = 0 … (2)
{ √97 √229
15 42
−6 × − 𝑇𝐴𝐷 + 𝑇𝐶𝐸 = 0
√97 √229
18 36
7× 𝑇𝐴𝐷 + 𝑇𝐶𝐸 = 50 000
{ √97 √229
90 252 +
𝑇𝐴𝐷 − 𝑇𝐶𝐸 = 0
√97 √229
126 252
𝑇𝐴𝐷 + 𝑇𝐶𝐸 = 350 000
{ √97 √229
216
𝑇𝐴𝐷 = 350 000
√97
350 000√97
𝑇𝐴𝐷 = … (3)
216
𝑇𝐴𝐷 = 15 958.797 36 𝑙𝑏
15 3500 000√97 42
− ( ) + 𝑇𝐶𝐸 = 0
√97 216 √229
350 000 42
−15 ( )+ 𝑇𝐶𝐸 = 0
216 √229
42 350 000
𝑇𝐶𝐸 = 15 ( )
√229 216
15 625√229
𝑇𝐶𝐸 =
27
∑ 𝐹𝑥 = 0
109 375
𝑂𝑥 = −
27
𝑂𝑥 = −4 050.925 926 𝑙𝑏
𝑂𝑥 ≈ −4 . 051 𝑘𝑖𝑝
∑ 𝐹𝑦 = 0
87 500 62 500
𝑂𝑦 − − =0
9 9
87 500 62 500
𝑂𝑦 = +
9 9
𝑂𝑦 ≈ 16. 67 𝑘𝑖𝑝
∑ 𝐹𝑧 = 0
87 500 31 250
𝑂𝑧 − 10 000 + + =0
9 9
118 750
𝑂𝑧 − 10 000 + =0
9
28 750
𝑂𝑧 = −
9
𝑂𝑧 = −3 194.44 …
𝑂𝑧 ≈ −3.194 𝑘𝑖𝑝
Solución
(−3,0,2)𝑝𝑖𝑒𝑠
(3,0,0)𝑝𝑖𝑒𝑠 (0,2,0)𝑝𝑖𝑒𝑠
𝑟⃗𝐴
𝑟⃗𝐸
𝑟⃗𝐵 (0,4,0)𝑝𝑖𝑒𝑠
𝐸 (0,2, −1.5)𝑝𝑖𝑒𝑠
𝑟⃗𝐴 = {0 𝑖̂ + 2 𝑗̂ + 0 𝑘̂ } 𝑝𝑖𝑒
𝑟⃗𝐵 = {0 𝑖̂ + 4 𝑗̂ + 0 𝑘̂ } 𝑝𝑖𝑒
𝑟⃗𝐸 = {0 𝑖̂ + 2 𝑗̂ − 1.50 𝑘̂ } 𝑝𝑖𝑒
𝑟⃗𝐸 × ⃗𝑊
⃗⃗⃗ + 𝑟⃗𝐴 × ⃗𝑇⃗𝐴𝐷 + 𝑟⃗𝐵 × ⃗𝑇⃗𝐵𝐶 = 0
0 0 0 − 3⁄√17 0 3⁄5
( 2 ) × ( 0 ) + (2) × (− 2⁄√17) 𝑇𝐴𝐷 + (4) × (− 4⁄5) 𝑇𝐵𝐶 = 0
−1.50 −120 0 2⁄√17 0 0
−240 4⁄√17 0
( 0 ) + ( 0 ) 𝑇𝐴𝐷 + ( 0 ) 𝑇𝐵𝐶 = 0
0 6⁄√17 −12⁄5
4 6 12
( 𝑇𝐴𝐷 − 240) 𝑖̂ + ( 𝑇𝐴𝐷 − 𝑇 ) 𝑘̂ =0
√17 √17 5 𝐵𝐶
❖ De (1) se obtiene:
4
𝑇𝐴𝐷 − 240 = 0
√17
240√17
𝑇𝐴𝐷 =
4
6 12
(60√17) − 𝑇𝐵𝐶 = 0
√17 5
𝑇𝐵𝐶 = 150 𝑙𝑏
⃗⃗ = {𝑂𝑥 𝑖̂ + 𝑂𝑦 𝑗̂ + 𝑂𝑧 𝑘̂ } 𝑙𝑏
𝑂
⃗⃗⃗⃗ = {−120𝑘̂ } 𝑙𝑏
𝑊
3 4
⃗𝑇⃗𝐵𝐶 = (150)𝑖̂ − (150)𝑗̂ + 0𝑘̂
5 5
⃗⃗𝐵𝐶 = (90𝑖̂ − 120𝑗̂ + 0𝑘̂ )lb
𝑇
3 2 2
⃗𝑇⃗𝐴𝐷 = − (60√17)𝑖̂ − (60√17)𝑗̂ + (60√17)𝑘̂
√17 √17 √17
⃗⃗𝐴𝐷 = (−180𝑖̂ − 120𝑗̂ + 120𝑘̂ )𝑙𝑏
𝑇
∑ 𝐹𝑥 = 0
𝑂𝑥 + 90 − 180 = 0
𝑂𝑥 = 90 𝑙𝑏
∑ 𝐹𝑦 = 0
𝑂𝑦 − 120 − 120 = 0
𝑂𝑦 = 240 𝑙𝑏
∑ 𝐹𝑧 = 0
𝑂𝑧 − 120 + 120 = 0
𝑂𝑧 = 0
Solución
𝐵 (0; 72; 0)
⃗⃗𝐵𝐶
𝑇
𝑟⃗𝐴𝐵 ⃗⃗𝐵𝐸
𝑇
⃗⃗𝐵𝐷
𝑇
𝐶 (−50; 0; 0)
𝐴(0; 0; 0)
𝐴𝑦
𝐸 (40; 0; −40)
𝐴𝑧 𝐴𝑥
𝐷(20; 0; 50)
𝑟⃗𝐴𝐵 = (72𝑗̂)𝑚
−50𝑖̂ − 72𝑗̂
⃗⃗𝐵𝐶 = (2.0𝑘𝑁) [
𝑇 ]
√(−50)2 + (−72)2
−50𝑖̂ − 72𝑗̂
⃗⃗𝐵𝐶 = (2.0𝑘𝑁) [
𝑇 ]
√7 684
992
𝑇𝐵𝐷 = 677 ⋯ (1)
𝑇𝐵𝐷 = 1.465288035 𝑘𝑁
𝑇𝐵𝐷 ≈ 1.465 𝑘𝑁
❖ Hallando 𝑇𝐵𝐷 :
992
0.556 11 ( ) − 0.436 85𝑇𝐵𝐸 = 0
677
0.556 11 992
𝑇𝐵𝐸 = 0.436 85 (677)
𝑇𝐵𝐸 ≈ 1.865 𝑘𝑁
𝐴⃗ = 𝐴𝑥 𝑖̂ + 𝐴𝑦 𝑗̂ + 𝐴𝑧 𝑘̂
⃗⃗𝐵𝐶 = [−1.140 8 𝑖̂ − 1.642 7 𝑗̂]𝑘𝑁
𝑇
⃗⃗𝐵𝐷 = 0.222 44(1.465 )𝑖̂ − 0.800 79(1.465 )𝑗̂ + 0.556 11(1.465 )𝑘̂
𝑇
∑ 𝐹𝑥 = 0
𝐴𝑥 = 0.000 2 𝑘𝑁
𝐴𝑥 ≈ 0
𝐴𝑦 = 4.276 7 𝑘𝑁
𝐴𝑦 ≈ 4.277 𝑘𝑁
∑ 𝐹𝑧 = 0
𝐴𝑧 + 0.814 7 − 0.814 7 = 0
𝐴𝑧 = 0
Solución
620 𝑙𝑏 ⃗⃗𝐵𝐻
𝑇
(−8.8; 16.5; 0)
⃗⃗𝐷𝐸
𝑇
⃗⃗𝐷𝐹
𝑇
240 𝑙𝑏
620 𝑙𝑏
(18; 0; 0)
(5; 0; 6.6)
𝐴⃗ = [𝐴𝑥 𝑖̂ + 𝐴𝑦 𝑗̂ + 𝐴𝑧 𝑘̂ ]𝑙𝑏
⃗⃗⃗⃗𝐶 = [−620𝑗̂]𝑙𝑏
𝑊
⃗⃗⃗⃗𝐺 = [−240𝑗̂]𝑙𝑏
𝑊
30𝑖̂ − 22.5𝑗̂
⃗⃗𝐵𝐻 = 𝑇𝐵𝐻 [
𝑇 ] 𝑙𝑏
√(30)2 + (−22.5)2
30𝑖̂ − 22.5𝑗̂
⃗⃗𝐵𝐻 = 𝑇𝐵𝐻 [
𝑇 ] 𝑙𝑏
37.5
4 3
⃗⃗𝐵𝐻 = 𝑇𝐵𝐻 [ 𝑖̂ − 𝑗̂] 𝑙𝑏
𝑇
5 5
4 3
⃗⃗𝐵𝐻 = [ 𝑇𝐵𝐻 𝑖̂ − 𝑇𝐵𝐻 𝑗̂] 𝑙𝑏
𝑇
5 5
❖ Como la caja pasa por la polea B entonces 𝑇𝐵𝐻 es igual al peso de la caja:
𝑇𝐵𝐻 = 620 𝑙𝑏
0 363(𝑇𝐷𝐸 − 𝑇𝐷𝐹 ) − 0 0
1
( 0 ) + 75 ( 0 + 193.6(𝑇𝐷𝐸 − 𝑇𝐷𝐹 ) )+( 0 )= 0
744 484(𝑇𝐷𝐸 + 𝑇𝐷𝐹) − 759(𝑇𝐷𝐸 + 𝑇𝐷𝐹 ) 1440
0 363(𝑇𝐷𝐸 − 𝑇𝐷𝐹 )
1
( 0 ) + 75 ( 193.6(𝑇𝐷𝐸 − 𝑇𝐷𝐹 ) )=0
2 184 484(𝑇𝐷𝐸 + 𝑇𝐷𝐹 ) − 759(𝑇𝐷𝐸 + 𝑇𝐷𝐹 )
363 193.6 275
2 184 𝑘̂ + (𝑇𝐷𝐸 − 𝑇𝐷𝐹 )𝑖̂ + (𝑇𝐷𝐸 − 𝑇𝐷𝐹 )𝑗̂ − (𝑇 + 𝑇𝐷𝐹 )𝑘̂ = 0
75 75 75 𝐷𝐸
363 193.6 275
75 [2 184 𝑘̂ + (𝑇𝐷𝐸 − 𝑇𝐷𝐹 )𝑖̂ + (𝑇𝐷𝐸 − 𝑇𝐷𝐹 )𝑗̂ − (𝑇 + 𝑇𝐷𝐹 )𝑘̂ = 0]
75 75 75 𝐷𝐸
163 800 𝑘̂ + 363(𝑇𝐷𝐸 − 𝑇𝐷𝐹 )𝑖̂ + 193.6(𝑇𝐷𝐸 − 𝑇𝐷𝐹 )𝑗̂ − 275(𝑇𝐷𝐸 + 𝑇𝐷𝐹 )𝑘̂ = 0
363(𝑇𝐷𝐸 − 𝑇𝐷𝐹 )𝑖̂ + 193.6(𝑇𝐷𝐸 − 𝑇𝐷𝐹 )𝑗̂ + (163 800 − 275𝑇𝐷𝐸 − 275𝑇𝐷𝐹 )𝑘̂ = 0
𝑇𝐷𝐸 = 297.81818181 𝑙𝑏
𝑇𝐷𝐸 ≈ 297.8 𝑙𝑏
3 276
⟹ 𝑇𝐷𝐸 = 𝑇𝐷𝐹 =
11
𝐴⃗ = 𝐴𝑥 𝑖̂ + 𝐴𝑦 𝑗̂ + 𝐴𝑧 𝑘̂
⃗⃗⃗⃗𝐶 = [−620𝑗̂]𝑙𝑏
𝑊
⃗⃗⃗⃗𝐺 = [−240𝑗̂]𝑙𝑏
𝑊
∑ 𝐹𝑥 = 0
𝐴𝑥 = −861.3236364 𝑙𝑏
𝐴𝑥 = −861.3 𝑙𝑏
∑ 𝐹𝑦 = 0
1 092 1 092
𝐴𝑦 − 620 − 240 − 372 − − =0
5 5
8 344
𝐴𝑦 =
5
𝐴𝑦 = 1 668.8 𝑙𝑏
∑ 𝐹𝑧 = 0
2 184 2 184
𝐴𝑧 + − =0
25 25
𝐴𝑧 = 0