Sesión 26

(4) Movimiento plano general: aceleraciones

𝑟̅! = 𝑟̅" + 𝑟̅!/"

𝑑𝑟̅!/"
𝑣̅ ! = 𝑣̅" + 𝑣̅!/" = 𝑣̅" + 𝜔
'"! × 𝑟̅!/" ; =𝜔 '"! × 𝑟̅!/"
𝑑𝑡
𝑑 𝑑𝜔
'"! 𝑑𝑟̅!/"
𝑎.! = 𝑎." + /𝜔'"! × 𝑟̅!/" 0 = 𝑎." + × 𝑟̅!/" + 𝜔
'"! ×
𝑑𝑡 𝑑𝑡 𝑑𝑡
$
= 𝑎." + 𝛼."! × 𝑟̅!/" + 𝜔
'"! × 𝜔
'"! × 𝑟̅!/" = 𝑎." + 𝛼."! × 𝑟̅!/" − 𝜔"! . 𝑟̅!/"

𝑟̅$/!

𝑟̅!/# = 𝑟̅!

𝑟̅$/# = 𝑟̅$

Ejercicio 164
(1) Calcular la aceleración del punto B:

𝑖 𝑗 𝑘
$
𝑎.! = 𝑎." + 𝛼."! × 𝑟̅!/" − 𝜔"! . 𝑟̅!/"
=0+5 0 0 85 − 2$ (0.32𝚤̂)
0.32 0 0
= −1.28𝚤̂ + 2.56𝚥̂ (𝑚/𝑠 $ )
(2) Necesito la velocidad angular del elemento BCD:

𝑖 𝑗 𝑘
𝑣̅! = 𝑣̅" + 𝜔'"! × 𝑟̅!/" = 0 + 5 0 0 25 = 0.64𝚥̂ (𝑚/𝑠)
0.32 0 0
𝑖 𝑗 𝑘
𝑣̅& = 𝑣& 𝚤̂ = 𝑣̅! + 𝜔
'!&' × 𝑟̅&/! = 0.64𝚥̂ + 5 0 0 𝜔!&' 5
0.24 0.48 0
𝑣& 𝚤̂ = 0.64𝚥̂ + (−0.48𝜔!&' 𝚤̂ + 0.24𝜔!&' 𝚥̂)
𝑣& = −0.48𝜔!&'
0 = 0.64 + 0.24𝜔!&'
8
𝜔!&' = − 𝑟𝑎𝑑/𝑠; 𝑣( = 1.28 𝑚/𝑠
3

𝑣̅%

𝜔
($%&

𝑣̅ $
(3) Necesito la aceleración angular del elemento BCD:

$
𝑎.& = 𝑎.! + 𝛼.!&' × 𝑟̅&/! − 𝜔!&' . 𝑟̅&/!
𝑖 𝑗 𝑘 8 $
𝑎& 𝚤̂ = (−1.28𝚤̂ + 2.56𝚥̂) + 5 0 0 𝛼!&' 5 − H− I (0.24𝚤̂ + 0.48𝚥̂)
3
0.24 0.48 0
128 256
𝑎& 𝚤̂ = (−1.28𝚤̂ + 2.56𝚥̂) + (−0.48𝛼!&' 𝚤̂ + 0.24𝛼!&' 𝚥̂) − H 𝚤̂ + 𝚥̂I
75 75
128
𝑎& = −1.28 − 0.48𝛼!&' −
75
256
0 = 2.56 + 0.24𝛼!&' −
75
32
𝛼!&' = 𝑟𝑎𝑑/𝑠 $ ; 𝑎& = ⋯
9

𝑣̅% 𝑎*%

𝛼*$%&

𝑣̅ $ 𝜔
($%&

(4) Ya puedo calcular la aceleración del punto D:

$
𝑎.' = 𝑎.! + 𝛼.!&' × 𝑟̅'/! − 𝜔!&' . 𝑟̅'/!
𝑖 𝑗 𝑘
32 8 $
= (−1.28𝚤̂ + 2.56𝚥̂) + M 0 0 M − H− I (0.4𝚤̂ + 0.8𝚥̂)
9 3
0.4 0.8 0
1568 512
=− 𝚤̂ − 𝚥̂ (𝑚/𝑠 $ )
225 75