1.1.

Detalles del mecanismo

Para el análisis del mecanismo utilizaremos nos posiciones angulares, las cuales
serán para 𝜃 = 60° en la posición mostrada.

Medidas:

𝐴𝐵 = 20 𝑐𝑚 = 0.20 m
𝐵𝐶 = 40 𝑐𝑚 = 0.40 m
𝐶𝐷 = 20 𝑐𝑚 = 0.20 m

1.2.Formulas empleadas
El presente informe está dividido en dos partes, las cuáles son : análisis de velocidades y
aceleraciones con las fuerzas.

PARTE 1: Velocidades, aceleraciones

V B=V A +Ꞷ AB × R A / B

2
a B=a A + α AB × R A / B −( Ꞷ AB ) × R B / A

PARTE 2: Fuerzas

a G =α AB × RG
t

a G =( Ꞷ AB )2 × RG
n
 1 2
I A= mAB × L
3

∑ M A =I A ×α AB

∑ F t =m AB × aG t

∑ F n=mAB ×a G n

∑ M Bcausas=∑ M Befectos

1.3.Análisis de velocidades y aceleraciones

PARA 𝜃 = 60°
- Análisis de la barra AB

V B=V A +Ꞷ AB × R A / B
V B=0+(−2 k )×(0 . 1i+0 . 1732 j)

V B=0.3464 i−0.2 j

V B=0.40 m/s

a B=a A + α AB × R B/ A −}( ω AB )2 × RB / A

a B=0+0 × ( 0.1 i+ 0.1732 j )−( 2 )2 ×(0.1 i+0.1732 j)

a B=0.1i+0.1732 j−0.4 i−0.6928 j

a B=−0.3i−0.5196 j
2
a B=0.60 m/ s

- Análisis de la barra BC

V C =V B +ω BC × RC /B

V C = ( 0.3464 i−0.2 j ) + (−ω BC k ) ×(0.2i−0.3464 j)

V C = ( 0.3464 i−0.2 j ) + (−0.2 ω BC j−0.3464 ωBC i )

V C =0.3464 i−0.3464 ω BC i−0.2 j−0.2 ω BC j

V C =V D + ωCD × R C/ D

V C =0+ (−ω BC k ) ×(−0.1732i−0.1 j)

V C =−0.1 ωCD i+0 .1732 ωCD j

- Igualamos (1) y (2)

V C =0.3464 i−0.3464 ω BC i−0.2 j−0.2 ω BC j …. 1

V C =−0.1 ωCD i+0 .1732 ωCD j ……2

0.3464 i−0.3464 ω BC i=−0.1ω CD i

−0.2 j−0.2 ωBC j=0.1732 ω CD j

ω BC =0.935 rad / s

ω CD =−0.223 rad /s

- Velocidad en C

V C =−0.1(−0.223)i +0 .1732(0.935) j

V C =0.0223i +0.1619 j

V C =0.163 m/ s

- Aceleración en C

2
a c =a B +α BC × RC /B −( ω BC ) × RC /B … … (1)

a c =−0.3 i−0.5196 j+ α BC ×(0.2i −0.3464 j)−( 0.935 )2 ×(0.2i−0.3464 j)

a c =−0.3 i−0.5196 j+ α BC 0.2 j+α BC 0.3464 i−0.1748 i+ 0.3028 j ¿

a c =−0.4748 i−0.2168 j +α BC 0.2 j+α BC 0.3464 i

2
a c =a D +α CD × R C/ D −( ω CD ) × R C/ D … …( 2)

a c =0+α CD ×(−0.1732 i−0.1 j)−(−0.223 )2 ×(−0.1732i−0.1 j)… …(2)

 - a c =−α CD 0.1732 j+α CD 0.1 i+ 0.008613i+0.004973 j Igualamos (1) y (2)

a c =−0.4748 i−0.2168 j+α BC 0.2 j+α BC 0.3464 i

a c =−α CD 0.1732 j+α CD 0.1 i+ 0.008613i+0.00497 j

α CD =−0.248 rad / s

α BC =1.324 rad /s

- Entonces a c

a c =−0.4748 i−0.2168 j +α BC 0.2 j+α BC 0.3464 i

2
a c =0.0506 m/ s

Velocidades y aceleraciones en los centros de masa

- Centro de masa 1
V G 1=ω AB × RG 1 / A

V G 1= (−2 k ) ×(0.05 i+0.0866 j)

V G 1=0.1732i−0.1 j

V G 1=0.20 m/s

a G 1=−( ω AB )2 × RG 1 / A

a G 1=−4 ×(0.05i +0.0866 j)

a G 1=−0.2 i−0.3464 j

2
a G 1=0.40 m/ s
- Centro de masa 2

V G 2=V B +ω BC × RG 2 /b

V G 2=0.3464 i−0.2 j+0.935 k (0.10i−0.1732 j)

V G 2=0.3464 i−0.2 j+0.0935 j+0.1619 i ¿

V G 2=0.5083i−0.1065 j

V G 2=0.519 m/ s

2
a G 2=a B +α BC × RG 2 / B−( ω BC ) × RG 2 / B

2
a G 2=−0.3 i−0.5196 j+ 1.324 k ×(0.10i−0.1732 j)−( 0.935 ) ×(0.10 i−0.1732 j)

a G 2=−0.3 i−0.5196 j+ 0.1324 j+0.2293 i−0.0874 i+0.1514 j¿

a G 2=−0.1581 i−0.2358 j

a G 2=0.284 m/ s2

- Centro de masa 3

V G 3 =ωCD × RG 3 / D

V G 3 =(−0.223 k ) ×(−0.10 i−0.1732 j)

V G 1=0.0386 i+0.0223 j

V G 3 =0.0446 m/s

a G 3=a B +α CD × R G 2/ D −( ω CD ) 2 × R G 2/ C

2
a G 3=−0.248 k ×(−0.10 i−0.1732 j)−(−0.223 k ) ×(−0.10 i−0.1732 j)

a G 3=0.0248 j −0.0429i+0.00497 i+0.00861 j

a G 3=−0.0379 i+0.0334 j
 a G 3=0.0505 m/s 2

Resultados:

Ꞷ𝐴𝐵 = 2 𝑟𝑎𝑑/𝑠 α𝐴𝐵 = 0 𝑟𝑎𝑑/𝑠2

Ꞷ𝐵𝐶 = 0.935 𝑟𝑎𝑑/𝑠 α𝐵𝐶 = 𝑟𝑎𝑑/𝑠2

Ꞷ𝐶𝐷 = 0.223 𝑟𝑎𝑑/𝑠 α𝐶𝐷 = 0.248 𝑟𝑎𝑑/𝑠2

𝑉𝐺1 = 0.20 𝑚/𝑠 𝑎𝐺1 = 𝑚/𝑠2

𝑉𝐺2 = 0.519 𝑚/𝑠 𝑎𝐺2 = 𝑚/𝑠2

𝑉𝐺3 = 0.0446 𝑚/𝑠 𝑎𝐺3 = 𝑚/𝑠2

1.4. Análisis de fuerzas

PARA 𝜃 = 60°
 Dimensiones
- Barra AB

𝑉 = 0.0002 𝑚3
𝑚1 = 0.0002 ∗ (7860)
𝑚1 =1.572 𝑘𝑔

Barra BC

𝑉 = 0.0002 𝑚3
𝑚1 = 0.0002 ∗ (7860)
𝑚1 = 3.144 𝑘𝑔
 - Barra CD

𝑉 = 0.0001 𝑚3
𝑚1 = 0.0001 ∗ (7860)
𝑚1 = 0.786 𝑘𝑔

Para analizar el mecanismo lo dividimos en 3 etapas

- 1° etapa: Analizar la barra AB (rotación pura)
- 2° etapa: Analizar la barra CD (rotación pura)
- 3° etapa: Analizar la barra BC (traslación + rotación)

- 1° etapa: Rotación pura en AB (análisis de fuerzas y aceleraciones)

Datos:

𝛼𝐴𝐵 = 0 𝑊𝐴𝐵 = −2𝑘 𝑚𝐴𝐵 = 1.572

𝑅𝐺1 = 0.10 𝑚

𝑎𝐺1𝑇 = 𝛼𝐴𝐵 ∗ 𝑅𝐺1 → 𝑎𝐺1𝑇 = 0 ∗ (0.05) = 0 𝑚/𝑠2

𝑎𝐺1𝑁 = (𝑊𝐴𝐵)2 ∗ 𝑅𝐺1 → 𝑎𝐺1𝑁 = (2)2 ∗ (0.1) = 0.40 𝑚/𝑠2

𝑚𝐴𝐵𝑔 = 7.71066 𝑁

1 2 1 2 2
I A= m L → ×1.572 ×0.20 =0.02096 kg l
3 3
 ∑ M A =I A ⋅ α AB
−mg × sen ( 30° ) × 0.10+ B T ( 0.2 )=0.02096 × 0

1
−15.42132× ( 0.10 ) + BT ( 0.20 )=0
2

−0.771066+ BT ( 0.20 )=0

BT =3.85533 N

∑ F T =m AB × aTG 1

T
AT + mg× sen ( 30 ° )−BT =m AB × aG 1

1
AT + 15.42132× −3.85533=1.572× 0
2

AT =−3.85533 N

∑ F N =m AB ×a NG 1
N
A N +mg ×cos (30 ° )−B N =mAB × aG 1

√3
A N +15.42132 × −B N =1.572 ×(0,40)
2

A N −B N =−12.72645 N
- 2° etapa: Rotación pura en CD (análisis de fuerzas y aceleraciones)

α CD =0.248 k

ω CD =0.223 k

mCD =1.572 kg

RG 2 =0.10 kg

2
a G 2 =α CD × RG 2 → aG 2 =0.248 × 0.10=0. 0248 m/ s
T T

a G 2 =( ω AB ) 2 × R G 2 → aG 2 =22 ×0.10=0.4 m/ s2
N N

mCD g=1.572× 9.81=15.4213 N

1 2 1 2 2
I D = mCD L → ×1.572 ×0.20 =0.02096 kg l
3 3
 ∑ M D=I D × α CD

mg × sen(30 ° )×(0. 1)−CT (0.1)=0.02096 ×(0.248)

1.572× 9.81 × sen ( 30° ) ×0.1−CT ( 0.1 )=0.005198

C T =7.65 87 N

∑ F T =mCD × aG 3 T

−C T +mg × sen(30 ° )−DT =m CD × aG 3 T

−7.6587+1.572 × sen ( 30 ° )−DT =1.572× 0.0248

D T =−6.9 11 6 N

∑ F N =mCD × aG 3 N

D N −mg × cos ( 30° ) −C N =mCD ×a G 3 N

D N −1.572 ×9.81 × cos ( 30° ) −C N =1.572× 0.4

D N −C N =13.9841

- 3° etapa: Traslación y rotación en la barra BC

α CD =0.248 k ω BC =0 k mBC =3.144 kg

1 2 1 2 2
I G= m L → I G = × 1.572× 0. 4 =0.02096 kg m
12 BC
12
a G 2=−0.1581 i−0.2358 j

∑ MB CAUSAS
=∑ M B BEFECTOS

C N ( 0.4 )−mBC g× sen (30 ° ) =I G × α C D−m BC × aG 2 Y sen ( 30° ) ( 0. 2 )+ ¿

mBC ×a G 2 X sen (60 °)(0. 2)

0.4 C N −3.144 × 9.81× sen ( 30 ° )=0.02096× 0.248−3.144 ( 0.2358 ) ( 0.5 )( 0.2 ) +3.144 (−0.1581)(0.8660)(0.2

𝐶𝑁 = 38.1657 N

- Reemplazamos
D N −C N =13.9841

D N =52.149 8 N

∑ MC CAUSAS
=∑ M C BEFECTOS

BN ( 0. 4 ) +mBC g× sen (3 0 ° )=I G × α BC + m BC × aG 2 Y sen ( 30° ) ( 0. 2 )−m BC ×a G 2 X sen (60)(0. 2)

BN ( 0. 4 ) +3.144 (9.81)(0.5)=(0.02096)( 0.248)+(3.144) ( 0.2358 )( 0.5 )( 0.2 ) −3.144(−0.1581)(0.8660)(0.2)

B𝑁 = −38.1397

- Reemplazamos

A N −B N =−12.72645 N

A N =25.4133 N