Momento de inercia reducido:

1 2 1 2 1 2 1 2 1 2
I θ̇ = I G 2 θ̇2 + m2 V G 2 + I G 3 θ̇3 + m 3 V G 3
2 GR 2 2 2 2

( )
2
5
I GR θ̇ =I G 2 θ̇ +m2 ( ẋ G 2 + ẏ G 2 ) + I G 3 θ̇2 + m3 ( ẋ G 3 + ẏ G 3 )
2 2 2 2 2 2
2
25
I GR θ̇ =I G 2 θ̇ +m2 ( ẋ G 2 + ẏ G 2 ) + I G 3 θ̇ + m3 ( ẋ G 3 + ẏ G 3 )
2 2 2 2 2 2 2
4

[( )( )] [( ( ))
2 2 2
2 2 −1 1 25 2 5 5
I GR θ̇ =I G 2 θ̇ +m2 L sin ( θ ) θ̇ + L cos(θ) θ̇ + I θ̇ +m3 −L AB sin ( θ ) θ̇− LBG 3 sin θ θ̇ +
2 AB 2 AB 4 G3 2 2

I GR θ̇ 2=I G 2 θ̇2 +m2

[ 1
4
1
4 ] 25
4 [ 25
4
5
( )
L AB2 sin2 ( θ ) θ̇2 + L AB2 cos 2 ( θ ) θ̇2 + I G 3 θ̇2 +m3 L AB2 sin2 ( θ ) θ̇2 + LBG 32 sin2 θ θ̇ 2+ 5
2

2 2 1
4
2 2 25
4
2 2 2 25
4 [ 2 2 5
( 5
I GR θ̇ =I G 2 θ̇ + m2 L AB θ̇ + I G 3 θ̇ + m3 L AB θ̇ + LBG 3 θ̇ +5 L AB LBG 3 sin ( θ ) sin θ + cos ( θ ) cos θ
2 2 ( ) ( ))
1 25
4 [ 25
4
3
I GR θ̇ 2=I G 2 θ̇2 + m2 L AB2 θ̇2 + I G 3 θ̇ 2+ m3 L AB2 θ̇ 2+ LBG 32 θ̇ 2+5 L AB LBG 3 cos θ θ̇2
4 2 ( ) ]
1 25
4
25
4 [ 3
I GR=I G 2 + m2 L AB2+ I G 3+ m3 L AB2 + LBG 32 +5 L AB LBG 3 cos θ
4 2 ( )]
( )
d I GR 15 3
=− m LAB LBG 3 sin θ θ̇
dθ 2 3 2

Par reducido:
⃗ ω =⃗
T tr ∙ ⃗ P2 ∙ ⃗
V G 2 +⃗ ⃗G 3
P3 ∙ V

⟨0 0 T tr ⟩ ∙ ⟨ 0 0 θ̇ ⟩= ⟨ 0 −m2 g 0 ⟩ ∙ ⟨ 0 ẏ g 2 0 ⟩ + ⟨ 0 −m3 g 0 ⟩ ∙ ⟨ 0 ẏ g 3 0 ⟩
 T tr θ̇=−m2 g ( ẏ G 2) −m3 g ( ẏ G 3 )

Cinemática:

1 1
y G 2= y B= L AB sin ( θ )
2 2
1 1
ẏ G 2= ẏ B= L AB cos ( θ ) θ̇
2 2
y G 3= y B + LBG 3 sin ( θ3 ) =L AB sin ( θ )+ LBG 3 sin ( θ 3 )

( 52 θ )
y G 3=L AB sin ( θ ) + L BG 3 sin

cos ( θ ) θ̇
5 5
ẏ g 2=L AB cos ( θ ) θ̇ + LBG 3
2 2
Reemplazando

T tr θ̇=−m2 g ( 12 L AB ) ( 5
2
5
cos (θ ) θ̇ −m3 g L AB cos ( θ ) θ̇+ L BG 3 cos θ θ̇
2 ( ))
1
2 2 ( 5
2
5
T tr =− m g ( L AB cos ( θ )) −m3 g L AB cos ( θ ) + LBG 3 cos θ
2 ( ))
1 5 5
T tr =− m g L AB cos ( θ )−m3 g L AB cos ( θ )− m g L BG 3 cos θ
2 2 2 3 2 ( )
T tr =−g L AB cos ( θ ) ( 12 m +m )− 52 m g L
2 3
3
BG 3 cos ( 52 θ )