Dinamica De La Particula

“I” desde “J”
VI= VJ+ WIJ* RJI
VI= ijk00-20.140
VI= .28 i ms

“I” desde “H”
tanθ=1430.5=tan-11430.5
Vxrel=Vrelcos24.65°=.91Vreli
Vyrel=Vrelsen24.65°=.42Vreljθ=24.65°

VI= VH+ VIrel+WIH* rHI
VI=.91Vreli+.42Vreljijk00-WIH.305.140

VI=.91Vreli+.42Vrelj-.305WIHj+.14WIHi

Igualando y Comparando

.91Vrel+.14WIH=.28…..(1)
(-2.17).42Vrel-.305WIH=0 ……(2).91Vrel+.14WIH=.28
-.91Vrel+.66WIH= 0
0 +.8WIH=.28

WIH=.28.8
WIH=.35 rads

Sustituir en (2)

.42Vrel-.305.35=0
.42Vrel=.10675
Vrel=.10675.42

Vrel=.25ms






“F” desde “E”
b=c2-b2
b=12.52-82
b=9.6 cm

VF=VE+WEF*rEF
VF=ijk00-WFE.8.960

VF=.96WEFi-.8WEFj

“F” desde “G”

b=c2-b2
b=25.52-122
b=22.5cm

VF=VG+WFG*rGFVF=ijk00WFG.12.2250

VF=-.225WFGi+.12WFGj

Igualando y comparando


.96WEFi-.8WEFi=-.225WFGi+.12WFGj

.96WEF+.225WFG=0…..1
(-1.2).8WEF +.12WFG=0…….(2)

.96WEF+.225WFG=0
-.96WEF-.144WFG=0
0 +.081WFG=0


WFG=-0.081rads

Sustituir en (2)

.8WEF+.12-.081=0
.8WEF=.972
WEF=1.215rads






“C” desde “E”

|Vcrel|Vcxrel
Vycrel
b=c2-b2
b=192-122
b=14.73
cosθ =bcθ = cos-11619=32.63°

Vcxrel=-|Vcrelcos32.63=-.84|Vcreli
Vycrel=|Vcrel|sen32.63 = .54|Vcrel|j

VC=VE+VCrel+WC*rCE
VC=-.84|Vcreli+.54|Vcrel|jijk00WCE-.16.1470

VC=-.84|Vcreli+.54|Vcrel|j-.16WCEj-.147WCEi

“C” desde “D”
c=a2+b2
c=42+102
c=10.77cm

VC=VD+WBCD*rCD
VC=ijk00-1-.04.10

VC=.1i+.04j

Igualando y comparando-.84|Vcreli+.54|Vcrel|j-.16WCEj-.147WCEi=.1i+.04j
-.84|Vcrel-.147WCE=.1…….(1)
(1.55)+.54|Vcrel|-.16WCE=.04………..(2)

-.84|Vcrel-.147WCE=.1
.84|Vcrel|-.248WCE=.062
0 -.395WCE=.162
WCE=-.410rads







Sustituir en (2)
.54|Vcrel|-.16(-.410)=.04
54|Vcrel|=-.0256
|Vcrel|=-.0474ms

“B” desde “C”

b=c2-b2
b=26.232-82
b=24.98cm

VB=VC+WBCD*rBC
VB=1i+.04jijk00-1.08-.2490


VB=1i+.04j-.08j-.249i
VB=-.149i-.04j

“A” desde “B”
b=c2-b2
b=9.52-72
b=6.42

VA=VB+WAB*rAB
VA=-.149i-.04j ijk00WAB-.07.6420

VA=-.149i-.04j -.642WABi-.642WABj

“Como se mueve en forma horizontal”

VA=-.149i-.642WABi

Despejando

WAB=-.149.642

WAB=-.2320rads

VA=-.149-.642-.2320
VA=-5.6*105ms

IJ 4 rads2 (Proponiendo esta aceleración)I desde J
aI aJ IJ x rI/J – (WIJ)2 rI/J
aI ijk0040.140 (2)2 (.14 j)
aI0.56i - 0.56j

I desde H
aI aH aI rel 2 WIH x VI rel IH x rI/H -|WIH|2 rI/H

VI rel=0.25 rads
VI rel=0.91 0.25i .42 0.25j
VI rel=.2275i 0.105j
aI rel= .91 |a rel|i 0.42 |a rel|j
WIH x VI rel= ijk000.350.22750.1050 =(0.080j – 0.037i)2
WIH x VI rel=o.16j-o.o74i
IH x rIH= ijk00IH0.3050.140 = 0.14 IHi- 0.305IHj
-|WIH|2rI/H= -(0.35)20.305i0.14j=-0.037i-5.23x10-3j
a I= 0.91 |a rel|i 0.42 |a rel|j0.074i0.016j0.14 IHi 0.305IHj-0.037i 5.23x10-3j
a I= 0.91 |a rel|i 0.42 |a rel|j0.111i0.154j0.14 IHi 0.305IHj

IGUALANDO Y COMPARANDO
a rel= 0.91 |a rel|i 0.42 |a rel|j0.111i0.154j0.14 IHi 0.305IHj = 0.56i0.56j
0.91 |a rel|0.14 IH= 0.671…………1
(-2.17) 0.42 |a rel|0.305IHj= 0.714…….2

0.91|a rel|0.14 IH= 0.671
- 0.91 |a rel|0.66 IH= 1.549
0.8 IH= 2.22
IH= 2.220.8
IH=2.775 rads2

SUSTITUIMOS EN 2
0.42 |a rel|0.305(2.775)= 0.714
|a rel|=0.1308 ms

F desde E
aF aE FE x rF/E – (WFE)2 rF/E
aF ijk00FE0.80.960 (1.215)2 (0.8i0.96j)
aI0.96FEi-0.8FEj-1.18i-1.13j

F desde G
aF aG FG x rF/G – (WFG)2 rF/G
aF ijk00FG0.120.2250 (-0.081)2 (0.12i.225j)
aF -0.225FGi 0.12FG-7.87x10-4i-1.77x10-4j

IGUALANDO Y COMPARANDO
0.96FEi-0.8FEj-1.18i-1.13j = 0.225FGi 0.12FGj- 7.87x10-4i-1.77x10-4j
0.96FE0.225FG= 1.187.87x10-4
(1.2) -0.8FE0.12FG= 1.131.77x10-4

0.96FE0.225FG=1.179
-0.96FE0.144FG= 1.355
0.081FG=2.534
FG= 2.5340.081
FG=31.283 rads2
SUSTITUIMOS EN 2
0.8FE0.12(31.283 )= 1.129
0.8FE=4.882
FE= 4.8820.8...