Euro Casanova / Dpto. de Mecnica / Universidad Simn Bolvar.

Formulario Dinmica I & Dinmica II

Cinemtica
Coordenadas cartesianas k z j y i x r
i

+ + =
r

k z j y i x a
k z j y i x v
i
i


& & & & & &
r
& & &
r
+ + =
+ + =


Coordenadas cilndricas k z r r
r i

+ =
r

( ) ( ) k z r r r r a
k z r r v
r i
r i

2
& &
&
&
& & &
& &
r
&
&
&
r
+ + + =
+ + =

Coordenadas intrnsecas
( )
( )
t i i
S r r
r r
=
( )
( ) n
t
t t i
t t i
e
S
e S a
e S v

2
) (

&
& &
r
&
r
+ =
=

Sistemas no inerciales
( )
) . ( 2
2

; ; ;
2
uniplanar mov A V R R a a
A V R R a a
V R v v
K
dt
K d
J
dt
J d
I
dt
I d
dt
d
t
R
R
dt
R d
R r r
Ri Ri i i p i
Ri Ri i i p i
Ri i p i
i
i
i
i p i
+ + + =
+ + + + =
+ + =
=
=
=
= + = + =
r r
r
r r
r r r
r r
r
r
r r
r
r r r
r r
r r r
r
r
r
r
r
r
r
r
r
r
r r

Dinmica de sistemas de partculas

i i
N
i
i i
N
i
i
N
i
Pi P CM
N
i
i i
N
i
i
N
i
i i
CM
N
i
i i
CM
N
i
i i
CM
N
i
i
v m R p R h h v M v m p p
M
a m
a
M
v m
v
M
R m
R m M
r
r
r
r r r
r r r r
r
r
r
r
r
r
= = = = = =
= = = =

= = = = =
= = =
=
1 1 1 1 1
1 1 1
1


) . ( ;
1
2
1 1
uniplanar mov R m I a M R I M
v M v
t d
h d
M a m R M
t d
p d
a M a m F
N
i
i i P P CM P
E
P
CM P
P E
P
N
i
i i i
E
P CM
N
i
i i
E
= + =
+ = = = = =

=
= =
r
r
r
r
r r
r
r
r
r r
r
r r
r

Euro Casanova / Dpto. de Mecnica / Universidad Simn Bolvar.
( )
( ) ( )
( )
2
1
2
1
2 1
1
2
1
2 1
1 1 2 2 2 1 2 1
2
1
; ;
kx U
mgh U
r d F W
r d F W
U T U T W W
elast
ref
grav
N
i
i
I
i
I
N
i
i
E
i
nc E
I nc E
=
=
=
=
+ + = +

r
o
r
r
o
r

( ) ) . (
2
1
2
1
2
1
2 2
1
2
1
uniplanar mov R M v I Mv T
v m T T
CM P P P
N
i
i i
N
i
i
+ + =
= =

= =
r
v
o
r



Dinmica del Cuerpo Rgido

r
r
r
r r r
r
r r r
r r
PXYZ P
CM CM CM P
P CM P P
CM
H
v M R H h
v M R H h
v M p I =
+ =
+ =
=
) . (
; ;
uniplanar mov
a M R M
a M R M
a M R M
a M R M
v M v
t d
h d
M
t d
p d
a M F
CM CM CM
E
P
P CM P
E
P
CM CM CMXYZ CMXYZ
E
P
P CM PXYZ PXYZ
E
P
CM P
P E
P CM
E

+ =
+ =
+ + =
+ + =
+ = = =
r
r
r
r
r
r
r
r
r
r
r r r
r
r
r
r r r
r
r r
r
r
r
r
r

I
I
I I
I I

T T
PXYZ
T
Z Y X P
CM CM
CM CM CM CM
CM CM CM CM CM CM
PXYZ CM PXYZ CM CMXYZ PXYZ
K J I K J I
Y X Sym
Z Y Z X
Z X Y X Z Y
M
= =
(
(
(

+
+
+
= + =


;
;
2 2
2 2
2 2
/ /
L L I L I
I I I I

( )
( ) ( )
( )
( )
( ) ) . (
2
1
2
1
2
1
2
1
2
1
; ;
2 2
2
2
1
2
1
2 1 1 1 2 2 2 1
uniplanar mov R M v I Mv T
R M v Mv T
kx U
mgh U
r d F W U T U T W
CM P P P
CM P PXYZ P
elast
CMref
grav
N
i
i
E
i
nc E nc E
+ + =
+ + =
=
=
= + + =

=

r
v
o
r
r
v
o
r r
o
r
r
o
r

I

Ecuaciones de Lagrange
( )
2
1 1
, , 1
) (
2 1
2
1
; ;
, , ,
x C D r F q Q W
q
D
q
U
q
T
q
T
dt
d
Q
q q q r r
N
i
N
i
i i j j
N j
j j j j
nc
j
N i i
&
r
o
r
& &
L
r r
L = = =

|
|
.
|

\
|

=
=

= =
=


Teora de choques

. . . . .
. . . . .
; ;
I L contacto en ptos los de on aproximaci rel Vel
I L contacto en ptos los de o alejamient rel Vel
e h p
P
E
P
E
o
o
r r
r
r
= = = M F