Академический Документы
Профессиональный Документы
Культура Документы
velocidad angular constante igual a 20 rad/s. La barra AB pesa 100N y est conectada
a la manivela A y a la corredera en B mediante rtulas. Determine las reacciones en
los extremos A y B para un ciclo completo de la manivela OA.
Datos:
Desplazamiento de B:
rB = a + b ; =
b rB a
Donde tenemos:
rB = yj 15k
Analisis cinematico
Velocidad de B:
vB =
vA +
vAB
rad
VA =
w2 X a = 20 j X [(11 cos())i + (11sen())k]
s
i j k
w2 X b =
VAB = wx wy wz
11 cos() y 15 11sen()
vB es negativo y en j
n
rB ; 11coswx + ywy [15 + 11sen]wz = 0
-[15 + 0 -11coswz VB = 0
11sen]wx
0 0 15+11sen y wx b1
1 -[15+11sen] 0 -11cos VB 0
0 -y 11cos 0 wy = b2
0 11cos y -[15+11sen] wz 0
B1=20(11sen)
B2=-20(11sen)
AB =
AA +
AAB
2
w2 a = 202 [11(cosi + senk)]
AA =
t
i j k
AAB = =
3 X b x y z
11 cos() y 15 11sen()
n i j k
w2 X
AAB = VAB = wx wy wz = (nwy mwz )ip + (lwz nwx )jq +
l m n
(mwx lwy )kr
AB = aB j
n
rB ; 11cosx + yy [15 + 11sen()]z = 0
0 0 15+11sen y x c1
1 -[15+11sen] 0 -11cos aB Q
0 -y 11cos 0 y = c2
0 11cos y -[15+11sen] z 0
AG = AAG =
AA + AnAG +
AnA + AtAG
i j k
b aABx
aABy
a
AAG t = ABz
AB x =
2 11cos y [15 11sen]
2 2 2
n = ( ) [11cos i + y j + [15 11sen]k]
A AG AB
2
AG = 202 [11(cosi
11cos i + y j + [15 11sen]k
+ senk)] (AB ) [ ]
2
(ABy )(15 11sen) yABz
+[ ] i
2 2
(ABx )(15 11 sen ) (11cos)(ABz )
[ ] j
2 2
(ABx )(y) (11cos)(ABy )
+ [ ] k
2 2
Analisis dinamico
100
Fx = Ax + Bx = ( ) (ax )
9.81
100
Fy = Ay = ( ) (ay )
9.81
100
Fz = Az + Bz 100 = ( ) (az )
9.81
M ext = M efec
,donde:
M ext =
rAG A +
rBG B
i j k i j k
11cos y [15 11sen] 11cos y [15 11sen]
M ext = +
2 2 2 2 2 2
AX AY AZ BX BY BZ
*tomando = 0*
( )(15 11 sen )
= [ ]
2 2
( )(15 11 sen ) (11 cos )( )
[ ]
2 2
( )() (11 cos )( )
+ [ ] + [ ]
2 2 2
( )(15 11 sen ) (11 cos )( ) ( )()
[ + ] + [ ]
2 2 2
1
*Sabemos I = 12 ml2 de tablas*
1 100N
Ix =
IZ = ( ) ( ) (. 30m2 ) = 0.07645 2
12 9.81 m
s2
Iy = Ix y = Iy z = 0
Tambien:
e
x = c1i + c2j ; e
x e
y = 0
2 2 2
e
x = c1 + c2 = 1 --->cosenos directores
e
z = e
x X e
y = coszx i + coszy j + coszz k
Ix cosxx 2 +
Ix = Iz coszx 2
Ix cosxy 2 +
Iy = Iz coszy 2
Ix cosxz 2 +
Iz = Iz coszz 2
Ixy = I
x cosxx cosxy Iz coszx coszy
Ixz = I
x cosxx cosxz Iz coszx coszz
= I
Iyz
x cosxy cosxy Iz coszy coszx
100
= ( ) ( )
9.81
100
+ = ( ) ( )
9.81
100
+ = ( ) ( ) + 100
9.81
2 Ax y 11cos Ay
Bx = [ ] [MGz + ]
y 2 2
Sust Bz de MGy