V́ C =V́ P 1 + ώ1 x ŔC ⋰ P 1

V́ C =0+ω1 k^ x (0.15 ^j)

^
6 i=ω ^ ^
1 k x (0.15 j)

^
6 i=−0.15 ω 1 i^

6=−0.15 ω1

−40rad /s=ω 1

á C =á P 1+ ά 1 x ŔC ⋰ P 1−ω 12 ŔC ⋰ P 1 ∀ ρ=0.15 m

á C =ω12 ρ ^j+ ά 1 x Ŕ C ⋰ P 1−ω12 ρ ^j

^
4 i=α ^ ^
1 k x (0.15 j)

^
4 i=−α ^
1 (0.15) i

−80
rad /s2 =α 1
3

V́ A =V́ P 1 + ώ 1 x Ŕ A ⋰ P 1

V́ A =0±40 k^ x (0.3 ^j)

V́ A =12 i^

á A = áP 1 + ά 1 x Ŕ A ⋰ P 1−ω 12 Ŕ A ⋰ P 1 ∀ ρ=0.15 m

á A =ω2 ρ ^j+ α 1 k^ x( 2 ρ ^j)−ω12 2 ρ ^j

á A =α 1 k^ x (2 ρ ^j)−ω 12 ρ ^j

á A =α 1 k^ x (2 ρ ^j)−ω 12 ρ ^j
^
á A =8 i−240 ^j

Además , V́ A . ŔB ⋰ A =V́ B . Ŕ B ⋰ A á A . Ŕ B ⋰ A =áB . ŔB ⋰ A , Por proyectividad

V́ B =V́ P 2+ ώ2 x ŔB ⋰ P 2

V́ B =0+ ω2 k^ x (0.3 ^j)

V́ B =−ω 2 (0.3) i^

V́ A . ŔB ⋰ A=V́ B . Ŕ B ⋰ A
^
12 i.(− ^
i)=−ω ( ^) ^
2 0.3 i .(−i)

rad
−40 =ω 2 → V́ B =12 i^
s

á B= áP 2 + ά 2 x ŔB ⋰ P 2−ω22 Ŕ B ⋰ P 2

á B=ω22 (0.1) ^j+ α 2 k^ x( 0.3 ^j )−ω22 (0.3) ^j

^
á B=−0.3 α 2 i−320 ^j

á A . Ŕ B ⋰ A =á B . Ŕ B ⋰ A

( 8 i^ −240 ^j ) .(− i^ )=( −0.3 α 2 i^ −320 ^j ) .(−i^ )

−80
α 2= rad /s2 → áB =8 i^ −320 ^j
3

V́ D=V́ B + ώ 2 x Ŕ D ⋰ B
^
V́ D=12 i±40 k^ x (0.2 i−0.2
^ ^j)

^
V́ D=12 i−8 ^
i−8 ^j

^
V́ D=4 i−8 ^j∴ V D =4.9442 m/s

á D =á B + ά 2 x Ŕ D ⋰ B−ω 22 Ŕ D ⋰ B
80
á D =8 i^ −320 ^j ± k^ x( 0.2 i^ −0.2 ^j)−ω22 (0.2 i−0.2
^ ^j )
3
16 ^ 16 ^
á D =8 i^ −320 ^j − i− j −320 i^ +320 ^j
3 3
−952 ^ 16 ^
á D = i− j∴ a D=317.3781 m/s 2
3 3