Calculos de velocidades y aceleraciones

𝑎𝐸𝑛 + 𝑎𝐸𝑡 = 𝑎𝐷𝑛 + 𝑎𝐷𝑡 + 𝑎𝐸/𝐷𝑛 + 𝑎𝐸/𝐷𝑡 𝑎𝐸𝑛 =𝜔 6 𝑋

𝜔 6 𝑋 𝑟𝐸

𝑎𝐸𝑛 − 1.05 𝑘 𝑋 (−5.73 𝑗 + 220.39 𝑖) 𝑎𝐸𝑛 = − − 6.01 𝑖 − 231.4 𝑗 𝑎𝐸𝑡 = 𝛼6 𝑋 𝑟𝐸 = 𝛼6 𝑘 𝑋 5.46 𝑖 + 209.9 𝑗 𝑎𝐸𝑡 = −209.9 ∗ 𝛼6 𝑖 + 5.46 ∗ 𝛼6 𝑗 𝑎𝐸/𝐷𝑛 =𝜔 5 𝑋

𝜔 5 𝑋 𝑟 𝐸/𝐷

𝑎𝐸/𝐷𝑛 = −2.28𝑘 𝑋 −204.2 𝑗 + 164.36 𝑖 = −465.71 𝑖 − 374.74 𝑗 𝑎𝐸/𝐷𝑡 = 𝛼5 𝑋 𝑟𝐸/𝐷 𝑎𝐸/𝐷𝑡 = 𝛼5 ∗ 89.59 𝑗 − 𝛼5 ∗ 72.09 𝑖 𝑖 → −𝛼6 ∗ 209.9 + 𝛼5 72.09 = −722.82 𝑗 → 𝛼6 ∗ 5.46 − 𝛼5 ∗ 81.59 = −783.27 𝛼6 = −3.6 𝑟𝑎𝑑 𝑠 2 𝛼5 = 0.45 𝑟𝑎𝑑

𝑠2

𝑎𝐸 = 6770.24 𝑚𝑚

𝑠2