Calculos de velocidades y aceleraciones

Cálculos para ɵ=105 VELOCIDADES 𝑉𝐴 = 𝜔2 𝑋 𝑟𝑎 𝑉𝐴 = −2𝑘 𝑋 12.94 𝑖 + 98.29 𝑗 = −25.88 𝑗 + 96.59 𝑖 = 100 𝑚𝑚 𝑠 2 VB = VA + VB/A 𝑉𝐵 = 𝜔4 𝑋 𝑟𝐵 𝑉𝐵 = 𝜔4 𝑘 𝑋 48.77 𝑖 − 47.11 𝑗 = 𝜔4 ∗ 48.77 𝑗 + 𝜔4 ∗ 47.11 𝑖 𝑉𝐵 𝑉𝐵

𝐴

𝐴

= 𝜔3 𝑋 𝑟𝐵/𝐴

= 𝜔3 𝑘 𝑋 61.71 𝑖 − 20.40 𝑗 = 𝜔3 ∗ 61.71 𝑗 + 𝜔3 ∗ 20.40 𝑖 𝑖 → −𝜔3 ∗ 20.9 + 𝜔4 ∗ 47.11 = 96.59 𝑗 → −𝜔3 ∗ 61.71 + 𝜔4 ∗ 48.77 = −25.88 𝜔3 = 3.13 𝑟𝑎𝑑 𝑠 𝜔4 = 3.44 𝑟𝑎𝑑 𝑠 𝑉𝐵 = 233.25 𝑚𝑚 𝑠 𝑉𝐷 = 𝜔4 𝑋 𝑟𝐷

𝑉𝐷 = 3.44𝐾 𝑋 82.71 𝑖 − 79.9 𝑗 = 284.52 𝑗 + 274.85 𝑖 = 295.544 𝑚𝑚 𝑠 VE = VD + VE/D VE = ω6 X rE 𝑉𝐸 = 𝜔6 𝑘 𝑋 −165.39 𝑖 + 129.4𝑗 = −𝜔6 ∗ 165.39 𝑗 − 𝜔6 ∗ 129.4 𝑖 𝑉𝐸/𝐷 = 𝜔5 𝑋 𝑟𝐸/𝐷 𝑉𝐸/𝐷 = 𝜔5 𝑘 𝑋 −102 𝑖 − 53.1 𝑗 = −𝜔5 ∗ 102 𝑗 + 𝜔5 ∗ 53.1 𝑖 𝑖 → −𝜔6 ∗ 129.4 − 𝜔5 ∗ 53.1 = 274.85 𝑗 → −𝜔6 ∗ 165.39 + 𝜔5 ∗ 102 = 284.85 𝜔6 = −1.96 𝑟𝑎𝑑 𝑠 𝜔5 = −0.39 𝑟𝑎𝑑 𝑠