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Calculo de posición

𝜃4 O4 DATOS:
28cm
b a=30cm
B
20cm b=20cm

d c=28cm

P 𝜃 d=20cm
b cm2
x 𝜃1 = 90

𝜃3 O2 𝜃2 = 193°
a ∅ = 70°
A
𝑝 = 12
𝜃3 =?
𝜃4 =?

̅̅̅
𝑃𝐴 + ̅̅̅̅̅
𝑃𝐵𝐴 − ̅̅̅̅̅̅
𝑃𝐵𝑂4 − ̅̅̅̅̅̅
𝑃𝑂4 = 0 𝑃̅𝑝 =?

𝑎𝑒 𝑗𝜃2 + 𝑏𝑒 𝑗𝜃3 − 𝑐𝑒 𝑗𝜃4 − 𝑑𝑒 𝑗𝜃1 = 0


30(cos193° + 𝑗𝑠𝑒𝑛193°) + 20(𝑐𝑜𝑠𝜃3 + 𝑗𝑠𝑒𝑛𝜃3 ) − 28(𝑐𝑜𝑠𝜃4 + 𝑗𝑠𝑒𝑛𝜃4 ) − 20(cos(90°) + 𝑗𝑠𝑒𝑛(90°)) = 0

−29.23 + 30𝑗𝑠𝑒𝑛193° + 20𝑐𝑜𝑠𝜃3 + 20𝑗𝑠𝑒𝑛𝜃3 − 28𝑐𝑜𝑠𝜃4 − 28𝑗𝑠𝑒𝑛𝜃4 + 0 − 20𝑗𝑠𝑒𝑛(90°) = 0

𝑹𝑬𝑨𝑳𝑬𝑺 𝑰𝑴𝑨𝑮𝑰𝑵𝑨𝑹𝑰𝑶𝑺
−29.23 + 20𝑐𝑜𝑠𝜃3 − 28𝑐𝑜𝑠𝜃4 = 0 30𝑗𝑠𝑒𝑛193° + 20𝑗𝑠𝑒𝑛𝜃3 − 28𝑗𝑠𝑒𝑛𝜃4 − 20𝑗𝑠𝑒𝑛(90°) = 0
(20𝑐𝑜𝑠𝜃3 )2 = (28𝑐𝑜𝑠𝜃4 + 29.23)2 … . 𝐼 (20𝑠𝑒𝑛𝜃3 )2 = (28𝑠𝑒𝑛𝜃4 + 26.75)2 … . 𝐼𝐼

𝑺𝒖𝒎𝒂𝒏𝒅𝒐 𝒍𝒂 𝒆𝒄𝒖𝒂𝒄𝒊𝒐𝒏 𝑰 𝒚 𝑰𝑰.

400(𝑐𝑜𝑠 2 𝜃3 + 𝑠𝑒𝑛2 𝜃3 ) = 784(𝑐𝑜𝑠 2 𝜃4 + 𝑠𝑒𝑛2 𝜃4 ) + 1636.88𝑐𝑜𝑠𝜃4 + 1498𝑠𝑒𝑛𝜃4 + 1569.95

𝒔𝒆𝒏𝟐 𝒙 + 𝒄𝒐𝒔𝟐 𝒙 = 𝟏
400 = 784 + 1636.88𝑐𝑜𝑠𝜃4 + 1498𝑠𝑒𝑛𝜃4 + 1569.95
0 = 1636.88𝑐𝑜𝑠𝜃4 + 1498𝑠𝑒𝑛𝜃4 + 1953.95
𝑨𝑷𝑳𝑰𝑪𝑨𝑵𝑫𝑶 𝑬𝑳 𝑺𝑰𝑮𝑼𝑰𝑬𝑵𝑻𝑬 𝑻𝑬𝑶𝑹𝑬𝑴𝑨
𝜃 2 𝜃
1 − tan 24 2 tan 24
cos 𝜃4 = ; sin 𝜃4 =
𝜃4 2 𝜃 2
1 + tan 2 1 + tan 24

𝜃 𝜃
1 − 𝑡𝑎𝑛2 2 2 tan 24
0 = 1636.88 [ ] + 1498 [ ] + 1953.95
𝜃 𝜃
1 + 𝑡𝑎𝑛2 2 1 + 𝑡𝑎𝑛2 2

𝜽
𝒎𝒖𝒍𝒕𝒊𝒑𝒍𝒊𝒄𝒂 𝒂 𝒍𝒂 𝒆𝒄𝒖𝒂𝒄𝒊𝒐𝒏 𝒄𝒐𝒏 𝟏 + 𝒕𝒂𝒏𝟐
𝟐
𝜃4 𝜃4 𝜃4
0 = 1636.88 − 1636.88𝑡𝑎𝑛2 ( ) + 1498(2) tan ( ) + 1953.95 + 1953.95𝑡𝑎𝑛2 ( )
2 2 2
𝜃4 𝜃4
0= 317.07𝑡𝑎𝑛2 ( ) + 2996𝑡𝑎𝑛 ( ) + 3590.83
2 2

𝜽
𝒙 = 𝒕𝒂𝒏( )
𝟐
𝒙𝟏 = −𝟏. 𝟒 𝒙𝟐 = −𝟖. 𝟎𝟒
𝑷𝒐𝒔𝒊𝒄𝒊𝒐𝒏 𝒂𝒃𝒊𝒆𝒓𝒕𝒂 𝑷𝒐𝒔𝒊𝒄𝒊𝒐𝒏 𝒄𝒆𝒓𝒓𝒂𝒅𝒂
𝜃41 𝜃42
tan = −1.4 tan = −8.1
2 2
−108.9 = 𝜃41 −𝟏𝟔𝟓. 𝟗𝟐 = 𝜽𝟒𝟐

Si −𝟏𝟎𝟖. 𝟗 = 𝜽𝟒𝟏
20𝑐𝑜𝑠𝜃31 = 28 cos(𝜃4 ) +29.23

𝜃31 =0

𝐒𝐢 − 𝟏𝟔𝟓. 𝟖 = 𝜽𝟒𝟐
20𝑐𝑜𝑠𝜃31 = 28 cos(𝜃4 ) +29.23

𝜽𝟑𝟐 = 𝟖𝟒. 𝟐𝟔
𝑪𝒂𝒍𝒄𝒖𝒍𝒐 𝒅𝒆 𝒍𝒂 𝒑𝒐𝒔𝒊𝒄𝒊𝒐𝒏 𝒅𝒆 𝑩
̅̅̅̅
𝑷𝑩 = ̅̅̅̅
𝑷𝑨 + ̅̅̅̅̅
𝑷𝑩𝑨
̅̅̅
𝑃𝐴 = 𝑎𝑒 𝑗𝜃2 = 30 cos(193) + 30𝑗𝑠𝑒𝑛(193) = −29.23 − 6.75𝐽
̅̅̅̅̅
𝑃𝐵𝐴 = 𝑏𝑒 𝑗𝜃3 = 20 cos(84.26) + 20𝑗𝑠𝑒𝑛(84.26) = 2 + 19.89𝐽
̅̅̅̅
𝑷𝑩 = −𝟐𝟕. 𝟐𝟑 + 𝟏𝟑, 𝟏𝟒𝒋
𝑪𝒂𝒍𝒄𝒖𝒍𝒐 𝒅𝒆 𝒍𝒂 𝒑𝒐𝒔𝒊𝒄𝒊𝒐𝒏 𝒅𝒆 𝒑
̅̅̅̅
𝑷𝒑 = ̅̅̅̅
𝑷𝑨 + ̅̅̅̅̅
𝑷𝑷𝑨

̅̅̅
𝑃𝐴 = 𝑎𝑒 𝑗𝜃2 = 30 (cos(193) + 𝑗𝑠𝑒𝑛(193)) = −29.23 − 6.75𝑗
̅̅̅̅̅
𝑃𝑃𝐴 = 12(cos(𝜃3 + ∅) + 𝑗𝑠𝑒𝑛(𝜃3 + ∅))
̅̅̅̅̅
𝑃𝑃𝐴 = 12(cos(154.26) + 𝑗𝑠𝑒𝑛(154.26))
̅̅̅̅̅
𝑃𝑃𝐴 = −10.8 + 5.2𝑗
̅̅̅̅
𝑷𝒑 = −𝟏𝟖. 𝟒𝟑 − 𝟏. 𝟓𝟓𝒋

Calculo de Velocidad
DATOS:

a=30cm
Vel
b=20cm

c=28cm

d=20cm

𝜃1 = 90
𝜃2 = 193°
𝑝 = 12
∅ = 70°
θ3 = 84.26
θ4 = −165.92
𝑤3 =?
𝑤4 =?
𝑉̅𝑝 =?
̅̅̅
𝑃𝐴 + ̅̅̅̅̅
𝑃𝐵𝐴 − ̅̅̅̅̅̅
𝑃𝐵𝑂4 − ̅̅̅̅̅̅
𝑃𝑂4 = 0

𝑎𝑒 𝑗𝜃2 + 𝑏𝑒 𝑗𝜃3 − 𝑐𝑒 𝑗𝜃4 − 𝑑𝑒 𝑗𝜃1 = 0


𝐷𝑒𝑟𝑖𝑣𝑎𝑛𝑑𝑜
𝑑𝜃2 𝑑𝜃3 𝑑𝜃4 𝑑𝜃1
𝑎𝑒 𝑗𝜃2 + 𝑏𝑒 𝑗𝜃3 − 𝑐𝑒 𝑗𝜃4 − 𝑑𝑒 𝑗𝜃1 =0
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡

𝑎𝑒 𝑗𝜃2 𝑤2 + 𝑏𝑒 𝑗𝜃3 𝑤3 − 𝑐𝑒 𝑗𝜃4 𝑤4 − 𝑑𝑒 𝑗𝜃1 𝑤1 = 0


𝑎𝑗𝑤2 (𝑐𝑜𝑠𝜃2 + 𝑗𝑠𝑒𝑛𝜃2 ) + 𝑏𝑗𝑤3 (𝑐𝑜𝑠𝜃3 + 𝑗𝑠𝑒𝑛𝜃3 ) − 𝑐𝑗𝑤4 (𝑐𝑜𝑠𝜃4 + 𝑗𝑠𝑒𝑛𝜃4 )

𝑎𝑗𝑤2 𝑐𝑜𝑠𝜃2 − 𝑎𝑗𝑤2 𝑗𝑠𝑒𝑛𝜃2 + 𝑏𝑗𝑤3 𝑐𝑜𝑠𝜃3 − 𝑏𝑗𝑤3 𝑗𝑠𝑒𝑛𝜃3 − 𝑐𝑗𝑤4 𝑐𝑜𝑠𝜃4 + 𝑐𝑗𝑤4 𝑗𝑠𝑒𝑛𝜃4
𝑹𝑬𝑨𝑳𝑬𝑺 𝑰𝑴𝑨𝑮𝑰𝑵𝑨𝑹𝑰𝑶𝑺
−𝑎𝑤2 𝑠𝑒𝑛𝜃2 − 𝑏𝑤3 𝑠𝑒𝑛𝜃3 + 𝑐𝑤4 𝑠𝑒𝑛𝜃4 = 0 𝑎𝑗𝑤2 𝑐𝑜𝑠𝜃2 + 𝑏𝑗𝑤3 𝑐𝑜𝑠𝜃3 − 𝑐𝑗𝑤4 𝑐𝑜𝑠𝜃4 = 0

𝑺𝒆 𝒆𝒍𝒆𝒗𝒆 𝒂𝒍 𝒄𝒖𝒂𝒅𝒓𝒂𝒅𝒐. 𝑺𝒆 𝒅𝒊𝒗𝒊𝒅𝒆 𝒆𝒏𝒕𝒓𝒆 𝒋


𝑎𝑤2 𝑠𝑒𝑛𝜃2 + 𝑏𝑤3 𝑠𝑒𝑛𝜃3 𝑎𝑤2 𝑐𝑜𝑠𝜃2 + 𝑏𝑤3 𝑐𝑜𝑠𝜃3
𝑤4 = …………𝐼 𝑤4 = … … … … 𝐼𝐼
𝑐𝑠𝑒𝑛𝜃4 𝑐𝑐𝑜𝑠𝜃4

𝒊𝒈𝒖𝒂𝒍𝒎𝒐𝒔 𝒍𝒂𝒔 𝒆𝒄𝒖𝒂𝒄𝒊𝒐𝒏𝒆𝒔 𝑰 𝒚 𝑰𝑰.


𝑐𝑜𝑠 𝜃4 [𝑎𝑤2 𝑠𝑒𝑛𝜃2 + 𝑏𝑤3 𝑠𝑒𝑛𝜃3 ] = [𝑎𝑤2 𝑐𝑜𝑠𝜃2 + 𝑏𝑤3 𝑐𝑜𝑠𝜃3 ]𝑠𝑒𝑛𝜃4

𝑎𝑤2 𝑠𝑒𝑛𝜃2 𝑐𝑜𝑠𝜃4 + 𝑏𝑤3 𝑠𝑒𝑛𝜃3 𝑐𝑜𝑠𝜃4 = 𝑎𝑤2 𝑐𝑜𝑠𝜃2 𝑠𝑒𝑛𝜃4 + 𝑏𝑤3 𝑐𝑜𝑠𝜃3 𝑠𝑒𝑛𝜃4
𝑎𝑤2 [𝑠𝑒𝑛(𝜃4 − 𝜃2 )] = 𝑎𝑤3 [𝑠𝑒𝑛(𝜃3 − 𝜃4 )]
𝑪𝒖𝒂𝒏𝒅𝒐 𝒆𝒍 𝒗𝒆𝒉𝒊𝒄𝒖𝒍𝒐 𝒗𝒂 𝒂 𝒗𝒆𝒍𝒐𝒄𝒊𝒅𝒂𝒅 𝒎𝒊𝒏𝒊𝒎𝒂
𝑤2 = 1𝑟𝑎𝑑/𝑠
𝑎𝑤2 [𝑠𝑒𝑛(𝜃4 − 𝜃2 )] 30(1)[𝑠𝑒𝑛(−165.92 − 193)]
𝑤3 = =
𝑏[𝑠𝑒𝑛(𝜃3 − 𝜃4 )] 20[𝑠𝑒𝑛(84.26 + 165.92)]
𝒘𝟑 = −𝟎. 𝟎𝟑𝒓𝒂𝒅/𝒔
𝑎𝑤2 𝑠𝑒𝑛𝜃2 + 𝑏𝑤3 𝑠𝑒𝑛𝜃3 30(1)𝑠𝑒𝑛(193) + 20(−0.03)𝑠𝑒𝑛(84.26)
𝑤4 = =
𝑐𝑠𝑒𝑛𝜃4 28[𝑠𝑒𝑛(−165.92°)]
𝒘𝟒 = 𝟏. 𝟎𝟕𝟖𝒓𝒂𝒅/𝒔

̅̅̅
𝑉𝐴 = 𝑎𝑤2 (−𝑠𝑒𝑛𝜃2 + 𝑗𝑐𝑜𝑠𝜃2 ) = (30)(1)(−𝑠𝑒𝑛193° + 𝑗𝑐𝑜𝑠193°)
̅̅̅
𝑉𝐴 = 𝟔. 𝟕𝟓 − 𝟐𝟗. 𝟐𝟑𝒋

̅̅̅̅̅
𝑉 𝐵𝐴 = 𝑏𝑤3 (−𝑠𝑒𝑛𝜃3 + 𝑗𝑐𝑜𝑠𝜃3 ) = (20)(−0.03)(−𝑠𝑒𝑛(84.26) + 𝑗𝑐𝑜𝑠(84.26))

̅̅̅̅̅
𝑉 𝐵𝐴 = 0.6 − 0.06𝑗

̅̅̅̅
𝑽𝑩 = ̅̅̅ ̅̅̅̅̅
𝑉𝐴 + 𝑉 𝐵𝐴

̅̅̅̅
𝑽𝑩 = (𝟔. 𝟕𝟓 − 𝟐𝟗. 𝟐𝟑𝒋) + (𝟎. 𝟔 − 𝟎. 𝟎𝟔𝒋)
̅̅̅̅
𝑽𝑩 = (𝟕. 𝟑𝟓 − 𝟐𝟗. 𝟐𝟗𝒋)
̅̅̅̅
𝑽𝑷 = ̅̅̅ ̅̅̅̅̅
𝑉𝐴 + 𝑉 𝑃𝐴

̅̅̅
VA = 6.75 − 29.23j
̅̅̅̅̅
𝑉 𝑃𝐴 = 𝑝𝑤2((−sen(𝜃3 + ∅) + 𝑗𝑐𝑜𝑠(𝜃3 + ∅))

̅̅̅̅̅
𝑉 𝑃𝐴 = 12(1)((− sen(84.26 + 70) + 𝑗𝑐𝑜𝑠(84.26 + 70))

̅̅̅̅̅
𝑉 𝑃𝐴 = −5.21 − 10.8𝑗
̅̅̅̅
𝑽𝑷 = 𝟏. 𝟓𝟒 − 𝟒𝟎. 𝟎𝟑𝒋

𝑪𝒖𝒂𝒏𝒅𝒐 𝒆𝒍 𝒗𝒆𝒉𝒊𝒄𝒖𝒍𝒐 𝒂𝒖𝒎𝒆𝒏𝒕𝒂 𝒔𝒖 𝒗𝒆𝒍𝒐𝒄𝒊𝒅𝒂𝒅


𝑤2 = 30𝑟𝑎𝑑/𝑠
𝑎𝑤2 [𝑠𝑒𝑛(𝜃4 − 𝜃2 )] 30(30)[𝑠𝑒𝑛(−165.92 − 193)]
𝑤3 = =
𝑏[𝑠𝑒𝑛(𝜃3 − 𝜃4 )] 20[𝑠𝑒𝑛(84.26 + 165.92)]
𝒘𝟑 = −𝟎. 𝟗𝒓𝒂𝒅/𝒔
𝑎𝑤2 𝑠𝑒𝑛𝜃2 + 𝑏𝑤3 𝑠𝑒𝑛𝜃3 30(30)𝑠𝑒𝑛(193) + 20(−0.9)𝑠𝑒𝑛(84.26)
𝑤4 = =
𝑐𝑠𝑒𝑛𝜃4 28[𝑠𝑒𝑛(−165.92°)]
𝒘𝟒 = 𝟑𝟐. 𝟑𝟓𝒓𝒂𝒅/𝒔

̅̅̅
𝑉𝐴 = 𝑎𝑤2 (−𝑠𝑒𝑛𝜃2 + 𝑗𝑐𝑜𝑠𝜃2 ) = (30)(30)(−𝑠𝑒𝑛193° + 𝑗𝑐𝑜𝑠193°)
̅̅̅
𝑉𝐴 = 𝟐𝟎𝟐. 𝟒𝟔 − 𝟖𝟕𝟔. 𝟗𝟑𝒋

̅̅̅̅̅
𝑉 𝐵𝐴 = 𝑏𝑤3 (−𝑠𝑒𝑛𝜃3 + 𝑗𝑐𝑜𝑠𝜃3 ) = (20)(−0.9)(−𝑠𝑒𝑛(84.26) + 𝑗𝑐𝑜𝑠(84.26))

̅̅̅̅̅
𝑽𝑩𝑨 = 𝟏𝟕. 𝟗𝟏 − 𝟏. 𝟖𝒋
̅̅̅̅
𝑽𝑩 = ̅̅̅ ̅̅̅̅̅
𝑉𝐴 + 𝑉 𝐵𝐴

̅̅̅̅
𝑽𝑩 = (𝟐𝟎𝟐. 𝟒𝟔 − 𝟖𝟕𝟔. 𝟗𝟑𝒋) + (𝟏𝟕. 𝟗𝟏 − 𝟏. 𝟖𝒋)
̅̅̅̅
𝑽𝑩 = (𝟐𝟐𝟎. 𝟑𝟕 − 𝟖𝟕𝟖. 𝟕𝟑𝒋)
̅̅̅̅
𝑽𝑷 = ̅̅̅ ̅̅̅̅̅
𝑉𝐴 + 𝑉 𝑃𝐴

̅̅̅
VA = 202.46 − 876.93j
̅̅̅̅̅
𝑉 𝑃𝐴 = 𝑝𝑤2((−sen(𝜃3 + ∅) + 𝑗𝑐𝑜𝑠(𝜃3 + ∅))

̅̅̅̅̅
𝑉 𝑃𝐴 = 12(30)((− sen(84.26 + 70) + 𝑗𝑐𝑜𝑠(84.26 + 70))

̅̅̅̅̅
𝑉 𝑃𝐴 = −156.34 − 324.28𝑗

̅̅̅̅
𝑽𝑷 = 𝟒𝟔. 𝟏𝟐 − 𝟏𝟐𝟎𝟏. 𝟐𝟏𝒋
Calculo de Aceleración
DATOS:

a=30cm b=20cm

c=28cm d=20cm

𝜃1 = 90 𝜃2 = 193°
∅ = 70° 𝑝 = 12
θ3 = 84.26 θ4 = −165.92
𝐶𝑜𝑛 𝑣𝑒𝑙𝑜𝑐𝑖𝑑𝑎𝑑 𝑚𝑖𝑛𝑖𝑚𝑎
w2 = 1rad/s

𝛼2 = 1rad/s 2
w3 = −0.03rad/s
w4 = 1.078rad/s
𝐶𝑜𝑛 𝑣𝑒𝑙𝑜𝑐𝑖𝑑𝑎𝑑 𝑚𝑎𝑥𝑖𝑚𝑎
w2 = 30rad/s

𝛼2 = 30rad/s2

̅̅̅
𝑃𝐴 + ̅̅̅̅̅
𝑃𝐵𝐴 − ̅̅̅̅̅̅
𝑃𝐵𝑂4 − ̅̅̅̅̅̅
𝑃𝑂4 = 0 w3 = −0.9rad/s
w4 = 32.35rad/s
𝑎𝑒 𝑗𝜃2 + 𝑏𝑒 𝑗𝜃3 − 𝑐𝑒 𝑗𝜃4 − 𝑑𝑒 𝑗𝜃1 = 0
𝐶𝐴𝐿𝐶𝑈𝐿𝐴𝑅
𝐷𝑒𝑟𝑖𝑣𝑎𝑛𝑑𝑜
𝑑𝜃2 𝑑𝜃3 𝑑𝜃4 𝑑𝜃1 𝛼3 =?
𝑎𝑒 𝑗𝜃2 + 𝑏𝑒 𝑗𝜃3 − 𝑐𝑒 𝑗𝜃4 − 𝑑𝑒 𝑗𝜃1 =0
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝛼4 =?
𝑎𝑒 𝑗𝜃2 𝑤2 + 𝑏𝑒 𝑗𝜃3 𝑤3 − 𝑐𝑒 𝑗𝜃4 𝑤4 − 𝑑𝑒 𝑗𝜃1 𝑤1 = 0 ̅̅
𝐴̅̅
𝑝 =?

𝐷𝑒𝑟𝑖𝑣𝑎𝑛𝑑𝑜

(𝑎𝑒 𝑗𝜃2 𝑗𝑤2 𝑗𝑤2 + 𝑎𝑒 𝑗𝜃2 𝑗𝛼2 ) + (𝑏𝑒 𝑗𝜃3 𝑗𝑤3 𝑗𝑤3 + 𝑏𝑒 𝑗𝜃3 𝑗𝛼3 ) − (𝑐𝑒 𝑗𝜃4 𝑗𝑤4 𝑗𝑤4 + 𝑐𝑒 𝑗𝜃4 𝑗𝛼4 ) = 0

−𝑎𝑤2 2 (𝑐𝑜𝑠𝜃2 + 𝑗𝑠𝑒𝑛𝜃2 ) + 𝑎𝑗𝛼2 (𝑐𝑜𝑠𝜃2 + 𝑗𝑠𝑒𝑛𝜃2 ) − 𝑏𝑤3 2 (𝑐𝑜𝑠𝜃3 + 𝑗𝑠𝑒𝑛𝜃3 ) + 𝑏𝑗𝛼3 (𝑐𝑜𝑠𝜃3 + 𝑗𝑠𝑒𝑛𝜃3 )
+ 𝑐𝑤4 2 (𝑐𝑜𝑠𝜃4 + 𝑗𝑠𝑒𝑛𝜃4 ) − 𝑐𝑗𝛼4 (𝑐𝑜𝑠𝜃4 + 𝑗𝑠𝑒𝑛𝜃4) = 0
−𝑎𝑤2 2 𝑐𝑜𝑠𝜃2 − 𝑎𝑤2 2 𝑗𝑠𝑒𝑛𝜃2 + 𝑎𝑗𝛼2 𝑐𝑜𝑠𝜃2 − 𝑎𝛼2 𝑠𝑒𝑛𝜃2 − 𝑏𝑤3 2 𝑐𝑜𝑠𝜃3 − 𝑏𝑤3 2 𝑗𝑠𝑒𝑛𝜃3 + 𝑏𝑗𝛼3 𝑐𝑜𝑠𝜃3
− 𝑏𝛼3 𝑠𝑒𝑛𝜃3 + 𝑐 𝑤4 2 𝑐𝑜𝑠𝜃4 + 𝑐 𝑤4 2 𝑗𝑠𝑒𝑛𝜃4 − 𝑐𝑗𝛼4 𝑐𝑜𝑠𝜃4 + 𝑐𝛼4 𝑠𝑒𝑛𝜃4 = 0
𝑹𝑬𝑨𝑳𝑬𝑺 𝑰𝑴𝑨𝑮𝑰𝑵𝑨𝑹𝑰𝑶𝑺
−𝑎 𝑤2 2 𝑐𝑜𝑠𝜃2 − 𝑎𝛼2 𝑠𝑒𝑛𝜃2 − 𝑏𝑤3 2 𝑐𝑜𝑠𝜃3 −𝑎𝑤2 2 𝑗𝑠𝑒𝑛𝜃2 + 𝑎𝑗𝛼2 𝑐𝑜𝑠𝜃2 − 𝑏𝑤3 2 𝑗𝑠𝑒𝑛𝜃3
− 𝑏𝛼3 𝑠𝑒𝑛𝜃3 + 𝑐 𝑤4 2 𝑐𝑜𝑠𝜃4 + 𝑏𝑗𝛼3 𝑐𝑜𝑠𝜃3 + 𝑐𝑤4 2 𝑗𝑠𝑒𝑛𝜃4
+ 𝑐𝛼4 𝑠𝑒𝑛𝜃4 = 0 − 𝑐𝑗𝛼4 𝑐𝑜𝑠𝜃4 = 0
𝑺𝒆 𝒅𝒊𝒗𝒊𝒅𝒆 𝒆𝒏𝒕𝒓𝒆 𝒋
𝑐𝑠𝑒𝑛𝜃4 … … … 𝐴
𝑏𝑠𝑒𝑛𝜃3 … … . . 𝐵 𝑐𝑐𝑜𝑠𝜃4 … … … 𝐷
−𝑎 𝑤2 2 𝑐𝑜𝑠𝜃2 − 𝑎𝛼2 𝑠𝑒𝑛𝜃2 + 𝑏𝑤3 2 𝑐𝑜𝑠𝜃3 𝑏𝑐𝑜𝑠𝜃3 … … . . 𝐸
− 𝑐 𝑤4 2 𝑐𝑜𝑠𝜃4 = 0 … … . . 𝐶 𝑎𝛼2 𝑐𝑜𝑠𝜃2 − 𝑎𝑤2 2 𝑠𝑒𝑛𝜃2 − 𝑏𝑤3 2 𝑠𝑒𝑛𝜃3
−𝑐 − 𝛼3 𝐵 + 𝛼4 𝐴 = 0 + 𝑐𝑤4 2 𝑠𝑒𝑛𝜃4 = 0 … … … 𝐹
𝐶 + 𝛼3 𝐵 𝐹 + 𝐸𝛼3 + 𝐷𝛼4 = 0
𝛼4 = ………𝐼
𝐴 𝐹 + 𝐸𝛼3
𝛼4 = … … … 𝐼𝐼
𝐷

𝑰𝒈𝒖𝒂𝒍𝒂𝒎𝒐𝒔 𝒍𝒂𝒔 𝒆𝒄𝒖𝒂𝒄𝒊𝒐𝒏𝒆𝒔 𝑰 𝒚 𝑰𝑰.


𝐶 + 𝛼3 𝐵 𝐹 + 𝐸𝛼3
=
𝐴 𝐷
𝐷𝐶 + 𝛼3 𝐵𝐷 = 𝐴𝐹 + 𝐴𝐸𝛼3
𝐷𝐶 − 𝐴𝐹 = (𝐴𝐸 − 𝐷𝐵) 𝛼3
𝑫𝑪 − 𝑨𝑭
𝜶𝟑 =
𝑨𝑬 − 𝑫𝑩
−𝐶 − 𝛼3 𝐵 + 𝛼4 𝐴 = 0
−𝐶 + 𝛼4 𝐴
𝛼3 =
𝐵
𝐹 + 𝛼3 𝐸 − 𝛼4 𝐷 = 0
𝛼4 𝐷 − 𝐹
𝛼3 =
𝐸
−𝐶 + 𝛼4 𝐴 𝛼4 𝐷 − 𝐹
=
𝐵 𝐸
−𝐶𝐸 + 𝛼4 𝐴𝐸 = 𝛼4 𝐷𝐵 − 𝐹𝐵
𝑪𝑬 − 𝑩𝑭
𝜶𝟑 =
𝑨𝑬 − 𝑩𝑫

𝑪𝒂𝒍𝒄𝒖𝒍𝒐 𝒅𝒆 𝒂𝒄𝒆𝒍𝒆𝒓𝒂𝒄𝒊𝒐𝒏 𝒄𝒐𝒏 𝒖𝒏𝒂 𝒗𝒆𝒍𝒐𝒄𝒊𝒅𝒂𝒅 𝒚 𝒂𝒄𝒆𝒍𝒆𝒓𝒂𝒄𝒊𝒐𝒏 𝒎𝒊𝒏𝒊𝒎𝒂.


𝛼2 = 1rad/s 2 w2 = 1rad/s

[𝑐𝑐𝑜𝑠𝜃4 ][𝑎𝑤2 2 𝑐𝑜𝑠𝜃2 + 𝑎𝛼2 𝑠𝑒𝑛𝜃2 + 𝑏𝑤3 2 𝑐𝑜𝑠𝜃3 − 𝑐𝑤4 2 𝑐𝑜𝑠𝜃4 ] − [𝑐𝑠𝑒𝑛𝜃4 ][𝑎𝛼2 𝑐𝑜𝑠𝜃2 − 𝑎𝑤2 2 𝑠𝑒𝑛𝜃2 − 𝑏𝑤3 2 𝑠𝑒𝑛𝜃3 + 𝑐𝑤4 2 𝑠𝑒𝑛𝜃4 ]
𝛼3 =
[𝑐𝑠𝑒𝑛𝜃4 ][𝑏𝑐𝑜𝑠𝜃3 ] − [𝑏𝑠𝑒𝑛𝜃3 ][𝑐𝑐𝑜𝑠𝜃4 ]
[28 cos(−165.92)][(30)(1)2 cos(193) + (30)(1)𝑠𝑒𝑛(193) + 20(−0.03)2 cos(84.26) − 28(1.078)2 cos(−165.92)] −
[28𝑠𝑒𝑛(−165.92)][(30)(1)cos(193) − (30)(1)2 𝑠𝑒𝑛(193) − (20)(−0.03)2 𝑠𝑒𝑛(84.26) + (28)(1.078)2 𝑠𝑒𝑛(−165.92)]
𝛼3 =
[(28)𝑠𝑒𝑛(−165.92)][20cos(84.26)] − [20𝑠𝑒𝑛(84.26)][28cos(−165.92)]
119.96 − 207.19
𝛼3 =
526.83
𝛼3 = −0.17 𝑟𝑎𝑑⁄
𝑠𝑒𝑔2

[𝑏𝑐𝑜𝑠𝜃3 ][𝑎𝑤2 2 𝑐𝑜𝑠𝜃2 + 𝑎𝛼2 𝑠𝑒𝑛𝜃2 + 𝑏𝑤3 2 𝑐𝑜𝑠𝜃3 − 𝑐𝑤4 2 𝑐𝑜𝑠𝜃4 ] − [𝑏𝑠𝑒𝑛𝜃3 ][𝑎𝛼2 𝑐𝑜𝑠𝜃2 − 𝑎𝑤2 2 𝑠𝑒𝑛𝜃2 − 𝑏𝑤3 2 𝑠𝑒𝑛𝜃3 + 𝑐𝑤4 2 𝑠𝑒𝑛𝜃4 ]
𝛼4 =
[𝑐𝑠𝑒𝑛𝜃4 ][𝑏𝑐𝑜𝑠𝜃3 ] − [𝑏𝑠𝑒𝑛𝜃3 ][𝑐𝑐𝑜𝑠𝜃4 ]
[20 cos(84.26)][(30)(1)2 cos(193) + (30)(1)𝑠𝑒𝑛(193) + 20(−0.03)2 cos(84.26) − 28(1.078)2 cos(−165.92)] −
[20𝑠𝑒𝑛(84.26)][(30)(1)cos(193) − (30)(1)2 𝑠𝑒𝑛(193) − (20)(−0.03)2 𝑠𝑒𝑛(84.26) + (28)(1.078)2 𝑠𝑒𝑛(−165.92)]
𝛼4 =
[(28)𝑠𝑒𝑛(−165.92)][20cos(84.26)] − [20𝑠𝑒𝑛(84.26)][28cos(−165.92)]
−8.83 + 605.28
𝛼3 =
526.83
𝜶𝟒 = 𝟏. 𝟏𝟑 𝒓𝒂𝒅⁄
𝒔𝒆𝒈𝟐
𝒄𝒂𝒍𝒄𝒖𝒍𝒂𝒏𝒅𝒐 𝒍𝒂 𝒂𝒄𝒆𝒍𝒆𝒓𝒂𝒄𝒊𝒐𝒏 𝒅𝒆 𝒄𝒂𝒅𝒂 𝒆𝒔𝒍𝒂𝒃𝒐𝒏
𝐴𝐴 = 𝑎𝛼2 (−𝑠𝑒𝑛𝜃2 + 𝑗𝑐𝑜𝑠𝜃2 ) − 𝑎𝑤2 2 (𝑐𝑜𝑠𝜃2 + 𝑗𝑠𝑒𝑛𝜃2 )

𝐴𝐴 = (30)(1)(−𝑠𝑒𝑛(193) + 𝑗𝑐𝑜𝑠(193)) − (30)(1)2 (cos(193) + 𝑗𝑠𝑒𝑛(193))

𝐴𝐴 = (6.75 − 29.23𝑗) − (−29.23 − 6.75𝑗)

𝐴𝐴𝐵 = 𝑏𝛼3 (−𝑠𝑒𝑛𝜃3 + 𝑗𝑐𝑜𝑠𝜃3 ) − 𝑏𝑤3 2 (𝑐𝑜𝑠𝜃3 + 𝑗𝑠𝑒𝑛𝜃3 )

𝐴𝐴𝐵 = (20)(−0.17)(−𝑠𝑒𝑛(84.26) + 𝑗𝑐𝑜𝑠(84.26)) − (20)(−0.03)2 (𝑐𝑜𝑠(84.26) + 𝑗𝑠𝑒𝑛(84.26))

𝐴𝐴𝐵 = (−3.38 + 0.34𝑗) − (0.0018 + 0.018𝑗)

𝐴𝐵 = 𝐴𝐴 + 𝐴𝐴𝐵
𝐴𝐵 = (6.75 − 29.23𝑗) − (−29.23 − 6.75𝑗) + (−3.38 + 0.34𝑗) − (0.0018 + 0.018𝑗)
𝐴𝐵 = (3.37 − 28.89𝑗) − (−29.23 − 6.73𝑗)

𝐶𝑎𝑙𝑐𝑢𝑙𝑜 𝑑𝑒 𝑙𝑎 𝑎𝑐𝑒𝑙𝑒𝑟𝑎𝑐𝑖𝑜𝑛 𝑑𝑒𝑙 𝑝𝑢𝑛𝑡𝑜 𝑃


∅ + 𝜃3 = 𝛽
𝑤𝛽 = 𝑤3 𝛼𝛽 = 𝛼3

𝑝𝑒 𝑗(∅+𝜃3 ) = 𝑝𝑒 𝑗𝛽 𝑗𝑤𝛽 = 𝑝𝑒 𝑗𝛽 𝑗𝑤𝛽 = 𝑝𝑒 𝑗𝛽 𝑗𝑤𝛽 𝑗𝑤𝛽 + 𝑝𝑒 𝑗𝛽 𝑗𝛼𝛽

𝐴𝑃 = −𝑝𝑒 𝑗𝑏 𝑤𝛽 2 + 𝑝𝑒 𝑗𝑏 𝑗𝛼𝛽

𝐴𝑃 = 𝑝𝛼𝛽 (−𝑠𝑒𝑛(𝛽) + 𝑗𝑐𝑜𝑠(𝛽)) − 𝑝𝑤𝛽 2 (𝑐𝑜𝑠𝜃2 + 𝑗𝑠𝑒𝑛𝜃2 )

𝐴𝑃 = (12)(−0.17)(−𝑠𝑒𝑛(154.26) + 𝑗𝑐𝑜𝑠(154.26)) − (12)(−0.03)2 (𝑐𝑜𝑠(154.26) + 𝑗𝑠𝑒𝑛(154.26))

𝑨𝑷 = (𝟎. 𝟖𝟖 + 𝟏. 𝟖𝟒𝑱) − (−𝟎. 𝟎𝟎𝟗 + 𝟎. 𝟎𝟎𝟓𝑱)


𝑪𝒂𝒍𝒄𝒖𝒍𝒐 𝒅𝒆 𝒂𝒄𝒆𝒍𝒆𝒓𝒂𝒄𝒊𝒐𝒏 𝒄𝒐𝒏 𝒖𝒏𝒂 𝒗𝒆𝒍𝒐𝒄𝒊𝒅𝒂𝒅 𝒚 𝒂𝒄𝒆𝒍𝒆𝒓𝒂𝒄𝒊𝒐𝒏 𝒎𝒊𝒏𝒊𝒎𝒂.
𝛼2 = 30rad/s 2 w2 = 30rad/s

[𝑐𝑐𝑜𝑠𝜃4 ][𝑎𝑤2 2 𝑐𝑜𝑠𝜃2 + 𝑎𝛼2 𝑠𝑒𝑛𝜃2 + 𝑏𝑤3 2 𝑐𝑜𝑠𝜃3 − 𝑐𝑤4 2 𝑐𝑜𝑠𝜃4 ] − [𝑐𝑠𝑒𝑛𝜃4 ][𝑎𝛼2 𝑐𝑜𝑠𝜃2 − 𝑎𝑤2 2 𝑠𝑒𝑛𝜃2 − 𝑏𝑤3 2 𝑠𝑒𝑛𝜃3 + 𝑐𝑤4 2 𝑠𝑒𝑛𝜃4 ]
𝛼3 =
[𝑐𝑠𝑒𝑛𝜃4 ][𝑏𝑐𝑜𝑠𝜃3 ] − [𝑏𝑠𝑒𝑛𝜃3 ][𝑐𝑐𝑜𝑠𝜃4 ]
[28 cos(−165.92)][(30)(30)2 cos(193) + (30)(30)𝑠𝑒𝑛(193) + 20(−0.03)2 cos(84.26) − 28(1.078)2 cos(−165.92)] −
[28𝑠𝑒𝑛(−165.92)][(30)(30)cos(193) − (30)(30)2 𝑠𝑒𝑛(193) − (20)(−0.03)2 𝑠𝑒𝑛(84.26) + (28)(1.078)2 𝑠𝑒𝑛(−165.92)]
𝛼3 =
[(28)𝑠𝑒𝑛(−165.92)][20cos(84.26)] − [20𝑠𝑒𝑛(84.26)][28cos(−165.92)]
719134.34 + 35344.84
𝛼3 =
526.82
𝛼3 = 1432.14 𝑟𝑎𝑑⁄
𝑠𝑒𝑔2

[𝑏𝑐𝑜𝑠𝜃3 ][𝑎𝑤2 2 𝑐𝑜𝑠𝜃2 + 𝑎𝛼2 𝑠𝑒𝑛𝜃2 + 𝑏𝑤3 2 𝑐𝑜𝑠𝜃3 − 𝑐𝑤4 2 𝑐𝑜𝑠𝜃4 ] − [𝑏𝑠𝑒𝑛𝜃3 ][𝑎𝛼2 𝑐𝑜𝑠𝜃2 − 𝑎𝑤2 2 𝑠𝑒𝑛𝜃2 − 𝑏𝑤3 2 𝑠𝑒𝑛𝜃3 + 𝑐𝑤4 2 𝑠𝑒𝑛𝜃4 ]
𝛼4 =
[𝑐𝑠𝑒𝑛𝜃4 ][𝑏𝑐𝑜𝑠𝜃3 ] − [𝑏𝑠𝑒𝑛𝜃3 ][𝑐𝑐𝑜𝑠𝜃4 ]
[20 cos(84.26)][(30)(1)2 cos(193) + (30)(1)𝑠𝑒𝑛(193) + 20(−0.03)2 cos(84.26) − 28(1.078)2 cos(−165.92)] −
[20𝑠𝑒𝑛(84.26)][(30)(1)cos(193) − (30)(1)2 𝑠𝑒𝑛(193) − (20)(−0.03)2 𝑠𝑒𝑛(84.26) + (28)(1.078)2 𝑠𝑒𝑛(−165.92)]
𝛼4 =
[(28)𝑠𝑒𝑛(−165.92)][20cos(84.26)] − [20𝑠𝑒𝑛(84.26)][28cos(−165.92)]
−8.83 + 605.28
𝛼3 =
526.83
𝜶𝟒 = 𝟏. 𝟏𝟑 𝒓𝒂𝒅⁄
𝒔𝒆𝒈𝟐
𝒄𝒂𝒍𝒄𝒖𝒍𝒂𝒏𝒅𝒐 𝒍𝒂 𝒂𝒄𝒆𝒍𝒆𝒓𝒂𝒄𝒊𝒐𝒏 𝒅𝒆 𝒄𝒂𝒅𝒂 𝒆𝒔𝒍𝒂𝒃𝒐𝒏
𝐴𝐴 = 𝑎𝛼2 (−𝑠𝑒𝑛𝜃2 + 𝑗𝑐𝑜𝑠𝜃2 ) − 𝑎𝑤2 2 (𝑐𝑜𝑠𝜃2 + 𝑗𝑠𝑒𝑛𝜃2 )

𝐴𝐴 = (30)(1)(−𝑠𝑒𝑛(193) + 𝑗𝑐𝑜𝑠(193)) − (30)(1)2 (cos(193) + 𝑗𝑠𝑒𝑛(193))

𝐴𝐴 = (6.75 − 29.23𝑗) − (−29.23 − 6.75𝑗)

𝐴𝐴𝐵 = 𝑏𝛼3 (−𝑠𝑒𝑛𝜃3 + 𝑗𝑐𝑜𝑠𝜃3 ) − 𝑏𝑤3 2 (𝑐𝑜𝑠𝜃3 + 𝑗𝑠𝑒𝑛𝜃3 )

𝐴𝐴𝐵 = (20)(−0.17)(−𝑠𝑒𝑛(84.26) + 𝑗𝑐𝑜𝑠(84.26)) − (20)(−0.03)2 (𝑐𝑜𝑠(84.26) + 𝑗𝑠𝑒𝑛(84.26))

𝐴𝐴𝐵 = (−3.38 + 0.34𝑗) − (0.0018 + 0.018𝑗)

𝐴𝐵 = 𝐴𝐴 + 𝐴𝐴𝐵
𝐴𝐵 = (6.75 − 29.23𝑗) − (−29.23 − 6.75𝑗) + (−3.38 + 0.34𝑗) − (0.0018 + 0.018𝑗)
𝐴𝐵 = (3.37 − 28.89𝑗) − (−29.23 − 6.73𝑗)
𝐶𝑎𝑙𝑐𝑢𝑙𝑜 𝑑𝑒 𝑙𝑎 𝑎𝑐𝑒𝑙𝑒𝑟𝑎𝑐𝑖𝑜𝑛 𝑑𝑒𝑙 𝑝𝑢𝑛𝑡𝑜 𝑃
∅ + 𝜃3 = 𝛽
𝑤𝛽 = 𝑤3 𝛼𝛽 = 𝛼3

𝑝𝑒 𝑗(∅+𝜃3 ) = 𝑝𝑒 𝑗𝛽 𝑗𝑤𝛽 = 𝑝𝑒 𝑗𝛽 𝑗𝑤𝛽 = 𝑝𝑒 𝑗𝛽 𝑗𝑤𝛽 𝑗𝑤𝛽 + 𝑝𝑒 𝑗𝛽 𝑗𝛼𝛽

𝐴𝑃 = −𝑝𝑒 𝑗𝑏 𝑤𝛽 2 + 𝑝𝑒 𝑗𝑏 𝑗𝛼𝛽

𝐴𝑃 = 𝑝𝛼𝛽 (−𝑠𝑒𝑛(𝛽) + 𝑗𝑐𝑜𝑠(𝛽)) − 𝑝𝑤𝛽 2 (𝑐𝑜𝑠𝜃2 + 𝑗𝑠𝑒𝑛𝜃2 )

𝐴𝑃 = (12)(−0.17)(−𝑠𝑒𝑛(154.26) + 𝑗𝑐𝑜𝑠(154.26)) − (12)(−0.03)2 (𝑐𝑜𝑠(154.26) + 𝑗𝑠𝑒𝑛(154.26))

𝑨𝑷 = (𝟎. 𝟖𝟖 + 𝟏. 𝟖𝟒𝑱) − (−𝟎. 𝟎𝟎𝟗 + 𝟎. 𝟎𝟎𝟓𝑱)

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