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Ecuacin para r1: RAIZ(50)*(COS(2))+25*COS(3)

Para =[0 | /2 | | 3 /2 | 2 ]

En T= 0,3,6,9,12 [s]

Aceleracin
Tiempo [S] 2 2 ' = PI/6 Posicin [X] Velocidad [X'] X'' 3 3' 3 r1
0 0 0.52359878 0 0 4.7496 0 -0.1480961 0 32.0710678
3 1.57079633 0.52359878 8.07106781 3.985245161 -1.04719755 -0.28675655 0 0.07437657 23.9791576
6 3.14159265 0.52359878 14.1421356 0 -2.6552049 0 0.1480961 0 17.9289322
9 4.71238898 0.52359878 8.07106781 -3.985245161 -1.04719755 0.28675655 0 -0.07437657 23.9791576
12 6.28318531 0.52359878 0 0 4.7496 0 -0.1480961 0 32.0710678

r1
35

30

25

20

15

10

0
0 1 2 3 4 5 6
Ecuacin para r1: (-RAIZ(50)* /6)*(SENO(2)+(TAN(3))*(COS(2)))

Para =[0 | /2 | | 3 /2 | 2 ]

En T= 0,3,6,9,12 [s]

Velocidad Aceleracin
Tiempo [S] 2 2 ' = PI/6 Posicin [X] [X'] X'' 3 3' 3'' r1 r1'
0 0 0.52359878 0 0 4.7496 0 -0.1480961 0 32.0710678 0
3 1.570796327 0.52359878 8.07106781 3.98524516 -1.04719755 -0.28675655 0 0.07437657 23.9791576 -3.70240245
6 3.141592654 0.52359878 14.1421356 0 -2.6552049 0 0.1480961 0 17.9289322 0
9 4.71238898 0.52359878 8.07106781 -3.98524516 -1.04719755 0.28675655 0 -0.07437657 23.9791576 3.70240245
12 6.283185307 0.52359878 0 0 4.7496 0 -0.1480961 0 32.0710678 0

r1'
5

0
0 1 2 3 4 5 6 7
-1

-2

-3

-4

-5
Ecuacin para r1 : (-RAIZ(50)*( /6))+((( /6)*(COS(2)-TAN(T51)*(SENO(2))+( 3)*(POTENCIA(ASENO(3),2)*(COS(2))))))

Para =[0 | /2 | | 3 /2 | 2 ]

En T= 0,3,6,9,12 [s]
Velocidad Aceleracin
Tiempo [S] 2 2 ' = PI/6 Posicin [X] [X'] X'' 3 3' 3'' r1 r1' r1''
0 0 0.52359878 0 0 4.7496 0 -0.1480961 0 32.0710678 0 -3.17880367
3 1.57079633 0.52359878 8.07106781 3.98524516 -1.04719755 -0.28675655 0 0.07437657 23.9791576 -3.70240245 -3.55742728
6 3.14159265 0.52359878 14.1421356 0 -2.6552049 0 0.1480961 0 17.9289322 0 -4.22600122
9 4.71238898 0.52359878 8.07106781 -3.98524516 -1.04719755 0.28675655 0 -0.07437657 23.9791576 3.70240245 -3.53857591
12 6.28318531 0.52359878 0 0 4.7496 0 -0.1480961 0 32.0710678 0 -3.17880367

r1''
0
0 1 2 3 4 5 6 7
-0.5

-1

-1.5

-2

-2.5

-3

-3.5

-4

-4.5