Wab= - 30rad/s cuando β= 60° ENTRE: CB Va=Vb + W X Ra/b Y=0.

6tanθ
ds
Vb=Vc + Wbc X Rbc (Vax)i + (Vay)j = 2i + (-15k) X (-0.5i + 0.5j) Vy=0.6 2
sec θ (W) =0.15m/ s
En AB: Vb= Wab x Rb Vbx i + Vby j = -2j + Wbc K X [0.2i – 0.2j] (Vax)i + (Vay)j = 2i + [7.5j +7.5i] dt
Vb= -30 k x [0.2 cos60 i + 0.2 sen60 j ] Vbx i + Vby j = -2j+ [Wbc(0.2j) + Wbc(0.2i)] ay=0.6[(2) sec 2 θ .tan θ .W.W+ sec 2 θ .α]
(Vbx) i + (Vby) j = [-3j + 3 √ 3 i] m/s OJO: Vby=0
IGUALAMOS:
(Vax)i = 2 + 7.5 = 9.5i s =(5+3 cosθ) + ( 3 senθ )
ay=0.6[2 sec 2 θ .tan θ .W 2 + sec 2 θ .α]
2 2 2

0= -2 + 0.2Wbc (Vay)j= 7.5j Va= 2 2 2

En BC: Vc=Vb +(Wbc X Rc/b) s =25+ 30 cosθ+9 cos θ+ 9 sen θ
√ ( 9.5 ) +( 7.5)
Wbc= 10 rad/s 2 W=
Vc= [3√ 3 i – 3j] +Wbc K X [0.2i] Vy 0.5
2
s =¿ 25 + 30cosθ + 9
Vc= [ 3√ 3 i – 3j] + Wbc(0.2 j)
Va= 12.1 pies/s = =0.417 rad
2 /s
2 2
(0.6)sec θ ( 0.6 ) sec ( 45 ) s =34 +30 cosθ
Vay
Vci= 3 √ 3 m/s  5.2 m/s “y“ Vcj= 0.2 Wbc – α= tan
−1(
¿= 2S.V= -30 senθ.W
3 Vax sec 2( 45).tan (45).(0.417)2 +
0 = 0.6[2 S.V=-15senθ.W
0 = 0.2 Wbc3 – 3 CUANDO: θ=60°; V=0.15; S=
sec 2( 45) .α]

Y=(0.3)cosθ 1
α A = (27) ( θ ) 2 (2 πrad) DATO:
rad
Vy= -(0.3)senθ.W T=1s y α.dθ=Wdw
θ S=200 Rev =400 π red α A= ( 3t +2 ) rad /s 2 α a=400 t 3 α a r a=α b r b
θa
A
wA
1 Rev s2
REEMPLAZANDO: 1 1 3
-2=-0.3sen(50°)(W)
∫ 27 ( θ A ) 2
. dθ=∫ w A . d w A W s=100(t )2 T = 5s W b . r b=W c . r c 400. t ( 0.5 ) 500.t 3
α b= α b=
−2
0 0 W c . rc dw 1.2 3
W= =8.70 rad /s W b= 3t+ 2 =W A . r A =w c . r c
2 3
W A2 dθ
θs t 1
rb dt rad/ s2
−0.3 sen(50 °)
3 ( A)
(27) θ 2 =
2 =w→ ∫ dθ=∫ 100 ( t ) 2 . dt 47.5 ( 50 )
dt 5 =W c
∫ ( 3 t +2 ) . dt=W47.5 50
2 3 0 0
a= -0.3cosθ. W −0.3 senθ . α 3 A ( 50 )
1,5
W A =6 (θ¿¿ A )4 ¿ 2 W b .= dw W 1.5 3
θ s= .100 t 2 500 . t
b
0
a=-0.3(cosθ.W 2 + senθ . α ¿
3 ( 5 )2 +2 ( 5 )=W A
70 =α b∫ d w =∫ dt
2
-3 = -0.3[cos(50)(8.7) + sen ( 50 ) α ¿ t θA W c =31.7 rad /s dt 3
dθ dθ CUANDO: θ s =400 π 0 0
W A = A →∫ dt =∫ A
dt 0 0
WA

V p=W p .r p peroW p=W b Wab= - 30rad/s cuando β= 60° Wab= - 30rad/s cuando β= 60° Wab= - 30rad/s cuando β= 60°

( )
2.2 En AB: Vb= Wab x Rb En AB: Vb= Wab x Rb En AB: Vb= Wab x Rb
V p=13.18 =2,4 2 pies/s Vb= -30 k x [0.2 cos60 i + 0.2 sen60 j ] Vb= -30 k x [0.2 cos60 i + 0.2 sen60 j ] Vb= -30 k x [0.2 cos60 i + 0.2 sen60 j ]
12 (Vbx) i + (Vby) j = [-3j + 3 √ 3 i] m/s (Vbx) i + (Vby) j = [-3j + 3 √ 3 i] m/s (Vbx) i + (Vby) j = [-3j + 3 √ 3 i] m/s
a p=√ at 2+ am2 En BC: Vc=Vb +(Wbc X Rc/b) En BC: Vc=Vb +(Wbc X Rc/b) En BC: Vc=Vb +(Wbc X Rc/b)

a t=α p .Y P α p=α b
Vc= [3√ 3 i – 3j] +Wbc K X [0.2i] Vc= [3√ 3 i – 3j] +Wbc K X [0.2i] Vc= [3√ 3 i – 3j] +Wbc K X [0.2i]
Vc= [ 3√ 3 i – 3j] + Wbc(0.2 j) Vc= [ 3√ 3 i – 3j] + Wbc(0.2 j) Vc= [ 3√ 3 i – 3j] + Wbc(0.2 j)

a t=70.31 ( )
2.2
12
pies
=12.89 2
s Vci= 3
3
√ 3 m/s  5.2 m/s “y“ Vcj= 0.2 Wbc – Vci= 3
3
√ 3 m/ s  5.2 m/s “y“ Vcj= 0.2 Wbc – Vci= 3
3
√ 3 m/s  5.2 m/s “y“ Vcj= 0.2 Wbc –
2
a m=W b . r p 0 = 0.2 Wbc3 – 3 0 = 0.2 Wbc3 – 3 0 = 0.2 Wbc3 – 3