Tarea Dinámica

Para las velocidades

In[19]:= Vω1 = {0, 0, 2 π}
Vω2 = {0, 0, ω2}
Vω3 = {0, 0, ω3}
l1 = {20, 20, 0}
l2 = {40, 20, 0}
l3 = {0, 40, 0}
Out[19]= {0, 0, 2 π}

Out[20]= {0, 0, ω2}

Out[21]= {0, 0, ω3}

Out[22]= {20, 20, 0}

Out[23]= {40, 20, 0}

Out[24]= {0, 40, 0}

In[56]:= Vva = {0, 0, 0}

Vvb = Vva + Cross[Vω1, l1]
Out[56]= {0, 0, 0}

Out[57]= {- 40 π, 40 π, 0}

In[58]:= Vvc1 = Vvb + Cross[Vω2, l2]

Vvd = {0, 0, 0}
Vvc2 = Vvd + Cross[Vω3, l3]

Out[58]= {- 20 π, 0, 0}

Out[59]= {0, 0, 0}

Out[60]= {- 20 π, 0, 0}

In[34]:= Sol1 = Solve[Vvc1 ⩵ Vvc2]

π
Out[34]= ω2 → - π, ω3 → 
2
2 Tarea 3 Dinámica de maquinaria.nb

In[36]:= Vω2 = Vω2 /. Sol1[[1]]

Vω3 = Vω3 /. Sol1[[1]]
Out[36]= {0, 0, - π}
π
Out[37]= 0, 0, 
2

Para las aceleraciones

In[44]:= Vα1 = {0, 0, 0}
Vα2 = {0, 0, α2}
Vα3 = {0, 0, α3}
Out[44]= {0, 0, 0}

Out[45]= {0, 0, α2}

Out[46]= {0, 0, α3}

In[47]:= Vaa = {0, 0, 0}

Vab = Vaa + Cross[Vα1, l1] + Cross[Vω1, Cross[Vω1, l1]]
Out[47]= {0, 0, 0}

Out[48]= - 80 π2 , - 80 π2 , 0

In[49]:= Vac1 = Vab + Cross[Vα2, l2] + Cross[Vω2, Cross[Vω2, l2]]

Out[49]= - 120 π2 - 20 α2, - 100 π2 + 40 α2, 0

In[50]:= Vad = {0, 0, 0}

Vac2 = Vad + Cross[Vα3, l3] + Cross[Vω3, Cross[Vω3, l3]]
Out[50]= {0, 0, 0}

Out[51]= - 40 α3, - 10 π2 , 0

In[52]:= Sol2 = Solve[Vac1 ⩵ Vac2]

In[69]:= Vα2 = Vα2 /. Sol2[[1]]

Vα3 = Vα3 /. Sol2[[1]]
9 π2
Out[69]= 0, 0, 
4
33 π2
Out[70]= 0, 0, 
8
 Tarea 3 Dinámica de maquinaria.nb 3

Para los centros de masa

l1 l1
In[66]:= Vag1 = Vaa + CrossVα1,  + CrossVω1, CrossVω1, 
2 2
Out[66]= - 40 π2 , - 40 π2 , 0

l2 l2
In[67]:= Vag2 = Vab + CrossVα2,  + CrossVω2, CrossVω2, 
2 2
245 π2
Out[67]= - , - 45 π2 , 0
2

In[71]:= Vα3
33 π2
Out[71]= 0, 0, 
8

In[73]:= Vag3 = Vac2 + Cross[Vα3, - l3] + Cross[Vω3, Cross[Vω3, - l3]] /. Sol2[[1]]

Out[73]= {0, 0, 0}

In[74]:= Vag1
Vag2
Vag3
Out[74]= - 40 π2 , - 40 π2 , 0

245 π2
Out[75]= - , - 45 π2 , 0
2

Out[76]= {0, 0, 0}

In[77]:= Vag1 // N
Vag2 // N
Vag3 // N
Out[77]= {- 394.784, - 394.784, 0.}

Out[78]= {- 1209.03, - 444.132, 0.}

Out[79]= {0., 0., 0.}

4 Tarea 3 Dinámica de maquinaria.nb

Graficando
In[80]:= Plot[x ^ 2 + 3, {x, 0, 3}]
12

10

8
Out[80]=

In[81]:= Plot[x ^ 2 + 3, {x, 0, 3}, PlotStyle → Red]

In[82]:= f = x^2
Plot[f, {x, 0, 3}, PlotStyle → Red, AxesLabel → {"x", "y"}]
Out[82]= x2
y

Out[83]=

x
0.5 1.0 1.5 2.0 2.5 3.0
 Tarea 3 Dinámica de maquinaria.nb 5

In[84]:= Plot[f, {x, 0, 3}, PlotStyle → {Red, Dashed},

AxesLabel → {"x", "y"}, PlotLabel → "Grafica1"]
Grafica1
y

6
Out[84]=

x
0.5 1.0 1.5 2.0 2.5 3.0

In[87]:= Plot[f, {x, 0, 3}, PlotStyle → {Red, Dashed},

AxesLabel → {"x", "y"}, PlotLabel → "Grafica1", PlotLegends → f]
Grafica1
y

6
Out[87]=
x2
4

x
0.5 1.0 1.5 2.0 2.5 3.0