radio longitud

ELEMENTO a/r b/l c V d

eje 1 0.06 0.6 0.00678584 2700

eje 2 0.06 0.5 0.005654867 2700

eje 3 0.1 1.5 0.04712389 7830

disco 1 0.2 0.04 0.005026548 8890

disco2 0.15 0.06 0.00424115 8890

5 0.12 0.007238229 21450

4 0.04 0.06 0.3 0.00072 2700

barra cuadrangular inclinada 2 inclinacion del elemento W

l
l 0.3 a
a 75 0.077645714 b
b 68 0.112381978 g
g 40 0.229813333

coord. Org 0 0.1 0 a b c

Coord. Fin 0.077645714 0.212381978 0.229813333 0.04 0.06 0.3
vector 0.077645714 0.112381978 0.229813333
mod 0.267
a b g
unit 0.290 0.420 0.860
TABLA DE COSENOS DIRECTORES ROTANDO EL EJE Z
X g Y Z
X' 0.860 a 0.420
b
0.290 I ZZ 0.290 0.290
Y' 0.290 0.860 0.420 0.420 0.29043389
Z' 0.420 0.290 0.860 0.860 0.29043389

I ZZ 0.0013 0.0000
0.0000 0.0026
 0.0000 0.0000

barra cilindrica inclinada 2 inclinacion del elemento ||

l 0.25 a
a 75 0.064704761 b
b 68 0.093651648 g
g 40 0.191511111
0
coord. Org 0 0.1 0.34 r l
Coord. Fin 0.064704761 0.193651648 0.531511111 #REF! #REF!
vector 0.064704761 0.093651648 0.191511111
mod 0.223
a b g
unit 0.242 0.350 0.716
TABLA DE COSENOS DIRECTORES ROTANDO EL EJE Z
g
X Y Z
X' 0.716 a 0.350
b 0.242 I ZZ 0.24202824 0.24202824
Y' 0.242 0.716 0.350 0.35030411 0.24202824
Z' 0.350 0.242 0.716 0.71634755 0.24202824

I ZZ #REF! 0.0000
0.0000 #REF!
0.0000 0.0000
 m dx dy dz m dx m dy m dz
18.322 0.3 0.32 0 5.497 5.863 0.000

15.268 0 0.265 0.25 0.000 4.046 3.817

368.980 0 0.75 0 0.000 276.735 0.000

44.686 0.31 0.725 0 13.853 32.397 0.000

37.704 0 0.325 0.28 0.000 12.254 10.557

155.260 0 0.257334769 0.321738666 0.000 39.954 49.953

1.944 0 0.156190989 0.114906666 0.000 0.304 0.223

642.164 kg 19.349 371.553 64.551

6,299.627 New C 0.0301 0.5786 0.1005

0.42
75 0.108703999 0.108703999
68 0.157334769 0.257334769
40 0.321738666 0.321738666

Inercia al centro de masa

m Ixx Iyy I zz Ixy Ixz Iyz
1.944 0.0151632 0.0148392 0.0008424 0 0 0
dx dy dz
0.038822857 0.156190989 0.114906666

0.02 + 0.29043389 0.420 0.00 + 0.29043389

0.00 + 0.42036493 0.42036493 0.01 + 0.42036493
0.00 + 0.85961706 0.42036493 0.00 + 0.85961706

0.0000
0.0000
0.0006

0.37
75 0.095763047 0.095763047
68 0.13860444 0.23860444
40 0.283436444 0.623436444

Inercia al centro de masa

m Ixx Iyy I zz Ixy Ixz Iyz
#REF! #REF! #REF! #REF! 0 0 0
dx dy dz
0.032352381 0.146825824 0.435755555

#REF! + 0.24202824 0.350 0.00 + 0.24202824

0.00 + 0.35030411 0.35030411 #REF! + 0.35030411
0.00 + 0.71634755 0.35030411 0.00 + 0.71634755

0.0000
0.0000
#REF!
 Ixx Iyy I zz Ixy Ixz Iyz
2.42580213 1.654455683 4.080257813 1.758889762 0 0

2.344550177 0.958839211 1.394871851 0 0 1.011514295

276.7350429 0.307483381 277.0425263 0 0 0

23.49404419 4.443279316 27.93732351 10.04318163 0 0

6.949757402 3.02667449 4.064472252 0 0 3.431048005

27.24766078 16.96615836 11.17580014 0 0 12.85468296

0.074371825 0.028289871 0.048047579 0 0 0.034889718

339.271 27.385 325.743 11.802 0.000 17.332

MATRIZ DE INERCIA TOTAL

339.27 11.80 0.00

11.80 27.39 17.33
0.00 17.33 325.74 750.6681

Inercia al centro de masa despues de rotar

Ixx Iyy I zz Ixy Ixz Iyz
0.0013 0.0026 0.0006 0.0000 0.0000 0.0000

0.85961706 0.00
0.85961706 0.00
0.85961706 0.00
 Inercia al centro de masa despues de rotar
Ixx Iyy I zz Ixy Ixz Iyz
#REF! #REF! #REF! 0.0000 0.0000 0.0000

0.71634755 0.00
0.71634755 0.00
0.71634755 #REF!
 m 642.1638262 kg
W 6299.627135 Newtons
Ax M 0.00 i 40.00 j 0.00 k
-2.25 wx 0
A wy 7
W wz 0
6,299.63

Az Bx
-853.44 C 180.35

B
750.6681

0.0301 0.5786 0.1005 Bz

3,827.71

S Fx = m ax
Ax + Bx = m ax
Ax + Bx = 642.16 ax
Ax + Bx = 642.16 -0.63286586
Ax + Bx = -406.403563
Ax + 180.3544783 = -406.403563
Ax = -2.25335998

S Fy = m ay
0 = m ay
0 = ay

S Fz = m az
Az + Bz - W = m az
Az + Bz - 6,299.63 = 642.16 az
Az + 3827.706921 -6,299.63 = 642.16 -5.17836559
Az = -3325.35906 6,299.63
Az = -853.44
 coordenas
A 0 0 0
B 0 1.2 0
C 0.0301 0.5786 0.1005

ax

at a at = a r
a
an at = 8.391969617 0.104939341
az at = 0.880647761
x an = w2 r
C an = 49 0.104939341
an = 5.142027705
0.1005

r 0.104939341
tan a 0.1005
0.0301 a
0.0301
a 73.314 °

ax= at sen a - an cos a

ax= 0.880647761 0.957891593 -5.1420277 0.287130103
ax= -0.63286586

az= -at cos a - an sen a

az= -0.25286048 -4.92550511
az= -5.17836559

-3827.70692
 MATRIZ DE INERCIA velocidad angular
339.27 11.80 0.00 wx
11.80 27.39 17.33 wy
0.00 17.33 325.74 wz

339.27 11.80 0.00 0

H 11.80 27.39 17.33 7
0.00 17.33 325.74 0

Hx 339,27 wx 11,80 wy 0,00 wz ax

Hy 11,80 wx 27,39 wy 17,33 wz ay
Hz 0,00 wx 17,33 wy 325,74 wz az

Hx 0 82.61449971 0 82.61449971
Hy 0 191.6962622 0 191.6962622
Hz 0 121.3249448 0 121.3249448

Ḣx 339,27 ax 11,80 ay 0,00 az

Ḣy 11.80 ax 27.39 ay 17.33 az
Ḣz 0.00 ax 17.33 ay 325.74 az

Ḣx 0 11,80 ay 0
Ḣy 0 27,39 ay 0
Ḣz 0 17,33 ay 0

S Mx = Ḣx - Hy wz + Hz wy

-3644.93107 1,2 Bz = 11,80 ay -191.696262 0 +

-3644.93107 1,2 Bz = 11,80 ay 849.2746138
1,2 Bz = 11.80 8.391969617 + 4494.20568
1,2 Bz = 4593.248305
Bz = 3827.706921

S My = Ḣy - Hz wx + Hx wz

229.8156012 0 Bz = 27,39 ay -121.324945 0 +

229.8156012 = 27,39 ay 0

8.391969617 = ay

S Mz = Ḣz - Hx wy + Hy wx

-1,2 0 -1,2 0 = 17,33 ay -82.6144997 7 +

-2.4 Bx = 17,33 ay -578.301498
-2.4 Bx = 17.33 8.391969617 -578.301498
Bx = -432.850748
-2.4
Bx = 180.3544783
cidad angular
0
7
0 750.6681

0
ay
0

121.3249448 7

82.61449971 0

191.6962622 0
 coordenas
A 0 0 0
B 0 1.2 0
C 0.030131244 0.578594731 0.100520512

S Mx = r x A i j k i
0 0 0 0 Az
0 Ay Az

S Mx = r x B i j k i
0 1.2 0 1,2 Bz
0 By Bz

S Mx = r x W i j k i
0.030131244 0.578594731 0.100520512 -3644.93107
0 0 -6299.62713

M 0

i
-3644.93107
i j k
0 Ay 0 Az 00 0 Ay 00

i j k
0 By 0 Bz 00 0 By -1,2 0

i j k
189.8156012 0

40 0

i j k
1,2 Bz 229.8156012 0 Bz 0 -1,2 0