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Cálculo de masas:

Densidad del acero: 7850 kg/m³


𝐴2 = 3.25𝑒 − 5 [𝑚]
𝐴3 = 4𝑒 − 5 [𝑚]
𝐴4 = 5.03𝑒 − 5 [𝑚]

𝑚2 = 𝜌 ∗ 𝑉2
𝑉2 = 𝐴2 ∗ 𝑂2𝐴
𝑚2 = 7850 ∗ (3.25𝑒 − 5) ∗ 0.08
𝑚2 = 0.02041 [𝑘𝑔]

𝑚3 = 𝜌 ∗ 𝑉3
𝑉3 = 𝐴3 ∗ 𝐿3
𝑚3 = 7850 ∗ (4𝑒 − 5) ∗ 0.29
𝑚3 = 0.09106 [𝑘𝑔]

𝑚4 = 𝜌 ∗ 𝑉4
𝑉4 = 𝐴4 ∗ 𝐿4
𝑚4 = 7850 ∗ (5.03𝑒 − 5) ∗ 0.18
𝑚4 = 0.071[𝑘𝑔]

Cálculo de centro de masa:


Con respecto a O2:
𝑂2𝐴
𝐶2 = ∗ [𝑐𝑜𝑠(𝜃2 ) 𝑖 + 𝑠𝑖𝑛(𝜃2 ) 𝑗]
2
𝐶2 = 4 ∗ [𝑐𝑜𝑠(𝜃2 ) 𝑖 + 𝑠𝑖𝑛(𝜃2 ) 𝑗] [𝑐𝑚]

𝐿3
𝐶3 = 𝑂2𝐴 ∗ [𝑐𝑜𝑠(𝜃2 ) 𝑖 + 𝑠𝑖𝑛(𝜃2 ) 𝑗] − ∗ [𝑐𝑜𝑠(𝜃3 ) 𝑖 + 𝑠𝑖𝑛(𝜃3 ) 𝑗]
2
𝐶3 = 8 ∗ [𝑐𝑜𝑠(𝜃2 ) 𝑖 + 𝑠𝑖𝑛(𝜃2 ) 𝑗] − 14.5[𝑐𝑜𝑠(𝜃3 ) 𝑖 + 𝑠𝑖𝑛(𝜃3 ) 𝑗]

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