𝛼⃗𝑅

𝑆𝑖𝑠𝑡𝑒𝑚𝑎 𝐸𝐶𝐼 = {𝑋𝐸𝐶𝐼 , 𝑌𝐸𝐶𝐼 , 𝑍𝐸𝐶𝐼 }

𝑋𝐸𝐶𝐼

𝐶𝑇

𝑌𝐸𝐶𝐼 𝑍𝐸𝐶𝐼
 𝑆𝑖𝑠𝑡𝑒𝑚𝑎 𝐸𝐶𝐸𝐹 = {𝑋𝐸𝐶𝐸𝐹 , 𝑌𝐸𝐶𝐸𝐹 , 𝑍𝐸𝐶𝐸𝐹 }

𝑋𝐸𝐶𝐼 = 𝑋𝐸𝐶𝐸𝐹

𝑍𝐸𝐶𝐸𝐹
𝐶𝑇
𝜓𝑇
𝜓𝑇
𝑌𝐸𝐶𝐼 𝑍𝐸𝐶𝐼

𝑌𝐸𝐶𝐸𝐹

𝑆𝑖𝑠𝑡𝑒𝑚𝑎 𝐿𝑜𝑛𝑔𝑖𝑡𝑢𝑑 = {𝑋L , 𝑌L , 𝑍L }

𝑋𝐿 = 𝑋𝐸𝐶𝐸𝐹
𝑍𝐿

𝑍𝐸𝐶𝐸𝐹
𝐶𝑇

𝑌𝐿

𝑌𝐸𝐶𝐸𝐹
𝑆𝑖𝑠𝑡𝑒𝑚𝑎 𝐿𝑎𝑡𝑖𝑡𝑢𝑑 = {𝑋λ , 𝑌λ , 𝑍λ }

𝑋𝐿
𝑌𝜆
𝑋𝜆

𝑍𝜆
𝐵

𝑍𝐿 𝑌𝐿
𝐶𝑇

𝑆𝑖𝑠𝑡𝑒𝑚𝑎 𝐹𝑖𝑛𝑎𝑙 = {𝑋, 𝑌, 𝑍}

𝑋 𝑋𝜆

𝜃
𝑍

𝜃
𝑌𝜆 = 𝑌 𝑍𝜆
𝐵
• 𝑖⃗

⃗⃗
𝑉
⃗⃗
𝑉
𝑖⃗ =
⃗⃗ |
|𝑉
• 𝑥⃗

𝑋
 𝑌

𝐶𝑎𝑏𝑒𝑐𝑒𝑜 𝑜 𝑝𝑖𝑡𝑐ℎ

𝑥⃗ 𝑖⃗
𝛼𝑡 = √(𝛼 2 + 𝛽2)
 𝑌

1
𝐹⃗𝐷 = − 𝜌𝐴𝐶𝐷 𝑉𝑅 𝑉
⃗⃗𝑅
2
1
𝐹𝐷 = − 𝜌𝐴𝐶𝐷 𝑉𝑅 2
2

⃗⃗𝑅
𝑉
⃗⃗
𝑉 ⃗⃗⃗⃗
𝑊
𝑉𝑅 𝐴
𝜌 𝐶𝐷

𝐶𝐷 = 𝐶𝐷0 + 𝐶𝐷𝛿 2 𝛿 2

𝛿 2 = 𝑠𝑒𝑛2 (𝛼𝑡 )

𝐶𝐷0
𝐶𝐷𝛿 2

𝑉
𝑀 𝑀=
𝑐
 𝑌

1 𝑝𝑑
⃗⃗⃗𝑙𝑝 = 𝜌𝑉 2 𝐴𝑑
𝑀 𝐶 𝑥⃗
2 𝑉 𝑙𝑝
1 𝑝𝑑
𝑀𝑙𝑝 = 𝜌𝑉 2 𝐴𝑑 𝐶
2 𝑉 𝑙𝑝
𝑝 𝐶𝑙𝑝
𝑝𝑑
𝑉

𝑍
𝑋
 𝑥⃗ 𝑖⃗

1
𝐹⃗𝐿 = 𝜌𝐴𝐶𝐿 (𝑉
⃗⃗ ⨯ (𝑥 ⃗⃗ ))
⃗⃗⃗⃗ ⨯ 𝑉
2
1
𝐹𝐿 = 𝜌𝑉 2 𝐴𝐶𝐿 𝑠𝑒𝑛(𝛼𝑡 )
2

𝐶𝑀𝛼

𝑂𝑣𝑒𝑟𝑡𝑢𝑟𝑛𝑖𝑛𝑔 𝑀𝑜𝑚𝑒𝑛𝑡

1
⃗⃗⃗𝑉 = 𝜌𝐴𝑑𝐶𝑀𝛼 𝑉 2 (𝑖⃗ ⨯ 𝑥⃗)
𝑀
2
1
𝑀𝑉 = 𝜌𝑉 2 𝐴𝑑𝐶𝑀𝛼 𝑠𝑒𝑛(𝛼𝑡 )
2
 𝑌

𝑀𝑎𝑔𝑛𝑢𝑠 𝐹𝑜𝑟𝑐𝑒

1 𝑝𝑑
𝐹⃗𝑀 = 𝜌𝑉 2 𝐴 𝐶𝑁𝑝𝛼 (𝑖⃗ ⨯ 𝑥⃗)
2 𝑉
1 𝑝𝑑
𝐹𝑀 = 𝜌𝑉 2 𝐴 𝐶𝑁𝑝𝛼 𝑠𝑒𝑛(𝛼𝑡 )
2 𝑉
𝐶𝑁𝑝𝛼
 𝑌

𝑀𝑎𝑔𝑛𝑢𝑠 𝑀𝑜𝑚𝑒𝑛𝑡

𝑍
𝑋
𝑌 𝑃𝑖𝑡𝑐ℎ 𝐷𝑎𝑚𝑝𝑖𝑛𝑔 𝐹𝑜𝑟𝑐𝑒

𝑍
𝑋
𝑌

𝑃𝑖𝑡𝑐ℎ 𝐷𝑎𝑚𝑝𝑖𝑛𝑔 𝑀𝑜𝑚𝑒𝑛𝑡

𝑍
𝑋
𝑇(ℎ) = 𝑇0 − 0.0065ℎ 𝑐𝑜𝑛 ℎ 𝑙𝑎 𝑎𝑙𝑡𝑢𝑟𝑎 𝑒𝑛 𝑚.

0.0065ℎ 5.2561
𝑝(ℎ) = 𝑝0 (1 − )
𝑇0

0.0065ℎ 5.2561
𝑝 𝑝0 (1− )
𝑇0
𝜌= 𝑅𝑇
𝜌(ℎ) = 𝑅(𝑇0 −0.0065ℎ )

𝑐 = √𝛾𝑅𝑇 𝑐(ℎ) = √𝛾𝑅(𝑇0 − 0.0065ℎ )

𝑣 𝑝
𝑓𝜌 = 1 − 0.00378(𝐻 − 78) 101325
𝑣𝑝
𝑓𝑐 = 1 + 0.0014𝐻 101325

𝑝𝑣 𝐻
 𝑥
𝑥 ′ = 𝑅𝑇𝑖𝑒𝑟𝑟𝑎
𝑅𝑇𝑖𝑒𝑟𝑟𝑎 + 𝑦
1 𝑥 2
𝑦 ′ = (𝑅𝑇𝑖𝑒𝑟𝑟𝑎 + 𝑦) [1 + ( ) ] − 𝑅𝑇𝑖𝑒𝑟𝑟𝑎
2 𝑅𝑇𝑖𝑒𝑟𝑟𝑎 + 𝑦
 ̅̅̅̅
𝑃𝐶
̅̅̅̅̅
𝑂𝐶

2
𝑅𝑇𝑖𝑒𝑟𝑟𝑎
𝑔 = 𝑔𝑜
(𝑅𝑇𝑖𝑒𝑟𝑟𝑎 + 𝑦 ′ )2
𝑥
𝑆𝑜𝑏𝑟𝑒 𝑒𝑙 𝑒𝑗𝑒 𝑋 𝑔𝑥 = 𝑔
𝑅𝑇𝑖𝑒𝑟𝑟𝑎 + 𝑦′
𝑅𝑇𝑖𝑒𝑟𝑟𝑎 + 𝑦
𝑆𝑜𝑏𝑟𝑒 𝑒𝑙 𝑒𝑗𝑒 𝑌 𝑔𝑦 = 𝑔
𝑅𝑇𝑖𝑒𝑟𝑟𝑎 + 𝑦′
𝑔0

𝑔0

𝑔0 = 9.780327(1 + 0.0053024𝑠𝑒𝑛2 (𝜆) − 0.0000058𝑠𝑒𝑛2 (2𝜆)) 𝑚/𝑠 2

𝑔⃗𝑃
β
𝑦′
𝑔⃗0
 𝐹⃗𝑡𝑜𝑡𝑎𝑙 = ∑ 𝐹⃗𝑒𝑥𝑡 + ∑ 𝐹⃗𝑖𝑛𝑒𝑟𝑐𝑖𝑎𝑙𝑒𝑠

𝐹⃗𝑡𝑜𝑡𝑎𝑙 = 𝐹
⃗𝑔𝑟𝑎𝑣𝑒𝑑𝑎𝑑 + 𝐹⃗𝑎𝑟𝑟𝑎𝑠𝑡𝑟𝑒 + 𝐹
⏟ ⃗𝑐𝑒𝑛𝑡𝑟í𝑓𝑢𝑔𝑎 + 𝐹⃗𝐶𝑜𝑟𝑖𝑜𝑙𝑖𝑠
⏟
𝐹𝑒𝑥𝑡 𝐹𝑖𝑛𝑒𝑟𝑐𝑖𝑎𝑙𝑒𝑠

𝑥
−𝑔
𝑅𝑇𝑖𝑒𝑟𝑟𝑎 + 𝑦′ 2
𝑅𝑇𝑖𝑒𝑟𝑟𝑎
𝑎⃗𝑔𝑟𝑎𝑣𝑒𝑑𝑎𝑑 = ⃗g⃗ = 𝑅 𝑇𝑖𝑒𝑟𝑟𝑎 + 𝑦 ; 𝑠𝑖𝑒𝑛𝑑𝑜 𝑔 = 𝑔𝑜 ;
−𝑔 (𝑅𝑇𝑖𝑒𝑟𝑟𝑎 + 𝑦 ′ )2
𝑅𝑇𝑖𝑒𝑟𝑟𝑎 + 𝑦′
[ 0 ]𝑥𝑦𝑧

𝑔0 = 9.780327(1 + 0.0053024𝑠𝑒𝑛2 (𝜆) − 0.0000058𝑠𝑒𝑛2 (2𝜆)) 𝑚/𝑠 2

• ⃗⃗
V ⃗⃗⃗⃗
W

𝜌
𝐴
𝐶𝐷
𝑚

⃗⃗R ;
𝑎⃗𝑎𝑟𝑟𝑎𝑠𝑡𝑟𝑒 = −𝐾𝐷 VR 𝑉 ⃗⃗R = V
𝑉 ⃗⃗ − W
⃗⃗⃗⃗; 2
VR = √𝑉𝑅1 2
+ 𝑉𝑅2 2
+ 𝑉𝑅3
⏟
𝑀ó𝑑𝑢𝑙𝑜 𝑑𝑒 ⃗⃗⃗⃗⃗⃗
𝑉𝑅
𝑉𝑥 𝑊𝑥
𝜌𝐴𝐶𝐷
𝑐𝑜𝑛 𝐾𝐷 = ; ⃗⃗⃗⃗
𝑉 = [𝑉𝑦 ] ; ⃗⃗⃗⃗⃗⃗
𝑊 = [𝑊𝑦 ]
2𝑚
𝑉𝑧 𝑥𝑦𝑧 𝑊𝑧 𝑥𝑦𝑧
 •

𝜔
⃗⃗
𝑟⃗

⃗⃗ ⨯ (𝜔
𝑎⃗𝑐𝑒𝑛𝑡𝑟í𝑓𝑢𝑔𝑎 = −𝜔 ⃗⃗ ⨯ 𝑟⃗)
𝜔cos(𝜆)cos(𝜃) 𝑋
𝜔
⃗⃗ = [ 𝜔𝑠𝑒𝑛(𝜆) ] ; ⃗⃗⃗𝑟 = [𝑌 ] ; 𝜔 = 1.160577 ∗ 10−5 𝑟𝑎𝑑/𝑠
−𝜔cos(𝜆)𝑠𝑒𝑛(𝜃) 𝑍 𝑥𝑦𝑧
𝑥𝑦𝑧

⃗⃗ ⨯ ⃗⃗⃗⃗
𝑎⃗𝐶𝑜𝑟𝑖𝑜𝑙𝑖𝑠 = −2(𝜔 𝑉)

𝛼⃗𝑅 𝛼𝑡 αt =
√𝛼 2 + 𝛽2

𝛼⃗𝑅

𝛼⃗𝑅 = 𝑖⃗ ⨯ (𝑥⃗ ⨯ 𝑖⃗) = 𝑥⃗ − cos(𝛼𝑡 ) 𝑖⃗

𝑥⃗ 𝑖⃗

𝑥⃗
𝛼⃗𝑅

𝛼𝑡

𝑖⃗
𝛼⃗𝑅
 𝛼⃗𝑅

𝛼⃗𝑅 𝛼⃗𝑅

⃗⃗ )
2𝐼𝑥 𝑝(𝑔⃗ ⨯ 𝑉
𝛼⃗𝑅 = 4
𝜌𝐴𝑑𝑉𝑅 𝐶𝑀𝛼

𝛼⃗𝑅 𝑑
𝐼𝑥
𝐶𝑀𝛼 𝑝

𝑑𝑝 𝜌𝐴𝑑2 VR
𝑝̇ = = 𝑝𝐶𝑙𝑝
𝑑𝑡 2𝐼𝑥
𝐶𝑙𝑝

𝑉𝑥̇
𝜌𝐴𝐶𝐿𝛼 2 𝜌𝐴𝑑𝐶𝑁𝛼
𝑎⃗𝑡𝑜𝑡𝑎𝑙 = [𝑉̇ 𝑦 ] = ⃗𝑎⃗𝑀𝑎𝑠𝑎𝑃𝑢𝑛𝑡𝑢𝑎𝑙 + 𝑉 𝛼⃗ + 𝑝(𝑉⃗⃗ ⨯ 𝛼⃗𝑅 )
⏟2𝑚 𝑅 𝑅 ⏟ 2𝑚
𝑉̇ 𝑧 𝐹𝑢𝑒𝑟𝑧𝑎 𝑑𝑒 𝑠𝑢𝑠𝑡𝑒𝑛𝑡𝑎𝑐𝑖ó𝑛 𝐹𝑢𝑒𝑟𝑧𝑎 𝑑𝑒 𝑀𝑎𝑔𝑛𝑢𝑠
 𝑑𝑦
= 𝑓(𝑡, 𝑦)
𝑑𝑡

⃗⃗
𝑑𝑉
𝑎⃗𝑡𝑜𝑡𝑎𝑙 = = 𝑓⃗𝑎 (𝑉
⃗⃗ , 𝑟⃗, 𝑝)
𝑑𝑡
𝑑𝑟⃗
⃗⃗ =
𝑉 = 𝑓⃗𝑉 (𝑉
⃗⃗ )
𝑑𝑡

𝑑𝑝
𝑝̇ = ⃗⃗ , 𝑟⃗, 𝑝)
= 𝑓𝑝 (𝑉
𝑑𝑡

⃗⃗
𝑉 𝑟⃗
 𝑑𝑉⃗⃗
𝑎⃗𝑡𝑜𝑡𝑎𝑙 𝑑𝑡 ⃗⃗
𝑉
𝐹⃗ = [ ⃗𝑉⃗ ] = ⃗𝑑𝑟 𝑒 𝑦⃗ = [ 𝑟⃗ ]
𝑝⃗ 𝑑𝑡 𝑝
𝑑𝑝
[ 𝑑𝑡 ]

𝑑𝑦⃗
= 𝐹⃗ (𝑦⃗)
𝑑𝑡

1
𝑦⃗𝑖+1 = 𝑦⃗𝑖 + (𝑘⃗⃗1 + 2𝑘⃗⃗2 + 2𝑘⃗⃗3 + 𝑘⃗⃗4 )ℎ
6

𝑘⃗⃗1 = 𝐹⃗ (𝑦⃗𝑖 )
1
𝑘⃗⃗2 = 𝐹⃗ (𝑦⃗𝑖 + 𝑘⃗⃗1 ℎ)
2
1
𝑘⃗⃗3 = 𝐹⃗ (𝑦⃗𝑖 + 𝑘⃗⃗2 ℎ)
2
𝑘⃗⃗4 = 𝐹⃗ (𝑦⃗𝑖 + 𝑘⃗⃗3 ℎ)

𝑦⃗
𝑉0 cos(𝜑)
⃗⃗1 = [𝑉0 sen(𝜑)]
𝑉
0

2 ∗ 𝜋 ∗ 𝑉0
𝑝1 =
𝑁∗𝑑

𝑟⃗1 = ⃗0⃗
 𝑚
𝐼𝑥 𝑑

• ~𝜔 · 𝑣
1 2
~2𝜔 · 𝑣 ∙ 𝑡𝑣𝑢𝑒𝑙𝑜 𝑣~400 𝑚/𝑠
𝑡𝑣𝑢𝑒𝑙𝑜 ~50 𝑠

Alcance vs. Azimut

Latitud fija en 45
16730
16720
16710
Alcance (m.)

16700
16690
16680
16670
16660
16650
16640
0 50 100 150 200 250 300 350 400
Azimut ( )
 Alcance vs. Latitud
Azimut fijo en 45
16760
16750
16740
Alcance (m.) 16730
16720
16710
16700
16690
16680
16670
16660
16650
-100 -50 0 50 100
Latitud ( )

Deriva vs. Azimut

Latitud fija en 45
60

50

40
Deriva (m.)

30

20

10

0
0 50 100 150 200 250 300 350 400
Azimut ( )

Deriva vs. Latitud

Azimut fijo en 45
80
60
40
Deriva (m.)

20
0
-100 -50 0 50 100
-20
-40
-60
-80
Latitud ( )
•
𝜔2 ∙ 𝑟 𝑟
10−5
10−3

14
𝑊 = [ 0 ] 𝑚/𝑠
9
 𝑚
(𝑉0 = 273 𝑠
.) 𝜑

𝑚
(𝑉0 = 394 .) 𝜑
𝑠

𝑚
(𝑉0 = 681 𝑠
.) 𝜑
•

•
 𝑂
𝑃 𝐶
𝑥
𝑂𝐴 𝑥′
𝑦
̅̅̅̅
𝐴𝑃 𝑦′

𝑅 𝛽

𝑥
𝛽 ≅ tan 𝛽 =
𝑅+𝑦

𝑥
𝑥 ′ = 𝑂𝐴 = 𝑅𝛽 = 𝑅
𝑅+𝑦

𝑦+𝑅
̅̅̅̅ = 𝑃𝐶
𝑦 ′ = 𝐴𝑃 ̅̅̅̅ − 𝐴𝐶
̅̅̅̅ = −𝑅
cos 𝛽
 1 1 1
= √1 + tan2 𝛽 ≅ 1 + tan2 𝛽
cos 𝛽 2 2

1 𝑥 2
𝑦 ′ = (𝑦 + 𝑅) [1 + ( ) ]−𝑅
2 𝑅+𝑦

𝑔⃗
𝑔⃗

𝑔⃗0 ⃗⃗⃗⃗⃗⃗
𝑂𝐶

𝑔⃗𝑃 ̅̅̅̅
𝑃𝐴

𝑔⃗𝑃
β

𝑔⃗0

𝑔
𝑦′

𝑥
• ̅̅̅̅
𝑂𝑋 𝑔 ∙ sen 𝛽 = 𝑔
𝑅+𝑦′
𝑅+𝑦
• ̅̅̅̅
𝑂𝑌 𝑔 ∙ cos 𝛽 = 𝑔
𝑅+𝑦′
 𝐶𝑇
𝐵 𝑅⃗⃗

𝑟⃗′
𝑟⃗

𝑟⃗′ 𝑟⃗

𝑅⃗⃗

𝑟⃗ ′ = 𝑟⃗ + 𝑅⃗⃗

• 𝑟⃗ ′ = ̅̅̅̅̅
𝐶𝑇 𝑃 𝑒𝑛 𝑒𝑙 𝑠𝑖𝑠𝑡𝑒𝑚𝑎 𝑑𝑒 𝑟𝑒𝑓𝑒𝑟𝑒𝑛𝑐𝑖𝑎 𝐸𝐶𝐼 (𝑛𝑜 𝑎𝑐𝑒𝑙𝑒𝑟𝑎𝑑𝑜)
• ⃗⃗ ̅̅̅̅̅
𝑅 = 𝐶𝑇 𝐵 𝑒𝑛 𝑒𝑙 𝑠𝑖𝑠𝑡𝑒𝑚𝑎 𝑑𝑒 𝑟𝑒𝑓𝑒𝑟𝑒𝑛𝑐𝑖𝑎 𝐸𝐶𝐼 (𝑛𝑜 𝑎𝑐𝑒𝑙𝑒𝑟𝑎𝑑𝑜)
• ̅̅̅̅ 𝑒𝑛 𝑒𝑙 𝑠𝑖𝑠𝑡𝑒𝑚𝑎 𝑑𝑒 𝑟𝑒𝑓𝑒𝑟𝑒𝑛𝑐𝑖𝑎 𝑓𝑖𝑛𝑎𝑙 (𝑎𝑐𝑒𝑙𝑒𝑟𝑎𝑑𝑜 𝑎𝑙 𝑔𝑖𝑟𝑎𝑟 𝑒𝑛 𝑡𝑜𝑟𝑛𝑜 𝑎 𝐶𝑇 𝑐𝑜𝑛 𝜔
𝑟⃗ = 𝐵𝑃 ⃗⃗)

𝑟⃗′
𝐶𝑇

𝑟⃗
𝐶𝑇
 𝐹⃗𝑡𝑜𝑡𝑎𝑙 = 𝐹
⃗𝑎𝑒𝑟𝑜𝑑𝑖𝑛á𝑚𝑖𝑐𝑎𝑠 + 𝐹⃗𝑔𝑟𝑎𝑣𝑒𝑑𝑎𝑑 + 𝐹
⏟ ⃗𝑖𝑛𝑒𝑟𝑐𝑖𝑎𝑙𝑒𝑠
⏟
𝑟𝑒𝑎𝑙𝑒𝑠 𝑓𝑖𝑐𝑡𝑖𝑐𝑖𝑎𝑠

𝑢 ̅̅̅̅
⃗⃗ = 𝑂𝑃 123 𝜔
⃗⃗123

𝑑𝑢
⃗⃗ ̅̅̅̅
𝑑𝑂𝑃
= | +𝜔 ̅̅̅̅
⃗⃗123 ⨯ 𝑂𝑃
𝑑𝑡 ⏟𝑑𝑡 123
𝑉𝑒𝑙𝑜𝑐𝑖𝑑𝑎𝑑 𝑟𝑒𝑙𝑎𝑡𝑖𝑣𝑎 𝑑𝑒𝑙 𝑣𝑒𝑐𝑡𝑜𝑟 𝑒𝑛 123

𝑟⃗′ 𝑅⃗⃗ 𝑟⃗

• ̂ + 𝑦 ′ ∙ 𝑗′
𝑟⃗ ′ = 𝑥 ′ ∙ 𝑖′ ̂ + 𝑧 ′ ∙ 𝑘′
̂
• ̂
𝑅⃗⃗ = 𝑋 ∙ 𝑖̂′ + 𝑌 ∙ 𝑗̂′ + 𝑍 ∙ 𝑘′
• 𝑟⃗ = 𝑥 ∙ 𝑖̂ + 𝑦 ∙ 𝑗̂ + 𝑧 ∙ 𝑘̂

𝑟⃗ ′ = 𝑅⃗⃗ + 𝑟⃗

𝑑𝑟⃗ ′ 𝑑𝑅⃗⃗ 𝑑𝑟⃗

𝑣⃗ ′ = = 𝑥̇ ′ ∙ 𝑖̂′ + 𝑦̇ ′ ∙ 𝑗̂′ + 𝑧̇ ′ ∙ 𝑘̂′ = +
𝑑𝑡 𝑑𝑡 𝑑𝑡

̂̇
⏟ ̇ ∙ 𝑖̂ + 𝑌̇ ∙ 𝑗̂ + 𝑍̇ ∙ 𝑘̂ ) + [(𝑥̇
𝑣⃗ ′ = (𝑋 ̂ ̂ ̂
′ ′ ′
⏟ ∙ 𝑖̂ + 𝑦̇ ∙ 𝑗̂ + 𝑧̇ ∙ 𝑘 ) + (𝑥 ∙ 𝑖̇ + 𝑦 ∙ 𝑗̇ + 𝑧 ∙ 𝑘 )]
⃗⃗
𝑑𝑅 𝑑𝑟⃗
𝑑𝑡 𝑑𝑡

⃗⃗
𝑑𝑅
𝑑𝑡
𝑑𝑟⃗
𝑑𝑡

⃗⃗ + 𝑣⃗ + 𝜔
𝑣⃗ ′ = 𝑉 ⃗⃗ ⨯ 𝑟⃗

𝑑𝑣⃗′ 𝑑𝑉⃗⃗ 𝑑𝑣⃗ 𝑑(𝜔

⃗⃗ ⨯ 𝑟⃗)
𝑎⃗′ = = + +
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑 𝑑𝑟⃗
⏟⃗ +
𝑎⃗′ = 𝐴 (𝑥̇ ∙ 𝑖̂ + 𝑦̇ ∙ 𝑗̂ + 𝑧̇ ∙ 𝑘̂ ) + 𝜔̇⃗⃗ ⨯ 𝑟⃗ + 𝜔
⃗⃗ ⨯ ( )
⏟
𝑑𝑡 ⏟ 𝑑𝑡
⃗⃗
𝑑𝑉
𝑑𝑡 ⃗⃗
𝑑𝑣 ⃗⃗⃗⃗⨯𝑟⃗)
𝑑(𝜔
𝑑𝑡 𝑑𝑡

⏟⃗ + ⏟
𝑎⃗′ = 𝐴 𝑎⃗ + 𝜔 𝜔̇⃗⃗ ⨯ 𝑟⃗ + 𝜔
⃗⃗ ⨯ 𝑣⃗ + ⏟ ⃗⃗ ⨯ (𝑣⃗ + 𝜔
⃗⃗ ⨯ 𝑟⃗)
⃗⃗
𝑑𝑉 ⃗⃗
𝑑𝑣 ⃗⃗⃗⃗⨯𝑟⃗)
𝑑(𝜔
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝜔̇⃗⃗

𝑎⃗′ = 𝐴⃗ + 𝜔
⃗⃗ ⨯ 𝜔
⃗⃗ ⨯ 𝑟⃗ + 2 ∙ 𝜔
⃗⃗ ⨯ 𝑣⃗ + 𝑎⃗

𝐴⃗
𝜔 ⨯ 𝜔 ⨯ 𝑅⃗⃗
𝑔⃗𝑎𝑝

−𝐴⃗ = −𝜔 ⨯ 𝜔 ⨯ 𝑅⃗⃗

𝑔⃗𝑎𝑝
𝑔⃗

𝐴⃗

𝐴⃗

𝑎⃗′ = 𝜔
⃗⃗ ⨯ 𝜔
⃗⃗ ⨯ 𝑟⃗ + 2 ∙ 𝜔
⃗⃗ ⨯ 𝑣⃗ + 𝑎⃗
𝑎⃗

𝑎⃗′

𝑎⃗ = 𝑎⃗′ − 𝜔
⃗⃗ ⨯ 𝜔
⃗⃗ ⨯ 𝑟⃗ − 2 ∙ 𝜔
⃗⃗ ⨯ 𝑣⃗
𝑎⃗ = 𝑔⃗ + ⃗⃗⃗⃗⃗
⏟ 𝑎𝐷 − 𝜔
⏟
⃗⃗ ⨯ 𝜔
⃗⃗ ⨯ 𝑟⃗ −2 ∙ 𝜔
⏟ ⃗⃗ ⨯ 𝑣⃗
𝑔𝑟𝑎𝑣𝑒𝑑𝑎𝑑+𝑎𝑐𝑒𝑙𝑒𝑟𝑎𝑐𝑖ó𝑛 𝑑𝑒 𝑎𝑟𝑟𝑎𝑠𝑡𝑟𝑒 𝑎𝑒𝑟𝑜𝑑𝑖𝑛á𝑚𝑖𝑐𝑎 𝐴𝑐𝑒𝑙𝑒𝑟𝑎𝑐𝑖ó𝑛 𝑐𝑒𝑛𝑡𝑟í𝑓𝑢𝑔𝑎 𝐴𝑐𝑒𝑙𝑒𝑟𝑎𝑐𝑖ó𝑛 𝐶𝑜𝑟𝑖𝑜𝑙𝑖𝑠
 𝒎
𝟏𝟒 𝒎
(𝑽𝟎 = 𝟐𝟕𝟑 𝒔
.𝝋 = 𝟏𝟏𝟐. 𝟏 𝒎𝒊𝒍. 𝑾 = [ 𝟎 ] 𝒔 )
𝟗
 𝒎
𝟏𝟒 𝒎
(𝑽𝟎 = 𝟑𝟗𝟒 𝒔
.𝝋 = 𝟐𝟐𝟒 𝒎𝒊𝒍. 𝑾 = [ 𝟎 ] 𝒔 )
𝟗
 𝒎
𝟏𝟒 𝒎
(𝑽𝟎 = 𝟔𝟖𝟏 𝒔
.𝝋 = 𝟓𝟖𝟖. 𝟖 𝒎𝒊𝒍. 𝑾 = [ 𝟎 ] 𝒔 )
𝟗