Problema: El eslabón 2 gira con 2 = 10 rad/s en sentido horario y 2 = 50 rad/s2 en sentido anti-horario.

Halle 3, 5, 6 , 7. y aF. Escalas: dibujo 1:5; velocidad 1 cm = 20 cm/s; aceleración 1 cm = 200 cm/s2;
Análisis de velocidades
𝑉𝐵 𝑉 = 𝜔 ∗ 𝑂 𝐴 = 10*15.5 = 155 cm/s Dist. real, cm
𝐴 2 2
𝑂𝑉 𝑉𝐶/𝐵 𝑉𝐴,𝑑𝑖𝑏 = 7.75cm 𝑂2 𝐴 15.5
𝑉𝐶 0  0 𝐴𝐵 42.0
𝑉𝐴 𝑉𝐵 = 𝑉𝐴 + 𝑉𝐵/𝐴 (1) 𝐴𝐶 24.5
𝑉𝐶/𝐴 𝑉𝐵/𝐴
𝑉𝐵,𝑑𝑖𝑏 = 7.5 𝑐𝑚 𝑉𝐵 = 150 cm/s 𝐶𝐵 20.0
Imagen de 𝐶𝐷 20.0
𝑉𝐵/𝐴,𝑑𝑖𝑏 = 5.2 𝑐𝑚 𝑉𝐵/𝐴 = 104 cm/s
velocidades 𝑂6 𝐷 34.0
del eslabón 3 𝑉𝐵/𝐴104
𝜔3 = = = 2.48 rad/s 𝑂6 𝐸 47.5
𝐴𝐵 42
𝐸𝐹 27.5
00  
𝑉𝐶/𝐴 𝑉𝐶 = 𝑉𝐴 + 𝑉𝐶/𝐴 (2)
𝜔2 𝑉𝐶/𝐴 = 𝜔3 ∗ 𝐴𝐶 = 2.48*24.5 = 60.7 cm/s
𝑉𝐵/𝐴
60.7
𝑉𝐶/𝐴,𝑑𝑖𝑏 = = 3.03 𝑐𝑚
𝑉𝐴 𝑉𝐵 20
𝑉𝐶,𝑑𝑖𝑏 = 6.31 𝑐𝑚 𝑉𝐶 = 126 cm/s
 𝑉𝐹/𝐸 0  0
𝑉𝐹 𝑉𝐹 𝑉𝐷 = 𝑉𝐶 + 𝑉𝐷/𝐶 (3)
𝑉𝐸
𝑉𝐷 𝑉𝐹/𝐸
𝑉𝐷/𝐶 𝑉𝐷,𝑑𝑖𝑏 = 2.1 𝑐𝑚 𝑉𝐷 = 42.2 cm/s Dist. real, cm
𝑉𝐵
𝑂𝑉 𝑉𝐶/𝐵 𝑉𝐷/𝐶,𝑑𝑖𝑏 = 5.2 𝑐𝑚 𝑉𝐷/𝐶 = 104 cm/s 𝑂2 𝐴 15.5
𝑉𝐶 𝐴𝐵 42.0
𝑉𝐷/𝐶 104
𝑉𝐴 𝜔5 = = = 5.20 rad/s 𝐴𝐶 24.5
𝑉𝐶/𝐴 𝑉𝐵/𝐴 𝐷𝐶 20
𝑉𝐸 𝐶𝐵 20.0
𝑉𝐷 42.2
𝜔6 = = = 1.24 rad/s 𝐶𝐷 20.0
𝑂6 𝐷 34
𝑉𝐷 𝑂6 𝐷 34.0
𝑉𝐷/𝐶 𝑉𝐸 = 𝜔6 ∗ 𝑂6 𝐸 = 1.24*47.5 = 59 cm/s 𝑂6 𝐸 47.5
0  0
(4) 𝐸𝐹 27.5
𝑉𝐹 = 𝑉𝐸 + 𝑉𝐹/𝐸
𝑉𝐶/𝐴 𝑉𝐸,𝑑𝑖𝑏 = 59 /20 = 2.95 𝑐𝑚
𝜔2 𝑉𝐹/𝐸,𝑑𝑖𝑏 = 3.1 𝑐𝑚 𝑉𝐹/𝐸 = 62 cm/s
𝑉𝐵/𝐴
𝑉𝐹/𝐸 62
𝜔7 = = = 2.25 rad/s
𝑉𝐴 𝑉𝐵 𝐹𝐸 27.5
𝑉𝐹,𝑑𝑖𝑏 = 3.35 𝑐𝑚 𝑉𝐹 = 67 cm/s
Problema: El eslabón 2 gira con 2 = 10 rad/s en sentido horario y 2 = 50 rad/s2 en sentido anti-horario.
Halle 3, 5, 6 , 7. y aF. Escalas: dibujo 1:5; velocidad 1 cm = 20 cm/s; aceleración 1 cm = 200 cm/s2;
Análisis de aceleraciones
𝑂𝐴
B 𝑎Ԧ𝐵  0
0  
𝑛 𝑡
𝑎Ԧ𝐵 = 𝑎Ԧ𝐴𝑛 + 𝑎Ԧ𝐴𝑡 + 𝑎Ԧ 𝐵/𝐴 + 𝑎Ԧ𝐵/𝐴 (1)
𝑛
𝑎𝐴𝑛 = 𝜔22 𝑂2 𝐴 = 102 ∗ 15.5 = 1550 cm/s2 → 𝑎𝐴_𝑑𝑖𝑏 = 7.75 cm
A
𝑡
𝑎𝐴𝑡 = 𝛼2 𝑂2 𝐴 = 50 ∗ 15.5 = 775 cm/s2 → 𝑎𝐴_𝑑𝑖𝑏 = 3.875 cm
2
𝑛 1042
𝑉𝐵/𝐴 𝑛
𝑎𝐵/𝐴 = = = 257.5 𝑐𝑚/𝑠2 → 𝑎𝐵/𝐴_𝑑𝑖𝑏 = 1.29cm
𝐴𝐵 42
𝑂2 𝐴 15.5
Del polígono:
𝐴𝐵 42.0
𝑡 𝑡
𝑎𝐵/𝐴_𝑑𝑖𝑏 = 3.20cm → 𝑎𝐵/𝐴 = 640 cm/s2 𝐴𝐶 24.5
𝑡
𝑎𝐵/𝐴 𝐶𝐵 20.0
640
𝛼3 = = = 15.23 𝑟𝑎𝑑/𝑠2 𝐶𝐷 20.0
𝛼2 𝐴𝐵 42
𝑂6 𝐷 34.0
𝑉𝐴 𝑎Ԧ𝐵 𝑂6 𝐸 47.5
𝐸𝐹 27.5
 Análisis de aceleraciones
𝑂𝐴
𝑎Ԧ𝐵
B
00   
𝑛 𝑡 (2)
𝑎Ԧ𝐶 = 𝑎Ԧ𝐴 + 𝑎Ԧ𝐶/𝐴 + 𝑎Ԧ𝐶/𝐴
C
2
𝑛 60.72
𝑉𝐶/𝐴 𝑛
𝑎𝐶/𝐴 = = = 150.4 𝑐𝑚/𝑠2 → 𝑎𝐶/𝐴_𝑑𝑖𝑏 = 0.752cm
A 𝐴𝐶 24.5
𝑛
𝑎Ԧ𝐶/𝐴 𝑡 𝑡
𝑎𝐶/𝐴 = 𝛼3 𝐴𝐶 = 15.23 ∗ 24.5 = 373 cm/s2 → 𝑎𝐶/𝐴_𝑑𝑖𝑏 = 1.865 cm
D

 0   0
𝑛 𝑡 𝑛 𝑡 (3)
𝑎Ԧ 𝐷 + 𝑎Ԧ𝐷 = 𝑎Ԧ𝐶 + 𝑎Ԧ𝐷/𝐶 + 𝑎Ԧ𝐷/𝐶
𝑡 2 2
𝑎Ԧ𝐶/𝐴 𝑛
𝑉𝐷 42.2 𝑛
𝑎𝐷 = = = 52.38 𝑐𝑚/𝑠2 → 𝑎𝐷_𝑑𝑖𝑏 = 0.26cm
𝑛 𝑂6 𝐷 34
𝑎Ԧ𝐶/𝐴
2
𝛼2 𝑛 1042
𝑉𝐷/𝑐 𝑛
𝑎𝐷/𝐶 = = = 540.8 𝑐𝑚/𝑠2 → 𝑎𝐷/𝐶_𝑑𝑖𝑏 = 2.70cm
𝐶𝐷 20
𝑉𝐴 𝑎Ԧ𝐵
 𝑎Ԧ𝐵 𝑂𝐴 Análisis de aceleraciones
B
Dist. real, cm
Del polígono:
C 𝑡 𝑡
𝑂2 𝐴 15.5
𝑎𝐷/𝐶_𝑑𝑖𝑏 = 2.56cm → 𝑎𝐷/𝐶 = 512 cm/s2 𝐴𝐵 42.0
A 𝑡 𝑡 𝐴𝐶 24.5
𝑛
𝑎Ԧ𝐶/𝐴 𝑎𝐷_𝑑𝑖𝑏 = 9.69cm → 𝑎𝐷 = 1938 cm/s2
𝐶𝐵 20.0
𝑡
D 𝑎𝐷/𝐶 512 𝐶𝐷 20.0
𝛼5 = = = 25.6 𝑟𝑎𝑑/𝑠2
𝐶𝐷 20 𝑂6 𝐷 34.0
E 𝑡 𝑂6 𝐸 47.5
𝑎𝐷 1938
𝛼6 = = = 57.0 𝑟𝑎𝑑/𝑠2 𝐸𝐹 27.5
𝑂6 𝐷 34
𝑡 2 2
𝑎Ԧ𝐶/𝐴 𝑉𝐸 59 𝑛
𝑎𝐸𝑛 = = = 73.28 𝑐𝑚/𝑠2 → 𝑎𝐸_𝑑𝑖𝑏 = 0.37cm
𝑛
𝑎Ԧ𝐶/𝐴 𝑂6 𝐸 47.5
𝑡
𝛼2 𝑎𝐸𝑡 = 𝛼6 𝑂6 𝐸 = 57∗47.5= 2707.5 cm/s2 → 𝑎𝐸_𝑑𝑖𝑏 = 13.54 cm

𝑉𝐴 𝑎Ԧ𝐵
 Análisis de aceleraciones
Dist. real, cm
0   0
𝑂2 𝐴 15.5 𝑛 𝑡 (2)
𝑎Ԧ𝐹 = 𝑎Ԧ𝐸 + 𝑎Ԧ 𝐹/𝐸 + 𝑎Ԧ 𝐹/𝐸
𝐴𝐵 42.0
2
𝐴𝐶 24.5 𝑛 622
𝑉𝐹/𝐸 𝑛
𝑎Ԧ𝐹 𝑎𝐹/𝐸 = = = 139.8 𝑐𝑚/𝑠2 → 𝑎𝐹/𝐸_𝑑𝑖𝑏 = 0.70cm
𝐶𝐵 20.0 𝐸𝐹 27.5
𝐶𝐷 20.0
𝑂6 𝐷 34.0 Del polígono (en la próxima página):
𝑂6 𝐸 47.5
𝑎𝐹_𝑑𝑖𝑏 = 16.2cm → 𝑎𝐹 = 3240 cm/s2
𝐸𝐹 27.5
𝑡 𝑡
𝑎𝐹/𝐸_𝑑𝑖𝑏 = 14.39cm → 𝑎𝐹/𝐸 = 2877 cm/s2
𝑡
𝑎Ԧ𝐶/𝐴
𝑡
𝑎𝐹/𝐸
2877
𝑛 𝛼7 = = = 104.6 𝑟𝑎𝑑/𝑠2
𝑎Ԧ𝐶/𝐴
𝐸𝐹 27.5
𝛼2

𝑉𝐴 𝑎Ԧ𝐵
 𝑂𝐴
B 𝑎Ԧ𝐵
Imagen de
acel. del
eslabón 3 C

A
𝑛
𝑎Ԧ𝐶/𝐴

𝑎Ԧ𝐹 D

𝑎Ԧ𝐹

𝑡
𝑎Ԧ𝐶/𝐴
𝑛
𝑎Ԧ𝐶/𝐴
𝛼2

𝑉𝐴 𝑎Ԧ𝐵