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TEMA 1

VECTORES Y SISTEMAS DE FUERZAS.


CENTROS DE GRAVEDAD
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v v
v
F
Fv
F
Fu
u Fu u u

Fv

3
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("$,5*1$12)'1021$*,19:;1-),,0(72,07,),C
   
v = v x i + v y j + v zk

$*, 79 A 7: A 7; (1 ,).,**21 (


vz
72,0*(1$0$,*1(,1'1
v 
-5(,(72,0 v = v2x + v2y + v2z
A vy
vx

z • $(72,051($",#:/5015
.5*2,.($$-*CL(.5*2,M
B

• $ 1 2021  5* 72,0 1($;*2


O
y #0% /5 0 5* .5*2,  15 (%* 
x $-*A.,0').(,(C
(
B b x ,by ,bz )
    
$(,172,011.5*15)0C R=a + b = Rxi +Ry j + Rz k
       
a = a x i + a y j + a zk , y b = b x i + b y j + b zk Rx = a x + b x Ry = a y + b y Rz = a z + b z

B
C
b $ 1 ,*, ( )-5(,  (,1
R 72,01/51/5$0*15)0:
b
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X 53($;0 ( 2,0)  ,1*,
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a A .0#((0()-5(,

3($;*,(2,0)(,1*C

R 2 = a 2 + b 2  2ab cos (    ) = a 2 + b 2 + 2ab cos 

R = a 2 + b 2 + 2ab cos 

El ángulo  se puede hallar del teorema del seno en OAC:


b R b
=  sen = sen
sen sen (    ) R

4
 $$%  *%#$ (##%$ $ !( $($&%(# !# ( *%# #$(%%
!(%(##

').(,C
   
F1 = 2 i F2 = 2 i + 2 j
5N 2N 2 2N    
F3 = 2 j F4 =  i + 2 j
S R Q y
2

1 45
x B

1 R
2N 1
2N
C
P C 3N
1
1
A

0.5 0.5 1.5


0.5 0.5  1.5
(cotas en m)

Rx =  Fx = 2 + 2  1 = 3 N     R = 32 + 22 = 13 N
 R = 3i + 2j
Ry =  Fy = 2 + 2  2 = 2 N 2
tg =   = 33.69º

3

 
Producto escalar a • b
1(.0,52,(,1)-5(,1(,172,01.,0(,1*,(*"5(,/5,0)*D
5015(2,15*1(0
b
 
 a • b = a b cos 
b cos  a
       
N Si a y b perpendiculares  a • b = 0 N Si a y b son paralelos  a • b =  a b
  b
b a•b = 0
a
a

   
Descomponiendo b en direcciones  y  a a: a • b = a b

  
aib
53($;.0.0,:205*72,01,0,20, proya b = b cos  =
a
•$1,*,*(1,).,**21021$*1(,172,01C
   
a = a x i + a y j + a zk   

     a • b = a x b x +ay by + az bz
b = b x i + b y j + b zk 

5
 
0,52,72,0$( a  b
15*72,0,*C
 
Módulo  a  b = a b sen  ( = menor ángulo formado por los vectores )

     
Dirección  perpendicular al plano determinado por a y b ab  a , b

Sentido  el del pulgar de la mano derecha cuando los otros se doblan desde
 
el a hacia b por el camino más corto

0,52,72,0$(

•2,01.0((,1C

•2,01.0.*$5(01C

• *5*$-*(1,).,**21021$*1C
k=i j
z   
i j k j
  i y
a  b = ax ay az
k bx by bz x

j
y
i siempre que los versores de los ejes elegidos verifiquen
        
x i j=k j k = i k i= j

         
•,(.0,52,72,0$(C a  (b  c ) = (a • c ) b  (a • b ) c
 
(b  c )  a = (a • b) c  (a • c ) b

6
0,52,72,0$(72,01,*2*$,1*(.(*,9:

Y
• 1 -),, .0,:20 5*,  (,1 72,01
* ,).,**21 .0.*$5(0 : .0((
b 1,0(,20,C
b
 
b a  b = a b

a
•  $0$-* ( .0,52, 72,0$( 1
X 1$).0*(';

a b ab k
Z
y
y
• ( 1*3,  "$0, 1,$,  (,1 '1 L * < a b ab
121,*3#,00$,M153($;.0 *$0 xx
(1*3,<

(015(2,1.5$*$0,*()-5(,:(1*3,"$0,(.0,52,72,0$(C1$
,$*$,*(1,$,(,1'11<:1$1,.512,4

,)*2,5*72,001.2,5*.5*2,C

0,52, 72,0$( ( 72,0  .,1$$-*  5*


.5*2,(021,.,02(72,001.2,A
.,0(72,0

  
MA = AP  v

MA 15*72,0($",(.5*2,

,20,.5*2,((%*$-*(72,0C
          
( 
)
MA = AQ  v = AP + PQ  v = AP  v + PQ  v = AP  v

(),)*2,01.2,5*.5*2,1!%!(%
 *%#"($(&3
$("$),1 2(/5 1.0.*$5(0((%*$-*C U K7

7
*72,01($;*21220)$*,1$1(72,0:(),)*2,01.2,
 
5*.5*2, (
v , MA )

•(72,0:(72,0.,1$$-*12**5*.(*,.0.*$5(0( 
•()-5(,(),)*2,
MA = v·d '($12*$)%*$)(/512((%*
$-*(72,0(.5*2,LQ.,1$$($1C.,0 ,M
• ,11*3,1(,172,0120)$**,).(2)*2((%*$-*

MA=v d

MA
A d=
v V
H
P

%#$!%(

e
 (() ),)*2, 01.2, ( ' A  (
.0,:$-* 1,0 ( )$1), ( ),)*2,
ue 01.2,5*,151.5*2,1D

$1(72,05*$20$,*($0$-*('A
ue
:5*.5*2,5(/5$0('C

ME
Me  
Me = ME • ue
E

8
$12)72,011($;*21
  
Sean los vectores v1 , v 2 ,......, vn con P1 , P2 ,... Pn puntos de sus respectivas líneas de acción
 
• $(%%2 15)  (,1 72,01 ,), 1$ R =  vi
51*($01
 ($ i
  
•%$$%#$!%!(%C MA =  APi  vi
i

( )
 
( ($$%!(%C R , MA

P1
v1
A v2

A
P2
APi
vi
Pn
Pi
5$-**
vn

).,),)*2,1

(R , MA )
 
• (05$-**5*1$12)

(),)*2,01.2,,20,.5*2,C
         
( )
   
 =     =   +    =     +     =
=1 =1 =1 =1
      
 =     +  =    +  MA
 =1

    A
M B = M A + BA  R
R
BA
3 !  %$  MB
   !(%  B
%

9
 $ /5 ,1 1$12)1  72,01 1($;*21 1,* /5$7(*21 5*,
3**()$1)015(2*2:()$1),),)*2,01.2,5*.5*2,D

(9.01$-*().,),)*2,115$()*2/51$170$ .0
5*.5*2,15).(.02,,1D
,*1$0),1(,11$12)1)11*$((,1C


$%(6)*%#7
     ,3* 5* 1$12) /5$7(*2 1$ 1
R=0 MA = 0 A +* .0'1  72,01 * : 5* ,* (
)$1)(%*$-*

A v1

v1
v2

v2


$%*%#)
        
R=v MA = AP  v = AP  R MP = 0 (si P l. de acción)
• *1$12)72,015:1(%*1$-*1,02**5*)$1),.5*2,
L72,01 ,*500*21M 1 .5* ,).,*0 ((7*,(,1 ( .5*2, 
,*500*$ : 151325$0(,1 .,0 5* 1,(, 72,0A ( 015(2*2A 5: (%* 
$-*.12)$*.,0DL,0)0$"*,*M

v1
A
v2

P
P
vn
R

  
R = v1 + .... + v n
     
( )
MA = AP  v1 + .... + v n = AP  R

10
#*%#$

 (() 1%  ,1 72,01 $"5(1 : ,.512,1 ,* (%*1  $-* .0((1
1.015*$12*$
("$),1  :  .5*2,1  (1
(%*1$-*2(1/51
M=d v v .0.*$5(0((1D

v
   
A
d
90 R = v + ( v) = 0
B
   
MA = AB  v = d v u

     
1.2,,20,.5*2,C MO = MA + OA  R = MA  M

!#*%#$$#(()
M=d v
%1  ( $ !% 
!(%(3


01 /5$7(*21 

2F
F
M= F d 2F
d/2 d/2 2F
d 2F
F

$ !#$ $ "(*%$ %#$ $ %   (1  #  , 
$&

11
').(,*(.(*,C

10 N
3
C
4

2
6N 10 N dm
B
E
D
4 2N ,21*)
3
45
A F
1 1

5$0*(.5*2,(1$12)50;1.($,*(.$;/51
)5120*( "50

6N

C y

8N
2
10 N dm
x
6N B
E
15(2*2C
D

3
R x = FBx + FCx + FDx = 6 + 8  4 = 2 N 
R y = FBy + FCy + FDy = 6  4 = 2 N 
45 
A F   
4N
O
R = 2 i + 2 j (N)
4N
4 4

,)*2,01.2,C
M A = 10 +6·3 + 6·8  8·5  4·4 = 20 N·dm
 
M A = 20 k ( N·dm ) 2 2N

45

5$-**C A

20 N dm

12

*70$*21
 
( )
(05$-*5*1$12)*(.5*2,D()$0.5*2,
R , MA  
( )
05$-*AA#:201*31/51)*3**,*12*21C
R , MB


PM R = vector constante

 
QM MB iR = cte
       
( ) ( )
    
),120$-*C MB iR = MA + BA  R iR = MA iR + BA  R iR = MA iR

vect.perpendic.
 
1$"*$
MB iR = cte /5(.0,:$-*(),)*2,*($0$-*
 
.0((1,*12*2.02,,1(,1.5*2,1C M iR = M R = cte
B 

 
MB iR
RM Mmín  M = = cte
R

'*20(5*1$12)72,01

,1 .5*2,1 ( 1.$, 01.2,  (,1 5(1 ( ),)*2, 1 )%*$), 1 (() '
*20(
MA eje central

R
MB

MA R R
Mmin
MB
A Mmin ME= Mmin
B E


*('*20((05$-*(1$12)1(,)11*$((.,1$( (R , M u )
min R

,1 .5*2,1 ( ' *20( 1 *5*20* .(*2*, /5 (  :  1*
.0((1

13
• ,1$*70$*21:5*(1$ 0(1$12)72,01:105(1(1$12)
/5$7(*2)11*$((,(,C

 
  M = 0 sistema nulo
R=0 
M  0 par único
 
  RiM = 0 vector único
R  0   
RiM  0 vector y par

$12)72,01*5*.(*,
MA
v2 vi v1
A vn
R

   
MA  R  MA iR = 0  Mmí nR = 0

•$*,1OA1055*6*$,72,0*('*20(

•$UOA1055*.0*5(/5$0.5*2,

•$UO: UOA15*1$12)*5(,

14
 
d 90 R
R0
A
MA = d·R

 
R=0 A
M=MA

Y
* ( ').(, *20$,0A 1 /5$0 P2 C
,*7030(1$12)*5*1$12) R
*5(, )$*2 ( .($$-*  2N FC=5 dm
5* 50; * 5* ,0  (
.(D P (x,y)
2N
y P1

A F X
x
AF=8 dm
M A = 20 N·dm 
10 = y + x
M A = 2y + 2x 


x=8y=2 P1 ( 8, 2 ) 0%/5.($05*50; R
y=5x=5 P2 ( 5, 5 ) *5*,1,1,1.5*2,1

15
$12)72,01.0((,1
    
v1 = m1u , v 2 = m2u..... vectores paralelos al u
vn  

vi

u
R =  miu = ( m ) u  0
i
 
O    i = 
( )
  
MO =  OPi  miu =  mi OPi  u
Pi
v1
v2
51325$),1*2,*12,,(1$12).,05*1,(50;AD
$15*.5*2,5(/5$015021,.,02,'*20(C
   
MO = OC  R = OC  ( m ) u i


"5(*,(9.01$-*,2*$*21.0 1(("C
 
( m OP )  ( m ) OC   u = 0

z 
C  i i i

O
$*, ( ,0#2 8 1  * 5* .5*2,   ( '
x y
*20(A$*.*$*2($0$-*().,
R


OC =
 m OP i i
=Centro de Vectores
m i

C C
(
(
R R R

( *20,  72,01 1


$*.*$*2  ( $0$-* (
C
( 1$12)72,01.0((,1D
$).0 1 .5 05$0  (
015(2*2.($*1.5*2,D
R

16
• $53($;),15*1$12)'19:;*C
 
( ) (
OC = x C yC z C ;OPi = x i yi ziC )

xC =
m x i i
; yC =
m y i i
zC =
m z i i

m i m i m i

,,0*1(*20,72,01

*1$12)72,01.0((,11151325:.,015
015(2*2.($*(*20,72,01

* ').(,  5* 1$12)  72,01 .0((,1A 1 (  (1 50;1 .1, /5
26*1,05*1$12))11/51*5*20*.0-9$)1(15.0 $
($00D

  
m1 pi = mi gi  migik
mi

k
ri
migi ( *20,  72,01  (1 50;1 .1,
O
mn 1(()%##*LDD"D,MC

  
  migi r i  mig r i  mi r i 
rG = = = = rc.d.m.
 migi si gi =g  mig  mi

,),*51201(20',#$25("1,*12*2A(DD"D,$*$,*
(*20,)11(1$12)LDD)DM

17
*20,107
(%#$$LDD)DM15*.5*2,(1$12).5*2,1)20$(1,5*
50.,*/5.5,**20012,()1()$1),D5 *$$-*150"$0*
( .02  $*)$A  ( 10$$0 ( Q< (:  82,* .0 5* 1$12)  .5*2,1
)20$(1LU)DD)MD

(%##*LDD"DM1(.5*2,*/526(015(2*2(.1,5*
50.,D 0  ( ,02; 200120 : * ( 1(  /5 *,1 7),1  ),70A (,1
72,01 .1, ,*1325:* * 1$12)  50;1 .0((1 : ( (0$-*  (
"0710,*12*2D*121,DD"D:DD)D,$*$*:*,100$0),1
((,1,*((20
m1    
 m1r1 + m2 r2 + ....... + mn rn  mi ri
mi
(xi, yi, zi) rG = =
m2 m1 + m2 + ...... + mn  mi
z
ri mn
O ,,0*1C
y
 mi x i  miyi  mizi
x xG = yG = zG =
 mi  mi  mi


$2$&(
m i  dm ri  r  

  r dm
rG = sólido
; msólido =  dm
dm (x, y, z)  dm sólido
sólido
z
r

O y  x dm  y dm  z dm
xG = sólido
yG = sólido
zG = sólido

x msólido msólido msólido

$(50.,3*;$$A()1,5.5*7,(5)* dm=  dV

siendo  : densidad de masa por unidad de volumen kg / m ( 3


)
 x dm  xdV  x dV
xG = sólido
= sólido
== sólido

msólido  dV si =cte


 dV *(,")*2.0::;
sólido sólido

18
$ ( 1-($, 1 ( ! 6: $$7A 15 )1 ,5. 5* 0D  )1 1
dm=  dA
.0,.,0$,*((0/5,5.1$*,
: densidad de masa por unidad de área kg / m2 ( )
dm (x, y, z)
z dA
 x dm  x dA  x dA
r xG = sólido
= sólido
== sólido

O
msólido   dA si =cte
 dA
y sólido sólido

$(1-($,1($LG()0HM15)1,5.5*(,*"$25()$1),D
*121, dm=  dl

: densidad de masa por unidad de longitud kg / m ( )

dm
 x dl  x dl  x dl
z
dl xG = sólido
= sólido
== sólido
r msólido   dl si =cte
 dl
sólido sólido
O y

x
L*(,")*2.0::;M

').(,C(%#(#%($$%%

 y dA  y dA
triáng triáng
h-y yG = =
dA  dA 1
bh
h triáng 2
dy
l (y) ,)),1,),(20,;,1,)0,C
y
b
dA = l ( y ) dy = ( h  y ) dy
b h

l(y) b b
,*#),12*$,*5*2/5C =  l(y) = (h  y)
(h  y) h h

2 b h 1 1
51325:*,*($*2"0(C yG = 0 ( h  y )·y·dy = h yG = h
bh h 3 3

 ,,0* #,0$;,*2( ( ,2*0%),1 1


xG = b
*121,A1$*)1/5)$0#.,0 3

19
$)20%1
5.,*"),1/5('511$)20%(.$;C.,0)5*$12*$9
(0#('A#0%,20,$*3,()$1)$12*$(,20,(,D
y

dm dm
Su contribución al numerador de la x Gsería :
-x dm+x dm=0  G en el eje y
-x +x
-

$9$125*()*2,1$)20%*(.$;A(DD"D121,0(

J$#:5*.(*,1$)20%A12*(.(*,
J$#:5*'1$)20%A12*('
G
J$#:5**20,1$)20%A,$*$,*(

G
G
zG

!$ %#$#*

*),15*1-($,UPTQ)1)
P Q
P:Q,*)11:"=1,*,$,1

(  ( ,*'5*2, 10% (  5* 1$12) 


,1)11C)P*P:)Q*Q
 
   +    =  + 
 = 
 + 


$(1,).,1$$-*1* 50.,1CPAEDDA 
  
   +   +  +  
 =
 +  +  + 


20
$(1-($,3*#5,1A1,),1$#5$1.021,*)1*"37

 
     
 =     =     =
   


L0 50.,1A(,).,1$$-*2*015)1:0121A1$#:#5,1M

#$!!($4(

0)$2* 1$250 DD"D  1-($,1 #,),"*,1D : 5*, .0 1-($,1
5*$$)*1$,*(1.(*,1LG()01HM:,20,.0.(1.(*1

9#%#
e
 5* 1-($, 5*$$)*1$,*( .(*,
 (,*"$25 1-($,D ( 0 
07,(5$-*.,0("*0(#0(,
xG G
"$00*2,0*,5*'5(/5$0/5
L s lido *, (, ,02A 12 0($,* ,* (
.,1$$-*  15 DD"D  ( 1$"5$*2
A generada
,0)C
e

 =   

  

$*,9($12*$("('07,(5$-*

21
:.%#  5* .(  15.0 $ .(D ( 7,(5)* "*0, .,0
07,(5$-* * 2,0*,  5* ' /5 *, ( ,02A "*0, 12
0($,*,,*(DD"D(.(*(,0)C

 =  

  

$*,9($12*$( "
(.(('0,2$-*

),120$-*C * 20,;, ()*2(  0   A 1$25, 


$12*$9('07,(5$-*"*05*7,(5)*C

 = 


*2"0*,2,,1(,1(.(C
 

  =  
      = 
 :/5C  =



 =  


50*2$1,0$,0C )$$1,0$,0C

1 2 1 2
Área = r Área= r
4 2

4r G
3 G
4r
4r 3
3

0$*"5(,C 502,$05*0*$0$,0

1
Área= b·h
2 1
h
Longitud = 2r
4
G
2r
G

h/3
2r

b/3
b

22
').(,1C("5*,1DD"D51*,..51I5($*
y
•%#(#"*0,*,
 =  

h
  
xG
G
   
b   =      = 
  

•(#%  #(# "*0 )$ 10


radio r
10$
xG  =   

G   
  
 =      =
  

•(#%$"*0)$10
radio r
 =  

  
xG
G    
 =     =
   

').(,C
7

((0(DD"D(.(( "50 4

3
O x
cotas en dm
y y
G2 3
6 y
4 2
G1 5
4
G3
O 4/
O 4 O 3 3
A1= 24 dm2
A2= 9 dm2 A3= 4.5 dm2
G1 (3 , 2)
G2 (4 , 5) G3 (3 , 4/)

  +         +    

 = =  
  +      +   

 =
  +       
=
( )
 +      

 
 +      +   


23
0"1$120$5$1
*)5#11$25$,*1(150;1*,26*1,05*1,(,.5*2,1$*,/5'0*15$-*
,0),*3*51,05*15.0 $,(,*"$25D(.1,)5#,1($0,11,05*12*2A
(.1,(*$71,05*2',,(50;/5#("51,0(.0(.-1$2,
/5(,*3*1,*').(,150;1$120$5$1*5*;,*D*2(11,1105*2
9.010(1,),5**1$0"/5193*1,0$#;,*D),170,),
1055*0".,05*$(,*"$25*5*1-($,D

"5

0"1$120$5$1
dF=f(x) dx=dA
dF
f (x) =
dx

O X O X
x
C(,*"$25(7$"
dx

dF
L9M(0".,05*$(,*"$25/526(,(0",(7$"C f(x) = (N/m)
dx
,05*20,;,(,*"$259A265*50;UL9M9UD

$(%%2 R=  dF = 0 f(x)dx = Área


L

!+ C R( rea)

G (c.d.g. rea)
MO = xRR =  x dF = 0 xf(x)dx =  x dA
L

L
0 xf(x)dx  x dA O
xR = = = x G (del cdg del área)
R A xR=xG

24
#$(%%(#$%#($#!#,#,$%!
333$3

0,).,*0$120$5$,*1.03070$1,*,$1A11$"5*(10"(1,).,1$$-*
DD"DF1

').(,C
4N/m
9N
15 N
(3 N/m)
6N

1 N/m (1 N/m)
3 3.6
A A A
6m 4

Carga rectangular: Carga triangular: Resultante


R1=1 6= 6 N R2=(1/2) 6 3= 9 N R=6+9=15 N
x1= 3 m x2= (2/3) 6= 4 m 3 6+4 9
xR= = 3.6 m
15

25

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