Ejercicio 2 –

Mo = 5 Nm t = 2 s distancia a = 0,2 m ω2 = 12 rad/s = cte masa disco = m = 4 kg

Mo

Solución: Mo  αo  ωo y

c αo
ω2 ωo
z
x

Hc = Ixx ωx i + Iyy ωy j + Izz ωz k

Hc = ¼ m r² ωo i + ½ m r² ω2 k

H = H xyz + Ω x Hc

i j k 

Ω x Hc = ¼ m r² o 0 0  = ½ m r² ωo ω2 j

o 0 2 2 

Ω x Hc = - ½ m r² ωo ω2 j

H 
xyz = Ixx α = ¼ m r² αo i

H = ¼ m r² αo i – ½ m r² ωo ω2 j
ac = aA + α x rC/A + ω x ω x rC/A = 0
F=0

ΣMA = 2a i x (B j + B k) + 4a i x (- mg j) + Mo i = H   xyz + Ω x Hc

ΣMA = 2a i x (B j + B k) + 4a i x (- mg j) + Mo i = ¼ m r² αo i – ½ m r² ωo ω2 j

i j k i j k
 2a 0 0  + 4a 0 0  + Mo i = ¼ m r² αo i – ½ m r² ωo ω2 j

 0 By Bz   0  mg 0 

-2aBz j + (2aBy - 4amg) k + Mo i = ¼ m r² αo i – ½ m r² ωo ω2 j

Mo = ¼ m r² αo
-2aBz = – ½ m r² ωo ω2
2aBy - 4amg = 0

Mo 5
αo = = = 125 rad/s² ωo = αo t = (125)(2) = 250 rad/s
1 / 4mr ² (0.25)( 4)( 0.2)²

 (0.5)( 4)( 0.2)²( 250)(12)

Bz = = 600 N
 2(0.2)

4( 4)( 9.8)
By = = 78.48 N
2

Ay j + Az k + 600 k + 78.48 j – (4)(9.8) j = 0

Ay = - 78.48 + 4 (9.8) = -39.28 N

Az = -600 N
Ax = 0 Bx = 0
k