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November 16th, 2022.

MACHINES AND MECHANISMS “Activity 2 U5”

Professor: Gustavo Adolfo Fajardo Pulido


Members:
Sandy Merili Manzanilla Martínez 21332061
Miguel Ángel Thomas Morales 21332062
Jehudi Vueltiflor Ovando 21332088
Elvis León Hernández 20332079
Manuel Alberto Meneses Sánchez 21332078
Ángel Gabriel López González 20332076
Luis Enrique Izaguirre Jiménez 21332084
Bruno Adonai González Allende 21332069
Omar Mendoza Zaragoza 21332082
Daniel Domínguez Romero 21332066

TSU in naval area maintenance


MIN-31
Types of Bearings
The rotary element that can be used in the manufacture of the bearing, can be balls,
rollers, or needles.
Types of Bearings
In bearings the rotary movement, depending on the direction of the stress it supports, can
be axial, radial, and axial-radial.
A radial bearing is the one that supports radial forces, which are forces of direction normal
to the direction that passes through the center of its axis, such as a wheel, it is axial if it
supports forces in the direction of its axis, example in quicio, and axial-radial if it can
support them in both, alternately or combined.
The manufacture of ball bearings or bearings is the one that occupies a very special place
in technology, given the procedures to achieve the perfect sphericity of the ball. The
largest manufacturers of this type of bearing use vacuum for this purpose. The material is
subjected to abrasive treatment in absolute vacuum chambers. The final product is not
almost perfect, gravity is also attributed as an adverse effect.
Each class of bearing types shows characteristic properties, which depend on its design,
and which makes it appropriate for a given application. For example, deep groove ball
bearings can withstand moderate radial loads as well as small axial loads. They have low
friction and can be produced with great precision. Therefore, they are preferred for
medium and small size electric motors. Spherical roller bearings can withstand very heavy
radial loads and are oscillating, allowing them to assume shaft bending, between two
bearings, which support the same shaft. These properties make them very popular for
applications for example in heavy engineering, where the loads are strong, as well as the
deformations produced by the loads, in large machines it is also common some
misalignment between bearing supports.
DEEP GROOVE BALL BEARINGS
Deep groove ball bearings are the most common type of bearings and are particularly
versatile. They have low friction and are optimized for low noise and low vibration,
allowing for high rotational speeds. They withstand radial and axial loads in both
directions, are easy to mount and require less maintenance than other types of bearings.

The SKF bearing catalogue contains a wide range of designs, versions, and sizes of deep
groove ball bearings. In addition to our catalogue offering, SKF Explorer deep groove ball
bearings can be customised to offer advantages in applications with specific performance
needs.
DESIGNS AND VERSIONS
One-row deep groove ball bearings
Stainless steel deep groove ball bearings
One-row deep groove ball bearings with filling necklines
Two-row deep groove ball bearings
Product Details

Bearing data
Loads
Temperature limits
Permissible speed
Designation system.

FEATURES
1. The structure of each ring of the deep groove ball bearing has a continuous groove
raceway with a cross section of about one-third of the ball circumference. It is mainly used
to withstand radial loads and can also withstand certain axial loads.
2. When the radial clearance of the bearing increases, it has the characteristics of an
angular contact ball bearing and can withstand the axial load by alternating in two
directions.
3. Low friction and high speed.
4. Simple structure, low manufacturing cost and high manufacturing accuracy easy to
achieve.
5. Usually wave-stamped cages are used, and bearings with an inner diameter greater
than 200mm or operating at high speed adopt solid cages made for automobiles.

There are more than 60 variant structures of deep groove ball bearings.
Angular contact single-row ball bearings
The bearing of a row of balls with angular contact has its raceways arranged so that the
pressure exerted by the balls is applied obliquely with respect to the shaft. Because of this
arrangement, the bearing is particularly suitable to withstand not only radial loads, but
also large axial loads, and must be mounted in contrast to another bearing that can
receive axial load in the opposite direction.
Angular contact ball bearings have the raceways of their inner and outer rings offset from
each other in the direction of the bearing shaft. This means that these bearings have been
designed to withstand combined loads, i.e. simultaneous radial and axial loads.
The axial load capacity of angular contact ball bearings increases as the contact angle
increases. The contact angle is defined as the angle formed by the line joining the contact
points between the ball and the raceways in the radial plane, along which the combined
load is transmitted from one raceway to the other, with a line perpendicular to the
bearing shaft.
FEATURES

Characteristics:
Height mm.35
Diam. Ext. mm.150
Diam. Int. mm.70

SPECS
Angular contact ball bearings have the raceways of their inner and outer rings offset from
each other in the direction of the bearing shaft. This means that they have been designed
to withstand combined loads, that is, simultaneous radial and axial loads.
The axial load capacity of angular contact ball bearings increases with increasing contact
angle.
NEEDLE BEARINGS
A needle bearing is a special type of bearing that uses long, thin cylindrical parts
resembling needles as rolling elements. In ordinary roller bearings, these cylinders are
only slightly longer than their diameter, while needle bearings typically have rollers that
are at least four times longer than their diameter.1 Like all bearings, they are used to
reduce the friction of a rotating surface.
Compared to ball bearings and ordinary roller bearings, needle bearings have a larger
surface area in contact with grooves, so they can withstand higher loads. They are also
thinner, so they require less separation space between the axis and the element around it.
Needle bearings are widely used in automotive, forming part of rocker arm pivots,
hydraulic pumps, compressors, and transmissions. The drive shaft of a rear-wheel drive
vehicle usually has at least eight needle bearings (four on each gimbal) and often more if it
is particularly long or its design includes a strong tilt.

The main characteristic that defines needle bearings is that they are formed by cylindrical
rollers of a very small diameter with respect to their length. They are very suitable for
applications where radial space is limited and have a high load capacity considering the
size of their section. All the technical construction characteristics included in the NBS
needle bearing catalogue are standardized according to ISO and DIN standards.
CYLINDRICAL THRUST ROLLER BEARINGS.
Cylindrical roller bearings are a type of rolling element thrust bearing. They are used when
axial forces or very high impact-type loads are encountered during operation. A cylindrical
roller thrust bearing usually comprises an axle washer, a casing washer, cylindrical rolling
elements and a cage as a spacer.
As the speed can differ at the inner and outer edges of rolling elements in bearings, they
can only be used when bearing speeds are low. Because the speed differential also
prevents pure rolling motion, the shortest possible cylindrical rollers are used as rolling
elements.
The bearings are space-saving, extremely rigid and show high load capacity. A particular
design of the cylindrical roller thrust bearing with a particularly flat construction
corresponds to the needle roller thrust bearing, which is manufactured as a needle roller
cage without a washer.

FEATURES OF CYLINDRICAL ROLLER BEARINGS:


1. The roller and raceway are in linear contact or under contact, with large radial load
capacity. As a result, it is suitable for withstanding heavy loads and impact loads.
2. The coefficient of friction is small, which is suitable for high speed, and the limit speed is
close to the deep ball bearing.
3. Type N and NU type can move axially. Therefore, it can adapt to the change in the
relative position of the shaft and housing caused by thermal expansion or installation
error.
In addition, it can be used as a free end support.
4. The processing requirements for the axle or seat hole are relatively high. After the
bearings are installed by users, the relative deviation of the outer ring shaft must be
strictly controlled to avoid the concentration of the contact voltage.
5. Users can separate the inner ring and the outer ring without difficulty.
Precision is an indispensable 'quality' in bearings because they must work perfectly as they
represent the main dynamic support of any rotating machinery. It is an almost imminent
reality that many times the bearings have failures causing damage that will complicate our
lives, knowing them and being aware of the options that could prevent them or can solve
them will make a difference and simplify our existence.

Bearings are precise parts and therefore must work almost perfectly, with that precision
they must receive treatment, since they represent the main dynamic support of any
rotating equipment or machinery. Consequently, it is a general rule that suppliers and
manufacturers of bearings before anything ensure in production that they have the
strictest and highest quality controls, thus guaranteeing the reliability of each bearing
providing a reliable element.
It is often the case that the durability of bearings is less than the calculated rated life,
despite the ability to calculate it exactly thanks to the investment made in favor of each
product.
It is real, some bearings will present premature or even sudden failures and this causes
damage that affects machinery and production processes, there are certain quite common
causes why bearings fail more frequently today and there are also options that could
prevent them or prevent this failure from recurring.
Causes of bearing failures and how to identify them

There are several causes why a bearing can fail and each of them has a consequence. If we
examine the affected bearing, we may be able to form to identify the cause and take some
correct and effective action to fix it and prevent it from recurring.
The durability of bearings is determined by the number of revolutions they can make
before chipping. It should be clarified that this does not mean that the bearing cannot be
used later, since peeling is a continuous and relatively prolonged process and is
pronounced by the increase in noise levels and vibration in the bearing. [1]
1. Lack of lubrication
Almost three quarters of the bearings that fail prematurely is due to poor lubrication, this
is caused because the most important thing is the lubricating film and is created through
the viscosity of the base oil, among the causes that originate this deficiency we can
include, inadequate lubricants, excessive quantities, degradation of lubricants or shortage
of this. The best way to discover this type of failure is through ISO 15243 which is
characterized by abrasive, adhesive and fatigue wear of the raceways, it is common to find
lapping, scratches and discoloration. To prevent this failure, you can choose to use the
right lubricant, with the right frequency, in the right amount, applying in the right place,
using the right method and with the right condition.

2. Pollution
This failure is caused by foreign substances frequently contained in the lubricant at the
time of application or by the process itself where the bearing is operating. It is produced
by indentations in the raceways, in the rolling elements, formation of micro craters, and
fan-shaped footprints. To prevent this failure, procedures can be implemented focused on
the storage of lubricants, filtering of new lubricants, identification and labeling to avoid
miscibility, cleaning in work areas, grease and greasers, use clean gloves to reduce the risk
of contamination, improvement in sealing systems.[2]
3. Fake Brinell
This failure is caused by vibration between rolling elements and raceways, improper
transport, incorrect storage, also occurs in backup or emergency equipment due to
vibration transmissibility. It is usually identified by discoloration in reddish tones at the
same distance from the rolling elements, impression of the rolling elements on the
raceways, shearing on the tracks. It is possible to prevent this failure by implementing
transport procedure for repaired equipment by fixing the shaft, properly storing bearings
isolated from vibrations, dust and high ambient temperatures, implementing maintenance
tasks for the operation of backup equipment.

4. Friction corrosion (loss of interference at shaft or housing level)


The cause of this failure is the improper machining of the contact surfaces, shaft or
housing, specifically the rotating ring is the one that carries the strongest adjustment. It
can also occur by fixing one of the bearings and not allowing axial expansion. This fault
occurs when there are surfaces that are not fully in contact occurs a chemical reaction
that leads to the oxidation of the surfaces together with micro movements of the adjacent
components cause loss of material, in extreme cases fracture of some of the rings.
Damage can be prevented by launching a procedure so that in each replacement of
bearings the shaft and the housing is measured with a micrometer compare it with the
machining tolerances, if it is out of dimension and / or shape the option is to proceed to
machine properly, avoiding using some time of glue.
5. Overloading or Improper Assembly
This failure occurs when the bearing is cold mounted with unsuitable methods such as
chisels, punches, direct shocks, bronzes, etc. In these cases the rolling element being of a
steel harder than the rings receives the impacts axially which causes an overload and that
they bury in raceways, in initial stages they cause scratches or small craters, in advanced
stages there is loss of clearance in the alveoli of the cage causing abrasive wear. To
prevent this failure it is recommended to apply the mounting force on the ring that
rotates over 360° in circumference, if not possible at least 180°, the option is to follow the
generally recommended instructions.

6. Overheating
This failure is caused by heating the bearing to temperatures above 125 ° C, which
significantly affects dimensional stability, it can also occur by heating the bearing with
torches, oil bath without temperature control. It happens that when heated above the
dimensional stability the bearing suffers at the molecular level causing elastic deformation
this can affect the metallurgical properties of the material and affect its hardness, they
can cause "clean" fractures with a combination of load and speed. To prevent this failure
the most appropriate option is to mount the bearing with an induction heater at a
temperature of 110 ° C, train your staff in the correct use of tools.

7. Electrical erosion
This failure is caused by passage of current to the bearing or excessive voltage, it is mainly
due to operation of equipment with frequency inverters, loss of insulation in connections,
by electric arc when performing welding work and landing on equipment supports. In the
case of excessive voltage, sparks occur which cross the rolling elements, which causes loss
of material that melts on the raceways which in turn causes pitting located both in the
rolling element and in the raceway, in the case of the passage of current there is a low
intensity of current that is circulating between the components of the bearing which
causes indentations and development of grooves on the raceway as well as gray and dark
discolorations in the rolling elements. To prevent damage, insulated bearings can be used
to cut off current passage, properly insulate their equipment, and develop welding
procedures where physical land locations are indicated.
8. Moisture corrosion
Caused by long storage time of equipment with lubricated bearings, also by failures in
sealing and water ingress in backup equipment mainly pumping equipment. This mode of
failure occurs when condensation or water ingress is generated a chemical reaction occurs
that causes oxidation leaving traces of etching, same way in stored equipment the oil to
detach from its soap causing damage. To prevent this failure, we must implement a
maintenance task for stored equipment where the shaft is rotated with some frequency,
use a lubricant with adequate properties, improve sealing systems.
9. Misalignment
It usually occurs when the collinearity between equipment is lost, the forces caused
generate overload in the bearing leading to a decrease in its life and premature failure, it
can be caused in the same way by machining out of the form of seats, shoulders and
housings, also by mechanically fixing both bearings and not allowing axial expansion by
thermal growth. This failure usually occurs when the bearing is overloaded, there is
premature wear on raceways in the ring that rotates around its circumference appearing
the wear on one side and the static ring will present wear in the load area starting on one
side going to the center and ending in the opposite. The option to prevent this failure is to
improve your machining processes, implement proper assembly procedures, train your
personnel, and align your shafts and pulleys.

10. Storage and handling


This failure occurs when the bearing is not stored correctly in case it is preserved in its
original packaging the damage is caused by external vibrations, by long periods of storage
with conditions of humidity and high temperatures, in case of being outside its packaging
caused by the entry of contaminants. The bearing receives external vibrations by adjacent
machinery or by passage of heavy trucks, also by storing several bearings horizontally the
rolling elements cause damage, in the case of entry of contaminants from abrasive wear.
It can be prevented by training the warehouse personnel, keeping the shelves free of
vibrations and dust, controlling the temperature and humidity of the warehouse, not
removing the bearing from its wrapping until the moment of assembly, in case of losing
the packaging cover the bearing with waxed paper and spray it with some type of
anticorrosive.
Learn about the types of bearing lubricants that exist.
A good bearing lubricant is essential for the performance of your machinery. Did you know
that there is a wide variety of these products? The market offers you many options and
they all have specific features and purposes. So, if you want to find the alternative that
best fits your team, you must know its main varieties.
Therefore, at Tecnifajas we want to help you with such an important decision. In the
following article we detail what are the types of lubricants for bearings that you will find.

Importance of lubrication in machines


As you should know, the bearings are in constant contact. In this context, lubrication plays
an essential role for the good condition of the bearings. This is responsible for providing a
thin film between the moving parts of your equipment.
This reduces friction, dissipates heat, and inhibits corrosion on the tracks. The use of
lubricant will have a very noticeable effect on the performance of your machine. It will
influence the maximum operating speed, torque level, amount of noise and, finally, the
service life of the equipment.

Types of bearing greases


There is no such thing as a universal product that works perfectly in all contexts. In the
market you will find different types of lubricants for bearings:
1.- Mineral or synthetic lubricants
These are the most common alternatives and have been designed with high speeds and
overall usage in mind. Many of them are water resistant and have the ability to withstand
high or low temperatures. There are also some finely filtered versions to achieve some
noise reduction.

2.- Silicone lubricants


These are products whose viscosity changes much less because of temperature. These
also usually have good water resistance and are safe to use with most plastic materials.
However, its performance is not good in contexts of high speeds and loads.

3.- Perfluorinated lubricants


Also known as PEPE, they are a non-flammable product, compatible with oxygen and
highly resistant to many chemicals. They also do not react with plastics or elastomers.
Many have low vapor pressure and are ideal for vacuum applications or in sterile
environments. There are even some that can withstand temperatures of up to 300 ° C.
4.- Dry lubricants
These are widely used in contexts where regular lubricants could be sources of
contamination such as in vacuum environments. Dry coatings such as molybdenum
disulfide and tungsten disulfide are burnished on the tracks for smoother performance
and maximum operating speed. As if that were not enough, they are also resistant to
water and dilute acids.
5.- Food grade lubricants
These are products required in the food industries, so they must comply with strict
hygiene standards. H1 lubricants are needed in bearings where incidental food contact
may occur. Also, H2 are used when there is no contact. These alternatives have been
designed to have a high resistance to cleaning products.

It may interest you: Know the benefits of lubrication in your machinery

OILS
Most of these maintain their consistency well over a wide temperature range and are
fairly easy to apply. This type of lubricants exists both in synthetic and petroleum form
and is applied in various forms such as baths, steam or oil jets.
Of all the options available, oils generally possess the highest speed capabilities and are
capable of cooling bearings during use. However, evaporation can have some impact on
these, which will cause a loss of lubrication over time.
This means that bearings that make use of oil lubricants may require subsequent
applications on a regular basis whether you have a redistribution system as part of the
design or not.
Fats
Fats are oil-based substances mixed with some form of thickener that is capable of
creating various consistencies, from semi-fluid to solid. In addition, these additives can
add additional protective capabilities such as anti-corrosion, antioxidant and other
advantages that shield parts from potential damage.
Greases fit better with heavy loads and have the great advantage of giving consistent
lubrication for a longer period of time and without maintenance. However, in high
concentrations it could be harmful to bearings. An excess will imply a greater resistance to
the rolling (greater torque).
Very well. Now you know the importance of lubrication in the industry and the different
types of this product at your disposal. Find a good supplier and get the best performance
from your team.
In Tecnifajas we offer you the widest variety of articles for your industrial machinery; as
well as various diagnostic services for your team. Are you interested in any of our products
or services? Contact us and we will respond as soon as possible.

Synthetic industrial grease


Designed for a variety of industrial, agricultural, construction and automotive applications,
it is a 1.5 NLGI multi-application lithium complex lubrication grease. Timken synthetic
industrial grease contains anti-wear additives for additional pressure as well as corrosion
inhibitors. [3]

Design attributes
Contains anti-wear additives for additional pressure.
Inhibits corrosion.
It operates in temperatures from -46 to 180 °C (-50 to 365 °F).

Applications
Synthetic industrial grease is particularly suitable for:
Wet bearings of paper machinery
Press section bearings
Felt and calenders guide roller bearings
TYPES OF CHUMACERAS
Chumaceras (Mounted Bearings)

Chumaceras are mounted bearings that are used to support rotation shafts. This type of
bearings are placed in a line parallel to the axis of the tree. Their design allows them to
provide great support to rotation, especially in handling loads that can range from light to
heavy, so they are widely used in pumps and conveyors.
This type of bearings have a self-lubricating design, have a tank that serves to store
lubricant, in this way they do not require constant external lubrication for optimal
operation, this allows saving time in stops for lubrication and maintenance of equipment,
its lubricant tank extends the lubrication intervals so it also extends the useful life of the
bearing.

What are Chumaceras?


A chumacera is a mounted bearing that is used to support a rotation shaft.
Classification of Chumaceras
There are several types of chumaceras:
Tensioner: This chumacera is used very frequently in conveyor belts where they align the
belt and axes. This way it is possible to keep the band centered correctly, it has a guide
that allows you to loosen or tighten the track according to the needs of the application. [4]
Wall: The wall chumaceras are distinguished by being installed fixed to the machine, in it
the axes are placed. These chumaceras have a box of 4 holes that serve to fix it on the
support.
Flange: This type of chumaceras allows the alignment of the axes vertically and is held by means of
two screws. It has a great advantage that is to be able to calibrate according to the requirements
of the application that requires it.

Nomenclature of the Chumaceras


For the identification of these components, they are placed a code called nomenclature,
with which they can be categorized and specify quickly and optimally details such as the
type of screws and elementswith which they can be combined.
Thanks to the nomenclature, the types and uses that a chumacera can have can also be
indicated; To read the code you must knowthat it is divided into 5 segments:
Two letters that refer to the type of bearing to be used with them
Formed by a letter, the second segment indicates the type of support that should be used
with that chumacera
The third segment is a number that indicates the diameter of the body of the chumacera
Formed by two numbers, the fourth segment corresponds to indicate the inner diameter
of the chumacera
The fifth segment combines a letter and a number, representing an additional code that
can indicate the type of screws that should be used, whether round head or bottom.
TYPES OF CHUMACERAS

Magnetic Bearing
A magnetic bearing is a type of bearing that supports a load using magnetic levitation.
Magnetic bearings support moving parts without physical contact. For instance, they are
able to levitate a rotating shaft and permit relative motion with very low friction and no
mechanical wear. Magnetic bearings support the highest speeds of any kind of bearing
and have no maximum relative speed.
Active bearings have several advantages: they do not suffer from wear, have low friction,
and can often accommodate irregularities in the mass distribution automatically, allowing
rotors to spin around their center of mass with very low vibration. [5]
Passive magnetic bearings use permanent magnets and, therefore, do not require any
input power but are difficult to design due to the limitations described by Earnshaw's
theorem. Techniques using diamagnetic materials are relatively undeveloped and strongly
depend on material characteristics. As a result, most magnetic bearings are active
magnetic bearings, using electromagnets which require continuous power input and an
active control system to keep the load stable. In a combined design, permanent magnets
are often used to carry the static load and the active magnetic bearing is used when the
levitated object deviates from its optimum position. Magnetic bearings typically require a
back-up bearing in the case of power or control system failure.
Magnetic bearings are used in several industrial applications such as electrical power
generation, petroleum refinement, machine tool operation and natural gas handling. They
are also used in the Zippe-type centrifuge,[1] for uranium enrichment and in
turbomolecular pumps, where oil-lubricated bearings would be a source of contamination.

• A magnetic bearing is a type of bearing that supports a load


using magnetic levitation.
• Magnetic bearings support moving parts without physical contact. For
instance, they are able to levitate a rotating shaft and permit relative
motion with very low friction and no mechanical wear. Magnetic
bearings support the highest speeds of any kind of bearing and have no
maximum relative speed.
• Active bearings have several advantages: they do not suffer from wear,
have low friction, and can often accommodate irregularities in the mass
distribution automatically, allowing rotors to spin around their center of
mass with very low vibration.
Applications
• Magnetic bearing advantages include very low and predictable friction, and the ability to
run without lubrication and in a vacuum.
Magnetic bearings are increasingly used in industrial machines such as compressors,
turbines, pumps, motors and generators.
• Magnetic bearings are commonly used in watt-hour meters by electric utilities to
measure home power consumption. They are
also used in energy storage or transportation applications and to support equipment in a
vacuum, for example in flywheel energy
storage systems. [24] [25] A flywheel in a vacuum has very low wind resistance losses, but
conventional bearings usually fail quickly in
a vacuum due to poor lubrication. Magnetic bearings are also used to support maglev
trains in order to get low noise and smooth
ride by eliminating physical contact surfaces. Disadvantages include high cost, heavy
weight and relatively large size.
• Magnetic bearings are also used in some centrifugal compressorsfor chillers with a shaft
made up of magnetic material lies
between magnetic bearings. A small amount of current provides magnetic levitation to
the shaft which remains freely suspended
in air ensuring zero friction between the bearing and the shaft.
• Among the most significant industrial applications are turbomolecular pumps for
vacuum generation in semiconductor production
plants. First commercial magnetic bearing type turbopumps without mechanical
stabilisation were marketed by Leybold AG in
1975 (electromagnetic) and in 1989 (permanent magnet based).
• In the field of vacuum metrology, the spinning rotor gauge (SRG) was introduced as a
reference standard by BIPM, Paris 1979. A
first laboratory setup of this gauge was established by Jesse Beams in 1946. Commercial
series production started in 1980 under
licenses from Forschungszentrum Jülich. The SRG is significant for vacuum process control
in semiconductor manufacturing
equipment.
References

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1 causas/. [Accessed November 15, 2022].
]

[ "TECHNIQUES," [Online]. Available: https://www.tecnifajas.com/blog/tipos-


2 lubricantes-rodamientos/. [Accessed November 15, 2022].
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[ "TINKEN," [Online]. Available: https://www.timken.com/es/products/productos-de-


3 transmision-de-potencia-mecanica-de-timken/lubricacion-y-sistemas-de-
] lubricacion/grasa-industrial-
synthetic/#:~:text=La%20grasa%20industrial%20sint%C3%A9tica%20de%20Timken%2
0contains%20additives,presi%C3%B3n%. [Accessed November 15, 2022].

[ "CHUMACERA," [Online]. Available: https://brr.mx/chumaceras/#tipos. [Accessed


4 November 16, 2022].
]

[ CHUMACERA, "WIKIPEDIA," [Online]. Available:


5 https://en.wikipedia.org/wiki/Center_of_mass. [Accessed November 16, 2022].
]

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