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    W AB

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    WillySurcoCoaguila
    This document provides information about various vectors, angular velocities, angular accelerations, and velocities in a multi-body system. Key details include: 1) Vectors rB, rD, and angular velocities wAB, wBD, wDE are defined. Equations relating the angular velocities and vectors are derived. 2) The angular accelerations αBD and αDE are calculated to be -645 rad/s^2 and 809 rad/s^2 respectively. 3) Additional equations are developed involving angles, velocities, and accelerations of points A, B, C, and D in the system. Values for various parameters are calculated when given conditions are true. 4)

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    © All Rights Reserved
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    W AB

    Uploaded by

    WillySurcoCoaguila
    45 views4 pages
    This document provides information about various vectors, angular velocities, angular accelerations, and velocities in a multi-body system. Key details include: 1) Vectors rB, rD, and angular velocities wAB, wBD, wDE are defined. Equations relating the angular velocities and vectors are derived. 2) The angular accelerations αBD and αDE are calculated to be -645 rad/s^2 and 809 rad/s^2 respectively. 3) Additional equations are developed involving angles, velocities, and accelerations of points A, B, C, and D in the system. Values for various parameters are calculated when given conditions are true. 4)

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    wAB

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    This document provides information about various vectors, angular velocities, angular accelerations, and velocities in a multi-body system. Key details include: 1) Vectors rB, rD, and angular velocities wAB, wBD, wDE are defined. Equations relating the angular velocities and vectors are derived. 2) The angular accelerations αBD and αDE are calculated to be -645 rad/s^2 and 809 rad/s^2 respectively. 3) Additional equations are developed involving angles, velocities, and accelerations of points A, B, C, and D in the system. Values for various parameters are calculated when given conditions are true. 4)

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    45 views4 pages

    W AB

    Uploaded by

    WillySurcoCoaguila
    This document provides information about various vectors, angular velocities, angular accelerations, and velocities in a multi-body system. Key details include: 1) Vectors rB, rD, and angular velocities wAB, wBD, wDE are defined. Equations relating the angular velocities and vectors are derived. 2) The angular accelerations αBD and αDE are calculated to be -645 rad/s^2 and 809 rad/s^2 respectively. 3) Additional equations are developed involving angles, velocities, and accelerations of points A, B, C, and D in the system. Values for various parameters are calculated when given conditions are true. 4)

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    of 4

    A

    r B=8 i+14 j
    B

    r D=−17i+17 j

    r B=12 i+3 j
    D
    E

    w AB=20 rad / s w BD =w BD k w DE =w DE k

    v D =v B+ v D /B

    w DE k x r D =w AB k x r B + wBD k x r D / B

    w DE k x (−17i+17 j )=20 k x ( 8 i+14 j ) + wBD k x (12 i+3 j )

    −17 w DE j−17 w DE i=160 j−280 i+12 wBD j−3 w BD i

    −17 w DE =−280−3 wBD

    −17 w DE =160 j+12 wBD

    w BD =−(29.33 rad / s) k , w DE =(11.29 rad /s)k

    α AB=0 , α BD =α BD k , α D E =α D E k , α D =α B +α D / B

    α D =α D E k x r D −w2DE r D

    α D =α D E k x (−17 i+17 j ) −( 11.29 )2 (−17 i+17 j )

    α D =−17 α D E j−17 α D E i +2170 i−2170 j

    α B =α BD k x r B−w 2AB r B=0−( 20 )2 ( 8 i+14 j )

    α B =−3200 i−5600 j

    α D / B =α BD k x ( 12i+3 j ) −( 29.33 )2 ( 12 i+3 j )

    α D / B =12α BD j−3 α BD i−10320 i−2580 j

    −17 α DE +3 α BD =−15690

    −17 α DE −12 α BD =−6010


    α BD =−(645 rad /s2 ) k , α DE =(809 rad /s2 ) k

    θ=40 °
    d=18−5 cos ∅−lcos 40 °
    ( b+ c )=10+5 sen ∅−l sen 40 °
    10+5 sen ∅
    tan 40 °=
    18−5 cos ∅
    5 sen ∅+ 4.19550 cos ∅=5.10379
    ∅=11.439 °  ∅=60rev
    ˙ /min=2 π rad /s
    a+ d=18∈¿
     a=5 cos ∅ , ȧ=−5 ∅˙ sen ∅ , b=5 sen ∅ , ḃ=−5 ∅˙ cos ∅ , c=10∈¿ constante
    ȧ+ ḋ=0
    ḋ=−ȧ=5 ∅˙ sen ∅
    ( b +c )
    tan ∅=
    d
    d sen ∅=( b+ c ) cos ∅
    ḋ sen ∅+ d ∅˙ cos ∅= ḃ cos ∅−( b +c ) ∅˙ sen ∅
    Cuando: θ=40 ° , ∅=11.439 ° , ∅=2
    ˙ π rad /s , a=4.90068∈¿ , b=0.99162∈¿ ,
    c=10∈¿ , d=13.09932∈¿ , ḋ=−ȧ=6.23055∈. /s , ḃ=30.79189∈./s
    θ̇=0.2394 rad / s  w BC =0.24 rad /s

    d=lcos ∅
    ḋ= l̇cos ∅−l̇ θ̇ sen ∅
    Entonces como: θ=40 °

    l=17.09995∈¿
    l̇=24.5655∈./ s
    v D =24.6∈./s
    r A / IC =0.6 cos 60 °=0.3 m

    V A 1.5
    w ABC = = =5rad /s
    r A / IC 0.3

    a B=a A + a ABC x r B / A −w ABC2 r B / A

    −a B i=−0.5 j+ (−a ABC k ) x (−0.6 cos 60 ° i−0.6 sen 60° j ) −52 (−0.6 cos 60 °i−0.6 sen 60 ° j )

    −a B i=( 7.5−0.5196 a ABC ) i+ ( 0.3 a ABC +12.490 ) j

    −a B=7.5−0.5196 a ABC

    0=0.3 a ABC +12.490

    a ABC =−41.63 rad /s 2=41.6 rad /s 2

    a B=−29.13 m/ s2

    a C =a B +a ABC x r C / B−w ABC2 r C / B

    ( a C )x i+ ( aC ) y j= [−(−29.13 ) i ] + [ −(−41.63 ) k ] x (−0.5 cos 30 ° i+0.5 sen 30° j ) −52 (−0.5 cos 30° i+0.5 sen 30 ° j )
    ( a C )x i+ ( aC ) y j=29.55i−24.28 j
    ( a C )x =29.55m/ s2 , ( a C ) y =−24.28 m/s 2=24.28 m/s 2
    2 2
    a C = ( aC ) x + ( aC ) y = √ 29.552 +24.282 =38.2m/ s2
    √
    (aC )y
    θ=tan −1
    [ ]
    ( aC ) x (
    =tan −1
    24.28
    29.55 )
    =39.4 °
    v A =v B + v A /B

    0.15 3
    θ=tan −1 =tan−1
    0.2 4

    AB= ´ /sen θ= 0.15 =0.25 m


    ´ CB
    3 /5
    w AB=40 rad / s
    ´ w AB
    v A /B = AB

    v A /B =0.25 ( 40 ) =10 m/s

    v B=v A / B senθ=10 ( 35 )=6 m/s


    ´
    DC 0.225
    vD= vB = 6=9 m/s
    BC
    ´ 0.15

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