Ayudantía 3 para Certamen 3

Este ejercicio se encuentra resuelto por equilibrio de torque en B en la guía que se

encuentra en el pdf Ej6CRPlanoV5 en el EJEMPLO 6.9. En la ayudantía se resolvió por
Lagrange para demostrar que se llega al mismo resultado.

El sistema es de un grado de libertad.

Parámetro: θ

Momento de Inercia con respecto a B:

(
I B = I barra1 con respecto a B + I barra 2 con respecto a B + I disco + M ⋅ l 2 )
 1 1 1  1
I B = ⋅ m ⋅ l 2 + ⋅ (2 ⋅ m) ⋅ (2 ⋅ l) 2 +  ⋅ M ⋅ R 2 + M ⋅ l 2  = (3 ⋅ m + M ) ⋅ l 2 + ⋅ M ⋅ R 2
3 3 2  2
Resolviendo por Lagrange:

1
T = Trotacional + Ttraslacional = ⋅ I B ⋅ θ& 2 + 0
2

1  1 
T = ⋅ (3 ⋅ m + M ) ⋅ l 2 + ⋅ M ⋅ R 2  ⋅θ& 2
2  2 

1
V = Vgravitatoria + Velástica = masa ⋅ g ⋅ alturarespecto a referencia + ⋅ k resorte ⋅ (δ − δ estático ) 2
2
 l  1 1 
V =  2 ⋅ m ⋅ g ⋅ l ⋅ sen(θ ) + m ⋅ g ⋅ ⋅ cos(θ ) + M ⋅ g ⋅ l ⋅ cos(θ )  +  ⋅ 2 ⋅ K ⋅ (l ⋅ θ − δ st ) 2 + ⋅ K ⋅ (2 ⋅ l ⋅ θ − δ st ) 2 
 2  2 2 
L = T −V

1  1  l
L = ⋅ (3 ⋅ m + M ) ⋅ l 2 + ⋅ M ⋅ R 2  ⋅ θ& 2 − 2 ⋅ m ⋅ g ⋅ l ⋅ sen(θ ) − m ⋅ g ⋅ ⋅ cos(θ ) −
2  2  2
1 1
M ⋅ g ⋅ l ⋅ cos(θ ) − ⋅ 2 ⋅ K ⋅ (l ⋅ θ − δ st ) 2 − ⋅ K ⋅ (2 ⋅ l ⋅θ − δ st ) 2
2 2

dL  1  d  dL   1 
= (3 ⋅ m + M ) ⋅ l 2 + ⋅ M ⋅ R 2  ⋅θ& ⇒   = (3 ⋅ m + M ) ⋅ l 2 + ⋅ M ⋅ R 2  ⋅θ&&
dθ&  2  dt  dθ&   2 
dL m 
= −2 ⋅ m ⋅ g ⋅ l ⋅ cos(θ ) +  + M  ⋅ g ⋅ l ⋅ sen(θ ) − 6 ⋅ K ⋅ l 2 ⋅θ + 4 ⋅ K ⋅ l ⋅ δ st
dθ 2 

d  dL  dL
 − =0
dt  dq&  dq

 2 1 2  && m  2
(3 ⋅ m + M ) ⋅ l + 2 ⋅ M ⋅ R  ⋅ θ + 2 ⋅ m ⋅ g ⋅ l ⋅ cos(θ ) −  2 + M  ⋅ g ⋅ l ⋅ sen(θ ) + 6 ⋅ K ⋅ l ⋅ θ − 4 ⋅ K ⋅ l ⋅ δ st = 0
Si θ<< (Pequeñas oscilaciones), cos( θ ) → 1 y sen( θ ) → θ :

 2 1 2  &&  m  2
(3 ⋅ m + M ) ⋅ l + 2 ⋅ M ⋅ R  ⋅ θ −  2 + M  ⋅ g ⋅ l − 6 ⋅ K ⋅ l  ⋅ θ + 2 ⋅ m ⋅ g ⋅ l − 4 ⋅ K ⋅ l ⋅ δ st = 0 (9)
    
Dado que:

1 m⋅ g
δ st = ⋅ (8)
2 K

• Comprobar en Ej6CRPlanoV5.pdf EJEMPLO 6.9

Reemplazando (8) en (9):

 2 1 2  &&  2 m  
(3 ⋅ m + M ) ⋅ l + 2 ⋅ M ⋅ R  ⋅θ + 6 ⋅ K ⋅ l −  2 + M  ⋅ g ⋅ l ⋅ θ = 0
 
Se observa que se obtiene la misma ecuación que en Ej6CRPlanoV5.pdf EJEMPLO 6.9.

Para obtener la frecuencia natural del sistema, se debe obtener el término ω2 de una
ecuación de la forma:

q&& + ω 2 ⋅ q = 0

m  m 
6 ⋅ K ⋅ l2 −  + M  ⋅ g ⋅ l 6 ⋅ K ⋅ l2 −  + M  ⋅ g ⋅ l
θ&& + 2  ⋅θ = 0 ⇒ ω 2 = 2 
1 1
(3 ⋅ m + M ) ⋅ l 2 + ⋅ M ⋅ R 2 (3 ⋅ m + M ) ⋅ l 2 + ⋅ M ⋅ R 2
2 2
La frecuencia natural del sistema corresponde a:

m 
6 ⋅ K ⋅ l2 −  + M  ⋅ g ⋅ l
ω= 2 
1
(3 ⋅ m + M ) ⋅ l 2 + ⋅ M ⋅ R 2
2
La solución es válida si la rigidez de los resortes cumple:

m 
6 ⋅ K ⋅ l2 −  + M  ⋅ g ⋅ l > 0
2 

g
K > (m + 2 ⋅ M ) ⋅
12 ⋅ l
2

- El sistema tiene 2 grados de libertad:

- Parámetros: θ, xA

 x& B = x& A − 2 ⋅ a ⋅θ& ⋅ sen(θ )

x B = x A + 2 ⋅ a ⋅ cos(θ ) ⇒ 
&& &2
&x&B = &x&A − 2 ⋅ a ⋅θ ⋅ sen(θ ) − 2 ⋅ a ⋅θ ⋅ cos(θ )

 y& = 2 ⋅ a ⋅θ& ⋅ cos(θ )

y B = 2 ⋅ a ⋅ sen(θ ) ⇒  B
&& &2
 &y&B = 2 ⋅ a ⋅θ ⋅ cos(θ ) − 2 ⋅ a ⋅θ ⋅ sen(θ )

a  x&C = x& A − 4 ⋅ a ⋅θ& ⋅ sen(θ )

xC = x A + 4 ⋅ a ⋅ cos(θ ) + ⇒ 
2 &x&C = &x&A − 4 ⋅ a ⋅θ&& ⋅ sen(θ ) − 4 ⋅ a ⋅θ& 2 ⋅ cos(θ )

a
yC = ⇒ y& C = &y&C = 0
2
Inercia del punto B, centro de masa de la barra:

1 M 4
I CM barra = I B = ⋅ ⋅ ( 4 ⋅ a) 2 = ⋅ a 2 ⋅ M
12 3 9
Equilibrio en el bloque:

H = M ⋅ &x&C

H = M ( &x&A − 4 ⋅ a ⋅θ&& ⋅ sen(θ ) − 4 ⋅ a ⋅θ& 2 ⋅ cos(θ )) (1)

N − M ⋅ g = M ⋅ &y&C

N = M ⋅g

Equilibrio en la barra:

En x:

M
−H = ⋅ &x&B
3
 M
H =− ⋅ ( &x&A − 2 ⋅ a ⋅ θ&& ⋅ sen(θ ) − 2 ⋅ a ⋅θ& 2 ⋅ cos(θ )) (2)
3
En y:

M ⋅g M
V− = ⋅ &y&B
3 3

M
V= ⋅ (2 ⋅ a ⋅ θ&& ⋅ cos(θ ) − 2 ⋅ a ⋅ θ& 2 ⋅ sen(θ ) + g ) (3)
3
De torque con respecto a B:

H ⋅ 2 ⋅ a ⋅ sen(θ ) − V ⋅ 2 ⋅ a ⋅ cos(θ ) = I B ⋅θ&&

4
H ⋅ 2 ⋅ a ⋅ sen(θ ) − V ⋅ 2 ⋅ a ⋅ cos(θ ) = ⋅ a 2 ⋅ M ⋅θ&& (4)
9
Reemplazando (2) y (3) en (4):

M
⋅ (− &x&A + 2 ⋅ a ⋅θ&& ⋅ sen(θ ) + 2 ⋅ a ⋅θ& 2 ⋅ cos(θ )) ⋅ 2 ⋅ a ⋅ sen(θ ) −
3
M 4
⋅ (2 ⋅ a ⋅θ&& ⋅ cos(θ ) − 2 ⋅ a ⋅θ& 2 ⋅ sen(θ ) + g ) ⋅ 2 ⋅ a ⋅ cos(θ ) = ⋅ a 2 ⋅ M ⋅θ&&
3 9

2 
&x&A ⋅ sen(θ ) + 4 ⋅ a ⋅θ&& ⋅  − sen 2 (θ )  − 4 ⋅ a ⋅θ& 2 ⋅ cos(θ ) ⋅ sen(θ ) + g ⋅ cos(θ ) = 0 ED1
3 
(1) - (2):

2 ⋅ &x&A = 7 ⋅ a ⋅θ&& ⋅ sen(θ ) + 7 ⋅ a ⋅θ& 2 ⋅ cos(θ ) ED2

Resolviendo por Lagrange:

1 1 M 1
T = TM + TM = ⋅ M ⋅ x&C2 + ⋅ ⋅ ( x& B2 + y& B2 ) + ⋅ I B ⋅ θ& 2
3 2 2 3 2
 1 1 M
T = ⋅ M ⋅ ( x& A − 4 ⋅ a ⋅θ& ⋅ sen(θ )) 2 + ⋅ ⋅ (( x& A − 2 ⋅ a ⋅θ& ⋅ sen(θ )) 2 +
2 2 3
2
4 ⋅ a 2 ⋅ θ& 2 ⋅ cos 2 (θ )) + ⋅ a 2 ⋅ M ⋅ θ& 2
9

1
T = ⋅ M ⋅ ( x& A2 − 8 ⋅ a ⋅ x& A ⋅θ& ⋅ sen(θ ) + 16 ⋅ a 2 ⋅θ& 2 ⋅ sen 2 (θ )) +
2
1 M
⋅ ⋅ (( x& A2 − 4 ⋅ a ⋅ x& A ⋅θ& ⋅ sen(θ ) + 4 ⋅ a 2 ⋅ θ& 2 ⋅ sen 2 (θ ) + 4 ⋅ a 2 ⋅ θ& 2 ⋅ cos 2 (θ )) +
2 3
2 2
⋅ a ⋅ M ⋅ θ& 2
9

M
T= ⋅ (6 ⋅ x& A2 − 42 ⋅ a ⋅ x& A ⋅θ& ⋅ sen(θ ) + 72 ⋅ a 2 ⋅θ& 2 ⋅ sen 2 (θ ) + 8 ⋅ a 2 ⋅θ& 2 )
9

2 14 8 
T = M ⋅  ⋅ x& A2 − ⋅ a ⋅ x& A ⋅θ& ⋅ sen(θ ) + 8 ⋅ a 2 ⋅θ& 2 ⋅ sen 2 (θ ) + ⋅ a 2 ⋅θ& 2 
3 3 9 

M a
V= ⋅ g ⋅ 2 ⋅ a ⋅ sen(θ ) + M ⋅ g ⋅
3 2
L = T −V

2 14 8 2 1 
L = M ⋅  ⋅ x& A2 − ⋅ a ⋅ x& A ⋅ θ& ⋅ sen(θ ) + 8 ⋅ a 2 ⋅ θ& 2 ⋅ sen 2 (θ ) + ⋅ a 2 ⋅ θ& 2 − ⋅ a ⋅ g ⋅ sen(θ ) − g ⋅ a 
3 3 9 3 2 
d  dL  dL
 − =0
dt  dq&  dq

dL 4 14  dL
= M ⋅  ⋅ x& A − ⋅ a ⋅θ& ⋅ sen(θ )  =0
dx& A 3 3  dx A

2 ⋅ &x&A = 7 ⋅ a ⋅θ&& ⋅ sen(θ ) + 7 ⋅ a ⋅θ& 2 ⋅ cos(θ ) ED2

dL  14 16 
= M ⋅  − ⋅ a ⋅ x& A ⋅ sen(θ ) + 16 ⋅ a 2 ⋅θ& ⋅ sen 2 (θ ) + ⋅ a 2 ⋅θ& 
dθ&  3 9 
d  dL   14 14 16 2 
 &  = M ⋅  − ⋅ a ⋅ &x&A ⋅ sen(θ ) − ⋅ a ⋅ x& A ⋅ θ& ⋅ cos(θ ) + 16 ⋅ a ⋅θ&&⋅ sen (θ ) + 32 ⋅ a ⋅ θ& ⋅ sen(θ ) ⋅ cos(θ ) + ⋅ a ⋅ θ&&
2 2 2 2

dt  dθ   3 3 9 
dL  14 2 
= M ⋅  − ⋅ a ⋅ x& A ⋅ θ& ⋅ cos(θ ) + 16 ⋅ a 2 ⋅θ& 2 ⋅ sen(θ ) ⋅ cos(θ ) − ⋅ a ⋅ g ⋅ cos(θ ) 
dθ  3 3 
8
− 7 ⋅ &x&A ⋅ sen(θ ) + 24 ⋅ a ⋅θ&& ⋅ sen 2 (θ ) + 24 ⋅ a ⋅θ& 2 ⋅ sen(θ ) ⋅ cos(θ ) + ⋅ a ⋅θ&& + g ⋅ cos(θ ) = 0 ED1'
3
Pero ED2 · sen( θ ):

8 ⋅ &x&A ⋅ sen(θ ) = 28 ⋅ a ⋅ θ&& ⋅ sen 2 (θ ) + 28 ⋅ a ⋅ θ& 2 ⋅ sen(θ ) ⋅ cos(θ ) (5)

(5) + ED1’

8
&x&A ⋅ sen(θ ) − 4 ⋅ a ⋅θ&& ⋅ sen 2 (θ ) − 4 ⋅ a ⋅θ& 2 ⋅ sen(θ ) ⋅ cos(θ ) + ⋅ a ⋅ θ&& + g ⋅ cos(θ ) = 0
3
2 
&x&A ⋅ sen(θ ) + 4 ⋅ a ⋅θ&& ⋅  − sen 2 (θ )  − 4 ⋅ a ⋅θ& 2 ⋅ sen(θ ) ⋅ cos(θ ) + g ⋅ cos(θ ) = 0 ED1
3 
ED1 y ED2 son iguales obtenidos mediante Lagrange y fuerzas.

Reemplazando (ED2) / 2 en ED1:

8 1 1
⋅ a ⋅θ&& − ⋅ a ⋅θ&& ⋅ sen 2 (θ ) − ⋅ a ⋅ θ& 2 ⋅ cos(θ ) ⋅ sen(θ ) + g ⋅ cos(θ ) = 0
3 2 2

16 ⋅ a ⋅θ&& − 3 ⋅ a ⋅θ&& ⋅ sen 2 (θ ) − 3 ⋅ a ⋅θ& 2 ⋅ cos(θ ) ⋅ sen(θ ) + 6 ⋅ g ⋅ cos(θ ) = 0

3 ⋅ a ⋅θ& 2 ⋅ sen(θ ) ⋅ cos(θ ) − 6 ⋅ g ⋅ cos(θ )

θ&& =
a ⋅ (16 − 3 ⋅ sen 2 (θ ))

Por conservación de momentum lineal en x, dado que no existen fuerzas externas en la

dirección x:

Fx = p& x = 0 ⇒ p x = cte

Y ya que el sistema parte del reposo:

v x inicial = 0 ⇒ p x inicial = 0

⇒ px = 0
 M
px = ⋅ x& B + M ⋅ x&C = 0
3

2 ⋅ x& A − 7 ⋅ a ⋅θ& ⋅ sen(θ ) = 0

7
x& A = ⋅ a ⋅θ& ⋅ sen(θ ) (6)
2
L + T = cte
2 2 14 8 2 1
⋅ x& A − ⋅ a ⋅ x& A ⋅ θ& ⋅ sen(θ ) + 8 ⋅ a 2 ⋅ θ& 2 ⋅ sen 2 (θ ) + ⋅ a 2 ⋅ θ& 2 + ⋅ a ⋅ g ⋅ sen(θ ) + g ⋅ a = cte (7)
3 3 9 3 2

Reemplazando (6) en (7)

49 2 & 2 8 2 1 d
− ⋅ a ⋅ θ ⋅ sen 2 (θ ) + 8 ⋅ a 2 ⋅ θ& 2 ⋅ sen 2 (θ ) + ⋅ a 2 ⋅ θ& 2 + ⋅ a ⋅ g ⋅ sen(θ ) + g ⋅ a = cte /
6 9 3 2 dt
− 3 ⋅ a ⋅ θ ⋅ θ ⋅ sen (θ ) − 3 ⋅ a ⋅ θ ⋅ sen(θ ) ⋅ cos(θ ) + 16 ⋅ a ⋅ θ ⋅ θ + 6 ⋅ a ⋅ g ⋅ θ& ⋅ cos(θ ) = 0
2 & && 2 2 &3 2 & &&

&& 3 ⋅ a ⋅θ& 2 ⋅ sen(θ ) ⋅ cos(θ ) − 6 ⋅ g ⋅ cos(θ )

θ=
a ⋅ (16 − 3 ⋅ sen 2 (θ ))

Se obtiene el mismo resultado de aceleración angular que por Lagrange y fuerzas.

Utilizando la propiedad:

θ&& ⋅ dθ = θ& ⋅ dθ&

e integrando a ambos lados:

θ θ&
3 ⋅ a ⋅ θ& 2 ⋅ sen(θ ) ⋅ cos(θ ) − 6 ⋅ g ⋅ cos(θ )
∫θ ( 2
a ⋅ 16 − 3 ⋅ sen (θ ) ) ⋅ dθ = ∫ θ& ⋅ dθ&
0
i

θ θ
θ& 2 sen(θ ) ⋅ cos(θ ) cos(θ )
2
= 3 ⋅θ& 2 ⋅ ∫(
θ 16 − 3 ⋅ sen 2 (θ ))−6 ⋅ g ⋅ ∫θ a ⋅ 16 − 3 ⋅ sen2 (θ ) ⋅ dθ
( )
i
La velocidad angular de la barra en función de la posición angular de ésta queda:

1
Arcsen 
4
cos(θ )
6⋅ g ⋅ ∫ 16 − 3 ⋅ sen 2 (θ )
⋅ dθ
θ& = − θ
 
1 θ
sen(θ ) ⋅ cos(θ ) 
a ⋅ − 3⋅ ∫ 2
dθ 
 2 1
16 − 3 ⋅ sen (θ ) 
Arcsen 
  4 

• El signo negativo viene dado por el sentido del grado de libertad θ.

El resultado resolviendo las integrales es:

1
Arcsen 
  4 + 3 ⋅ sen(θ )   4
  
g ⋅  ln   ⋅ 3
  4 − 3 ⋅ sen(θ )  
&    θ
θ =−
  253  
(
2 ⋅ a ⋅ 1 − ln 3 ⋅ cos 2 (θ ) + 13 + ln )  
  16 

Los argumentos de los valores absolutos son siempre positivos en el problema.

  32 ⋅ 3 + 259   4 + 3 ⋅ sen(θ )  
g ⋅  ln  − ln


 4 − 3 ⋅ sen(θ )   ⋅ 3
 253
θ& = −     
  253  
( )
2 ⋅ a ⋅ 1 − ln 3 ⋅ cos 2 (θ ) + 13 + ln  
  16 

La velocidad angular de la barra en función de la posición angular de ésta queda:

  32 ⋅ 3 + 259   4 + 3 ⋅ sen(θ )  
g ⋅  ln  − ln


 4 − 3 ⋅ sen(θ )   ⋅ 3
 253
θ& = −     
  253  
( )
2 ⋅ a ⋅ 1 − ln 3 ⋅ cos 2 (θ ) + 13 + ln  
  16  
La velocidad del bloque en función de θ:

x&C = x& A − 4 ⋅ a ⋅ θ& ⋅ sen(θ )

Reemplazando (6):

1
x&C = − ⋅ a ⋅ θ& ⋅ sen(θ )
2

1
Arcsen 
4
cos(θ )
1
6⋅ g ⋅ ∫
θ 16 − 3 ⋅ sen 2 (θ )
⋅ dθ
x&C = ⋅ a ⋅ ⋅ sen(θ )
2  
1 θ
sen(θ ) ⋅ cos(θ ) 
a ⋅ − 3⋅ ∫ 2
dθ 
 2 1
16 − 3 ⋅ sen (θ ) 
Arcsen 
 4 

  32 ⋅ 3 + 259   4 + 3 ⋅ sen(θ )  
g ⋅  ln  − ln


 4 − 3 ⋅ sen(θ )   ⋅ 3
 253
1
x&C = ⋅ a ⋅     
⋅ sen(θ )
2   253  
( )
2 ⋅ a ⋅ 1 − ln 3 ⋅ cos 2 (θ ) + 13 + ln  
  16  

Y el rango de validez de la solución es:

1
0 ≤ θ ≤ Arcsen 
4