dv d  v 0 
a= = 
dt dt  1 + θ 2 
(
 ⋅ rˆ + θ ⋅θˆ + )v0
1+θ
⋅
2 dt
d ˆ
r + θ ⋅θˆ ( )
d  v 0  dθ ˆ dθ
=  ⋅
dθ  1 + θ  dt
2
⋅ r + θ ⋅θˆ +
v0
⋅
1 + θ dθ
2
(
d ˆ
r + θ ⋅θˆ ⋅
dt
) ( )
 


a) El vector posición está dado por r (θ ) = r (θ ) ⋅ rˆ , con r (θ ) = a ⋅ θ
 1
= θɺ ⋅ - ⋅
v0
⋅ 2 ⋅θ ⋅ rˆ + θ ⋅ θˆ +
v0
( )  drˆ
⋅ +
d
θ ⋅ θˆ ( ) 

 2 (1 + θ 2 ) 2  dθ dθ
3
1 +θ 2 
Calculando el vector velocidad
 
 
v0 ⋅θ  drˆ dθˆ 

( )

v0

dr dr ˆ drˆ dr dθ ˆ drˆ dθ = θ ⋅ -
ɺ ⋅ rˆ + θ ⋅ θˆ + ⋅  + θˆ + θ ⋅
v= = ⋅r + r ⋅ = ⋅ ⋅r + r ⋅ ⋅  
 (1 + θ 2 ) 2  dθ dθ
3
dt dt dt dθ dt dθ dt 1 +θ 2 
 
(
= a ⋅ θɺ ⋅ rˆ + a ⋅ θ ⋅ θɺ ⋅ θˆ = a ⋅ θɺ ⋅ rˆ + θ ⋅ θˆ )
 
v0 ⋅θ

= θ ⋅ -
ɺ (
⋅ rˆ + θ ⋅θˆ +
v0
)
⋅ 2 ⋅θˆ − θ ⋅ rˆ ( ) 

 (1 + θ )
3
Según el enunciado, la magnitud de la velocidad es igual a v0 constante. Así: 2 2 1 + θ 2

 

v0  θ 
v = v 0 = a ⋅ θɺ ⋅ 1 + θ 2 ⇒ θɺ =
a ⋅ 1 +θ 2 = θɺ ⋅
v0
⋅ -
1 + θ 2  (1 + θ )
2
⋅ r ( )
ˆ + θ ⋅ θˆ + 2 ⋅ θˆ − θ ⋅ rˆ 

Así, el vector velocidad en función de θ está dado por:
v 02   θ   θ2  
= ⋅  -  + θ  ⋅ ˆ
r +  2 -  ⋅ θˆ 
( ) ( ) a ⋅ (1 + θ 2 )   (1 + θ 2 )  (1 + θ )

v0 v0
v = a⋅ ⋅ rˆ + θ ⋅ θˆ = ⋅ rˆ + θ ⋅ θˆ 
2
 
a ⋅ 1+θ 2 1+θ 2 

b) El vector unitario tangente a la trayectoria se define como: =

v 02
a ⋅ (1 + θ )
2 2
{
⋅ - 2 ⋅θ + θ 3  ⋅ rˆ + 2 + θ 2  ⋅θˆ }


ˆt = v

v d)

Si
los vectores velocidad y aceleración son perpendiculares, se cumple que
a • v = 0 . Reemplazando los resultados obtenidos en (a) y (c):
Reemplazando por el valor obtenido en a:
v 02
{ } v0
( )



⋅ - 2 ⋅θ + θ 3  ⋅ rˆ + 2 + θ 2  ⋅θˆ • ⋅ rˆ + θ ⋅ θˆ
( )
v0 a•v=
⋅ rˆ + θ ⋅ θˆ a ⋅ (1 + θ )
2 2
1 +θ 2
1 +θ 2
rˆ + θ ⋅θˆ
tˆ = =
v0
⋅ 1+θ2 1 +θ 2 =
v 02
⋅
v0
{
⋅ - ( 2 ⋅θ + θ 3 ) + ( 2 + θ 2 ) ⋅θ }
1 +θ a ⋅ (1 + θ )
2 2
1 +θ
2 2

c) Calculando la aceleración =
v 02
⋅
v0
{ }
⋅ - ( 2 ⋅θ + θ 3 ) + ( 2 ⋅θ + θ 3 ) = 0
a ⋅ (1 + θ )
2 2
1 +θ 2
 Fe de erratas: los resultados son correctos si la velocidad aumenta a un ritmo
En el punto de contacto C de la leva A con el seguidor B, lasvelocidades constante de 20 [mm/s2] y no 2 [mm/s2]
tangenciales son iguales, es decir v AC = v BC
La aceleración total de este sistema se compone de:
Las aceleraciones normales o centrípetas de la leva y el seguidor en el punto C



son, respectivamente: • Una aceleración tangencial at , de magnitud at = 20  mm 2  constante.
 s 
2
v AC

v2
aAC = ⇒ v AC
2
= aAC ⋅ RA • Una aceleración normal o centrípeta acp , de magnitud acp = , donde
RA R
R = 90 [mm] es el radio de la ranura y v = v ( t ) = 20 ⋅ t  mm  es su
2
 s
v BC velocidad tangencial.
aBC = ⇒ v BC
2
= aBC ⋅ RB
RB
a) En el instante t = 0: como el pasador parte del reposo, v(0) = 0.
Donde RA es la distancia del centro de masa de la leva a C, y RB es el radio del
seguidor. Igualando las velocidades: Luego, la aceleración centrípeta en ese instante se hace nula. En
consecuencia, sólo hay componente tangencial de aceleración, por lo que la
aAC magnitud de la aceleración es igual a la de la aceleración tangencial, es decir
v AC = v BC ⇒ aAC ⋅ RA = aBC ⋅ RB ⇒ RB = ⋅ RA
aBC


a = at = 20 mm 2 
2 2  s 
Reemplazando los datos RA = 65 [mm], aAC = 0.65 [m/s ] y aBC = 6.68 [m/s ]:
b) En el instante t = 2 [s], la velocidad tangencial del pasador tiene magnitud
0.65
RB = ⋅ 65 [ mm ] = 6.325 [ mm ] v(2) = 20·2 [mm/s] = 40 [mm/s].
6.68
Luego, la magnitud de la aceleración centrípeta es:
Finalmente, el diámetro del seguidor está dado por

( )
2

d B = 2 ⋅ RB = 2 ⋅ 6.325 [ mm ] = 12.65 [ mm ] 40 mm 

 s 160 mm 
acp = =
90 [ mm ] 9  s 2 

Finalmente, la magnitud de la aceleración total está dada por:

2



 160   mm 
( 20 ) = 26.76  mm 2 
2 2 2
a = at + acp = + 
 9   s 2   s 
 A partir de la figura adjunta, se puede
deducir que

De la figura x = L ⋅ cos (θ )

s y = L ⋅ sen (θ )
tg (θ ) = ⇒ s = s (θ ) = b ⋅ tg (θ ) y
b

Donde s(θ) es la posición de la partícula.

s (θ ) Derivando ambas expresiones con
x
La velocidad de la partícula está dada
por: respecto al tiempo.

v s = sɺ = b ⋅ sec 2 (θ ) ⋅ θɺ v x = xɺ = -L ⋅ sen (θ ) ⋅ θɺ
v = yɺ = L ⋅ cos (θ ) ⋅ θɺ
y
La aceleración de la partícula está dada
por: Como, en el instante en que θ = θ0 la velocidad del extremo inferior de la
escalera es v:
as = vɺs = b ⋅  sec 2 (θ ) ⋅ θɺɺ + θɺ ⋅ 2 ⋅ sec (θ ) ⋅ sec (θ ) ⋅ tg (θ )
v
= b ⋅ sec 2 (θ ) ⋅ θɺɺ + 2 ⋅ tg (θ ) ⋅ θɺ  v x = v = -L ⋅ sen (θ 0 ) ⋅ θɺ ⇒ θɺ = −
L ⋅ sen (θ 0 )

Reemplazando este valor:

v
v y = − L ⋅ cos (θ 0 ) ⋅ = -v ⋅ ctg (θ 0 )
L ⋅ sen (θ 0 )

Derivando las expresiones de las velocidades con respecto a t para obtener las
aceleraciones:

(
ax = vɺ x = -L ⋅ sen (θ ) ⋅ θɺɺ + cos (θ ) ⋅ θɺ2 )
(
ay = vɺ y = L ⋅ cos (θ ) ⋅θɺɺ − sen (θ ) ⋅ θɺ2 )
Como, en el instante en que θ = θ0 la aceleración del extremo inferior de la
escalera es a, por lo que:
   1
( )
ax = a = -L ⋅ sen (θ 0 ) ⋅θɺɺ + cos (θ 0 ) ⋅θɺ2 = -L ⋅  sen (θ 0 ) ⋅θɺɺ + cos (θ 0 ) ⋅ 2
v2
 ⇒ yɺɺ = - ⋅ v 2 + L ⋅ cos (θ0 ) ⋅ a + v 2 ⋅ ctg 2 (θ 0 )
 L ⋅ sen 2
(θ ) L ⋅ sen (θ 0 ) 
 0 

 a v 2 ⋅ ctg (θ0 )  v 2 ⋅ ctg (θ0 )  v 2 

⋅  (1 + ctg 2 (θ 0 ) ) + cos (θ 0 ) ⋅ a 
 1
1 =-
− + 2  = sen (θ0 ) ⋅ θɺɺ ⇒ θɺɺ = − ⋅ a +  sen (θ0 )  L
 L L ⋅ sen (θ0 )  L ⋅ sen (θ0 )  L ⋅ sen (θ0 )  
1 v 2 
=- ⋅  csc 2 (θ 0 ) + cos (θ 0 ) ⋅ a 
sen (θ0 )  L 
Finalmente, la aceleración del extremo superior de la escalera está dada por:

 1  v 2 ⋅ ctg (θ 0 )  v2 
ay = L ⋅  - cos (θ 0 ) ⋅ ⋅ a +  − sen (θ 0 ) ⋅ 2 

 L ⋅ sen ( 0) 
θ L ⋅ sen ( 0)
θ L ⋅ sen 2
( 0 ) 
θ

L   v 2 ⋅ ctg (θ0 )  v 2 
=− ⋅  cos (θ 0 ) ⋅ a + + 
L ⋅ sen (θ0 )   L ⋅ sen (θ0 )  L 

 v2 v2   v2 
⋅  a ⋅ cos (θ 0 ) + ( ctg 2 (θ 0 ) + 1 ) 
1 1
=− ⋅  a ⋅ cos (θ 0 ) + ⋅ ctg 2 (θ 0 ) + =−
sen (θ 0 )  L L  sen (θ 0 )  L 
1  v2 
=− ⋅  a ⋅ cos (θ 0 ) + csc 2 (θ 0 ) 
sen (θ 0 )  L 

Otra forma de solucionarlo

De la figura, aplicando el Teorema de Pitágoras

x 2 + y 2 = L2

Derivando con respecto del tiempo

x ⋅ xɺ
2 ⋅ x ⋅ xɺ + 2 ⋅ y ⋅ yɺ = 0 ⇒ x ⋅ xɺ + y ⋅ yɺ = 0 ⇒ yɺ = -
y

Sabiendo que x = L ⋅ cos (θ 0 ) , y = L ⋅ sen (θ0 ) y xɺ = v

L ⋅ cos (θ0 ) ⋅ v
yɺ = - = −v ⋅ ctg (θ 0 )
L ⋅ sen (θ 0 )

Derivando nuevamente con respecto del tiempo:

1
xɺ ⋅ xɺ +x ⋅ xɺɺ + yɺ ⋅ yɺ + y ⋅ yɺɺ = 0 ⇒ xɺ 2 +x ⋅ xɺɺ + yɺ 2 + y ⋅ yɺɺ = 0 ⇒ yɺɺ = - ⋅  xɺ 2 +x ⋅ xɺɺ + yɺ 2 
y

Sabiendo que x = L ⋅ cos (θ 0 ) , y = L ⋅ sen (θ0 ) , xɺ = v , xɺɺ = a e yɺ = − v ⋅ ctg (θ0 )



El vector posición está dado por r ( t ) = r ( t ) ⋅ rˆ , con r ( t ) = 100 ⋅ t 2

La rapidez angular está dada por θ ( t ) = t 3

Calculando el vector velocidad:

El vector posición está dado por r (θ ) = r (θ ) ⋅ rˆ , con r (θ ) = R ⋅ (1-cos (θ ) ) , con

dr dr ˆ drˆ ɺ ˆ drˆ dθ
v= = ⋅r + r⋅ = r⋅r + r⋅ ⋅ = 200 ⋅ t ⋅ rˆ + 100 ⋅ t 2 ⋅ θˆ ⋅ 3 ⋅ t 2 = 200 ⋅ t ⋅ rˆ + 300 ⋅ t 4 ⋅ θˆ
dt dt dt dθ dt R = 0.5 [m]

La rapidez angular está dada por θ ( t ) = t 3

En el instante t = tn, v ( tn ) = 200 ⋅ tn ⋅ rˆ + 300 ⋅ tn4 ⋅θˆ
Calculando el vector velocidad:
Calculando el vector aceleración:



dr dr ˆ drˆ dr dθ ˆ drˆ dθ

dv


drˆ dθˆ v= = ⋅r + r ⋅ = ⋅ ⋅r + r ⋅ ⋅
a= = 200 ⋅ rˆ + 200 ⋅ t ⋅ + 1200 ⋅ t 3 ⋅ θˆ + 300 ⋅ t 4 ⋅ dt dt dt dθ dt dθ dt
= R ⋅ sen (θ ) ⋅θɺ ⋅ rˆ + R ⋅ (1-cos (θ ) ) ⋅θɺ ⋅θˆ = R ⋅θɺ ⋅ sen (θ ) ⋅ rˆ + (1-cos (θ ) ) ⋅θˆ 
dt dt dt
drˆ dθ dθ dθ
ˆ
= 200 ⋅ rˆ + 200 ⋅ t ⋅ ⋅ + 1200 ⋅ t 3 ⋅ θˆ + 300 ⋅ t 4 ⋅ ⋅
dθ dt dθ dt

Despejando θɺ en función de θ, R y la magnitud de v :
= 200 ⋅ rˆ + 200 ⋅ t ⋅ θˆ ⋅ 3 ⋅ t 2 + 1200 ⋅ t 3 ⋅ θˆ − 300 ⋅ t 4 ⋅ rˆ ⋅ 3 ⋅ t 2
= ( 200 - 900 ⋅ t 6 ) ⋅ rˆ + 1800 ⋅ t 3 ⋅ θˆ


v
v = R ⋅θɺ ⋅ sen 2 (θ ) + (1-cos (θ ) ) ⇒ θɺ =

2

R ⋅ sen2 (θ ) + (1-cos (θ ) )
2

En el instante t = tn, a ( tn ) = ( 200 - 900 ⋅ tn6 ) ⋅ rˆ + 1800 ⋅ t3n ⋅ θˆ

En el instante en que θ = 180º = π [rad], la velocidad de la espiga tiene

magnitud v0. Así:

v0 v0 v0 v
θɺ (θ = π ) = = = = 0 = v0
R ⋅ sen 2 ( π ) + (1-cos ( π ) )
2
R ⋅ 0 +2
2 2 2 ⋅R 2 ⋅1
2

Calculando el vector aceleración:



d drˆ  d dθˆ 
( ) ( )
(1-cos (θ ) ) ⋅θɺ ⋅θˆ + (1-cos (θ ) ) ⋅θɺ ⋅ dt 

dv
a= = R⋅ sen (θ ) ⋅ θɺ ⋅ rˆ + sen (θ ) ⋅θɺ ⋅  + R ⋅ 
dt  dt dt   dt 
dθ ˆ drˆ dθ 
(1-cos (θ ) ) ⋅ θɺ ⋅ ddtθ ⋅θˆ + (1-cos (θ ) ) ⋅θɺ ⋅ ddθθ ⋅ ddtθ 
d d ˆ 
= R⋅
 dθ
(
sen (θ ) ⋅ θɺ ⋅
dt
)⋅ r + sen (θ ) ⋅ θɺ ⋅ ⋅
dθ dt 
+ R⋅
dθ
( )
 
( )  ( )
= R ⋅θɺ ⋅  sen (θ ) ⋅ θɺɺ + cos (θ ) ⋅ θɺ ⋅ rˆ + sen (θ ) ⋅θɺ ⋅θˆ  + R ⋅θɺ ⋅  (1-cos (θ ) ) ⋅θɺɺ + sen (θ ) ⋅θɺ ⋅θˆ - (1-cos (θ ) ) ⋅θɺ ⋅ rˆ 

( ) (
= R ⋅ θɺ ⋅  sen (θ ) ⋅ θɺɺ + cos (θ ) ⋅ θɺ- (1-cos (θ ) ) ⋅θɺ ⋅ r+
 )
ˆ (1-cos (θ ) ) ⋅θɺɺ + sen (θ ) ⋅θɺ + sen (θ ) ⋅θɺ ⋅θˆ 
 En la figura, se puede calcular el
ɺ (


ɺɺ ɺ ˆ ) (
= R ⋅ θ ⋅ sen (θ ) ⋅θ + θ ⋅ ( 2 ⋅ cos (θ ) -1) ⋅ r+ (1-cos (θ ) ) ⋅θ + 2 ⋅ sen (θ ) ⋅θ ⋅θ
ɺɺ ɺ ) ˆ 
 ángulo γ’

β
En el instante en que θ = 180º = π [rad], la aceleración de la espiga tiene tg ( γ ' ) =
12
⇒ γ ' = 67.38º
v 5
magnitud a0 y θɺ = 0 Así:
2 ⋅R α γ
Así, γ = 180º - γ ' = 112.62º γ'

 
2
 v  
2

a = a0 = R ⋅ 0 ⋅  sen (π ) ⋅θɺɺ + 0 ⋅ ( 2 ⋅ cos (π ) -1)  +  (1-cos (π ) ) ⋅ θɺɺ + 2 ⋅ sen ( π ) ⋅ 0  

v v
Por otra parte, por teorema del
2 ⋅ R  2 ⋅R   2 ⋅ R   coseno:
v 0  3 ⋅ v 0  
2
4 ⋅ a02 9 ⋅ v 02 1  4 ⋅ a 2 9 ⋅ v 02 
( ) 20 2 = x 2 + q 2 - 2 ⋅ x ⋅ q ⋅ cos (γ )
2
= ⋅  −  + 2 ⋅θ ⇒ 2 = + 4 ⋅θɺɺ2 ⇒ θɺɺ2 = ⋅  2 0 −
ɺɺ

 2 ⋅ R  4 ⋅R 4 ⋅ R2 
2
2  v0 4  v0

a02 9 ⋅ v 02 a2 9 ⋅ v 02 a02 9 ⋅ v 02 Derivando con respecto a t:

⇒ θɺɺ = − = 02 − = −
v 0 16 ⋅ R
2 2
v0 1 
2
v 02 4 ⋅ R 2
16 ⋅  
2  0 = 2 ⋅ x ⋅ xɺ + 2 ⋅ q ⋅ qɺ - 2 ⋅ cos (γ ) ⋅ ( xɺ ⋅ q + x ⋅ qɺ ) ⇒ cos ( γ ) ⋅ ( xɺ ⋅ q + x ⋅ qɺ ) = x ⋅ xɺ + q ⋅ qɺ
x - q ⋅ cos (γ )
⇒ qɺ ⋅ ( x ⋅ cos ( γ ) - q ) = xɺ ⋅ ( x - q ⋅ cos ( γ ) ) ⇒ qɺ = xɺ ⋅
x ⋅ cos ( γ ) - q

Se sabe que para x = 10 [m], xɺ = 2 m  . Basta calcular q en ese instante

 s
ɺ
para poder determinar la rapidez q del punto B.

Aplicando Teorema del Seno en el triángulo ABC

20 x x 10
= ⇒ sen ( β ) = ⋅ sen ( γ ) = ⋅ sen (112.62º ) = 0.4615
sen ( γ ) sen ( β ) 20 20
⇒ β = 27.49º

Así, α = 180º - ( β + γ ) = 39.89º . Aplicando nuevamente el Teorema del Seno:

20 q sen (α ) sen ( 39.89º )

= ⇒ q = 20 ⋅ = 20 ⋅ = 13.90 [ m ]
sen ( γ ) sen (α ) sen ( γ ) sen (112.62º )

Finalmente, reemplazando datos

10 - 13.90 ⋅ cos (112.62º ) m

qɺ = 2 ⋅   = -1.73  m 
10 ⋅ cos (112.62º ) - 13.90  s   s


El vector posición está dado por r (θ ) = r (θ ) ⋅ rˆ , con r (θ ) = a ⋅ e k ⋅θ

Si la rapidez angular de rotación es constante θɺ , la aceleración angular es

El vector posición está dado por r (θ ) = r (θ ) ⋅ rˆ , con r (θ ) = 2 ⋅ a ⋅ cos (θ ) .
igual a cero
b⋅t2 dθ
Además, θ = , de donde θɺ = = b⋅t
Calculando el vector velocidad 2 dt



dr dr ˆ drˆ dr dθ ˆ drˆ dθ a) Calculando el vector velocidad
v= = ⋅r + r ⋅ = ⋅ ⋅r + r ⋅ ⋅ = k ⋅ a ⋅ e k ⋅θ ⋅θɺ ⋅ rˆ + a ⋅ e k ⋅θ ⋅ θɺ ⋅ θˆ
dt dt dt dθ dt dθ dt


dr dr drˆ dr d θ ˆ drˆ dθ
v= = ⋅ rˆ + r ⋅ = ⋅ ⋅r + r ⋅ ⋅ = −2 ⋅ a ⋅ sen (θ ) ⋅ b ⋅ t ⋅ rˆ + 2 ⋅ a ⋅ cos (θ ) ⋅ b ⋅ t ⋅ θˆ
Así, v r = k ⋅ a ⋅ ek ⋅θ ⋅ θɺ y v θ = a ⋅ e k ⋅θ ⋅θɺ . dt dt dt dθ dt dθ dt
(
= 2 ⋅ a ⋅ b ⋅ t ⋅ - sen (θ ) ⋅ rˆ + cos (θ ) ⋅ θˆ )
Calculando el vector aceleración a partir del vector velocidad:
La magnitud de la velocidad v está dado por:



dv  drˆ ɺ   dθˆ ɺ 
a= = k ⋅ a ⋅θɺ ⋅  k ⋅ e k ⋅θ ⋅θɺ ⋅ rˆ + ek ⋅θ ⋅ ⋅θ  + a ⋅θɺ ⋅  k ⋅ e k ⋅θ ⋅ θɺ ⋅θˆ + e k ⋅θ ⋅θ 
v = 2 ⋅ a ⋅ b ⋅ t ⋅ sen 2 (θ ) + cos 2 (θ ) = 2 ⋅ a ⋅ b ⋅ t


dt  dθ   dθ 

( ) (
= k ⋅ a ⋅ θɺ 2 ⋅ ek ⋅θ ⋅ k ⋅ rˆ + θˆ + a ⋅ θɺ 2 ⋅ e k ⋅θ ⋅ k ⋅ θˆ − rˆ ) Calculando el vector aceleración:
= a ⋅ θɺ2 ⋅ e k ⋅θ ⋅ ( k 2 -1 ) ⋅ rˆ + 2 ⋅ k ⋅ a ⋅ θɺ2 ⋅ e k ⋅θ ⋅ θˆ


dv d
a=
dt dt
( )
= [2 ⋅ a ⋅ b ⋅ t ] ⋅ - sen (θ ) ⋅ rˆ + cos(θ ) ⋅ θˆ + 2 ⋅ a ⋅ b ⋅ t ⋅
d
dt
[
- sen (θ ) ⋅ rˆ + cos(θ ) ⋅ θˆ ]
Así, ar = a ⋅θɺ2 ⋅ ek ⋅θ ⋅ ( k 2 -1) y aθ = 2 ⋅ k ⋅ a ⋅ θɺ2 ⋅ e k ⋅θ .
( )
= 2 ⋅ a ⋅ b ⋅ - sen(θ ) ⋅ rˆ + cos(θ ) ⋅ θˆ + 2 ⋅ a ⋅ b ⋅ t ⋅
d
dθ
[
- sen (θ ) ⋅ rˆ + cos(θ ) ⋅ θˆ ⋅
dθ
dt
]
( ) 
= 2 ⋅ a ⋅ b ⋅ - sen(θ ) ⋅ rˆ + cos(θ ) ⋅ θˆ + 2 ⋅ a ⋅ b 2 ⋅ t 2 ⋅ - cos (θ ) ⋅ rˆ - sen(θ ) ⋅
dr
dθ
ˆ
− sen (θ ) ⋅ θˆ + cos(θ ) ⋅
dθˆ 

dt 

( ) [
= 2 ⋅ a ⋅ b ⋅ - sen(θ ) ⋅ rˆ + cos(θ ) ⋅ θˆ + 2 ⋅ a ⋅ b 2 ⋅ t 2 ⋅ - cos (θ ) ⋅ rˆ - sen(θ ) ⋅ θˆ − sen(θ ) ⋅ θˆ − cos(θ ) ⋅ rˆ ]
( ) [
= 2 ⋅ a ⋅ b ⋅ - sen(θ ) ⋅ rˆ + cos(θ ) ⋅ θˆ − 4 ⋅ a ⋅ b 2 ⋅ t 2 ⋅ cos(θ ) ⋅ rˆ + ⋅sen(θ ) ⋅ θˆ ]
{ [
= 2 ⋅ a ⋅ b ⋅ (- sen(θ ) − 2 ⋅ b ⋅ t 2 ⋅ cos(θ )) ⋅ rˆ + cos(θ ) − 2 ⋅ b ⋅ t 2 ⋅ sen(θ ) ⋅ θˆ ] }
La magnitud de la aceleración a está dada por:

a = 2 ⋅a ⋅ b ⋅ [sen(θ ) + 2 ⋅ b ⋅ t 2
] [
⋅ cos(θ ) + cos (θ ) − 2 ⋅ b ⋅ t 2 ⋅ sen(θ )
2
]
2

= 2 ⋅ a ⋅ b ⋅ sen 2 (θ ) + 4 ⋅ b ⋅ t 2 ⋅ cos (θ ) ⋅ sen (θ ) + 4 ⋅ b 2 ⋅ t 4 ⋅ cos 2 (θ ) + cos 2 (θ ) − 4 ⋅ b ⋅ t 2 ⋅ cos(θ ) ⋅ sen (θ ) + 4 ⋅ b 2 ⋅ t 4 ⋅ sen 2 (θ )

[
= 2 ⋅ a ⋅ b ⋅ sen 2 (θ ) + cos 2 (θ ) + 4 ⋅ b 2 ⋅ t 4 ⋅ cos 2 (θ ) + sen 2 (θ ) ]
= 2 ⋅ a ⋅ b ⋅ 1 + 4 ⋅ b2 ⋅ t 4

v3
b) El radio de curvatura de la curva está dado por ρ =


v ×a

Haciendo el producto cruz:

 rˆ θˆ zˆ



v ×a = - 2 ⋅ a ⋅ b ⋅ t ⋅ sen (θ ) 2 ⋅ a ⋅ b ⋅ t ⋅ cos (θ ) 0
(
- 2 ⋅ a ⋅ b ⋅ sen (θ ) + 2 ⋅ b ⋅ t 2 ⋅ cos (θ ) ) ( )
2 ⋅ a ⋅ b ⋅ cos (θ ) − 2 ⋅ b ⋅ t 2 ⋅ sen (θ ) 0
- 2 ⋅ a ⋅ b ⋅ t ⋅ sen (θ ) 2 ⋅ a ⋅ b ⋅ t ⋅ cos (θ )
= zˆ ⋅
(
- 2 ⋅ a ⋅ b ⋅ sen (θ ) + 2 ⋅ b ⋅ t 2 ⋅ cos (θ ) ) (
2 ⋅ a ⋅ b ⋅ cos (θ ) − 2 ⋅ b ⋅ t 2 ⋅ sen (θ ) )
[ 2 2
(
= zˆ ⋅ - 4 ⋅ a ⋅ b ⋅ t ⋅ sen (θ ) ⋅ cos (θ ) − 2 ⋅ b ⋅ t 2
⋅ sen (θ )) + 4 ⋅ a ⋅ b ⋅ t ⋅ cos (θ )⋅ (sen (θ ) + 2 ⋅ b ⋅ t
2 2 2
)]
⋅ cos (θ )
2
[
= zˆ ⋅ 4 ⋅ a ⋅ b ⋅ t ⋅ - sen (θ ) ⋅ cos (θ ) + 2 ⋅ b ⋅ t
2 2
⋅ sen (θ ) + ⋅sen (θ ) ⋅ cos (θ ) + 2 ⋅ b ⋅ t ⋅ cos (θ )]
2 2 2

= 8 ⋅ a 2 ⋅ b 3 ⋅ t 3 ⋅ zˆ a) El vector posición está dado por r (θ ) = r (θ ) ⋅ rˆ , con r (θ ) = A ⋅ ek ⋅θ



Luego, v × a = 8 ⋅ a 2 ⋅ b 3 ⋅ t 3
Calculando el vector velocidad


Sabiendo que v = v = 2 ⋅ a ⋅ b ⋅ t , se puede calcular el radio de curvatura
dr


dr ˆ drˆ dr dθ ˆ drˆ dθ
haciendo: v= = ⋅r + r ⋅ = ⋅ ⋅r + r ⋅ ⋅ = k ⋅ A ⋅ e k ⋅θ ⋅ θɺ ⋅ rˆ + A ⋅ ek ⋅θ ⋅ θɺ ⋅ θˆ
dt dt dt dθ dt dθ dt

(2 ⋅ a ⋅ b ⋅ t )3 8 ⋅ a3 ⋅ b3 ⋅ t 3 ( ) (
= A ⋅ e k ⋅θ ⋅ θɺ ⋅ k ⋅ rˆ + θˆ = r (θ ) ⋅θɺ ⋅ k ⋅ rˆ + θˆ )
ρ= = =a
8 ⋅ a2 ⋅ b3 ⋅ t 3 8 ⋅ a2 ⋅ b3 ⋅ t 3
Si la magnitud de la velocidad es v0 constante:

v0
v = v0 = r (θ ) ⋅ θɺ ⋅ k 2 +1 ⇒ θɺ =
r (θ ) ⋅ k 2 +1

Reemplazando en la expresión para la velocidad:

v = r (θ ) ⋅
v0
r (θ ) ⋅ k +1
2
(
⋅ k ⋅ rˆ + θˆ = ) v0
k 2 +1
(
⋅ k ⋅ rˆ + θˆ )
Calculando el vector aceleración:


 drˆ dθˆ   drˆ dθ dθˆ dθ 
( )

dv v0 d v0 v0
a= = k ⋅ rˆ + θˆ =
⋅ ⋅ k ⋅ + = ⋅ k ⋅ ⋅ + ⋅ 
dt k 2 +1 dt k 2 +1  dt dt  k 2 +1  dθ dt dθ dt 
v0 v 02
= ⋅ θɺ  k ⋅ θˆ − rˆ  = ⋅  k ⋅ θˆ − rˆ 
k 2 +1 r (θ ) ⋅ ( k 2 +1 ) 

b)

Si
los vectores velocidad y aceleración son perpendiculares, se cumple que
a • v = 0 . Reemplazando los resultados obtenidos en (a):

  
a•v= 
v 02
2
⋅
 r (θ ) ⋅ ( k +1 )   2

 k ⋅ θˆ − rˆ   •  v 0 ⋅ k ⋅ rˆ + θˆ  = ( v 03
)
 r (θ ) ⋅ ( k 2 +1) 2
3
⋅ [k - k ] = 0
  k +1

c) De la ecuación para la velocidad angular

 dθ v0 v0
θɺ = = ⇒ ek ⋅θ ⋅ dθ = ⋅ dt
⋅θ
dt A ⋅ e ⋅ k +1
k 2
A ⋅ k 2 +1

Integrando:

θ t
v0 ⋅ t
t
v0 1 k ⋅θ θ
∫ e ⋅ dθ = ∫
k ⋅θ
⋅ dt ⇒ ⋅e =
0 0A ⋅ k 2 +1 k 0
A ⋅ k 2 +1 0
v0 ⋅ t v0 ⋅ k ⋅ t
⇒ ⋅ ( e k ⋅θ -1) =
1
⇒ e k ⋅θ -1 =
k A ⋅ k +1
2
A ⋅ k 2 +1
v0 ⋅ k ⋅ t  v ⋅k ⋅t 
⇒ e k ⋅θ = +1 ⇒ k ⋅θ = ln  0 +1
A ⋅ k +12
 A ⋅ k +1 
2

1  v ⋅k ⋅t 
⇒ θ = θ (t ) = ⋅ ln  0 +1
k  A ⋅ k +1 
2

Derivando se obtiene:

1 1 v ⋅k ⋅t v0 ⋅ t
θɺ = ⋅ ⋅ 0 =
k v 0 ⋅ k ⋅ t +1 A ⋅ k 2 +1 v 0 ⋅ k ⋅ t + A ⋅ k 2 +1
A ⋅ k 2 +1