DSC00297 (18)

dr t«(0) = er 2 nb

+ 0 = er

o

= 4-

- - we = 3,17e_z [rad/s]

Q ¹

B

^liczenie v_M, a^:

v *pxr, v_ttI<orsin90° = b

2-3,1416-0,2

= 3,17 rad/s

2nb

N~«r

3fc=3fce

— = 3 • 0,2-4 • 0,79 = 1,90 m/s

\ ^ai

tj I -l,90e_x [m/s]

v = v_M = v_tt + v_w = -l,90e_x + l,59e_y [m/s]

? = e xr, aj = ersin90° = e-3fr = 3fre, aj i 11 v_tt, aj = to v_llsin90° = e

£H-3*e

■ Best

27tfc

^al

ę_r3bee_x

=3 *e²^ = «1

6nb²e²

^ai

-n 6ltb²t² -

1 i 1-e

fl_e i 2w xv_w,

a_c=2a)V_K) sin 90° =2e

— J2ńba.=2e’2nb=4nbe

\ ^ai

a_e - -4iti>ee_x

a = a_M | a_B | J_w 1 a_c i 5J I aj 1 aj | aJ | fl_e I I (~3fce - 4ti be )e_x i 1    i - i H je_y ! (27iaj )e_x

| (-3-0,2-4 -4-3,1416-0,2-4)e_x+| ~⁶'³^^4l^⁰*²²‘⁴² g® (2-3,1416-21| i E 12,45e_x i 4,03 e_y 112,57e_x [m/s²]