PROBLEMA 3

a A=r α a B / A =r α

a B=¿ a A +a
B/A

a B=r α +rα

CINETICA

∑ M C = ∑ ¿ : W B r sin⌀ = I α + mh + a A r + mB r α (r + r cos⌀) + mB r α sin⌀

(r sin⌀) + mB r α cos⌀ (r + r cos⌀)

mB g r sin⌀ = mh r 2 α + m h (r α)r + mB r α( 1 +cos⌀) (r + r cos⌀) + mB r α sin⌀ (r sin⌀)

mB g r sin⌀ = 2 mh r 2α + mB r 2 α ( ( 1 + cos⌀¿2 + sin2 ⌀))

= 2 mh r 2 α + mB r 2 α ( 1 + 2 cos⌀ + co s2⌀ + sin2 ⌀)

mB g r sin⌀ = r 2 α ( 2 mh + mB (2 + 2 cos⌀))

g m B sin ⌀
α = 2r m
h+m (1+ cos ⌀)
B