In[229]:=

vb = Cross[{0, 0, w}, {a, 0, 0}]

vpl = vb + Cross[{0, 0, wbd}, {- a, b, 0}]
vpb = u {- a, b, 0}  Sqrt[a ^ 2 + b ^ 2]
vp = vpl + vpb
sol1 = Solve[vp ⩵ 0, {wbd, u}]

ab = Cross[{0, 0, w}, Cross[{0, 0, w}, {a, 0, 0}]]

apl = ab + Cross[{0, 0, wbd}, Cross[{0, 0, wbd}, {- a, b, 0}]] +
Cross[{0, 0, alphabd}, {- a, b, 0}] + 2 Cross[{0, 0, wbd}, vpb]
apb = ac {- a, b, 0}  Sqrt[a ^ 2 + b ^ 2]
ap = apl + apb
sol = Solve[ap ⩵ 0, {alphabd, ac}] // Simplify

sol /. sol1 /. {a → 0.125, b → 0.25, w → - 13.4}

Out[230]= {0, a w, 0}

Out[231]= {- b wbd, a w - a wbd, 0}

au bu
Out[232]= - , , 0
a2 + b2 a2 + b2
2 ex-aula-dinamica.nb

au bu
Out[233]= - - b wbd, + a w - a wbd, 0
a2 + b2 a2 + b2
a2 w abw
Out[234]= wbd → ,u→- 
a2 + b2 a2 + b2

Out[235]= - a w2 , 0, 0

2 b u wbd 2 a u wbd
Out[236]= - alphabd b - a w2 - + a wbd2 , - a alphabd - - b wbd2 , 0
a2 + b2 a2 + b2
a ac ac b
Out[237]= - , , 0
a2 + b2 a2 + b2
a ac 2 b u wbd
Out[238]= - alphabd b - - a w2 - + a wbd2 ,
a2 + b2 a2 + b2
ac b 2 a u wbd
- a alphabd + - - b wbd2 , 0
a2 + b2 a2 + b2

ab a2 + b2 w2 + 2 a2 u wbd + 2 b2 u wbd b2 wbd2 + a2 - w2 + wbd2 

Out[239]= alphabd → - , ac → 
a2 + b2 3/2 a2 + b2

Out[240]= {{{alphabd → - 43.0944, ac → - 8.03017}}}

 ex-aula-dinamica.nb 3

In[511]:=

rde = {0, 0.13, 0}

rbe = {0.25, 0.13, 0}
w1 = 3.3
w2 = 3.6
Ω = {0, w1, 0};
ω = {w2, 0, 0};
vrel = Cross[ω, rde]
aa = Cross[ω, Cross[ω, rde]] + Cross[Ω, Cross[Ω, rbe]] + 2 Cross[Ω, vrel]
Norm[aa]

Out[512]= {0, 0.13, 0}

Out[513]= {0.25, 0.13, 0}

Out[514]= 3.3

Out[515]= 3.6

Out[518]= {0., 0., 0.468}

Out[519]= {0.3663, - 1.6848, 0.}

Out[520]= 1.72416

In[443]:= ω
Out[443]= {3, 0, 0}
4 ex-aula-dinamica.nb

In[522]:= 4 × 4 × 0.4
Out[522]= 6.4
ex-aula-dinamica.nb 5
6 ex-aula-dinamica.nb
ex-aula-dinamica.nb 7
8 ex-aula-dinamica.nb
 ex-aula-dinamica.nb 9

In[601]:= ;

eqv = Cross[{0, 0, wad}, {- a, b, 0}] + u {- a , b, 0}  Sqrt[a ^ 2 + b ^ 2]

eqv2 = Cross[{0, 0, w}, {0, b, 0}]
solv = Solve[eqv ⩵ eqv2, {wad, u}]
v = u {- a , b, 0}  Sqrt[a ^ 2 + b ^ 2];
eqa = Cross[{0, 0, alpha}, {- a, b, 0}] + acel {- a , b, 0}  Sqrt[a ^ 2 + b ^ 2] +
Cross[{0, 0, wad}, Cross[{0, 0, wad}, {- a, b, 0}]] + 2 Cross[{0, 0, wad}, v]
eqa2 = Cross[{0, 0, w}, Cross[{0, 0, w}, {0, b, 0}]]
Solve[eqa ⩵ eqa2, {alpha, acel}] //. solv /.
a → 40, b → 40 Sin[30 Degree]  Sin[60 Degree], w → 9.1
au bu
Out[602]= - - b wad, - a wad, 0
a2 + b2 a2 + b2

Out[603]= {- b w, 0, 0}

b2 w abw
Out[604]= wad → ,u→ 
a2 + b2 a2 + b2
a acel 2 b u wad acel b 2 a u wad
Out[606]= - alpha b - - + a wad2 , - a alpha + - - b wad2 , 0
a2 + b2 a2 + b2 a2 + b2 a2 + b2

Out[607]= 0, - b w2 , 0
10 ex-aula-dinamica.nb

Out[608]= {{{alpha → 17.9289, acel → - 717.156}}}

eqv = Cross[{0, 0, w}, {0, b, 0}] + u {0, 1, 0}

eqv2 = Cross[{0, 0, wad}, {- a, b, 0}]
solv = Solve[eqv ⩵ eqv2, {wad, u}]
v = u {0, 1, 0};
eqa = Cross[{0, 0, alpha}, {- a, b, 0}] +
Cross[{0, 0, wad}, Cross[{0, 0, wad}, {- a, b, 0}]]
eqa2 = Cross[{0, 0, w}, Cross[{0, 0, w}, {0, b, 0}]] +
2 Cross[{0, 0, wad}, v] + acel {0, 1, 0}
Solve[eqa ⩵ eqa2, {alpha, acel}] //. solv /.
a → 40, b → 40 Sin[30 Degree]  Sin[60 Degree], w → 12.4
Out[624]= {- b w, u, 0}

Out[625]= {- b wad, - a wad, 0}

Out[626]= {{wad → w, u → - a w}}

Out[628]= - alpha b + a wad2 , - a alpha - b wad2 , 0

Out[629]= - 2 u wad, acel - b w2 , 0

Out[630]= {{{alpha → - 266.32, acel → 10 652.8}}}

 ex-aula-dinamica.nb 11

In[616]:= solv
Out[616]= {}