<jupyter_start><jupyter_text>**Universidad Politécnica de Guanajuato**  **Ingeniería Robótica**  **Mecanismos y máquinas**  **Análisis cinemático de mecanismos planos utilizando software** Ejemplo Clase 06/11/2017 01. Mecanismos<jupyter_code>import numpy as np
import matplotlib.pyplot as plt
from numpy import sin,cos,tan,pi,arcsin
%matplotlib inline

def plotvector(p0, u, *args, **kwargs):
    plt.plot([p0[0],p0[0]+u[0]], [p0[1],p0[1]+u[1]], *args, **kwargs)

w = -5
r = 1
for theta in np.linspace(0,2*pi,10):
    R = np.array([r*cos(theta), r*sin(theta)])
    V = np.array([-r*w*sin(theta),r*w*cos(theta)])/15
    A = np.array([-r*(w**2)*cos(theta),-r*(w**2)*sin(theta)])/100
    plotvector([0,0], R, 'r')
    plotvector(R, V, 'g-*')
    plotvector(R, A, 'b-*')
    plt.axis('equal');<jupyter_output><empty_output><jupyter_text><NAME><jupyter_code>r2,r3 = 3,8
for t2 in np.linspace(0,2*pi,6,endpoint=False):
    color = np.array([t2,t2,t2])/(2*pi)
    t3 = np.arcsin(-r2*sin(t2)/r3)
    r1 = r2*cos(t2) + r3*cos(t3)
    R2 = np.array([r2*cos(t2),r2*sin(t2)])
    R3 = np.array([r3*cos(t3),r3*sin(t3)])
    plotvector([0,0], R2, color=color)
    plotvector(R2, R3, color=color)
    plt.axis('equal');<jupyter_output><empty_output>
{'fraction_non_alphanumeric': 0.21555915721231766, 'fraction_numerical': 0.05834683954619125, 'mean_word_length': 5.206030150753769, 'pattern_counts': {'":': 0, '<': 10, '<?xml version=': 0, '>': 10, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
{'chain_length': '2', 'dir': 'jupyter-structured-clean-dedup', 'id': '501458', 'license': 'MIT', 'n_tokens_mistral': 593, 'n_tokens_neox': 574, 'n_words': 91, 'path': 'nbooks/Clase_06112017.ipynb', 'repo_name': 'JorgeDeLosSantos/mem-upgto-1703', 'size': '1252'}