0 0 0 0 0 00 0 0 1 0 01 0 0 0 0 0-1 0 0 0 0 00 0 0 0 1 0

k a= 0 0 0 0 0.71 0.710 0 0 0 0 0

0.89 -0.45 0 0 0 0-0.89 -0.45 0.89 0.45 0 0

0 0 0 0 0 00 0 0.45 -0.89 -0.45 0.89

C D E

1 0 0 0 0 00 1 0 0 0 00 0 0.5 0 0 00 0 0 0.5 0 00 0 0 0 0.5 0

k= 0 0 0 0 0 0.240 0 0 0 0 00 0 0 0 0 00 0 0 0 0 00 0 0 0 0 00 0 0 0 0 0

0 0 1 -1 0 00 0 0 0 0 00 0 0 0 0 00 1 0 0 0 0

at 0 0 0 0 1 0.710 0 0 0 0 0.710 0 0 0 -1 00 0 0 0 0 00 0 0 0 0 01 0 0 0 0 00 0 0 1 0 0

0 0 0.5 -0.5 0 00 0 0 0 0 0

0 0 0 0 0 00 1 0 0 0 00 0 0 0 0.5 0.1704

at*k 0 0 0 0 0 0.17040 0 0 0 -0.5 00 0 0 0 0 00 0 0 0 0 01 0 0 0 0 00 0 0 0.5 0 0

1.71 0.00 -0.36 -0.18 0.00 0.000.00 0.18 -0.18 -0.09 0.00 0.00-0.36 -0.18 0.45 0.00 -0.09 0.18-0.18 -0.09 0.00 1.45 0.18 -0.360.00 0.00 -0.09 0.18 0.71 -0.06

K 0.00 0.00 0.18 -0.36 -0.06 0.480.00 0.00 0.00 0.00 -0.50 0.000.00 0.00 0.00 0.00 0.00 0.00-0.36 0.18 0.00 0.00 0.00 0.000.18 -0.09 0.00 0.00 0.00 0.00-0.50 0.00 0.00 0.00 0.00 0.00

F 0 C00 D00 E

-5035.36 F-35.36

15 G00 A

K-1 2.00 3.91 3.98 0.00 1.34 -1.343.91 134.89 68.10 2.46 6.86 -23.023.98 68.10 39.44 0.74 5.48 -13.660.00 2.46 0.74 1.00 -0.42 0.421.34 6.86 5.48 -0.42 4.56 -1.82-1.34 -23.02 -13.66 0.42 -1.82 7.341.34 0.97 2.51 -0.42 3.56 -0.82-0.66 -23.02 -11.62 -0.42 -1.18 3.93

0.02 -60.27 -28.42 -1.24 -1.45 9.620.00 2.46 1.24 0.00 0.42 -0.422.00 7.82 5.96 0.00 2.00 -2.00

u 137.841095.24756.17-39.47236.83-390.26231.50-287.52-366.37

9.81212.11

e=a*u

9.81-39.47137.8474.265.33

-108.93-217.91-39.6939.694.42

-78.50

s=k*e9.81

-39.4768.9237.132.67

-26.14-52.30-17.8617.861.99

-35.32

COMPROBACIÓN F=(at)(s)

0.000.000.00

F 0.000.00

-50.0035.36-35.3615.000.000.00

0 0 0 1 00 0 0 0 00 0 0 0 00 0 0 0 1-1 0 0 0 00 0 0 0 0

-0.71 0.71 0 0 0.710 0 -0.89 0.45 00 0 0 0 0

0.45 0.89 -0.45 -0.89 00 0 0 0 0

F G A

0 0 0 0 00 0 0 0 00 0 0 0 00 0 0 0 00 0 0 0 00 0 0 0 0

0.24 0 0 0 00 0.45 0 0 00 0 0.45 0 00 0 0 0.45 00 0 0 0 0.45

0 0.89 -0.89 0 00 -0.45 -0.45 0 00 0 0.89 0 0.450 0 0.45 0 -0.890 0 0 0 -0.450 0 0 0 0.89

-0.71 0 0 0.45 00.71 0 0 0.89 0

0 -0.89 0 -0.45 00 0.45 0 -0.89 0

0.71 0 0 0 0

0 0.4005 -0.4005 0 00 -0.2025 -0.2025 0 0

0 0 0.4005 0 0.20250 0 0.2025 0 -0.40050 0 0 0 -0.20250 0 0 0 0.4005

-0.1704 0 0 0.2025 00.1704 0 0 0.4005 0

0 -0.4005 0 -0.2025 00 0.2025 0 -0.4005 0

0.1704 0 0 0 0

0.00 0.00 -0.36 0.18 -0.500.00 0.00 0.18 -0.09 0.000.00 0.00 0.00 0.00 0.000.00 0.00 0.00 0.00 0.00-0.50 0.00 0.00 0.00 0.000.00 0.00 0.00 0.00 0.000.71 0.06 -0.09 -0.18 -0.120.06 0.48 -0.18 -0.36 0.12-0.09 -0.18 0.45 0.00 0.00-0.18 -0.36 0.00 1.45 0.00-0.12 0.12 0.00 0.00 0.62

1.34 -0.66 0.02 0.00 2.000.97 -23.02 -60.27 2.46 7.822.51 -11.62 -28.42 1.24 5.96-0.42 -0.42 -1.24 0.00 0.003.56 -1.18 -1.45 0.42 2.00-0.82 3.93 9.62 -0.42 -2.004.56 -0.18 1.53 0.42 2.00-0.18 7.34 11.66 0.42 -2.00

1.53 11.66 31.53 -0.74 -1.960.42 0.42 -0.74 1.00 0.002.00 -2.00 -1.96 0.00 4.00