. .
1. , ε , ..
2. - , . , . (7)
ω= vA/AP - ; . ω ,
, , (. . 55), , , , , : ε= ao/R,
OP=R = const τ = ,
R .
ω1 (. 61). , ,
R ; r . (21),
(21) (22) , . , .
. ε ω .
3. , , - ω .
,
= + -τ + , (23)
, (23) , , , , , , .
II.
. .1.
t = t1 () , , , , .
|
|
. 1.
1
t1, c | |||
x=x(t), | y=y(t), ñì | ||
-2t2+3 | -5t | 1,5 | |
4s2(pt/2)+2 | 4sin2(pt/2) | ||
-cos(pt2/3)+3 | sin(pt2/3)-l | ||
4t+4 | -4/(t+1) | ||
2sin (pt/2) | -3(pt/2)+4 | ||
3/t2+2 | -4/t | 1,5 | |
3t2-t+1 | 5t2-5t/2-2 | ||
7sin(pt2/4)+3 | 2-7cos(pt2/4) | ||
-3/(t+2) | 3t+6 | ||
-4cos(pt/2) | -2sin(pt/2)-3 | ||
-4/t2+1 | -3/t | 1,5 | |
5sin2(pt/4) | 5cos2(pt/4)-3 | ||
5cos(pt2/3) | -5sin(pt2/3) | ||
-2t-2 | -2/(t+l) | ||
4s(pt/2) | -3sin(pt/2) | ||
3t | 4t2+1 | 1,5 | |
7sin2(pt/4)-5 | -7cos2(pt/4) | ||
1+3cos(pt2/3) | 3+3cos(pt2/3) | ||
4t2-4 | 3t | ||
2-3t-6t2 | 3-3t/2-3t2 | ||
6sin (t2/4)-2 | 6cos(pt2/4)+3 | ||
7t2-3 | 5t | 0,75 | |
4-3t2 | 4-5t2-5t/2 | ||
-4cos(pt/2)-1 | -4sin(pt/2) | ||
-6t | -2t2-4 | ||
8cos2(pt/4)+2 | 8sin2(pt/4)-7 | ||
-3-9sin(pt2/4) | -9cos(pt2/4)+5 | ||
-4t2+1 | -3t | ||
5t2+ 5t/2-3 | 3t2+t+3 | ||
2cos(pt2/3)-2 | 2sin(pt2/3)+3 |
. :
x = 4t; =16t2-1; t1 = 0,5 ( , t t1 ). | (1) |
. (1) . , t (1). = 2 - 1, . . , . 6. | |||
. 6 | |||
(2) | |||
x ; .
, (1):
(3) | ||
:
(4) |
:
(5) |
(6) |
(6`) | |
6`` |
. + , , ; - .
(7) |
r ,
(8) |
(8)
(8`) |
:
(9) |
(8) (9),
(10) |
(3)-(6), (8) (10) t1 =0,5 . 2.
2
, | , / | , /2 | , | |||||||
x | y | vx | vy | v | ax | ay | a | at | an | r |
2,0 | 3,0 | 4,0 | 16,5 | 32,0 | 32,0 | 31,0 | 7,8 | 35,0 |
. 6 . v vx vy . ax ay an at. an at , , , .
|
|
.1. . (. . 1) (. 3).
, .
3
z=z(t), | z=z(t), | z=z(t), | z=z(t), | z=z(t), | z=z(t), | ||||||
3t | 3t | 2t | 1,5t | 4t | 6t | ||||||
2t | 2,5t | 3t | 5t | t | 3,5t | ||||||
1,5t | 5t | 1,5t | 3,5t | 1,5t | 4t | ||||||
4t+4 | 4t+8 | 2t+2 | 6t | 6t | 5t | ||||||
t | T | 3t | 2t | 2t | 1,5t |
III. . .2.
1
= c2t2 + c1t + 0, | (1) |
t , ; 0-2 .
(t=0) 0, v0.
, , t = t2 2.
0, 1 c2 1. t=t1 .
. 8-10, . 4.
4
(.2-4) | , | 1 | , | ||||||
R2 | r2 | R3 | r3 | x0, | v0, / | x2, | t2 | t1 | |
_ | |||||||||
|
|
.8
.9
. 10
. : (.7); R2=50 , r2=25 , R3=65 , r3=40 , x0=14 , v0=5 /, x2=168 , t1=1 , t2=2 .
, t=t1. . 1 x=c2t2+c1t+c0 (1) 0, 1 2 : | |||
. 7 | |||
t = 0 | 0 = 14 | = 5 / | (2) |
t2 = 2 | 2 = 168 | (3) |
1
v = = 2c2t + c1. (4)
(2) (3) (1) (4),
0 = 14 , 1= 5 /, 2 = 36 /2.
, 1
= 36t2 + 5t + 14. (5)
1
v = = 72t + 5. (6)
1
= = 72 /2.
, v w2 w2 .
v=r2w2, R2w2=R3w3 | (7) |
w3=vR2/r2R3,
(6)
w3=2,215t+0,154.
3
e3= =2,215 /2.
, ,
vm= R3w3;
;
t1=1 . 5. 1 .11. | |
. 11 |
6
v, / | , /2 | w3, / | e3, /2 | vM, / | , /2 | , /2 | , /2 |
2,37 | 2,22 | 94,8 | 88,6 |