, - (4.4), - . , . - , , - .
- , , , (.4.3).
l |
j |
o |
M |
mg |
c · P 2 α P1 P |
O |
l |
l |
α |
o |
.4.3 .4.4
- . , -
, (4.10)
; ; .
, (4.11) , .
. (4.12)
, , .
, , ( 4.4).
, , a , . I , (.4.4). . P = mg , P 2 .
P1 = P×sina = mg sin α (4.13)
.
I e = - m g lc sina, (4.14)
, (4.15) , lc = .
, , , .. . , sin a a,
1 m g a. (4.16)
(4.15) (4.16) (4.14),
. (4.17)
.
(4.18)
, , .
,
|
|
. (4.19)