, . , (. 6.2), .
. 6.2
, j0 (j0 < 5 ¸ 8, sinj0 tgj0 j0) , j t :
j = j0cos . (2)
T - , , , .
. , h , mgh (. . 6.3).
( ) . ,
mgh = , (3)
I - I I , :
I = I + I; (4)
- ;
g - ;
h - , ;
w - .
(3) (4), I w, , h I. w (2) w t:
w = = - j0 sin . (5)
, ( ) :
w = j0 . (6)
h (. . 6.3) :
= cosj0,
R r - .
,
h =(R + r)(1 - cosj0). (7)
(3) h w, :
mg (R + r)(1 - cosj0)= . (8)
j0 , (8). , ,
cosj0 = 1 - . (9)
(8), I :
I = . (10)
I . , . (. . 6.3)
|
|
I = mr2 + m (R+r) 2. (11)
- ', . '.
(10) (11) ,
I = I - I = - . (12)
, , R r, .
, , I (I), :
I = m0 R2, (13)
m0 - .
, - , (, ), m0 /m = R 2 / r2.
, , ( ) . m0 (13),
I = mR4/r2. (14)
D d, - t . m . , :
I = - , (15)
I = mD4 / d2. (16)
1.
1. , : . (D x) (D t); 1.
2. , . m 1.
1
m, | ||
D x, | D t, | |
, . 2.
2
D, | D = | |||||
d, | d = | |||||
t, | t = | |||||
T, | T = | |||||
I, ×2 | I = I = |
4. , (9), t . 2.
5. . 3 - 4 . 2.
2.
|
|
! 6 - 8 . (. 9).
6. .
7. Dcp d , , , (15), , I. g = 9,81 /2.
8. Dcp d, m, (16) I.
. 6 - 8 2.
9. D, d t, (15), I .
I = Icp D I, (17)
D I - .
; , - . , :
(D I) 2 = + + . (18)
( . [3] ).
(15), ,
D I = D T. (19)
, D I D T:
D T = a , (20)
a - , , ( [3]). 0,95.
10. D I , (. 2) I I , D I.
I = Icp D I, (21)
I =
, .
1. ? ?
2. . ?
3. , .
5. ?
4. (12) (14); , .
1. .. : 3- . .: , 1987. . 1, 432 .
2. .., .. . .: . ., 1989.
3. . / .., .., .. .; . . ... - .: , 1995. 38 .