.
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3 .
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.
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19. .
1 :
t 1 () t 2 (), - , - .
.
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20. . .
. t (s,M, v) t 1(s 1,M1, v 1).
, M. :
M t - , , ,
M n , , , ,
M b , M tn .
, ab= 0. .
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(19)
(19)
, (20)
. (21)
M1 M :
Mt: ,
Mn: , (22)
j - .
(22) (20)
.
Dt 0 j 0, cosj 1,
.
. (23)
.
(22) (21)
.
Ds Dj
, (24)
( ),
, ,
, r - .
(24),
.
. (25)
, (26)
. (27)
21. .
t= 0, n= 0, , : =0.
t= 0, n¹ 0, , : = n (8).
t¹ 0, n= 0, , : = t (7).
t¹ 0, n¹ 0, , : .
22. .
, , , .
(w=0). .
:
23. . .
, , , .
,
.
:, [/] .
, , , . . : , [/2]. . . , .
24. .
, , . : v=w×r×sin(a)=w×(CM), () .
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25. - () .
() . , . : xA= xA (t), yA= yA (t), j = j (t), . .
26. .
:
27. .
: , , : vAcosa=vBcosb.
28. .
, 0.
...: 1) ... , (. ); 2) , ... (. vA vB); 3) , ... ¥, w=vA/¥=0; 4) , , , ... ¥, w=vA/¥=0, , ; 5) , ... .
29. .
.
30. .
:
31. . , .
. . . (Oxyz), () (O1x1y1z1). . . . ( ). ( ).
32. .
, , , . . , , . . , . u ( ) . vkop =2 w u sin a,
(w , a u AB ( vkop =2[ w u ]).
33. -.
( )
, ..
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, , , F = ma -
, .
, , , ,
34. .
, .
- : .
- : .
35. .
36. . ( ).
, ,
m ;
a ;
Fi , .
, -.
r = r (t) -, .
x = x (t), y = y (t), z = z (t) , .
0 = Σ Fib,
dV/ dt ( ), V2/ ρ ( ),
ρ .
ΣFiτ,
ΣFin ΣFib.
,
:
:
:
cos (α) = Rx / R, cos (β) = R y / R, cos (γ) = R z / R (1.5)
α, β, γ x, y, z .
37. . ( ).
.
m
a ;
Fi , , .
(4.1) ,
ax, ay, az ;
Fx, Fy, Fz i - .
,
.
(4.1) , :
maτ = ΣFτi,
man = ΣFni,
0 = ΣFbi.
,
V ,
0 = ΣFbi.
38. . .
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42. , .
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44. , .
45. .
46. . . .
47. .
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48. .
49. .
50. . .
51. .
( ) (3.10):
dKz / dt = Mze. (3.11)
, z ( 3.4), (F 1, F 2, F 3 ,..., Fn), ω ε z. RA RB .
(3.11):
Mze = ∑ Mz ( Fje ) + M z ( RA ) + M z ( RB ).
Mz ( RA ) = M z ( RB ) = 0, M = Mze = ∑ Mz ( Fje ).
3.4
( ) Kz . Mj rj Vj = ω ⋅ rj. , Kzj = mj ⋅ Vj ⋅ rj = mj ⋅ ω ⋅ rj 2. ( ) :
Kz = ∑ Kzj = ∑ mj ⋅ ω ⋅ rj 2,
∑ mj ⋅ rj 2 = Jz.
,
Kz = Jz ⋅ ω. (3.12)
(3.11) (3.12),
Jz ⋅ dω/dt = M,
Jz ⋅ d 2 φ /dt 2 = M. (3.13)
(3.13) .
dω/dt = ε,
ε = M / Jz. (3.14)
52. .