, .
. , . - . , , , (. 3.3). .
. 3.3.
, , , . . 3.3. , . - , .
(S) .
() &‐ , , . : K =J ω.
( ) .
. , () . (J), , ω. , (), .
. . ( ): S =F*Dt = m*Dv. . . : Sz = Mz*Dt.
, ( ).
, : K = m*v. : DK = F*Dt = m*Dv = S.
, : K = I*w = m*v*r. , , , (I0*w) , , : L = I0*w + m*r2*w.
( ) : DL = Mz*Dt = I*Dw = Sz.