. , , - . ; , . .
1. . , . , . , . (. 1):) ( - );) , S ;) S ( S );) t; ) S(t), **) .2. . . :) ( ) q1, q2, q3;) t;) , .. q1(t), q2(t), q3(t). , ( ) .3. . -, (. 2). :) - r;) t;) r (t). r x, y, z , . i, j, k (i = j = k = 1), x, y z (. 2), , , *)
r (t) = x(t) i +y(t) j +z(t) k. (1) ( ) . . , (. 3), (= t, =const). .
, . ( ),
x(t) = AM = 2Rcos = 2Rcost,
R . ( , , , ).
, . ( ) (. 3), . S(t) = R2 = 2R t, .. R 2. , , .