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eu 1 5 6 Mexaa 2 2 2 2 = x2 - x1 + y2 - y1 + z2 - z1, ( ) ( ) ( ) eu 1 7,,, 8 Mexaa = ( ) = + = = = = = =.

eu 1 9 == t t = 2 = 73 10-5c-1.

, 24 3600 - 10 Mexaa A A = = sin = A A = rA sin 8 = + = +.

H = A = + A n A n 8 = 8 J = A eu 1 11 = = A = = ( ) =2 v0 = v0 R vM = v0 - R = 0 12 Mexaa ) ) = + A 0 = = + = +.

eu 1 13 = - 8 8 8 8 14 Mexaa 2 8) 8 v0 v0 vB = MB = MB R * 0 = 0 0 = = + + = + + eu 1 15 = = = = = - = - v0 v02 r J a = a = 0 0 v02 a = n r = 16 Mexaa AO1 AO2 AO2 AO1 = eu 1 17 = = + = = = = = - ( ) ( ) = = a an,,.

= + + ;

= = = = = = = - = = = + ( ) = - ( ) ( ) = + 18 Mexaa M M M = = 5 2 2 2 h R + h2 1 = 2 = 1 = 2, ctg ; = R sin R,, eu 1 19 = + = + vO = + + eu 2 21 0 22 Mexaa = = = = + = M r1 = r2 = r v1 = v2 = r M - = - eu 2 23 = = = b = M - { - } = bb (23).

= = { } {} = - + + {} = - + + ( ) (- ) (- ) = + + ( (- ) - ) (- ) = + + ( (- ) (- ) - ) Lx = Jxxx + J y + Jxzz xy = + + = + + J Jxx J Jxz xy J = Jyx J Jyz yy J J J zx zy zz Jxx, Jyy, J zz Jxy, Jyx, J, J, Jyz, J xz zx zy 24 Mexaa Jxy = Jyx, J = J, J = J xz zx yz zy = = = = eu 2 25 Jxx 0 0 J0 = 0 Jyy 0 0 0 J zz Jxx Jx, Jyy Jy, J J zz z = = = Jx = mi ri2 - x2 = mi y2 + z2 = mi2.

( ) ( ) i i i i i i i i mi Jxy = Jxz = Jyx = J = J = J = yz zx zy 26 Mexaa Jxy = - mixiyi = 0, mi i xi, yi, zi m i a b m bJxx = y2dm = dx y2dy = m ;

ab 0 b a m aJyy = x2dm = dy x2dx = m ;

ab 0 eu = - = - = - < Ox Oy = + = - + Jxx = y2dm = (- sin + ycos) dm = Jy sin + J cos2.

x x Ox Oy x ydm = 0.

Jyy = x2dm = x + y sin ) ( dm = Jy cos2 + Jx sin.

cos = - = - ( + )(- + ) = = - - Jxx, Jyy, Jxy Jx, Jy :

(226).

+ =.

+ = (227) ( - ) = (228).

= 2ab tg20 =, b2 - a 28 Mexaa < Oy = Oy L L E E = E E OO i mi = = = ( ).

mi = O, OO OO = = {} {} cos, cos, cos OO OO L = Lx, Ly, L {} z = = = Jx, Jy, J z eu + + + + = = = = = + + = () J = J cos2 + Jy cos2 + J cosx z J, Jy, J x z,, J = mi i i L L = = k R = J k R x = R cos = cos, x J k R y = R cos = cos, y J 30 Mexaa k R z = R cos = cos, z J = = = x2J y2J z2J J = J + Jy + J, x k2 k2 z kJx x2 + J y2 + J z2 = k2.

yz eu J = 2 dm, r,, m m dm = dV = r sin dr d d;

V V = r sin, m 4 dJ = 2 dm = r sin dr d d;

V R m m R 4 4 3 J = r dr d sin d = 2 = mR.

V 5 3 V 0 0 32 Mexaa = = ) ( O JCO = H 2NA O 1610-JCO = 2 (1110-10 )2 10-45 2.

, dJ = 2 dm = (x2 + y2)dm = dJy + dJx, z J = Jx + Jy z eu mR J = mR J0 = J0 = 2J.

mi = = - ) = + - ( J = J0 + ma.

= + = + = mi O O O O 34 Mexaa = + O = = + + ( ) mi = M i = = = + = + dR p = M dt = = + JJ eu ( ) J0 + Rmv0 = J0 + Rm R = J0 + mR = J, J () R O LO = ( ) O LO = mv0R O LO = LO + mv0R = J0 + mv0R L L L 36 Mexaa eu 38 Mexaa..

= = eu = - = - = = - - = = - - = = = - = = = 40 Mexaa = = = = = = = ( ) = = = eu = = = - = == = = = = = 42 Mexaa = - = = = eu AA BB CC AA CC BB 44 Mexaa OO.

.

.

OO = = eu v = = = = = - = - = = = = - = 46 Mexaa = = (321).

+ = + = (322).

= = eu (324).

= (325).

= = (326).

= + ( ) = + = = = N = mgcos 48 Mexaa = ( ) = + = - = () = = = + == + ( ) =+ + = + = = = = + eu = = = = = AA BB CC AA + ) * * ) + 50 Mexaa = = = = = d L i + L j+ L k = () x y z dt eu + + + + + = = = = + = = + ;

;

+ - = + - = + - = = = = 52 Mexaa + - = ( ) + - ) = ( + - = ( ) + = - = = = = = + = + ( ) ( ) = + = eu = + + = + + + - () = - ) + ( = - L = J x - < - C 54 Mexaa BB BB BB eu dL = 0, dt 56 Mexaa t L = M dt t L L J x (J ) z eu J, J ( ) x y J - J z x J = J x y J x 58 Mexaa >> J z = eu = G = = = 60 Mexaa E = T + mg cos J L z = J J s s J J z s eu ( ) ( ) G G 62 Mexaa OO 4) OO M eu 9 64 Mexaa ) M * M M J mR 2n = = = AA BB BB eu M M M m i 66 Mexaa M eu J z J x J h z J r x h h = = r J / J r z x > h J z r J x - = J = J z x 68 Mexaa ( eu 70 Mexaa eu 72 Mexaa




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