kYlY h?ûQ `ĕK2b ;ûMû`mt

(1)

+@UCja3

jX .vMKB[m2 /m bQHB/2 kYSY S`BM+BT 2 6 QM/K2MiH /2 H .vMKB[m2 kYSYSY

úMQM+û BI3uCcj3nNa3Uěa3cUjCIAj3LURa3IVnNa3Uěa3ccR,Cā©nN3,@aRNRIR<C3W0Cja3Uěa3;ICIā3NRg. j3I\nȕ©jRnjCNcjNj.I3jRac3na03c,jCRNcLā,NC\n3c3ujāaC3na3c<CccNjcnaI3cwcjěL3LjāaC3IΣ 3cjā<InjRac3na0wNLC\n303Σ0NccRNLRnq3L3NjUaaUURajna3Uěa3;ICIā3NY ΣΣ

Σ 7ϔόЛЁζkYSYĢbwcjěL3CcRIā

QNNRj3ΣI3cwcjěL3LjāaC3ICcRIā3jΣI3a3cj303IȕnNCq3acY H3TaCN,CU37RN0L3NjI03I/wNLC\n3.TY7Y/Y.3cjja0nCj UaIȕā<ICjācnCqNj3- DΣ/Rg = AΣ→Σ cRCj # » AΣ/R# » δA,Σ/Rg A=# » RΣ→Σ# » MA,Σ→Σ A q3, ġ`ācnIjNj303c,jCRNcLā,NC\n3c03ΣcnaΣ-# » RΣ→Σd ġKRL3NjnURCNj03c,jCRNcLā,NC\n3c03ΣcnaΣ-# » MA,Σ→Σd ġ`ācnIjNj30wNLC\n303Iȕ3Nc3L$I3LjāaC3IΣ0NccRNLRnq3L3NjUaaUURajna3Uěa3 ;ICIā3NRg-# » AΣ/Rd ġKRL3Nj0wNLC\n33N03Iȕ3Nc3L$I3LjāaC3IΣ0NccRNLRnq3L3NjUaaUURajna3Uěa3 ;ICIā3NRg-# » δA,Σ/RgY

kYSYlY

*`+iĕ`2:HBHû2M/2b`2Tĕ`2b mNa3Uěa3U@wcC\n33cjnNcwcjěL30ȕu3c\nCU3aL3j030ā,aCa3IURcCjCRN0ȕnNURCNj.0ȕnN3NA c3L$I3LjāaC3IYBI3cj$C3NāqC03Nj\n3IURcCjCRN0ȕnNURCNj0RNNāNȕ3cjUc0ā,aCj303ILćL3 LNCěa3c3IRN\n3IȕRNc3UI,30NcnNaā8āa3NjC3IRn0NcnNnja3Y H3UaCN,CU38RN0L3NjI03I0wNLC\n3UaācnL3Iȕ3uCcj3N,30ȕnNa3Uěa30Cja3Uěa3;ICIā3N0Nc I3\n3II3UaCN,CU38RN0L3NjI03I0wNLC\n33cjqI$I3Y +3a3Uěa303aā8āa3N,30NcI3\n3IjRncI3cLRnq3L3NjcURnaaC3Njćja30ā,aCjc3u,j3L3NjN3U3nj ćja3\nȕUUaR,@āYKCc,RLL3,ȕ3cjjRnERnacI3,c0NcjRncI3c0RLCN3c03IU@wcC\n3.IqIC0Cjā 0ȕnN3IRC0āU3N00n03<aā03Uaā,CcCRNcRn@Cjā-CNcCnNa3Uěa3ncn3I03ILā,NC\n3U3nj0RN, ćja3,RNcC0āaā,RLL3<ICIā3NqCcA©AqCc03j3IUaR$IěL3Lā,NC\n3.3jNRN<ICIā3NqCcA©AqCc03j3I nja3YH3cUaCN,CUnua3Uěa3cUUaR,@āccRNj- G2`û7û`2MiB2H/2*QT2`MB+3cj,3Njaān,3Nja30ȕCN3ajC30ncwcjěL3cRICa3YH3c0Ca3,jCRNc03c3cu3c cRNj0ā~NC3c©Iȕ3ujāaC3na0ncwcjěL3cRICa3UajaRCc<IuC3cIRCNjCN3cY+3aā8āa3NjC3INā<IC<3 I3LRnq3L3Nj0ncRI3CI0NcIpRC3H,jā33jI3LRnq3L3Nj03,3II3A,C0NcI3a3cj303IȕnNCq3acY S kY/wNLC\n30ncRIC03 G2`û7û`2MiB2H/2:HBHû23cj,3Njaān,3Nja303Ii3aa3Yb3cu3ccRNjUaIIěI3c©,3nu0naā8āa3NjC3I 03+RU3aNC,YQN,RLUa3N0$C3N\n3,@RCcCa,3a3Uěa3,RLL3a3Uěa3<ICIā3Na3qC3Nj©cnUURc3a \n3I3LRnq3L3Nj03,3InCA,CUaaUURajna3Uěa3Uaā,ā03Nj3cjNā<IC<3$I3VRn3NjaNcIjCRN ,Ca,nICa36WY+3a3Uěa33cjnjCICcānccC$C3NURna0ā,aCa3I3,RLURaj3L3Nj03ccj3IICj3c\n3URna ājn0C3aI3U3N0nI3037Rn,nIjVLCc33NāqC03N,303IaRjjCRN03Ij3aa3WY G2b`û7û`2MiB2HbHBûb¨Hh2``20RNjI3UaCN,CUI3cjI3a3Uěa3<āR<aU@C\n303IcU@ěa3j3aa3cja3 0RNjI3,3Nja33cjn,3Nja303Ii3aa33j0RNjI3cu3ccRNjcRIC0Ca3c03IUINěj3LCcnccC jRncI3ca3Uěa3cIR,nuY G2b`û7û`2MiB2HbHQ+mtQm/mH#Q`iQB`20RNjIȕRaC<CN33cjIR,I3nI$RajRCa33jI3cu3ccRNjRaC3NA jācc3IRNI3cUaRUaCājāc0ncwcjěL3ājn0CāY+3aā8āa3NjC3I3cjI3LRCNc<ICIā3N03jRncLCcCI3cj Ua8Cj3L3NjnjCICc$I30NcjRncI3c,c,IccC\n3cYH\nICjāUaCN,CUI303,3a3Uěa33cjc8,CA ICjā0ȕ3LUIRC.LCc,@RCcCa,3aā8āa3NjC3I,RLL3aā8āa3NjC3I<ICIā3Na3qC3Nj©Nā<IC<3aIaRjjCRN 03Ii3aa3njRna03Iȕu303cUǃI3cY H3,a,jěa3<ICIā3NU3njćja3jRnj38RCca3cjCjnā<a,3©IIRC03,RLURcCjCRN03c,,āIāajCRNcY /NcI3ca3Uěa3cICāc©Ii3aa3.3II3,RN0nCj©CNjaR0nCa3nN3,,āIāajCRN,RLUIāL3NjCa3Rn ,,āIāajCRN03+RaCRICc0NcIȕ3uUa3ccCRN<āNāaI303Iȕ,,āIāajCRNY MRncc3aRNc0RN,Ua8RCcL3Nā©ā,aCa3I3TY7Y/Y0NcnNa3Uěa3NRN<ICIā3NY

kYlY h?ûQ `ĕK2b ;ûMû`mt

H3TaCN,CU37RN0L3NjI03I/wNLC\n33cjnN3ā<ICjā3Nja303nujRac3nac.URna\n3,3cjRac3nac cRC3Njā<nu.CI8nj\n3I3nacaācnIjNj3ccRC3Njā<I3c3j\n3I3nacLRL3Njc3NnNURCNjcRC3Njā<nuY +3c03nuā\njCRNcq3,jRaC3II3ccRNjI3c03nuj@āRaěL3c<āNāanuY # » AΣ/R=# » RΣ→Σ # » δA,Σ/Rg=# » MA,Σ→Σ

kYlYSY

h?ûQ`ĕK2/2H`ûbmHiMi2/vMKB[m2 TRnajRnj3Nc3L$I3LjāaC3IΣ3NLRnq3L3NjUaaUURajna3Uěa3<ICIā3NRg.IaācnIjNj30wNA LC\n33cjā<I3©IaācnIjNj3<āNāaI30njRac3naccR,Cānu,jCRNc3ujāaC3na3c©Σ.# » AΣ/R=# » RΣ→Σ. \n3IȕRNā,aCj- mΣ·# » ΓGΣ,Σ/Rg=# » RΣ→Σ

kYlYlY

h?ûQ`ĕK2/2b[mMiBiûb/2KQmp2K2Mi MRnccqRNc\n3-# » ΓGΣ,Σ/R= d dt# » VGΣ,Σ/R RgY Ta,RNc3aqjCRN03ILcc30NcI3cwcjěL3Σ.RNU3nj0RN,ā,aCa3I3j@āRaěL303IaācnIjNj3 0wNLC\n3cRncI8RaL3- mΣ· d dt# » VGΣ,Σ/R Rg=# » RΣ→Σ Hw,ā3+@aI3L<N3ATaCcl

(2)

kY/wNLC\n30ncRIC03

kYlYkY

h?ûQ`ĕK2/mKQK2Mi/vMKB[m2 TRnajRnj3Nc3L$I3LjāaC3IΣ3NLRnq3L3NjUaaUURajna3Uěa3<ICIā3NRg.I3LRL3Nj0wA NLC\n33cjā<InLRL3NjaācnIjNj0njRac3naccR,Cānu,jCRNc3ujāaC3na3c©ΣY # » δA,Σ/Rg=# » MA,Σ→Σ

kYlY:Y

h?ûQ`ĕK2/mKQK2Mi+BMûiB[m2 bCRNā,aCjI3j@āRaěL30nLRL3Nj0wNLC\n33NGΣ.,3Nja30ȕCN3ajC303Iȕ3Nc3L$I3CcRIā.RNU3nj 0RNN3anN3nja3ā,aCjna3nj@āRaěL30nLRL3Nj0wNLC\n3Y H3LRL3Nj0wNLC\n3cȕā,aCj# » δGΣ,Σ/Rg= d dt# »σGΣ,Σ/Rg Rg.n,3Nja30ȕCN3ajC3GΣ0ȕRɵ d dt# »σGΣ,Σ/Rg Rg=# » MGΣ,Σ→Σ /3LćL3.0NcI3,cUajC,nIC3aRɵI3URCNj3cj~u30NcRg.RNU3njā,aCa3- d dt# »σA,Σ/Rg Rg=# » MA,Σ→Σ

kYkY liBHBbiBQM /m S X6X.X

H3UaCN,CU38RN0L3NjI03I0wNLC\n3c3ja0nCjUanN3ā<ICjā03jRac3na.,ȕ3cj©0Ca3Ua03nu ā<ICjācq3,jRaC3II3cVj@āRaěL3c<āNāanuW3Nja3I3c3{RajcUUIC\nācncwcjěL3ājn0Cā3jI3c\nNjCjāc 0ȕ,,āIāajCRN03,3cwcjěL3UaaUURaj©nNa3Uěa3<ICIā3NY mNUaR$IěL3030wNLC\n30ncRIC03,RLURaj30RN,nLuCLnLfā\njCRNcc,ICa3cVlƨkW URna,@\n3cRIC03CcRIāYTRnaURnqRCaȓj3Nj3aȓ03aācRn0a3,3UaR$IěL3.CIN30RCjUc,RLURaj3a UInc0ȕCN,RNNn3c\n30ȕā\njCRNcY QNa3jaRnq30NcI3cā\njCRNcc,ICa3c- ġI3cUaLěja3c03URcCjCRNcV,RNNnc3jgRnCN,RNNncW. ġI3c0āaCqā3cUa3LCěa3c3jc3,RN03c03,3cUaLěja3c. ġI3c,jCRNcLā,NC\n3cV,RNNn3c3jgRnCN,RNNn3cW. ġI3c0RNNā3c0nUaR$IěL3Y QN0CcjCN<n3jaRCcUaCN,CUnujwU3c03UaR$IěL3c©aācRn0a3Y ġH3c,jCRNc3ujāaC3na3ccRNj,RNNn3c.RN,@3a,@3©0āj3aLCN3aI3LRnq3L3Nj0nLā,NCcL3 CcRIād ġH3c,jCRNc3ujāaC3na3ccRNj,RNNn3c.RN,@3a,@3©0āj3aLCN3aI3c,jCRNc03ICCcRN3Nja3I3c 0C{āa3NjccRIC03c0nLā,NCcL3d ġH3LRnq3L3Nj3cjCLURcā.RN,@3a,@3©0āj3aLCN3aI3c,jCRNc3ujāaC3na3cLRjaC,3cY /NcI3Ua3LC3a,c.CINȕ3cjUc8Ra,āL3NjNā,3ccCa30ȕājn0C3a3jaācRn0a3jRnjI3cwcjěL30ȕā\nA jCRNcYQN,@3a,@3©CcRI3aUaLCI3cā\njCRNc,3II3c\nCU3aL3jj3Nj0ȕR$j3NCaIȕVI3cWā\njCRNVcW0C8A 8āa3NjC3II3VcW03LRnq3L3NjYQNUU3II3ā\njCRN0C{āa3NjC3II30nLRnq3L3Nj.nN3ā\njCRN0C8A 8āa3NjC3II33Nja3I3cUaLěja3c03LRnq3L3Nj3jI3c,jCRNcLā,NC\n3c3ujāaC3na3cN38CcNjUc CNj3aq3NCaI3cCN,RNNn3c03ICCcRNcY /NcI3c3,RN0,c.CI8nj3N<āNāaIaācRn0a3IjRjICjā0ncwcjěL3Y H3jaRCcCěL3,c3cjI3,RLUIāL3NjCa30nUa3LC3aY Hw,ā3+@aI3L<N3ATaCck

kY/wNLC\n30ncRIC03

kY:Y S X6X. /Mb mM `2T ĕ`2 MQM ;HBHû2M kY:YSY

*QKTQbBiBQM/2b++ûHû`iBQMb Og#»xg

#»yg #»zg

O1

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#»y1 #»z1O1OE1#»x

#»y #»z

×PE 7ϔόЛЁζkYlYĢ+RLURcCjCRN03c,,āIāaA jCRNc

QNc3UaRURc3030āj3aLCN3aIȕ,,āIāajCRN0nURCNjP 0ȕnN3Nc3L$I3LjāaC3IEVccR,Cā©nNa3Uěa3RW3NLRnA q3L3NjUaaUURaj©Iȕ3Nc3L$I3LjāaC3IE1Va3Uěa3R1W InCALćL33NLRnq3L3NjUaaUURajna3Uěa3<ICIā3N RgY MRnccqRNc\n3- # » VP,E/Rg=# » VP,E/R1+# » VP,E1/Rg # » VP,E/Rg=# » VP,E/R1+# » VO1,R1/Rg+# » ΩR1/Rg∧# » O1P /āaCqRNc,3jj3a3IjCRNUaaUURajnj3LUc0NcI3a3A Uěa3<ICIā3NRg- d dt# » VP,E/Rg Rg= d dt# » VP,E/R1 Rg+ d dt# » VO1,R1/Rg Rg+ d dt# » ΩR1/Rg∧# » O1P Rg Ta0ā~NCjCRN-# » ΓP,E/Rg= d dt# » VP,E/Rg Rg3j# » ΓO1,R1/Rg= d dt# » VO1,R1/Rg Rg Ha3IjCRN03qC3Nj- # » ΓP,E/Rg= d dt# » VP,E/R1 Rg+# » ΓO1,R1/Rg+# » ΩR1/Rg∧ d dt# » O1P Rg+ d dt# » ΩR1/Rg Rg∧# » O1P q3, d dt# » O1P Rg= d dt# » O1P R1+# » ΩR1/Rg∧# » O1P=# » VP,E/R1+# » ΩR1/Rg∧# » O1P 3j d dt# » VP,E/R1 Rg= d dt# » VP,E/R1 R1+# » ΩR1/Rg∧# » VP,E/R1=# » ΓP,E/R1+# » ΩR1/Rg∧# » VP,E/R1 /ȕRɵ~NI3L3NjIa3IjCRN03,RLURcCjCRN03c,,āIāajCRNc- # » ΓP,E/Rg=# » ΓP,E/R1+# » ΩR1/Rg∧# » VP,E/R1+# » ΓO1,R1/Rg +# » ΩR1/Rg∧# » VP,E/R1+# » ΩR1/Rg∧# » O1P + d dt# » ΩR1/Rg Rg∧# » O1P # » ΓP,E/Rg=# » ΓP,E/R1+# » ΓO1,R1/Rg+# » ΩR1/Rg∧# » ΩR1/Rg∧# » O1P + d dt# » ΩR1/Rg Rg∧# » O1P+2·# » ΩR1/Rg∧# » VP,E/R1 QNNRj3- ġ# » ΓP,E/Rg-,,āIāajCRN$cRIn30nURCNjP03EUaaUURajna3Uěa3<ICIā3NRgd ġ# » ΓP,E/R1-,,āIāajCRNa3IjCq30nURCNjPUUaj3NNj©EUaaUURajna3Uěa3R1d ġ# » ΓO1,R1/Rg+# » ΩR1/Rg∧# » ΩR1/Rg∧# » O1P + d dt# » ΩR1/Rg Rg∧# » O1P-,,āIāajCRN0ȕ3NjaţN3L3Nj0n Hw,ā3+@aI3L<N3ATaCc:

(3)

kY/wNLC\n30ncRIC03 URCNjP03R1UaaUURaj©Rg\n3IȕRNNRj3# » ΓP,R1/Rgd ġ2·# » ΩR1/Rg∧# » VP,E/R1-,,āIāajCRN03+RaCRICcY Hȕ,,āIāajCRN$cRIn30ȕnNURCNjP0ȕnN3Nc3L$I3LjāaC3IE3NLRnq3L3NjUaaUURaj©nN aā8āa3NjC3IR1InCALćL33NLRnq3L3NjUaaUURajna3Uěa3<ICIā3NRgcȕā,aCj,RLL3IcRLL3 03Iȕ,,āIāajCRNa3IjCq303P03EUaaUURaj©R1.Iȕ,,āIāajCRN0ȕ3NjaţN3L3Nj0na3Uěa3R1Ua aUURaj©Rg3jIȕ,,āIāajCRN03+RaCRICc- # » ΓP,E/Rg=# » ΓP,E/R1+# » ΓP,R1/Rg+2·# » ΩR1/Rg∧# » VP,E/R1 # » Γabs=# » Γrel+# » Γent+# » Γcor

kY:YlY

*QKTQbBiBQM/miQ`b2m`/vMKB[m2 H3jRac3na0wNLC\n303Iȕ3Nc3L$I3LjāaC3IE0NccRNLRnq3L3NjUaaUURajnaā8āa3NjC3I <ICIā3NRgcȕā,aCj- DE/Rg =^{⎧ ⎪ ⎨} ^{⎪ ⎩}# » AE/Rg= P∈E# » ΓP/Rg·dm # » δA,E/Rg= P∈E# » AP∧# » ΓP/Rg·dm

⎫ ⎪ ⎬ ⎪ ⎭ ^A

TRnaI3,3Nja30ȕCN3ajC3GI0ā,RLURcCjCRN03Iȕ,,āIāajCRN0RNN3- # » ΓG,E/Rg=# » ΓG,E/R1+# » ΓG,R1/Rg+2·# » ΩR1/Rg∧# » VG,E/R1 /ā,RLURcRNc.I3LRL3Nj0wNLC\n3- # » δA,E/Rg= p∈E# » AP∧# » ΓP/R·dm = p∈E# » AP∧# » ΓP,E/R1+# » ΓP,R1/Rg+2·# » ΩR1/Rg∧# » VP,E/R1 ·dm # » δA,E/Rg= p∈E# » AP∧# » ΓP,E/R1·dm+ p∈E# » AP∧# » ΓP,R1/Rg·dm +2 p∈E# » AP∧# » ΩR1/Rg∧# » VP,E/R1 ·dm UaNIR<C3.RNU3nj0ā,RLURc3aI3LRL3Nj0wNLC\n3$cRIn,RLL3IcRLL30ȕnNLRL3Nj 0wNLC\n3a3IjC8.0ȕ3NjaţN3L3Nj3j03+RaCRICcY # » δA,E/R=# » δrel+# » δent+# » δcor /ȕRɵI3jRac3na0wNLC\n3\n3IȕRNU3nj0ā,RLURc3anccCUaNIR<C3.cRncI8RaL30ȕnNjRac3na 0wNLC\n3a3IjC8.0ȕ3NjaţN3L3Nj3j03+RaCRICc- DE/R =^{⎧ ⎪ ⎨} ^{⎪ ⎩} p∈E# » ΓP/Rdm p∈E# » AP∧# » ΓP/Rdm

⎫ ⎪ ⎬ ⎪ ⎭ ^A

DE/R =

⎧ ⎪ ⎨ ⎪ ⎩

p∈E# » ΓP,E/R1dm p∈E# » AP∧# » ΓP,E/R1dm

⎫ ⎪ ⎬ ⎪ ⎭ ^A

+⎧ ⎪ ⎨ ⎪ ⎩

p∈E# » ΓP,R1/Rgdm p∈E# » AP∧# » ΓP,R1/Rgdm

⎫ ⎪ ⎬ ⎪ ⎭ ^A

+⎧ ⎪ ⎨ ⎪ ⎩

p∈E2# » ΩR1/Rg∧# » VP,E/R1dm +2 p∈E# » AP∧# » ΩR1/Rg∧# » VP,E/R1 dm

⎫ ⎪ ⎬ ⎪ ⎭ ^A

UaNIR<C3RNUaI303jRac3na0wNLC\n30ȕ3NjaţN3L3Nj.a3IjC83j03+RaCRICc DE/R = DE/R1 + DE,R1/Rg + Dcor,E/Rg ={Drel}+{Dent}+{Dcor} Hw,ā3+@aI3L<N3ATaCc9 kY/wNLC\n30ncRIC03

kY:YkY

S`BM+BT27QM/K2MiH/MbmM`2Tĕ`2MQM;HBHû2M bRCjEnN3Nc3L$I3LjāaC3I.RgI3a3Uěa3<ICIā3N3jR1I3a3Uěa30ȕājn03YQNc3UaRURc30ȕā,aCa3 I3UaCN,CU38RN0L3NjI03I0wNLC\n30NcI3a3Uěa3R1.Ua0ā~NCjCRNI3TY7Y/Ycȕā,aCj- DE/Rg = AE→E 2N0ā,RLURcNjI3jRac3na0wNLC\n3cnaI3a3Uěa3R1- DE/R1 + DE,R1/Rg + Dcor,E/Rg = AE→E 7CNI3L3NjI3TY7Y/UaaUURajna3Uěa3NRN<ICIā3NR103qC3Nj- DE/R1 = AE→E − DE,R1/Rg − Dcor,E/Rg /NcnNa3Uěa3NRN<ICIā3N.CI8njcRncjaCa3nu8Ra,3c3ujāaC3na3cUUIC\nā3c©Iȕ3Nc3L$I3LA jāaC3IEI3jRac3na03c8Ra,3c0ȕCN3ajC30ȕ3NjaţN3L3Nj3jI3jRac3na03c8Ra,3c0ȕCN3ajC303+RaCRICcY `3La\n3-cCR13cj3NjaNcIjCRNnNC8RaL3UaaUURajna3Uěa3<ICIā3N.IRac DE,R1/Rg = 0 3j Dcor,E/Rg = 0 0RN, DE/R1 = AE→E .R13cj0RN,nccCnNa3Uěa3 <ICIā3NY

kY9Y TTHB+iBQM Ĝ ú[mBHB# `;2 /ǶmM bQHB/2 kY9YSY

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⎛ ⎝A−F−E −FB−D −E−DC

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(4)

kY/wNLC\n30ncRIC03 #VXúim/2/vMKB[m2 AMp2MiB`2/2b+iBQMb2tiû`B2m`2bUUIC\nā3cncRIC033NaRjjCRN ġ,jCRN03IU3cNj3nacnaI3cRIC03- Pg→S1 = −M·g·#»z0 #» 0 G= −M·g·#»z0 M·g·xg·#»y1

O ġ+RnUI3LRj3na- CMot→S1 =#» 0 Cm·#»z0 ∀Pd ġ,jCRNcjaNcLCccC$I3cUaIICCcRNUCqRj- LS0→S1 =^{⎧ ⎨} ⎩X01L01 Y01M01 Z010

⎫ ⎬ ^Y ⎭ #»P)z∀,(∈O0#»#»#»z?,?,)(0 S©aUURajUa3L3NjLRnqcRN0Nc.ûi2`KBMiBQMcRIC03n0Q3N/vMKB[m2`b2m`iQ/mYR01 3N/āj3aLRnqcRN0NcScRIC030Q3L3Nj,CNājC\n3Ua3LC3aLCNRNcjRac3nanN0Ncj3LUcI3n1 UaaUURaj©R-0 Y# »#»# »·θ·x·M=Vy=·pMġ`ācnIjNj3,CNājC\n3-1gR/G∈/SRS0110 3-0RN,āa3NjC3I.aā8I30Ncj~unN3cQ,CNājC\n3.KRL3NjġURCNj ^⎛ EA−F− »# »# ⎝−FBD=Ω−σ·S)I(=RRO,S/1SO/g011 −E−DC

⎞ ⎠ O B1·

⎛ ⎝0 0 Y θ

⎞ ⎠ =−E·Y θ·#»x1−D·Y θ·#»y1+C·Y θ·#»z0 =−E·ω·#»x1−D·ω·#»y1+C·ω·#»z0q3,ω=Y θ 0ȕRɵI3c,RLURcNj3c0njRac3na0wNLC\n3- DS1/R0 =# » AS1/R0# » δO,S1/R0 O ġ# » AS1/R0.aācnIjNj30wNLC\n3.Ua0āaCqjCRN03IaācnIjNj3,CNājC\n3- # » AS1/R0=M·xg·YY θ·#»y1−M·xg·Y θ2·#»x1 ġ# » δO,S1/R0.LRL3Nj0wNLC\n33NO.O3cjnNURCNj~u30NcR00RN,- # » δO,S1/R0= d dt# »σO,S1/R0 R0 =−E·YY θ·#»x1−D·YY θ·#»y1−E·Y θ2 ·#»y1+D·Y θ2·#»x1+C·YY θ·#»z0 = D·Y θ2−E·YY θ ·#»x1+ −D·YY θ−E·Y θ2 ·#»y1+C·YY θ·#»z0 S`BM+BT27QM/K2MiH/2H/vMKB[m2UUIC\nāncRIC03S1Y DS1/R0 = AS1→S1 DS1/R0 = Pg→S1 + CMot→S1 + LS0→S1 # » AS1/R0# » δO,S1/R0 O= −M·g·#»z0 M·g·xg·#»y1 O+#» 0 Cm·#»z0 ∀P+^{⎧ ⎨} ⎩X01L01 Y01M01 Z010

⎫ ⎬ ⎭ #»∀P∈(O,z)0#»#»#»?,?,z(0) Hw,ā3+@aI3L<N3ATaCce

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Y⎧ ⎪ ⎨2−M·x·θ=Xg01 YY Y=θx··Mg01⎪ ⎩ 0=−M·g+Z01

3j

⎧ ⎪ ⎪ ⎨ ⎪ ⎪ ⎩

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⎧ ⎪ ⎨Y2·=θXx·M−g01 Y=001⎪ ⎩ M·g=+Z01

3j

⎧ ⎪ ⎪ ⎨ ⎪ ⎪ ⎩

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⎫ ⎪ ⎬ ⎪ ⎭ ^O

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⎫ ⎬ qt·=θ3,ω ⎭ O#»#»#»xy,z(,)000 ^{⎧ ⎨}·(ω·t)t−M·sin(ω·))Lcostω(cos·X·010101 ·tsinω()+ωM·cos(L·t)·ω)Lt·(sin·=X010101S→S01⎩ Z001

⎫ ⎬ ⎭ O#»#»#»)z,y,x(000 Hw,ā3+@aI3L<N3ATaCc4

(5)

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⎧ ⎪ ⎪ ⎨ ⎪ ⎪ ⎩

−M·xg·Y θ2=0 D·Y θ2−E·YY θ=0 −D·YY θ−E·Y θ2 −M·g·xg=00ȕRɵ

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⎛ ⎝000 000 000

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⎛ ⎝A−F−E −FB−D −E−DC

⎞ ⎠ O (#»x1,#»y1,#»z1) 03,3Nja30ȕCN3ajC3- # » OG=xg·#»x1+zg·#»z0d M1ILcc3URN,jn3II303Lcc3m1.q3, # » OM1=x1·#»x1+y1·#»y1+z1·#»z0d M2ILcc3URN,jn3II303Lcc3m2.q3, # » OM2=x2·#»x1+y2·#»y1+z2·#»z0Y VW0RNNā3c Q#»x1

#»y1#»z0 Q #»x0

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⎛ ⎝AΣ−FΣ−EΣ −FΣBΣ−DΣ −EΣ−DΣCΣ

⎞ ⎠ O (#»x1,#»y1,#»z1) q3, AΣ=A+m1· y^{2 1}+z^{2 1} +m2· y^{2 2}+z^{2 2} −DΣ=−D−m1·y1·z1−m2·y2·z2 BΣ=B+m1· z^{2 1}+x^{2 1} +m2· z^{2 2}+x^{2 2} −EΣ=−E−m1·x1·z1−m2·x2·z2 CΣ=C+m1· x^{2 1}+y^{2 1} +m2· x^{2 2}+y^{2 2} −FΣ=−F−m1·x1·y1−m2·x2·y2 #VXú[mBHB#`;2biiB[m2 Hȕ3Nc3L$I33cjā\nCIC$aācjjC\n3L3NjcCI3,3Nja30ȕCN3ajC303Iȕ3Nc3L$I33cjcnaIȕu303aRjjCRNY # » OGΣ=1 MΣ M·# » OG+m1·# » OM1+m2·# » OM2 Hȕā\nCIC$a3cjjC\n33cj0RN,aāICcācC# » OGΣ·#»x1=03j# » OGΣ·#»y1=0 /ȕRɵI3c03nuUa3LCěa3cā\njCRNc©a3cU3,j3a- M·xg+m1·x1+m2·x2=0 m1·y1+m2·y2=0 +VXú[mBHB#`;2/vMKB[m2 H3cUaR0nCjc0ȕCN3ajC3,RLURajNjIȕu303aRjjCRN(O,#»z0)0RCq3Njćja3NnIcVC,CDΣ3jEΣW.0ȕRɵI3c 03nuā\njCRNccnCqNj3c- Hw,ā3+@aI3L<N3ATaCcSz

(6)

kY/wNLC\n30ncRIC03 −DΣ=−D−m1·y1·z1−m2·y2·z2=0 −EΣ=−E−m1·x1·z1−m2·x2·z2=0 H3cwcjěL3©aācRn0a33cjnNcwcjěL303:ā\njCRNc3j4CN,RNNn3cVm1.m2.x1.x2.y1.y2.z1.z2WYBI 3uCcj30RN,©UaCRaCnN3CN~NCjā03cRInjCRNcY

⎧ ⎪ ⎪ ⎪ ⎨ ⎪ ⎪ ⎪ ⎩

M·xg+m1·x1+m2·x2=0 m1·y1+m2·y2=0 −DΣ=−D−m1·y1·z1−m2·y2·z2=0 −EΣ=−E−m1·x1·z1−m2·x2·z2=0 /VXTTHB+iBQM,`Qm2 /NcIaāICjā03c,RNjaCNj3cUajC\n3c03aāICcjCRNICLCj3NjI3NRL$a303cRInjCRN.CNcCURna nN3aRn3V~<na3kY9W.I3cLcc3c0ȕā\nCIC$a<3N3U3nq3Njćja3~uā3c\n3cnaI3URnajRna03IENj3 V03awRNR.03Ia<3naLW03,@\n3,Rjā0nUN3nY QN0RN,- ġ x^{2 1}+y^{2 1}=R3jz1=0VRnz1=LWURnaIUa3LCěa3Lcc3d ġ x^{2 2}+y^{2 2}=R3jz2=LVRnz2=0WURnaIc3,RN03Y 7ϔόЛЁζkY9YĢ`Rn3ENj3 `3Ua3NRNcI3c\nja3ā\njCRNc03Iȕā\nCIC$a<3Y M·xg+m1·x1+m2·x2=0 m1·y1+m2·y2=0 −D−m1·y1·z1−m2·y2·z2=0 −E−m1·x1·z1−m2·x2·z2=0 QN,@RCcCj.nNUINURnaIUa3LCěa3Lcc3Vz1=0W3jI3c3,RN0URnaIȕnja3z2=LY BI3cjUaā8āa$I3URnaaācRn0a3.0ȕā,aCa33NURICa3I3c\nja3ā\njCRNc.3NURcNj- x1=R·cosθ1 y1=R·sinθ13j x2=R·cosθ2 y2=R·sinθ2 Hw,ā3+@aI3L<N3ATaCcSS kY/wNLC\n30ncRIC03 H3cwcjěL303qC3Nj- M·xg+m1·R·cosθ1+m2·R·cosθ2=0 m1·R·sinθ1+m2·R·sinθ2=0 −D−m2·R·sinθ2·L=0 −E−m2·R·cosθ2·L=0 ,3\nCU3aL3j030ā0nCa3-

⎧ ⎪ ⎪ ⎨D tanθ=2E√ 22⎪ ⎪ ⎩+ED =m2 L·R

3j

⎧ ⎪ ⎪ ⎨D tanθ=1 ·L·xM−Eg D⎪ ⎪ ⎩1 ·m=1θsinL·R1 03c,CNājC\n3cjC\n3c,jāaCc,a03c8RN,jCRNc3NLcc3cqI3naI3jURcCjCRNICNcCLCN30āj3aQN ā\nCIC$a3aY©aRn3I03 L3jj3Nj3{RajcI3cL3cna3a03U3a\nC0ȕ3{Rajcj3nac,U03ca3NjCNjě<ā\nCIC$a3a©L,@CN3cH3c ,a,jāaCcjC\n3c03,CNājC\n3c03IaRn30ā0nCa3I3cI3c03L3jU3a3{Rajc,3cL3cna3HICCcRNcY0Nc 0āj3a03I©LCNjCRN03c,jCRNc0NcUajCaRNc@nj.T7/YUIncaācRInjCRN0nUaMRncqLRNjaā I0njCRNIȕ3u033j3ajC30ȕCNLjaC,3,3Nja03I,jāaCc,a03c0āU3N03Nj,3nuA,CjC\n3c\n3ICCcRN. cRIC03Y0n0ȕCN3ajC3,3Nja3 ^{⎧ ⎪ ⎨}YY22x·M−=·XθL=Dθ·g0101Y2 L=E−·g·M−θ·M=0=YxS→S01g0101^{⎪ ⎩} Z=M·g001

⎫ ⎪ ⎬ ⎪ ⎭ ^O

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