You are on page 1of 18



 



!"$# %'&


 


)* )+ -,*.

(/(


)* 01,*23.

(4(4(

56

*2.7

896

*2.7

:96<;

5
8

=?>@@A* 0,$>3 CBD2 E .7FG CBD2HI,! .J


K@

L*6)M N* OIPQB


0 !N.BDN-BJ2-..7N.BJ ROH. S
292 =* @.

:
T

U@VXW
VZY\[[
]_^Q`7abC^@bCcdYebC]/f_`7c_ghbCabCciVjVkVlVjVkVjVkVjVjVkVjVkVlVjVkVjVjVkVjVkVjVjVkVlVjVkVjVkV

U@VonRVZpRgqc/f_`7rsbCct^@`lu7[[
]_^Q`7abC^@bCcv`7axw
`7a@`]ybCz VkVjVjVkVjVkVlVjVkVjVjVkVjVkVjVjVkVlVjVkVjVkV

U@VonRVXW
V

Y\[R[C]_^@`abC^bCcv{3[
z|b=]_`7c}VlVjVkVjVkVjVjVkVjVkVlVjVkVjVjVkVjVkVjVjVkVlVjVkVjVkV

U@VonRVonRV

Y\[R[C]_^@`abC^bCcvughzhqa@^@]/ghuJb=c

VkVjVkVjVjVkVjVkVlVjVkVjVjVkVjVkVjVjVkVlVjVkVjVkV

U@VonRVQV

Y\[R[C]_^@`abC^bCcv`c/K7]/ghu7bCc

VjVkVjVkVjVjVkVjVkVlVjVkVjVjVkVjVkVjVjVkVlVjVkVjVkV

U@VQV`]_gXCb=^bCctfy`rs{3[
]yb=zh`7c\^@`lzh[
ceC`7uf_[
]_`cdQa@gqfybC]_gq[
c\zhbCct`R{@]/`7c_gq[
a@`cd^@` ~
VjV
V ~a
U@VQVXW
V Y\[R[^@`abC^bCcv{3[
z|b=]_`7cVkVlVjVkVjVkVjVjVkVjVkVlVjVkVjVjVkVjVkVjVjVkVlVjVkVjVkV

WD
WJU

U@VQVonRV

Y\[R[^@`abC^bCcvughzhqa@^@]/ghuJb=c$VjVkVjVkVjVjVkVjVkVlVjVkVjVjVkVjVkVjVjVkVlVjVkVjVkV

WJU

U@VQVQV

Y\[R[^@`abC^bCcv`c/K7]/ghu7bCcVlVjVkVjVkVjVjVkVjVkVlVjVkVjVjVkVjVkVjVjVkVlVjVkVjVkV

W


)* )+ -,*.



"

'"#)%


)* 01,*23.



"

Z%'"#x

M @FKBD,K2

"

56

*2.7

3x&9

M @FKBD,K2

"

896

*2.7

3x&9

M @FKBD,K2

:96;

=?>@@A* 0,$>3 CBD2 i .7FG CBD2IH,! .J


K@

3x&9

$# 3%'%

$%

&%

"



$I<'#

#x!

!Hx



`u7ghri[
c@`@ai
`ufy[C]\`7cK@a@ugh
ai^@`@a{bC]_Cri`fy]/[

c_g {bC]_bkuJb=^bj=bCzq[
]G^@`
`Rghc4fy`@aEc/[
zh[
t
t
=bCzq[
]e^@`z9
`7ufy[
]V
@a
`ufy[C]@`^@`{-`a@^@`^@` Vd[
c{@]/`7w
@a1fybCrs[CcGu7bCz`czhb^@`7]/gq=bC^b^@`v`c/fbK@a@ugh
a
p `7b ~
R
A(t)
t
C`7uf_[
]_ghbCz9]/`7c_{3`7ufy[Eb V Gc4fbc_`l^@`@a@`k{3[
]

~ + t) A(t)]
~
~
[A(t
dA
= lm

dt
t

QVXW

pRg`7z
`ufy[C] ~ `c/fy`R{@]/`7cyb=^@[`7aQabbCc/`\[
]4fy[
wC[
abCzD b b b bC{@zhgquJbCaQ^@[dzhbCc{@]_[
{Qgh`7^@bC^@`7c
A
{i, j, k}
^@`z*CzhwC`7@]_b
`7ufy[
]/g|bCz9f_`7a@^Q]_`7ri[
cv@`lc_g ~
b
A(t) = Ax (t)i + Ay (t)bj + Az (t)kb

[C][=fy]_[zhbC^@[^@`

~
dA
dAx b dAy b dAz b
=
i+
j+
k
dt
dt
dt
dt

QVon

RVqW\[CQfy`a@`7ri[
cv@`

~ + B)
~
~ dB
~
d(A
dA
=
+
dt
dt
dt
~
~
dA
d(cA)
dc ~
+c
= A
dt
dt
dt
b=]yb`7z{@]/[R^@Qufy[`c_uJb=z|bC]ef_`7a@^@]/`7ri[
cv@`

~ B)
~
1 ~
d(A
~ + t) A(t)
~ B(t)]
~
= lm
[A(t + t) B(t
t0 t
dt
1 ~
~
~ + t) + A(t)
~ (B(t
~ + t) B(t))]
~
[(A(t + t) A(t))
B(t
= lm
t0 t

QV1

QVU

M @FKBD,K2

:96;

=?>@@A* 0,$>3 CBD2 i .7FG CBD2IH,! .J


K@

~
~
~ B)
~
dA
d(A
~ +A
~ dB
=
B
dt
dt
dt
`K[
]/rEbbCa@Czh[
w
b{bC]yb

QVo

~B
~ [
Qf_`7a@`rs[
c
A
~B
~
~
~
dA
dA
~ +A
~ dB
=
B
dt
dt
dt

bCcv]_`z|bCugh[
a@`c

QV1

RVo1 QVo
c_[
a<Cughzhri`7a1f_`rs[Cc/fy]_bC@zq`7ct`7ax@abbCc/`l[
]/f_[
w
[
ab=zRCV

[R^@[0C`7uf_[
]{@@ `^@`x` R{@]_`cybC]/c_`xu7[
ri[0c_ZrsbCw
a@gXfy@^I{-[
]QaZC`7ufy[
]@a@gXfbC]/gh[S@`gqa@^@gquJbSc_
^@gq]_`u7u7gq
a
QVom

~ = A(t)ebA
A(t)

^@[
aQ^@`

@`7wC[

Y\[
ri[

~
dA
dA
debA
=
ebA + A(t)
dt
dt
dt

~A
~ `a1fy[
a@u`7c
A2 = A

A
<bCc/

@zXfygq{@zhgquJbCa@^Q[

QV1\{3[
]

@`<a@[
c^@gqu7`@`

ebA

=bC]/g|bCugh
a^Q`jzhbrEbCwCa@gqf_@^^@`

ebA
db
eA
dt

QV~1

1 ~
1 ~
A=
A(t)
~
A(t)
|A|

ebA

QV1

~
dA
~ dA
=A
dt
dt

~
dA
dA
= ebA
dt
dt

QVXWD1

QVXW
W

f_`7a@gq`7a@^@[`a u@`7a1fb

QVXW
W

ebA

QVXWn

debA
=0
dt

c/[
a{3`7]/{-`a@^@gqu7@zhbC]_`c7Vt^@`rE=c1b

~ [Ru@]_]/`l`7axz|b^@gq]_`7uu7gq
a<^@` ebA V
A

QVXW
WkaQ[
cgha@^QghuJb=bS@`<z|b

` QV1 QVqWCW4{3[R^Q`7ri[
cGu7[
aQu7zhQgh] fbCrQgh7a @`ubCa@^@[j@ai
`7ufy[
]rsbCa1fygh`a@`tc_srEb=w
a@gqf_@^

u[
a@c/fybCa1 fy`l]_`c_{3 `7ufy[b=z9{bC]_Crs`fy]/[
c_)^Q`7]_gX=bC^b`7c{3`7]_{3`7aQ^@ghu@z|bC]ebizV
t
U

M @FKBD,K2

:96;

=?>@@A* 0,$>3 CBD2 i .7FG CBD2IH,! .J


K@

gq]_`7ri[
c `7a1fy[Ca@u7`c `7zu7bCr@gq[^@`l[
]_gq`7a1fbCugh
a<^@`z9
`ufy[C]vu7[
a@u`7a1fy]/7ri[
a@[
c {@]_gqrs`]_[ `7ax`7z

u7bCc_[ @gh^@gqrs`a@c_gq[
abCz `7ck^@`7ugh]ju7b=a@^@[S`zC`7uf_[
]u7bCr@ghbx^@`s^@gh]/`7uu7ghCaIc_[C@]_`s@a{@zhbCa@[@V*Ga`c/fy`

u7bCc_[i`7z*uJb=r@gh[{@Q`7^@`j]_`{@]_`c_`7a1fybC]_c/`{3[
]v@ab]_[CfybCu7gq
a9V pRg*u[
rs{@bC]ybCri[
cezq[
ct
`ufy[C]_`7c ~

A(t + t)

~ `7a1f_]_`j`7zhzq[
ce`Qgqc/f_`jQa)CaQw
@zh[
A(t)

c/ ~
^@[Ca@^@`
`7c@axC`7ufy[
]v{3`7]_{3`7aQ^@ghu@z|bC]vb
V
eb
ebA
A(t + t) = A cos ebA + A sin eb
Q`bCu`
Y\[
ri[i=bCri[
cbif_[
rsbC]v`7z*zhqrsgXfy`ubCa@^@[
righ]_bCrs[Cct`7z*u7[
ri{3[
]4
t 0
0
fybCrsgq`7a1fy[b{Q]_ghri`7]\[
]_^@`a ^Q`jzhbCc\K@aQu7gh[Ca@`7ctfy]/ghw
[Ca@[
ri fy]/ghu7bCc\@`jbC{b=]_`7u`7a9V cybCri[
ct`z@`7u@[i^@`
@`lc_g
QVXWD1

f (x0 + x) f (x0 )
x0
x

f (x0 ) = lm
`7a1f_[
a@u7`cd{@bC]yb

rQE{-`@`7@[s^@`

(3, 13)
QVXWJU

b=]yb`7zc_`a@[

f (x0 + x) f (x0 )x + f (x0 )


x0 = 0 x =

`a1fy[
a@u`7c

sin cos(0) + sin(0) =

cos sin(0) + cos(0) = 1

c/

b{@]_gqrs`]t[
]_^Q`7a<`7a

QVXW

A(t + t) = AebA + Aeb

V [C]vfybCa1fy[

~
dA
= Aeb
dt

u7[Ca

QVXWD1

QVXWm

t0 t

= lm
z|bCri`7ri[
c

^@[
aQ^@`

b = ebA eb
n

QVXWD~1

~ = n

[^@`rs[
cv`c_u7]/gh@gq]t@`l{bC]yb@a<
`uf_[
]d]/[Cfb=af_`

~
dA
~
=
~ A
dt

QVXWD1

M @FKBD,K2

:96;

=?>@@A* 0,$>3 CBD2 i .7FG CBD2IH,! .J


K@

Y\[
ri[
{@@`7^Q`rs[^@gXuJbC]/c_`b
0
~A
~ = 0
~ [
Qf_`7a@`rs[
c`7zrighc/rs[i]_`c_@zXfbC^Q[@V
A
~

~ =
~ + cA
Gax`7c/f_`luJbCc/[s`z`/`l^@`l]_[CfybCu7gq
aa@[i`7cv{3`7]_{3`7aQ^@ghu@z|bC]vb=z9{@z|b=a@[Q`ju[
a1fygq`7a@`jb ~ V

b=]yb]_[CfybCu7gq[
a@`ceghaQ@a@gqf_`7c_gqabCzq`7c zh[^Qghu@[ibCa1fy`]_gq[
]_ri`7a1fy`a@[
ctr@`c/f_]yb@`lu7bCaQ^@[@a
`7ufy[
]

]/[Cfb@axCa@wC@zh[
ghaQ@a@gqf_`7c_gqrEb=z-]/`7c_{3`7ufy[EbQa `/`
`7zu7bCr@gq[^@` ~ `c
b
A
n

u7[Ca

QVonC1

~A
~ = A(t
~ + t) A(t)
~ = Aeb =
~
A

QVonRW

~ = n
b

c/f_[
c
G
_
c
t
`
7
u
C
[
s
r
3
{

[
/
]
y
f
C
b

a
7
u
C
[
s
r

[
Q

7
`
@
a
C
[

c
C

7
`

u
y
f

[
/
]
7
`
7
c

V
d

`
Q

7
`

u
@

l
[
_
c
Q
g


C
b
7
u

`
s
r
C
[
G
c
@


a

b
_
]
C
[
y
f
C
b
7
u
q
g

a
3
{

[
]
~
~1

zq@`7wC[[Cfy]_b]/`7c/{-`ufy[Eb
~

~1 A
~1 A
~A
~ + A
~=A
~ +
~A
~0

c/

~2 A
~2 A
~ A
~ + A
~ =A
~ +
~ A
~

00

QVon
n

~ 1 +
~2) A
~ 2 (
~ 1 A)
~ 00 = A
~ + (
~ +
~
A

= primer orden en

~ 1 +
~2) A
~ + (
~
= A

QVonC1

c/-zhbj]/[Cfb=u7ghCas]/`7c_Qzqfb=af_``c\z|blc_QrEbj^@`
~ 1 rEbCc
~ 2 VRd[=fy`Q`c_g
~ aQ[`7cghaQaQgqfy`c_gqrEbCz

`z9fy`7]/u7`]vf_7righa@[`a QVon
n
\a@[`7cvfy]/gqg|b=zV
[
zXRgq`7a@^Q[bia@`c/ fy]/[s{Q]_[
@zq`7rsb[
]_gqw
gha@bCz-`zuJbCr@gh[ghaQc/fb=afyCa@`[i^Q`jQaxC`7uf_[
]

~
dA
dA
~
=
ebA +
~ A
dt
dt

~ `7c
A

QVon=U

M @FKBD,K2

L*6M N* OIPQB


S N.BDN-BJ2-..7N.BJ ROH. S
292 =* @.

3x&9

"!



Z%

!

i x'

ix$

"

#)"$%'%'

7j

jvxj<k"

*vk<j

c/f_`kc/ghc/f_`7rsb`7cv`7zrsbCctc_`a@u7gqzhzq[u7[
ax`/`cu[R[C]_^@`abC^@[
cv^@`a@gq^@[
cv{-[C]tzh[
ceC`7uf_[
]_`c b b b Vdc_
G
i, j, k
zhb{-[
c/ghugh
a^@`l@a@bi{b=]/fyqu7@zhb]_`c_{3`7uf_[Eb=z9[
]_gqw
`7a<`c
U@VXW

~r = x(t)bi + y(t)bj + z(t)kb

@`7wC[

U@Von

V~ = ~r = x bi + y bj + z kb

U@V1

~a = ~r = xbi + ybj + zkb

a`7c/f_`vc_ghc4fy`rEbzh[Cc
`ufy[C]_`7c@a@gXfbC]/gh[
c{bC]/`7u7`ai/[
cG]_`c_{3`7uf_[bzq[
cuJb=r@gh[Cc^@` VpRgqa`7rb=]4
G
t
w
[EbJ)^@`fy`]_righabC^Q[
cri[gqrsgq`7a1fy[
c@`]/`7c_Qzqfb=a0^@`7c/u7]_gXfy[
crs`/[
]`a0[Cfy]/[c_ghc4fy`rEbEu[R[C]_^@`abC^@[
^@[Ca@^@`l{bC]_bu7bC^bgha@c4fbCa1f_`z|bbCc/`lf_gh`a@`[
]_gq`7a1fb=u7gh[Ca@`7ct^@gqc/f_gha1fbCc

i*v

j\jv<k<jv

jv<el

bC^@bCcz|b=cu7[[
]/^@`7ab=^bCcu7bC]/f_`7c/g|bCab=c c/gh`rs{@]/``c{-[Cc_ghQzh`jbCu7`]@aSu7bCr@gq[E^@`u7[[
]_^@`abC^b=c7V

Gax`7c/f_`luJbCc/[sc/`j{Qgh^@`l@`lz|bzh`

x = x(1 , 2 , 3 )
y = y(1 , 2 , 3 )
z = z(1 , 2 , 3 )
m

U@VU

M @FKBD,K2

^@`

L*6M N* OIPQB


S N.BDN-BJ2-..7N.BJ ROH. S
292 =* @.

pR`7b@abbC{@zqghu7bCu7gq
agqaC`7]4fyghQzh`CV=Gc^@`u7gh]Q`tc_gh`rs{Q]_`\{3[^bCri[
c`Q{Q]_`7c_bC]Gzh[Cc 0 u[
ri[K@a@ugh
a
i s
V

x, y, z

U@Vo

i = i (x, y, z)

bCcG^@gq]_`7uu7gq[
a@`7cG^Q`tzh[
c`/`7cu7[[
]/^@`7ab=^@[
cG@`7^@bC]ybCa^@`fy`]_righabC^@bCc{3[
]Gz|bCc*c_Q{-`]/ugh`7cG^Q`ta@gq1
`zX@`u[
]_]/`7c_{3[
a@^Q`7axb@`@abku7[[
]_^@`abC^b^Q`z|b=c\a@`=bCct`c/f_=_bQVc/fy`a@^@]_`rs[Cc\c_Q{-`]/ugh`7c
c_xgha1fy`]_c_`u7ugh
ax^@`f_`7]/rsgqabC]yzq[
ce`/`c7V

i = constante

[C]t`/`7ri{@zq[@

c_`gqaf_`7]/c_`7ufbCax`7a<@a@bu@]/=b^@[Ca@^@`lz|bQa@ghu7bCb=]_g|b=@zh`
1 = const 2 = const
@`vuJb=r@g|bd`7c

{3[
]zh[@`v`c/fbgqaf_`7]/c_`7uu7gq
a^@`f_`7]_righa@bz|b^@gq]_`7uu7g@Cai^Q`7z@`/`
V1Y\[Crs[lz|bdu7@]4Cb
3
3
^@`kgha1fy`]_c/`7u7ugh
a)a@[`7ca@`7u`7cyb=]_g|b=rs`af_`@abs]_`7ufb `7z*
`uf_[
]fbCaQw
`7a1fy`bEz|biu7@]4=bE`7aSu@`7c4fygq
a0`7c

zhb^@gh]/`7u7ugh
a<^@`z`/`=V
b
`a1fb/`^Q`@au7bCr@gq[ ^@`Eu7[[
]_^@`abC^b=c^@`s`7c/f_`Efygq{-[ `7c@`s{@@`^@`c_`]@`@a@b)^@`EzhbCc
c/@{-`]/ugh`c^Q`jaQgq
`zc_`7bsz|bc/@{3`7]/@u7gh`l^@[Ca@^@`lc_`jr@`
`7a z|b{b=]/fyqu7@zhbQV
aS^@[
c^@gqrs`a@c_gq[
a@`7cvzhbCcdc/@{3`7]/@u7gh`c^@`ka@gq=bCzc/[
a)u@]/=bCcd^@`aQgq
`z `c/fybCc]/`7c_Qzqfb=a)c_`]G/Qc/fy[
G
zhbCceu7Q]/=bCcQ`j^Q`a@`a)zhb^Qgh]_`u7ugh
a^@`lzq[
ct`/`cd`a u7bC^b{@@a1fy[QV
t4

G@

AtQdd

GzuJbCr@gh[`c

x = cos
y = sin

UQVo1

x2 + y 2
y
= tan1 ( )
x
=

U@Vom

bCcvu7@]4=bCcv^@`la@gqC`7zc_[Ca
Ga Qa {@Qaf_[szq[
ct`/`ctfygh`a@`7ax^@gq]_`7uu7gq
afbCa@wC`7a1fy`jbz|bCctu@]/=bCcv^@`la@gX
`zQ`k{b=cybCax{-[C]t7z
zc_gqc/f_`7rsb^@`u7[[
]_^Q`7abC^@bCc{3[
z|bC]/`7c]/`7c/@zqfybu7[
a1
`a@gh`a1fy`i{bC]yb^Q`7c_u]_gq@gh]`zri[gqrsgq`7a1fy[su7gh]
G
u@z|bC]V
bC^Q[s@ax{@@a1f_[

zh[
ceC`7ufy[
]/`7c@a@gqfybC]_gq[
ctbzh[zhbC]_wC[^@`lzh[
ct`/`7cc_[
a

b1

eb = cos bi + sin bj

eb = sin bi + cos bj

Gz9
`ufy[C]d{3[
c_gqu7gq
a^@`l@ab{bC]4fyqu7@zhbQV`c

U@V~1

M @FKBD,K2

te

L*6M N* OIPQB


S N.BDN-BJ2-..7N.BJ ROH. S
292 =* @.

 d


AtQdd

U@V1

~r = eb

GzuJbCr@gh[bC@`c

x = cos
y = sin
z = z

U@VXWD1

x2 + y 2
y
= tan1 ( )
x
z = z
=

U@VXW
W

,FG D+1 . M @CBD N.BDN


.
bCci^@gh]/`7u7ugh[
aQ`7ci^@`

eb

@aQgqfb=]_gh[`7axz|b^@gq]_`7uu7gq
a<^@`

t v

eb

c_[
a$bCaCzq[
w1bCcbCzvu7bCc_[H^@` zhbCcu7[[
]_^Q`7abC^@bCcs{3[
zhbC]_`c7VGzt
`7ufy[
]

`7c b z9C`7ufy[
]v{3[
c_gqu7ghCa`7c
k

9


AtQdd

U@VXWn

~r = eb + z kb

GzuJbCr@gh[`c

x = r sin cos
y = r sin sin
z = r cos

Y\bCaQ^@[

= /2

x2 + y 2 + z 2
y
= tan1
x
z
1
)
= cos (
2
sqrtx + y 2 + z 2
r =

UQVqWD

{b=c_[sb{3[
zhbC]_`c

U@VXWJU

M @FKBD,K2

L*6M N* OIPQB


S N.BDN-BJ2-..7N.BJ ROH. S
292 =* @.

,FG D+1 . M @CBD N.BDN


.
[
ct
`ufy[C]_`7c@a@gXfbC]/gh[
c\Q`7^bCa u7[
ri[
U@VXW

~r = xbi + y bj + z kb

1
ebr = ~r
r

U@VXWD1

b1

ebr = sin cos bi + sin sin bj + cos kb


u[
ri[`7a){3[
zhbC]_`c
eb = sin bi + cos bj

U@VXWm

`7a@`rs[
cv`z9
`7ufy[
]

c/

U@VXWD~1

~ = r sin (cos bi + sin bj) = r sin eb

eb = cos eb sin kb



U@VXWD1

eb = cos cos bi + cos sin bj sin kb

 ejxj*v 0jlv}
vv
~ 
V

v*lv<lk

7j

~a

Y\bCaQ^@[<@cybCri[
czq[
c^@gqc/fygqa1fy[
cc/ghc4fy`7rsbCcu[R[
]/^@`7a@bC^@[
c{b=]yb^@`7c/u7]/gh@gq]`7zri[Dghrigh`7a1f_[^@`@ab
{b=]/fyqu7@zhb zhbCctu7[[
]/^@`7ab=^bCc^@`7z*u7Q`7]_{3[iuJbCrQg|bC]_Ca<u7[
ax`7zfygq`7ri{-[QV@Ga)`zuJbCc/[E^@`l@a c_ghc4fy`rEb^@`

u[R[
]/^@`7a@bC^bCc Eu7bC]/f_`7c/g|bCa@[Ezh[
cv
`ufy[C]_`7c^Q`z|bibCc_` b b b c/[
a0u7[
aQc/fb=af_`7c {-`]_[`aSzh[Cc[Cf_]_[
c
i, j k

c/gqfy`rEb=ct`7c/f_[saQ[i`cbCc_NV

Y\[
ri[sghri[
c ubCa@^@[E@aS
`ufy[C]uJbCr@g|birEbCa1f_`7a@gq`7a@^@[s=/[c_)rs^@@zq[ c_S^@`]_gXCb=^bE`7c{-`]4

{3`7a@^Qghu7Qz|bC]tbz9<bC^@`rECcv{@Q`7^@`
`]_c/`u7[Crs[`c/fghaQc/fb=afyCa@`7bCrs`a1fy`l]_[CfybCa@^@[QV
c/c_g

ub ub = 1
c_[Ca {3`7]/{-`a@^@ghu@z|b=]_`7c
ub ub = 0
ub =
~ ub

U@VonC1

[C] [Cf_]_[Zz|b=^@[Zz|b^@ghc/{-[Cc_ghugh
a ^@`Azh[Cc
`7ufy[
]/`7c @a@gqfybC]_gq[
c`7a uJbC^@bc/ghc/f_`7rsbu[R[C]_^@`abC^@[`7c
c/gh`7ri{@]/`z|brsgqc_rsb {3[
]tzq[i@`jz|b]/[CfbCugh
agqa@c/fybCa1fCaQ`Jb^@`luJbC^b
`uf_[
]d^Q`kzhb@bCc_`l`7cz|brighc/rEbQV

WD

M @FKBD,K2

L*6M N* OIPQB


S N.BDN-BJ2-..7N.BJ ROH. S
292 =* @.

"!#%$&('*) +& %,.-/%0 1$2',

dc_*@`k{3[^@`7ri[
cv{-`a@cyb=]d`a)uJb=^bsu7bCc_[su7bCa1f_[s=bCzh`
V bC]yb
3 1
X
c_g*zhzhbCrsbCrs[Cc

~
C
b
@
z
C

7
`

u
_
f

]
{

`
_
]
3
{
7
`
@
a
@
^
q
g
7
u
@

h
z
C
b

]
C
b

z
@
{
h
z
C
b
@
a
[
_
f
7
`
@
a
Q
^
_
]
7
`
i
r

c


_
c

g

`
_
c
7
u
/
]
h
g
@

q
g
s
r
C
[

c
l
b
7
`
4
c
fy[
c
`uf_[
]_`c
eb eb = kb
kb

`a zhbbCc_`t b b

i, j

eb = cos bi + sin bj

`7aQ[Cfya@u`7c`7ctCughzC`7]

eb = sin bi + cos bj

{3[
]tc_gqrs{Qzh`gqa@^@@uu7ghCax@`

eb = eb
eb = eb

3!#%$&('*) +& %,4!*560876)9&1$5:!_%,

b=]yb
3 1
{3[
z|b=]_`7c 7
` a1f_[
a@u7`c

u7[
ri[

U@VonRW

U@Von
n

~ = kb

eb , eb
kb = 0

c_[
aZzh[Ccrsgqc_ri[
c^Q`xzhbCcu[R[
]/^@`7a@bC^bCc

U@VonC1

kb = 0

eb eb = kb

U@Von=U

eb = eb =
~ eb

eb = eb =
~ eb

uJ

kb =
~ kb = 0

U@Von

Ga

`7c/f_`uJbCc/[<w
`7a@`]ybCz

@`

f_`7a@`rs[Ccz|bEb=c_`

eb1 , eb2 , eb3 ebi

)@`]_`7ri[
cc_bC-`]u7b=af_[Cb=zh`

6;

pRg9f_[
rs[

u7[Ca

ebix

g W n
ebi =
~ ebi

U@VonC1

`a)bCr-[
ctzhbC^@[
c\[
Qfy`a@^@]/`7ri[
cvQ`

~ = i ebi + ebi ebi

<!#%$=&('*)3+&1%,>-/%0X1$2',1

i =
~ ebi
`Jb=rs[
ctzhbbC{@zqghuJb=u7ghCa`7a

W
W

fybCz

U@Von
m

M @FKBD,K2
`

L*6M N* OIPQB


S N.BDN-BJ2-..7N.BJ ROH. S
292 =* @.

UQVqWm=b1

b + (

ebr = (cos
cos bi + cos sin bj sin k)
sin sin bi + sin cos bj)
= eb + sin eb

@`7wC[iu[
a

U@Von
m

{3`7]_[

~ = ebr + ebr (eb + sin eb )

`]v@w
@]ybbCzzhbC^@[^@`lzhb`u7b=u7gh[CaAWD

eb eb = ebr

[C][=fy]_[zhbC^@[^@`

b=c_

U@VonC~1

~ = ebr + eb sin eb

UQVqWm

eb = (cos

bi + sin bj)

= (sin

ebr + cos eb )
= sin ebr cos eb

U@VonC1

? ?@?

Y\[
ax`7c4fy`

?@?

~ eb = (ebr + eb sin eb ) eb

= eb sin ebr
= cos

U@V
1

bCc/

~ = cos ebr sin eb + eb


= kb + eb

{-[^@`7ri[
ct[
Rfy`7aQ`7]v^@gh]/`7ufbCri`7a1fy`

eb

eb =
~ eb
= ( cos ebr sin eb + eb ) eb
= cos eb ebr
Wn

U@VQW

M @FKBD,K2

L*6M N* OIPQB


S N.BDN-BJ2-..7N.BJ ROH. S
292 =* @.

@`l{@@^@gq`7]_bi[
Rfy`7aQ`7]_c/`jfybCr@gq`7ax^Q`7]_gX=bCa@^@[

UQVqWD
V@Gax]_`c_@ri`7a9

b1
ebr = eb + sin eb


eb = ebr + cos eb
D
u
eb = ebr cos eb

U@V1n

U@V
1

BA

bCc`R{@]_`c_gq[
a@`7c^@`z|bCcC`7zh[u7gq^bC^ibCu7`zh`]ybCugh
a{@@`^@`7aE[
Qfy`a@`7]/c_`d]yC{@gq^bCri`7a1fy`v@a@bj
` @`
f_`7a@w1b=rs[
ctzq[
c\=bCzq[
]_`ct^@`lz|bCc
[`7z^@`
V
ebi

~
pRg`z9
`7ufy[
]v{3[
c_gqu7gq
a`7c

~r = x1 eb1 + x2 eb2 + x3 eb3

`7a1f_[
a@u7`c

i=1

3
X
i=1

~ =
V

xi ebi

3
X
i=1

^@`lrsbCa@`]ybbCaCzq[
w1b{@bC]ybz|bbCu`7zq`7]yb=
a

~a =
zq@`7w
[
ebi =
~ ebi

3
X

~a =

3
X
i=1

i=1

xi ebi +
~ ~r

3
~
X
dV
= (xi ebi + 2xi ebi + xi ebi )
dt
i=1

xi ebi + 2xi
~ ebi + xi
~ ebi + xi
~ (~ ebi )
WD

U@V1

xi (~ ebi )

ebi =
~ ebi +
~ ebi
=
~ ebi +
~ (~ ebi )

d[Cc@`^b

U@VCU

xi ebi

3
3
X
d~r X
dxi
b
=
ei +
xi ebi
=
dt
dt
i=1
i=1

~
V

pQbC3`7ri[
ct@`

3
X

UQVo

M @FKBD,K2

L*6M N* OIPQB


S N.BDN-BJ2-..7N.BJ ROH. S
292 =* @.

~a =

3
X
i=1

U@V1m

~ ~r +
~ (~ ~r)
(xi ebi + 2xi (~ ebi ) +

gq]_`7ri[
ct`c/fb=c`R{@]_`c_gh[Ca@`7c`7axuJbCc/[
c{bC]/f_ghu@z|bC]/`7c

CG@

Attd

t@

~r = eb


zh@`w
[ ~
V = eb + eb

uJ
~a = (
2 )eb + (2 + )
eb

U@V
~1

b=]yb`7zuJb=c_[^@`l@axrs[Dghrigh`af_[u7gq]_u7Qz|bC]eQa@gqK[
]/rs`

= R

^@[
a@^Q`

~ = R eb = V
~T
V
~a = R 2 eb + Reb = ~ac + ~aT

`7cvu7[Ca@c/fybCa1fy`

`af_[
a@u`7c

U@V
1

^ [
aQ^@`]_`u7[
a@[u7`rs[Ccz|bCc`R{@]_`c_gq[
a@`7c@c/bCzq`7c^@`zhb)
`zh[u7gh^@bC^Ifb=a@w
`7aQu7g|b=z
@

f_]_h{3`fybfb=a@w
`7aQu7g|b=z ^Q`7zri[gqrsgq`7a1fy[ugh]/u7@zhbC]7V

pRg9f_`7a@`rs[
cv@a@b{@bC]/f_hu7Qz|b@`jc_`lr@`
`jc_[
@]/`lz|b]_`ufyb
u7[Ca@c/fybCa1fy`

bCu7`zh`7]_bCu7gq
au`7aR

= 0

~r = eb
V~ = eb

 4dd
D-

Attd

c_g

eb1 = eb eb2 = eb eb3 = ebk


c/
~
V

U@VU11

~a = eb

~r = eb + z kb

fy`a@`7ri[
ct@`

x1 = x 2 = 0

= eb + eb + z kb

U@VU@W

x3 0z

b1

~a = (
2 )eb + (2 + )
eb + zkb
WJU

U@VUn

M @FKBD,K2

L*6M N* OIPQB


S N.BDN-BJ2-..7N.BJ ROH. S
292 =* @.

Y\bCaQ^@[z|bi{bC]4fyhu@z|bc_`kr@`
``aS@a0{@zhbCa@[
z|b=cd`u7bCugh[
aQ`7c U@VUn
tc_`f_]ybCa@c
z = constante
K[
]/rEb=a`7a U@V
~C U@V
~CuJ

pRg

V bE{b=]/fyqu7@zhbsc/`r@`
``7a0QabEzhqa@`Jbi]_`ufb{@bC]ybCzq`7zhbEbCz
`/`

= constante

= constante

V~ = z kb ~a = zkb

Vc_c/`k[CQfygq`7a@`zq[`7c_{3`7]_bC^@[

9
D-

AttdI

Ga `c/f_`ku7bCc_[

b1

~r = r ebr


zhQ`7w
[ ~
V = r ebr + r eb + r sin eb

~a = (
r r 2 r 2 )ebr +
+(2r + r r 2 sin cos )eb +
uD
+(2r sin + 2r cos + r sin )eb

U@VU11

bC]yb

= /2

r=

c/`k]/`7{@]/[R^@Qu7`7axz|b=ct`7u7@bCu7gq[
a@`7cv`a u[R[
]/^@`7a@bC^bCcv{3[
z|bC]/`7c

bC]yb
`7zrs[Dghri`7gqaf_[ `7cd@aSri[DRgqrsgq`7a1fy[iu7gq]_u@z|bC]

r = R(constante) = 0 (constante)

u[
a<]ybC^Qgh[

`u_f [
]d]_bC^@ghbCz

R sin 0

eb = sin 0 ebr + cos 0 eb

bC]yb

z|bfy]_bJ
`7ufy[
]/g|bl`7c@abl]_`ufbj`7aiz|b^@gq]_`7uu7gq
a
= 0 (constante) = 0 (constante)
^Q`
ebe
~ = r ebr , ~a = rebr
~r = r ebr , V

W

You might also like