3

1
4.



; 0
; 0
d st st
i i i
d st st
i i i
F F F
A
Ai Ai Ai
d K
F F F
dt
d L
M M M
dt
= + =
= + =

1. ,
m
B 0.
0
e .
5.

d
i
d K
F
dt
=

d
i
F
A
Ai
d L
M
dt
=

:
7
1
i
i
K K
=
=

3
2
1 1 1 0 0
0
1 1 1
0
1
2
l
m
l
m
K d K vdm y i Ady Ml i
dm dV Ady m dm Ady Al M
e e

= = = =
= = = = = =
} } }
} }


2
2 0
2
C
l
K Mv M i e = =


3
2
3 3 3 0 0
3 0
l
m l
C
K d K vdm l i Adz Ml i
K Mv Ml i
e e
e
= = = =
= =
} } }



6 7
K K =


4 5 0
K K mv mc i e = = =


( )
7
0
1
2
i
i
K K mc Ml i e
=
= =

:
7
1
A Ai
i
L L
=
=

0
0 0
A Ai
i j k
L d L r K r vdm y z dm
y
-
= = = =

} } } }



( )
2
2 2
; 0
A
z
L j yzdm k y dm
J x y dm x

- -
= +
= + ~
} }
}


0 0 A yz z
L J j J k e e = +


2
1 1
0
2
l
yz
m
J yzdm y l Ady Ml = = =
} }

2
2 2
0
1
2
l
yz
m
J yzdm yl Ady Ml = = =
} }

2
2
3 3
3
2
l
yz
m l
J yzdm lz Adz Ml = = =
} }

( )
4
3
yz
J c l a m =
5 yz
J cam =
6 7 yz yz
J J =
( ) 3
yz
J l Ml mc =
2
1 2
1
3
z z
J J Ml = =
3
' 2 2
3
z
z
J J Ml Ml = + =
( )
2 2 2
4 5 z z
J J x y m mc = = + =
3
3
6 7
0
z z
J J = =
2 2
5
2
3
z
J Ml mc = +
( )
7
2 2
0 0
1
5
3 2
3
A Ai
i
L L l Ml mc j Ml mc k e e
=
| |
= = + +
|
\ .

( ) ( )
( ) ( )
2
2 2 2
0 0
2 2
5
3 3 2
3
0
A
d K
mc Ml i mc Ml j
dt
d L
l Ml mc j l Ml mc i Ml mc k
dt
di
k i j
dt
d j
k j i
dt
dk
k k
dt


e e

-
--
-
-- --
- - --
- -
- -
-
= +
| |
= + + +
|
\ .
= =
= =
= =
= =

) ( )
) ( )
)
) ( )
) ( )
)
2
2
2 2
0
1 2
2 2
3 0
4 3 3
5 3 3
5
6 2 0 0
3
d d
A B
d d
A B
d
A
d
B
d
B
mc Ml X X
mc Ml Y Y
Z
l Ml mc Y l
l Ml mc X l
Ml mc const

e
--
-
-
--
-- -- -
= +
= +
=
=
=
| |
+ = = = =
|
\ .

)
)
5 0
1 0
d
B
d
A
X
X
=
=

0
d
B
M
Y Ml mc c l
m
= =
3
4
2. z
-
.
, .
.

d
i
d K
F
dt
=

d
i
F
A
Ai
d L
M
dt
=

1
1
dm dydz
dm rdrd
o
oo
=
=

:
3
1 2
5
6
K K K R i o
-
= + =


2
3
1 1 1
1
2
R R
m o R
K d K vdm y i dydz i ydy dz R i o o o
- - -
= = = = =
} } }} } }


2
2
2 2 2
0
3
2
sin sin
1
3
R
m o
K d K vdm r i rdrd i r dr d
K R i
t
o oo o o o
o
- -
-
= = = =
=
} } }} } }




3
5
:
A Ax Ay Az
x y z
A yz z z z
L L i L j L k
k i j k
L J j J k
e e e e
e e
-
= + +
= = + +
= +




( )
2
4
1 1
0
2 2
2 3
2
2 2
2 3 4
2
0 0 0
4
3
4
sin cos
sin sin cos
5
sin sin 2
24
23
24
R R
yz
m R
yz
m
yz
R R
yz
o
yz
J yzdm yz dydz ydy zdz R
J yzdm r R r rdrd
J Rr drd r drd
J R r dr d r dr d R
J R
t t
o o o
o o oo
o o o o o o
o o o o o o
o
= = = =
= =
(
=

(
(
= =
(

=
} }} } }
} }}
}} }}
} } } }

( )
( )
( )
2
2 2 2 2 4
1 1
0
2 2
2 2 2 2 3
2 2
0 0
4
2
4
1
3
1 cos
sin
2
1
16
1
16 3
48
R R
z
R
R
z
z
z
J x y dm y dydz y dy dz R
J x y dm r rdrd r dr d
J R
J R
t
o o o
o
o oo o o
to
o t
= + = = =

= + = =
=
= +
} }} } }
} }} } }

( )
3 3 2
4 4 2 4
5 5
6 6
23 23 1
16 3
24 24 48
A
d K
R i R j
dt
d L
R j R i R k
dt
o o
o o o t
-
--
-
-- --
= +
= + + +

)
)
)
)
)
) ( )
3
3 2
4 2
4
4
0
5
1
6
5
2
6
3 0
23
4 2
24
23
5 2
24
1
6 16 3 0 0
48
d d
A B
d d
A B
d
A
d
B
d
B
R X X
R Y Y
Z
R Y R
R X R
R const
o
o
o
o
o t e
--
-
-
--
-- -- -
= +
= +
=
=
=
+ = = = =

3
6
)
)
)
)
3 2
3 2
5 0
1 0
23
4
48
17
2
48
d
B
d
A
d
B
d
A
X
X
Y R
Y R
o
o
-
-
=
=
=
=