3

5.

dK
Fi d Fi st ; Fi st 0
dt

Fid
Fi st
Fi st
d LA
M Ai M Ai ; M Ai 0
dt
1. z
. B.

dK
Fi d
dt

Fid
d LA
M Ai
dt
:
a
a

1 2
1 1
1
K d K vdm y i dydz i ydy dz i z dz a i a 2 Ma i
2 0
3
2
3
0
m
o
z

dm dydz dy dz
m

1 2
a M
2

1
K M vC Ma i
3
:

LA J xz0 i J yz0 j J z0 k
J xz 0
z

J yz yzdm yzdydz ydy zdz

m

1
1
z 3dz Ma 2
2 0
4

 3
z

1
1
J z x 2 y 2 dm y 2 dydz y 2 dy dz z 3dz Ma 2
3 0
6
0
0

1
LA Ma 2 j Ma 2 k
6
4
1

dK
1
Ma i Ma 2 j
dt
3
3

1
d LA
1
1
Ma 2 j Ma 2 2 i Ma 2 k
dt
4
4
6

di
k i j
dt

dj
k j i
dt

dk
k k 0
dt

1
1 Ma X Ad X Bd
3
1
2 Ma 2 YAd YBd
3
3 0 Z Ad
4
5
6

1
Ma 2 2 YBd a
4

1
Ma 2 X Bd a
4

1
Ma 2 0 0 const
6
X Bd 0

X Ad 0

1
4 YBd Ma 2
4
1
2 YAd Ma 2
12

 3
2. , , z
. ,
B.

dK
Fi d
dt

Fid
d LA
M Ai
dt
dm1 d m1 R 2
dm2 Rd m2 R
:

R 2
2 2
sin 45o i
K1 m1 vC1 R 2
R i
2
2

2R
K 2 m2 vC2 R
i 2 R 2 i

K K1 K 2 R 2
2 i
2

LA J xz i J yz j J z k
J xz 0

J yz1 yzdm1
m

R 2

R 2
R 2
4 2 3
2
2
2
1
2 R d 2 d
R
2 R
d

2
2
2
2 0
3
0

J yz 2 yzdm2 R sin R 1 cos Rd R 3 sin sin cos d

m

J yz 2 R 3 cos sin 2 2 R 3
2

J z1 x y dm1
2

R 2

2
2 3
R

d
2
3

J z 2 x y dm2 R sin Rd R
2

1 cos 2
d
2
0

1
1
1

J z 2 R sin 2 R 3
4
2
0 2

4 2
2
3
LA R 3 2
j R
k
3

2 3

2

2

dK
R 2
2 i R 2
2 2 j
dt
2

d LA
4 2
4 2 2
2
3
3
2
R 3 2

j
R

i R
k
3
3
3
dt

2
2

2 X Ad X Bd
1 R 2
2

2

2 2 YAd YBd
2 R 2
2

d
3 0 Z A
3

4 2 2
d
4 R 3 2
YB 2 R
3

4 2
d
5 R 3 2
X B 2 R
3

M o cos pt
d
2
6 R

M o cos pt

2 dt
2 3
R3

2 3

M o cos pt 1

sin pt
p

2
R3

2 3
3

 3
3. m, ,
0. .
z

din
Bx

FBydin

F
R

dm

R
A

A
din
FAx

din
FAy

FAzdin

xyz
:

2R
o ,
K im

:
LO J yz0 j J z0 k .
:

di
0 k i j0
dt

dj
0 k j i0 .
dt
:

2R 2
dK
jm
,
dt
0
:

d Lo
iJ yz02 .
dt
:

dK
Fi
dt
i

d Lo
MO Fi
dt
i
:
din
din
1) 0 FAx
FBx
2r
din
FBydin
2) m 02 FAy

 3
3) 0 FAzdin

4) J yz02 FAydin FBydin R

5) 0 FBxdin FAxdin R ,

.
din
FBxdin 0
FAx
1
R
J yz02 m 02 FAydin
2R

1
R

J yz02 m 02 FBydin .
2R

sin 2 2
J yz yzdm AR cos sin d AR
AR 3
2 0
0
m
:

2
m AR
m A,

R
2
:
mR 2
J yz
3

 3
4. , 2 ,
0. C m,
sin kt , k
. .

M, 2

xzy .
:

K K1 K 2
:

K 1 iM 0 ,
, :

K 2 m v p vr m i0 j .

, :

vr j jk cos kt .
:

K i M m 0 jm ,
:

dK
di
d j

M m 0 im0
m jm ,
dt
dt
dt

, :

i j k

di
p i 0 0 0 j0
dt
1 0 0

i j k

d j
p j 0 0 0 i0 .
dt
0 1 0
:

dK
jm .
j M m 0 2 i 2m
0
dt

:

L o L o1 Lo 2 , :

L o1 J xz 0 i J y z 0 j J z 0 k ,

i
j k

Lo 2 r K 2
0
0 km 20 .

m0

2
L o k J z m 0 ,
:

dL o
.
k 2m
0
dt

:

dK
Fi
dt
i

dL o
M o Fi .
dt
i
:
F F
1) 2m
0
Ax
Bx

2) m Ml m 2 F F

Ay

By

3) 0 FAz M m g

4) 0 FAy FBy Mg mg

5) 0 FBx FAx
M t
6) 2m
0

0.
, ,
. :
st
1) 0 FAx
FBxst
st
2) 0 FAy
FByst

3) 0 FAz M m g

4) 0 FAyst FByst Mg mg 0

5) 0 FBxst FAxst
:
FAzst M m g
st
FBxst 0
FAx
st
FByst
FAy

1
M m g .
2

 3
,
( ,
) :
Fdin Fdin
1) 2m
0
Ax
Bx

2) m Ml m 2 Fdin Fdin
0

Ay

By

3) 0 F

din
Az

4) 0 FAydin FBydin mg 0
5) 0 FBxdin FAxdin
:
FAzst M m g
st
FBxst 0
FAx

1
M m g
2
m k cos kt
m
0
0

st
FAy
FByst
din
din
FAx
FBx

0
1
1
mk 2 sin kt M 02 m02 mg

2
2

0
1
1
.
mk 2 sin kt M 02 m02 mg
2
2

din
FAy

FBydin