146

Chng NGUYEN LY DI CHUYEN KHA D

13

Noi dung Xay dng mot phng phap ngan gon, trc tiep xac nh: - ieu kien can bang cua c he - Cac thanh phan phan lc at vao c he. Nguyen ly di chuyen kha d (DCKD) con lam c s e thiet lap phng trnh vi phan chuyen ong tong quat cua c he khong t do. Yeu cau - Nam vng nh ngha DCKD, biet cach xac nh toa o suy rong, bac t do cua c he - Ap dung nguyen ly DCKD giai c cac bai toan can bang hay chuyen ong cua c he. 13.1. MOT SO KHAI NIEM C BAN 1. Phng trnh lien ket Xet c he khong t do (muc 10.1), v tr va van toc cua cac chat iem thuoc c he se thoa man cac moi quan he nao o oc lap vi ieu kien au va cac lc hoat ong c goi la cac lien ket. Trng hp tong quat cac lien ket c mo ta qua quan he ham so: r r f i (rk , rk , t) 0, k = l, N, i = l, S (13.1) c goi la cac phng trnh lien ket. r r trong o: rk , rk - la v tr va van toc chat iem th k N - la so chat iem cua c he, s la so lien ket. - Trong chng nay chung ta han che xet loai c he ch chu cac lien ket co dang: r f1 (rk ) = 0; k = 1, N ; l = 1, S (13.2) la loai lien ket gi, dng, hnh hoc. 2. Di chuyen kha d - bac t do cua c he 1- Di chuyen kha d Di chuyen kha d cua c he la tap di chuyen vo cung be cua cac chat iem cua c he t v tr ang xet sang v tr lan can ma van thoa man cac lien ket tai v tr ang xet.

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e phan biet vi di chuyen thc vo cung be cua c he c bieu dien qua r {d r k } chung ta mo ta DCKD qua {rk } . trong o: rk - la ban knh vector cua chat iem th k cua c he. Xet c he ch chu cac lien ket (13.2) Cho c he mot DCKD {rk } tai v tr ang xet, suy ra:
r r f i (rk + rk ) = 0 r r

(13.3)

r Trong khi o cung ton tai duy nhat mot di chuyen thc {drk } t v tr ang

xet thoa man cac lien ket:

r r f i (rk + drk ) = 0 (13.4) r v Neu xem {rk } va {drk } tng ng la cac tap nghiem cua cac phng

trnh (13.3), (13.4). Do (13.3) va 13.4) hoan toan giong nhau nen tap nghiem r v {drk } trung vi tap nghiem {rk } . Nh vay di chuyen thc phai thuoc tap cac DCKD: {drk } {rk }
r v {drk } thuoc tap cac DCKD {rk } r v

Co ngha la sau khoang thi gian dt ton tai duy nhat mot di chuyen thc

Neu cac lien ket phu thuoc thi gian t, tap cac DCKD {r k } thoa man lien ket tai thi iem t ang xet: r r f1 (rk + rk , t) = 0 (13.5) Con tap di chuyen thc {d r k } thoa man lien ket tai thi iem (t + dt): cac phng trnh (13.5) va (13.6) khac nhau: {drk } {rk } 2- Bac t do cua c he Tai moi v tr cua c he co vo so DCKD {rk } . Noi chung cac DCKD khong oc lap tuyen tnh do phai thoa man cac phng trnh lien ket. Chung ta r co the chon trong tap {rk } mot he vector c s cac DCKD oc lap tuyen tnh, moi DCKD cua he eu bieu dien c qua mot to hp tuyen tnh cua he vector r c s. Bac t do cua c he bang so vector c s cua tap DCKD {rk } cua c he. V du 13.1. Vien bi M c xuyen qua bi day kem cng co nh (H.13.1), v {rk } la tap cac vector vo cung be nam theo phng tiep tuyen vi day tai M. Chon = 1 (nh hnh ve) lam vector c s:
r r rM = a

(13.7)

Bac t do cua c he nay bang mot.

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M
M

1 2

Hnh 13.1 Hnh 13.2

V du 13.2. Xet vien bi M luon luon ta len mat cong. Tap {r k } la vector vo cung be nam tren mat phang tiep tuyen tai M vi mat cong. Chon 1 , 2 la hai vector n v vuong goc nam tren co goc tai M:
r rM = a 1 1 + a 2 2

(13.8)

Bac t do cua he nay bang hai. 3. Toa o suy rong 1- Cac nh ngha V tr cua mot chat iem c xac nh qua ba toa o (x, y, z). C he N chat iem c xac nh qua 3N toa o {xi, yi, zi}, i = 1, N . Vi c he khong t do cac toa o cua chat iem phai thoa man s phng trnh lien he: f1(xk, yk, zk) = 0 So toa o oc lap cua c he ch con la: r = 3N s (Vi cac c he c xet ay r bang so bac t do cua c he). T o chung ta nhan thay: Neu chu y en nhng lien ket at vao c he, v tr cua no co the c xac nh mot cach n gian qua cac thong so c chon thch hp, ky hieu la: {q1, q, ..., qn}. - Tap cac thong so nay c goi la toa o suy rong cua c he - Tap cac toa o suy rong oc lap tuyen tnh va u e xac nh v tr c he c goi la he toa o u, ky hieu {q1, q2, ..., qn} (Cac c he xet trong chng nay co so toa o u bang so bac t do). 2- Phng phap xac nh Trong thc te e xac nh bac t do va toa o suy rong cua c he cac vat ran, chung ta phan tch kha nang chuyen ong cua cac vat ran thuoc c he. Chu y rang: - Vat ran tnh tien theo mot gia xac nh, vat ran quay quanh truc co nh, vat ran chuyen ong lan khong trt eu co mot bac t do - Vat ran chuyen ong phang co mot iem a xac nh quy ao, vat ran va quay quanh truc co nh va trt tren truc o eu co hai bac t do - Vat ran chuyen ong phang, vat ran quay quanh tam co nh eu co ba bac t do

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Trc het chung ta co nh mot vat ran s1 co bac t do thap nhat thuoc c he, cac trng hp co the xay ra: - Neu c he co nh th so bac t do cua c he bang so bac t do cua s1. Toa o suy rong c chon la cac thong so xac nh v tr cua s1. - C he ton tai mot so vat ran van chuyen ong c. Chung ta tiep tuc co nh vat s2 co bac t do thap nhat trong chuyen ong khi a gi s1 ng yen, tuan t nh vay cho en luc c he hoan toan c co nh. Bac t do cua c he bang tong lan lt bac t do cua cac vat s1, s2,... xet trong cac chuyen ong tng ng.
sD V du 13.3. Cho c he nh H.13.3. Gia E s con lan D lan khong trt. Xac nh bac t do va chon he toa o u. D Giai. Con lan D lan khong trt co c mot bac t do (mot thong so xac nh). C Chung ta chon la o di tam D theo mat nghieng sD. Co nh vat D A (co nh sD) rong roc E se ng yen B song rong roc C van quay c quanh Hnh 13.3 tam C (co nh) lam cho A. B tnh tien thang. Co nh tiep C (co nh goc quay C) c he hoan toan ng yen. C he co hai bac t do, chung ta chon he toa o u: q1 sD; q2 C.

V du 13.4. C he gom tay quay OA quay c quanh truc qua O, tay quay AB quay c quanh truc qua A, vat E va quay c quanh AB va tnh tien doc theo AB, tay quay CD quay c quanh truc qua C. Tm bac t do cua c he, chon he toa o u. Giai. Theo phng phap tren, khi co nh goc thanh AB van quay

s
B E

Hnh 13.4

c quanh A (co nh). Co nh tiep goc quay cua thanh AB, vat E van chuyen ong c tren AB (co nh). Co nh goc quay cua E quanh AB, vat E van co the tnh tien doc theo AB. Co nh tiep o di s cua E, thanh CD van con quay c quanh C. Cuoi cung khi cho goc quay co nh, c he hoan toan ng yen.

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Bac t do cua c he bang tong cac thong so oc lap va c neu tren. C he co bac t do la 5. He toa o c chon: q1 ; q2 ; q3 = ; q4 = s; q5 = 4. Lc suy rong 1- nh ngha: Xet c he N chat iem chu tac dung cua cac lc hoat ong ( F k ). Cho c he thc hien mot DCKD {rk } , cac lc ( F k ) se thc hien cong tren o di o:
R =1 a

A k =

k =1

F k .rk

(13.9)

c goi la cong kha d. Chon he toa o suy rong {qi}, i = 1, n .

r r rk = rk (q 1 , q 2 ,..., q n ) =

i =1

r rk q i q i
n

k =1

A k =
k =1 i =1

a n Fk

r rk q i = q i

trong o:

r N a rk Fk q i i =1 k =1 r N a r Qi = Fk k q i k =1

q i =

Q i q i
i =1

(13.10)

(13.11)

c goi la lc suy rong ng vi toa o qi. 2- Phng phap xac nh a) Ap dung trc tiep nh ngha: Q i =
k =1

Fk

r rk q i

V du 13.5. Con lac kep chu lc nh H.13.5. Chon q1 , q2 . Tm cac lc suy rong. Cho OA = 2a; AB = 2b; I, H la cac trung iem. Giai. Bieu dien cac vector lien quan qua toa o Decartes va toa o suy rong:
F 1 P(O, P); F 2 Q(O, Q); F 3 F(F, O) r r r r1 rI = a sin i + a cos j r r r r r2 rH = (2a sin + b sin ) i + (2a cos + b cos ) j r r r r r3 rB = (2a sin + 2b sin ) i + (2a cos + 2b cos ) j r s r r r r 1 = 1 = a cos .i a sin . j q1 O r r r1 r = 1 =0 q2 j r r r r r2 r = 2 = 2a cos .i 2a sin j q1 r r r r y r2 r2 = = b cos .i b sin . j q2 r r r r r3 r3 = = 2a cos .i 2a sin . j q1

H Q B

Hnh 13.5

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r r r r r3 r3 = = 2b cos .i 2b sin . j q2 r 3 r Q1 Q = F . k = k =1 = [0.a cos + p.(a sin )] + [0.2a cos + Q.(2a sin )] + [F.2a cos + 0.(2a sin )] = ap sin 2aQ sin + 2aF cos r 3 r Q2 Q = Fk . k = k =1
k

= [0.0 + p.0] + [0.b cos + Q.( b sin )] + [F.2b cos + 0.(2b sin )]

= Qb sin + 2bF cos .

b) Trng hp he {qi} la he toa o u,cac qi oc lap tuyen tnh cac qi cung oc lap tuyen tnh e tnh Qi chung ta cho he DCKD sao cho: qj 0 (qj > 0) con: qi = 0 i j

k =1

A k =

Q i q i = Q j .q j
i =1

He so cua bieu thc tnh cong chnh la lc suy rong tng ng. V du 13.6. Lay v du 13.3 vi cac lc tch cc: cac trong lc P A , P B , P D va ngau M nh H.13.6. Tnh cac lc suy rong. Biet cac ban knh tng ng rC, rD, rE. Giai. He toa o u: q1 sD, q2 C. S M Tnh Q1 E Cho c he DCKD: q1 = sD > 0, q2 = C = 0 (khong cho rong roc C quay). P De dang tnh c: c
D D

1) A ( k

= A (P A ) + A (P B ) + A (P D ) + A (M)

= PA s D + PB s D + M.

s D PD sin .s D rE M = (PA + PB + PD sin ).s D rE

A PA

B PB

M = (PA + PB + PD sin ).q1 rE

Q1 = PA + PB + M PD sin rE

Hnh 13.6

Tnh Q2 Cho c he DCKD: q1 = qsD = 0; q2 = C > 0 (iem C co nh, rong roc C quay quanh tam).

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A (k2)

= A(P A ) + A(P B ) + A(P D ) + A(M)

= PA .rC C PB .rC .C + 0 + 0 = (PA PB ).rC .C = (PA PB ).rC .q 2

Q 2 = (PA PB ).rC.

c) Trng hp cac lc hoat ong la lc the ( F k ) Trong phan tnh cong chng 13 chung ta a co:
Fkx =
N N

; Fky = ; Fkz = x k y k z k

trong o: - la ham the nang. Xet:

r
k =1 k =1
N

A k = Fk rk = (Fkxx k + Fky y k + Fkzzk )

k =1

= = =

k =1 N

xk + y k + zk y k zk xk
k k k x q q i + y q q i + z q q i i k i k k i =1 i =1 i =1
i

k =1 n

x k
Qi =

xk y k zk + + q i q i = q i y k q i zk q i q i i =1 k =1 i =1

q i

Trong trng hp cac lc hoat ong co ca lc the va lc khong the chung ta co the tnh: Q i =
+ Q i (lc khong the) q i

trong o: - la ham the cua cac lc the. V du 13.7. Xet lai mo hnh c he v du 13.5. Giai. Cac lc tch cc co the: P, Q ; lc khong the: F . Chon goc the nang la O.
ham = A P + A Q = ( aP cos ) (2a cos + b cos )Q t = aP sin 2aQ sin = Q1 (lc the ) = Q1 t = bQ sin = Q 2 (lc the ) = Q 2

()

()

Vi lc khong the F dung hai phng phap tren ta de dang tnh c cac lc suy rong tng ng (xem he ch co lc hoat ong F ):
F Q1 = 2aF cos ;

QF 2 = 2bF cos

Chung ta nhan c cac lc suy rong:

t F Q1 Q = Q1 + Q1 = aP sin 2aQ sin + 2aF cos t Q2 Q = Q2 + QF 2 = bQ sin + 2bF cos

5. Lien ket ly tng

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C he c goi la chu lien ket ly tng neu tong cong cua tat ca cac phan lc lien ket ( R k ) at vao c he tren moi DCKD eu bang khong:

A r =

k =1

R k rk

=0

r {rk }

Trong thc te cac c he gom vat ran, day mem khong dan, bo qua ma sat eu la c he chu lien ket ly tng. Trng hp ton tai thanh phan phan lc sinh cong tren DCKD, chung ta xem thanh phan nay thuoc cac lc hoat ong, khi o c he c khao sat nh chu lien ket ly tng. 13.2. NGUYEN LY DI CHUYEN KHA D 1. Phat bieu nguyen ly DCKD - ieu kien can va u e c he chu lien ket gi, dng, hnh hoc va ly tng can bang v tr ang xet la: tong cong cua tat ca cac lc hoat ong tren moi DCKD ke t v tr o eu bang khong:
k =1 k = F k rk A a k =1 N N a

=0

r {rk }

(13.13)

- Bieu dien nguyen ly DCKD trong he toa o u {qi}, i = 1, r :

k =1

Fk rk = Q iq i = 0
i 1

{q i }

(13.14)

Do cac qi oc lap tuyen tnh, suy ra (13.14) tng ng:

Q i = 0; i = 1, r

2. Cac loai bai toan ap dung nguyen ly DCKD Nguyen ly DCKD thng c ap dung e giai hai loai bai toan sau: - Tm ieu kien can bang cua c he - Tm cac thanh phan phan lc tnh cua c he V du 13.8. C cau hnh bnh hanh ABCD (H.13.7). Tai A, B, C, D, O1, O2 eu la cac khp ban le (khong ma sat). C cau phan bo oi xng oi vi truc O1O2. Hai tai trong G1, G2 co trong lng Q1, Q2 tng ng. Tm ieu kien can bang cua he.
A G2 O1 b H a O2 D C
I

y B G2

Hnh 13.7

Giai. C he thoa man cac ieu kien cua nguyen ly DCKD. Cac khung ADH va BCI ch co the chuyen ong tnh tien. Cho c he mot DCKD co yB = yA nhng yB = y(G2), yA = y(G1) y(G2) = y(G1).

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Ap dung nguyen ly DCKD: ieu kien can bang cua c he:

A a k = Q 1 yG 1 + Q 2 yG 2 = 0 (Q 1 Q 2 )yG 1 = 0,
KCB: Q1 = Q2 khong phu thuoc (a,b)

{y(G 1,2 )}

V du 13.9. Xet lai mo hnh c he trong v du 13.6 (H.13.6). Tm ieu kien can bang cua c he. Giai. C he co hai bac t do. Ap dung ieu kien can bang trong he toa o suy rong u: (q1 s D , q 2 C )
M PD sin = 0 Q1 = PA + PB + rE KCB Q = (P P )r = 0 A B C 2

M = rE (PD sin PA PB ) PA = PB

V du 13.10. Hop toc o c bieu dien H.13.8. Banh rang 1 co nh (gan chat vao vo hop toc o) ban knh r1. Cap banh rang 2 - 3 gan chat vi nhau quay quanh truc ong qua A nam tren tay quay OA (cap 2 - 3 cung kch thc quay quanh truc A tren tay quay OA) co ban knh tng ng r2, r3, banh rang 4 gan chat vi truc IV. Tm ngau M2 at tren truc IV e c cau can bang (hoac chuyen ong dng) neu co ngau M1 at vao truc I.
3
2 A 3

2
2 M1 3 A A

O I M1 1 4 M2 IV

3 1
4 O

1
A 2 3

Hnh 13.8

Hnh 13.9

Hnh 13.10

Giai. De dang nhan thay c he co mot bac t do, chon q1 1 (goc quay cua truc I cung chieu M1). T H.13.9 khi cho truc I (tay quay AA) quay goc 1 > 0 (q1 > 0) banh rang hai quay goc:
2 = r1 + r2 .1 3 la goc quay cua banh rang 3 (H.13.10). r2

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4.

e xac nh moi quan he gia 3 va 4 chung ta tm lien he gia 3 va Ap dung cong thc Vilit: (3 1 ).r3 = (4 1 ).r4 3.r3 1.(r3 + r4 ) = 4 .r4 3.r3 1.(r3 + r4 ) = 4 .r4 Bieu dien 3 qua 1:
r + r2 r4 4 = (r3 + r4 ) r2 . 1 1 r3 [r (r + r4 ) r3 (r1 + r2 )] 4 = 2 3 1 r4 r2

ieu kien can bang cua c he:

M11 M2 =

k = M11 M 2 4 = 0 A a

M2 [r2 (r3 + r4 ) r3 (r1 + r2 )]1 = 0 r4 r2

r4 r2 M1 co chieu nh hnh ve r2 (r3 + r4 ) r3 (r1 + r2 )

V du 13.11. Tm moi quan he gia cac lc P va Q trong may ep c bieu dien H. 13.11. Q Giai. Chung ta nhan thay c he co mot bac t do, moi v tr cua c he eu c bieu P dien qua mot thong so nao o c chon lam toa o suy rong. Noi cach khac, toa o D B cac iem thuoc he phai bieu dien c qua C nhau. Cac lc hoat ong Q, P eu theo E phng thang ng cho nen chung ta ch P quan tam en dch chuyen thang ng cua y x O cac iem (I, D, E). - Tung o cua cac iem ac biet: Hnh 13.11 at: AB = a; CD = b; BC = e; AI = d
yD = a cos + b sin (*) yE = a cos b sin yI = 2a cos

va lien he hnh hoc: BC = e = bcos (d asin) bcos + asin = d + e = const (**) - Cho c he mot DCKD chung ta nhan c:

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(*) yD = a sin . + b cos .

yE = a sin . b cos . a cos . b sin = a sin . + a cot g cos .

yI = 2a sin .

(**) b sin . = a cos .. Bieu dien qua : =

y D

y E = a sin . a cot g cos .

- ieu kien can bang cua c cau:

Q) + A (PD ) + A (PE ) = 0 k = A ( Aa

Q.(2a sin .) Pa( sin + cot g cos ) + Pa(-sin - cotgcos) = (2aQsin - 2Pacotgcos) = 0 aQsin - Pacotgcos = 0 Q = P.cotg.cotg.

V du 13.12. C cau gom hai dam lien ket va chu lc nh H.13.12a. Biet AI = IB = BH = HC = a. Xac nh phan lc tai A, C.
F A I m a) b) B H F2
30
o

F C A I m B H

F2

C
RC

Hnh 13.12

Giai. Bai toan yeu cau tnh thanh phan phan lc nao chung ta thay the lien ket tng ng vi thanh phan o va s dung ieu kien can bang cua nguyen ly DCKD. - Tnh R C Xet c cau can bang sau khi thay khp tai C bang R C . Cho c cau mot DCKD t v tr can bang (dam AB co nh, dam BC ch co the quay quanh B) BC quay mot goc quanh B nh H.13.12b.

k = A (F1 ) + A (m ) + A (F 2 ) + A (R C ) = 0 A a o A a k = 0 m F2 sin 30 .a + R C .2a = 0

F .a m 2 + 2aR C . = 0 2

{}

m RC

F2 .a + 2aR C = 0 2 m F2 = + 2a 4

- Tnh ngau phan lc (MA) tai A

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Xet can bang cua c cau sau khi thay lien ket ngam tai A bi ban le va ngau can MA. Cho c cau mot DCKD t v tr ang xet nh H.13.2c: AB quay goc .
A a k = A (M A ) + A (F 1 ) + A (m) + A (F 2 ) = 0 M A . F1 .a + m. F2 sin 30 o .a. = 0 (M A F1 .a + m MA
F1 I c) H

a .F2 ). = 0 {} 2 a a a.F1 + m .F2 = 0 M A = (2F1 + F2 ) m 2 2

F2 B C MA d) RAy A RAx F1 I B H M F2

30

MA

Hnh 13.12

- Tnh RAy Xet can bang cua c cau sau khi thay the ngam tai A:
(M A , R Ax , R Ay )

Cho c cau mot DCKD t v tr can bang nh H.13.12d. (BC co nh, AB quay quanh B goc ).
M A . R A y .2a + 0 + F1 .a + 0 + 0 = 0 (M A 2aR A y + aF1 ). = 0 M A 2aR A y + aF1 = 0
k = A (M A ) + A (R A y ) + A (R A x ) + A (F1 ) + A (m) + A (F 2 ) = 0 A a

F F M m R A y = 1 + A = F1 + 2 4 2a 2 2a

- Tnh RAx Cho c cau H.13.12d, thc hien DCKD t v tr can bang tnh tien theo phng ngang lng x > 0 (H.13.12e).

RA F1 A MA RAx
I

M H

F2 30
o

Hnh 13.12e

A a k = A (M A ) + A (R A x ) + A (R A y ) + A (F 1 ) + A (F 2 ) + A (m) = 0

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0 + R A x .x + 0 + 0 F2 . cos 30 o .x + 0 = 0 (R A x F2 . cos 30 o ).x = 0 {x} 3 2

R Ax F2 . cos 30 o = 0 R Ax = F2 .

V du 13.13. He hai gian I va II noi nhau bang ban le D va co lien ket vi gia nh H.13.13a. Tm phan lc ta tai B.
C1 a A I P K D a B II A I E P K D II C2 B H

RB

a)

Hnh 13.13

b)

Giai. Thay the goi B bi phan lc ta R B , cac gian I va II ch co kha nang chuyen ong phang. Cho c he DCKD: nut B dch chuyen theo chieu (phap tuyen mat ta) lng sB, nut H ch co the quay quanh C. Suy ra gian II thc hien DCKD quay tc thi quanh tam VTTT C2 goc 2 theo chieu kim ong ho. Tng ng gian I quay tc thi quanh tam tc thi C1 goc 1 theo chieu ngc chieu kim ong ho (H.13.13b). Lien he gia 1 va 2 qua nut D.
DC2 .2 = DC1 .1

Tnh dch chuyen thang ng 1 cua iem K trong DCKD tren H.13.13c:
1 = CK.1 . cos = CK .1 . DC 2 = a.1 = a. .2 DC1
a k

a CK

K P

Hnh 13.13c

Ap dung:

= A (P) + A (R B ) = 0
DC 2 + R B .C 2 B).2 = 0 {2 } DC1 (at C 2 B = b)

P.1 + R B .C 2 B.2 = 0 (P.a. aP.

DC 2 a DC 2 + R B .C 2 B = 0 R B = P . DC1 b DC1