tan ∅

FS= (1)
tan α

tan ∅
FS=
K (2)
tanβ + t
cos β

a y=k y
g=cosβ(tan ∅−tanβ )g ( 3)

ϑ2max a
u= ( 1- y) (4)
2 ay A

ϑ2max A
umax = (5)
2 ay a y

{ ü(t) , ϑ̈ (t) , ẅ (t) }

T = Wsinψ + k tW (6)

S= c A A A + R A tan∅ a + c B A B + R Btan∅ B (7)

cosψ−k n−k 1 cot b

RA = W (8a)
cos a+ sina cotb

(cosψ tan b ― k n tan b ― k 1) sin a k 1

RB =
[ (cos a tan b+ sin a)sin b
+
sin b
W
] (8b)
 a1 a1
k n= k 1=
g g

sin(ϕ ― β )
k y= (9)
cos( ϕ ― β ― θ)

𝜃=―𝛽 k y=tan(𝜙―𝛽) k y=tan𝜙cos𝛽―sin𝛽

ü(t)= A sin 𝜔t (10a)

ẅ (t)=𝜆 A sin(𝜔t+𝜉) (10b)

ay
amax

a max=√ a2+max 1+ a2+max 2

a+ max ,i

d́ 360 d́ 2 Rp

a = b = ψ = 15°