1

1.1

Fe = c l , l = x , Fex = cx

1.2

ma = Fe + N + mg
mx = Fex
my = N mg = 0

c
x=0
m

mx = cx

x+

c
= 2
m

x + 2x = 0
x = Aet

x = Aet

Fex = cx
N = mg

+ 2 Aet = 0

x = 2 Aet
2 + 2 = 0

1,2 = i

e i = cos i sin

x = A1e1t + A2e2t

x = ( A1 + A2 ) cos t + i ( A1 A2 ) sin t

C1 = A1 + A2

C2 = i ( A1 A2 )

x = C1 cos t + C2 sin t
x = C1 sin t + C2 cos t

t = t0 = 0

x(0) = x0

x (0) = x0

x0 = C2
x
x = x0 cos t + 0 sin t
x0 = C1

C1 = C cos

C2 = C sin

x = C ( cos t cos + sin t sin )

x = C cos (t )
tg =

C2
C1

tg =

C = C12 + C22

x0
x0

C = x02 +

x = C cos (t )

x02

cos (t1 ) = cos (t2 )

t1 + 2 = t2

( t2 t1 ) = 2

T = 2

1
f =
T

f =

1
m
2
c

T =

1
f =
2

= 2 f

1.2.1

l = f st + x

Fex = c ( x + f st )

mx = Fex + mg
mx = cx + mg cf st
x =
x = 0, x = 0
0 = mg cf st
mx + cx = 0
T =

= 2

x+
f st
g

T = 2

c
x=0
m
4

m
c


1.3
1.3.1

Fv = bv

b>0

ma = Fv + Fe + N + mg
5

mx = Fv , x + Fe, x

Fe, x = cx
Fv , x = bx
my = N mg = 0
N = mg
b
c
b
mx = bx cx
x + x + x = 0
= 2
m
m
m

x + 2 x + 2 x = 0

x = Aet
x = Aet
x = 2 Aet

+ 2 + 2 Aet = 0

c
= 2
m

2 + 2 + 2 = 0

1,2 = 2 2
1.

( ):

1,2 = i p

p =

x = A1e1t + A2e2t

x = e t A1eipt + A2e ipt

x = e t ( C1 cos pt + C2 sin pt )

<

x = e t ( C1 cos pt + C2 sin pt ) + e t ( pC1 sin pt + pC2 cos pt )

t = t0 = 0

x(0) = x0

x (0) = x0

x0 = C1
x0 = C1 + pC2
x + C1
x + x0
C2 = 0
C2 = 0
p
p

x + x0
x = e t x0 cos pt + 0
sin pt
p

C1 = R cos
C2 = R sin
x = Re t ( cos cos pt + sin sin pt )

x = Re t cos ( pt )
R=

C12

tg =

C2
C1

x + x0
R=
+ 0

x0 + x0
tg =
px0

+ C22

x02

cos ( pt1 ) = cos ( pt2 )

pt1 + 2 = pt2
2
p ( t2 t1 ) = 2 Tp =
p
2
Tp =
2 2
2
1
T p > T Tp =
2

Tp =

T
1 2

T 1 + 2 + ...
2

( )

x tn* = Re tn

cos ptn* = 1

1.3.1.1

( )

x t1' = 0

)
(
( C + C tgpt ) + e ( pC tgpt + pC )

0 = e t1 C1 cos pt1' + C2 sin pt1' + e t1 pC1 sin pt1' + pC2 cos pt1'
'

'

0 = cos pt1' e

pC2 C1
tg pt1' =
C2 + pC1
t1'

( )

x = Re t cos ( pt )

'
1

t1'

'
1

pC2 C1
pt1' = arctg

C2 + pC1

t2' = t1' +

Tp

t3' = t2' +

2
Tp

= t1' + 2

Tp
2

tn' = tn' 1 +

Tp
2

= t1' + ( n 1)

Tp
2

(
(

Re tn cos ptn'
xn
=
=
'
xn +1
Re tn +1 cos ptn' +1
'

xn
=
xn +1

cos ptn'

1
e

Tp
2

cos

ptn'

'

Tp

tn' +
2
e

cos ptn'

Tp

cos ptn' + p
2

Tp

Tp

ln xn ln xn+1 = ln e

e tn

= ln D =

=e

Tp
2

2. ( ):

=D

=D

1,2 = 2 2 =
x = C1e t + C2te t = e t ( C1 + C2t )
x = e t ( C1 + C2t ) + e t C2
x0 = C1
x0 = C1 + C2

x = xmax = x(tm )

C2 = x0 + x0

x (tm ) = 0

(C1 + C2tm ) = C2

x(t1 ) = 0

C1 + C2t1 = 0

C2 C1
x0
=
C2
( x0 + x0 )
C
x0
t1 = 1 =
C2
x0 + x0

tm =

7
)

x0 > 0

x0 > 0

tm > 0

t1 < 0

x0 > 0 x0 < 0
x0 + x0 < 0

x0 > 0 x0 < 0
x0 + x0 > 0

tm > 0

tm < 0

t1 > 0

3. ( ):

1,2 = 2 2
x = A1e1t + A2e2t
e t = ch(t ) sh(t )

t1 < 0

>

1, 2 =

2 = 2 2

x = e t ( A1e t + A2 e t )

x = e t C1 ch ( t ) + C2 sh ( t )

C1 = A1 + A2
C2 = A1 A2
x = x(t ) = ( , , )
1.4

F, x = F0 sin ( t + ) Fe, x = cx







ma = Fe + N + mg + F

mx = cx + F0 sin ( t + )
my = N mg = 0
F
c

x + x = 0 sin ( t + )
m
m
2

x + x = h sin ( t + )
x = xh + x p
xh = C1 cos t + C2 sin t

N = mg
F0
c
=h
= 2
m
m

10

x p = C sin ( t + )

x p = C 2 sin ( t + )

C 2 2 sin ( t + ) h sin ( t + )
h
sin ( t + )
2
h
x = C1 cos t + C2 sin t + 2
sin ( t + )
2
t = t0 = 0 x(0) = x0 x (0) = x0
h
x = C1 sin t + C2 cos t + 2
cos ( t + )
2
h
h
x0 = C1 + 2
C1 = x0 2
sin
sin
2

2
x
h

h
x0 = C2 + 2
cos
C2 = 0 2
cos
2
2


h
h

h
x

x = x0 2
sin cos t + 0 2
cos sin t + 2
sin ( t + )
2
2

2

x
h

x = x0 cos t + 0 sin t 2
cos t sin + sin t cos + 2
sin ( t + )
2
2

C=

h
2
2

xp =

1.4.1

F = F0 = const

x(p ) =

F = F0 sin ( t + )

d
x(p ) =

Cd
2
1
= 2
=
d =
2
Cst

1 2

Cst =

h
sin ( t + )
2
2

d -
-
d - = 1
x p = d Cst sin ( t + )

Cd =

2
h
2
2

11

12

1.4.2

=
x p = Bt cos ( t + )

x p = B cos ( t + ) Bt sin ( t + )

x p = 2 B sin ( t + ) Bt 2 cos ( t + )
2 B sin ( t + ) Bt 2 cos ( t + ) + Bt 2 cos ( t + ) h sin ( t + )

h
h
xp =
t cos ( t + )
2
2
h

xp =
t sin ( t + )
2
2

B=

13
1.4.3 ()

x0 = x0 = 0

= 2

h
h
cos t sin + sin t cos ) + 2
sin ( t + )
2 (

2
h
x 2
(sin ( t + ) sin (t + ) )
2
sin ( x y ) = sin x cos y cos x sin y
x

sin ( x + y ) sin ( x y ) = 2 cos x sin y

+
t + t +
2

y=
t=t
2
2h
2h
x 2
cos ( t + ) sin ( t ) = 2
sin ( t ) cos ( t + )
2

2
2h
x = D ( t ) cos ( t + )
D (t ) = 2
sin ( t )
2
x + y = t +
x y = t +

x=

14

1.5
1.5.1

Fv = bv b > 0









ma = Fv + Fe + F + N + mg
mx = Fv , x + Fe, x + F , x
Fe, x = cx
Fv , x = bx
my = N mg = 0
N = mg
mx = bx cx + F0 sin ( t + )
F
b
c
x + x = 0 sin ( t + )
m
m
m
F0
b
c
= 2
= 2
=h
m
m
m

x + 2 x + 2 x = h sin ( t + )

x+

15

10

t
e ( C1 cos pt + C2 sin pt )

xh = e t ( C1 + C2t )
t
e ( C1ch t + C2 sh t )
x p = A sin ( t + )

< ( )
= ( )
> ( )

x p = A cos ( t + )

x p = A 2 sin ( t + )

(
A (

)
) sin ( t + ) + 2 A cos ( t + )

A 2 2 sin ( t + ) + 2 A cos ( t + ) h sin ( t + ) +

2

h sin ( t + ) cos + h cos ( t + ) sin

A 2 2 = h cos
2 A = h sin
2
tg = 2
2

A=

+ 4 2 2

=
-

h /2
2
A=
tg =
2
1 2
1 2 + 4 2 2

1.5.2

F ( t ) = F 0 + ( An cos nt + Bn sin nt )
n =1

F 0 , An , Bn -
F 0 =
An =

1 T
F (t )dt
T 0

2 T
F (t ) cos ntdt
T 0

11

Bn =

2 T
F (t ) sin ntdt
T 0

An cos nt + Bn sin nt - n F ( t )
An = Cn cos n

Bn = Cn sin n
B
tg n = n
An

Cn = An2 + Bn2

F ( t ) = F 0 + Cn cos ( nt n )
n =1

x + 2 x + 2 x =

F 0 1
+ ( An cos nt + Bn sin nt )
m m n=1

x p = x 0 + ( an cos nt + bn sin nt )
n =1

{ (

2 x 0 + 2 n 2 2 an + 2 nbn cos nt + 2 n 2 2 bn 2 nan sin nt =

n =1

F 0
m

n 2 2 an + 2 nbn =

x 0 =

An
m

F 0
m 2

( n ) A 2 nB
=
m ( n ) + ( 2 n )

an

F 0 1
+ ( An cos nt + Bn sin nt )
m m n=1

2 x 0 =

2 2

n2 2 bn 2 nan =

( n ) B + 2 nA
=
m ( n ) + ( 2 n )

bn

Bn
m

2 2

1.5.3

d =

Ad
Ast

Ast =

(1 ) + 4
y ' = 4 (1 ) + 8
2

(1 ) + 4
1
y=
= (1 ) + 4

d =

h /2

Ad =

2
d

y ' = 4 1 2 2 2

12

y ' = 0 y = ye
= 2

y '' =

1 = 0,

2 = 1 2 2 ,

d2y
= 4 + 12 2 + 8 2
d 2

3 = 1 2 2

)
(1 2 ) = 4 (1 )

16

2
2

y '' ( 2 ) = 4 + 12 1 2 2 + 8 2

y '' ( 2 ) = 8 16 2 = 8 1 2 2 > 0

y ( 2 ) = 1 1 2 2 + 4 2

1
d ,max =
2 1 2

17

1.6

d T T

Q q, q , t , ri ri q, t , i 1, 2,..., N

dt q q
N
N 1
T Ti miVi 2
i 1
i 1 2

dri ri
ri

Vi

q
dt q
t


2

2
ri ri 2
ri ri
ri ri
ri ri ri 2
ri
2

Vi Vi Vi q 2 q

q 2 q
q t
t t q
t
q q
q t
2

2
ri ri
1 N ri 2
ri
T mi q 2 q
2 i 1 q
q t
t

2

2
N
N
ri ri
1 N ri 2
ri
= mi q 2 mi

q mi
2 i 1 q
q t
i 1
i 1
t

2

2
N
N
N
ri
ri ri
ri
a2 q, t mi ; a1 q, t mi
; a0 q, t mi
q t
i 1
i 1
i 1
t
q
1
T a2 q 2 2a1q a0
2
T
T 1 a2 2 a1
1 a0
a2 q a1

q
q
q
q 2 q
q
2 q

da a
a
a
a
d T da2
q a2 q 1 2 q 2 2 q a2 q 1 q 1

dt q dt
dt
q
t
q
t
a 1 a0
d T T
1 a2 2 a2
a2 q
q
q 1

dt q q
2 q
t
t 2 q

13

q, q , t

a
1 a0 a2

q 1
2 q
t
t

d T T
1 a2 2
a2 q
q q, q , t

dt q q
2 q
a2 q

1 a2 2
q Q q, q , t q, q , t
2 q

ri
0 a0 0 q, q , t 0
t
a

2 0
t

1 a2 2
a2 q Q q, q , t q, q , t
q Q q, q , t
2 q
1 a2 2
Q q, q , t Q q, q , t q, q , t
q
2 q
a2 q Q q, q , t

mx x, x , t -

2
ri
= a2 q0 mi
i 1
q
N

q, q , t 0

q0

const 0

q Q q, q , t
Q q cq,

Q Q q bq ,

Q t

c const > 0
b const > 0

14