Dynamics and resistance of enviorment

x direction
d 2x
1
d2x 2
d2y 2
d 2 z 2 dx h d dz
d dy

(
)

(
)

(
)

r
)(2r h Cos[ [t ]]
2
2
2
2
2
dt
2 dt dt
dt dt
dt
dt
dt
dt
r 2 Sin[ [t ]]) Cos[ [t ]]
m

y direction
d2y
1
d 2x
d2y
d 2z
dy h d dx
d dz
( ( 2 ) 2 ( 2 ) 2 ( 2 ) 2

r
)(2 r h Cos[ [t ]]
2
2
dt
2
dt
dt
dt dt
dt
dt
dt
dt
r 2 Sin[ [t ]]) Cos[ [t ]]
m

z direction
d 2z
1
d2x 2
d2y 2
d 2 z 2 dz h d dy h d dx

(
)

(
)

(
)

) (2r h Sin[ [t ]]
2
dt
2 dt dt
2 dt dt
dt 2
dt 2
dt 2
dt 2
r 2 Cos[ [t ]]) Cos[ [t ]]
m

d 2
d d
d dx h d dz
(J y J z )
(r

)(2r h Cos[ [t ]] r 2 Sin [ [t ]]) Cos[ [t ]] z[t ]

dt dt
dt dt 2 dt dt
dt 2
h d dy h d dx
(

)(2rhSin[ [t ]] r 2Cos[ [t ]])Cos[ [t ]] y[t ],

2 dt dt 2 dt dt
Jx

d 2
d d
h d dy h d dx
(J z J x )
(

)(2r h Sin[ [t ]] r 2 Cos[ [t ]]) Cos[ [t ]] x[t ]

2
dt dt
2 dt dt 2 dt dt
dt
h d dz h d dy
(

)(2r h Cos[ [t ]] r 2 Sin[ [t ]])Cos[ [t ]] z[t ]

2 dt dt 2 dt dt
Jy

d 2
d d
h d dz
d dy
(J x J y )
(
r
)(2r h Cos[ [t ]] r 2 Sin[ [t ]]) Cos[ [t ]] y[t ]
2
dt
dt
2
dt
dt
dt
dt
dt
h d dx
d dz
(
r
)(2r h Cos[ [t ]] r 2 Sin[ [t ]]) Cos[ [t ]] x[t ]
2 dt dt
dt dt
Jz

Magnus forces
Fi

1
v[t ] xi [t ] Ai [t ];
2

Scalar projected;
Fx

1
d 2x
d2y
d 2 z dx
( 2 ) 2 ( 2 ) 2 ( 2 ) 2 )(2rhCos[ [t ]] r 2Sin[ [t ]])Cos[ [t ]]
2
dt
dt
dt
dt
Fy

1
d 2x
d2y
d 2 z dy
( 2 ) 2 ( 2 ) 2 ( 2 ) 2 )(2rhCos[ [t ]] r 2Sin[ [t ]])Cos[ [t ]]
2
dt
dt
dt
dt

1
d 2x 2
d2y 2
d 2 z 2 dz
Fz ( 2 ) ( 2 ) ( 2 )
)(2rhSin[ [t ]] r 2Cos[ [t ]])Cos[ [t ]]
2
dt
dt
dt
dt

Fi m vi [t ](ri i ) Sin[vi [t ] ri [t ] i [t ]],

i 1, 3 ;

dx
dt
d
r
dt

dy
dt
d
r
dt

Fi mAi (

dz
dt
h d
2 dt

h d dz
d dy
h d dx
d dz
h d dy h d dx
r
)i (
r
)j(

)k ;
2 dt dt
dt dt
2 dt dt
dt dt
2 dt dt 2 dt dt

Crossections of resistance

(2 r h Cos[ [t ]] r 2 Sin[ [t ]]) Cos[ [t ]

Ai (2r h Cos[ [t ]] r 2Sin[ ]) Cos[ [t ]]

(2r h Sin [ [t ]] r 2 Cos[ [t ]]) Cos[ [t ]]

Force-(Magnus)

( 2rhCos[ ] r 2Sin[ ])Cos[ [t ]]

Fi 1 / 2 ( 2rhCos[ ] r 2Sin[ ])Cos[ [t ]] Det

( 2rhSin[ ] r 2Cos[ ])Cos[ [t ]]

i
dx
dt
d
r
dt

j
dy
dt
d
r
dt

k
dz
dt
h d
2 dt

Scalar projected Magnus momentus

FMx

h d dz
d dy
m(
r
)(2r h Cos[ [t ]] r 2Sin[ [t ]]) Cos[ [t ]];
2 dt dt
dt dt

FMy m (

h d dx
d dz
r
)( 2r h Cos[ [t ]] r 2Sin[ ]) Cos[ [t ]];
2 dt dt
dt dt

FMz m (

h d dy h d dx

)(2r h Sin[ [t ]] r 2 Cos[ ]) Cos[ [t ]];

2 dt dt
2 dt dt

Momentum and Oiler equation as function of time

3r 2 h 2
3 y[t ]2 z[t ]2
Cos[ ]Cos[ ] m
;
12
12
3r 2 h 2
3 x[t ]2 z[t ]2
Jy m
Cos[ ]Cos[ ] m
;
12
12
r2
x[t ]2 y[t ]2
J z m Cos[ ]Cos[ ] m
;
2
2
Jx m

Final form of equations, projected in 6 directions.

x direction
d 2 y[t ] 2
d 2 x[t ]
1
d 2 x[t ] 2
d 2 z[t ] 2 dx[t ] h d [t ] dz[t ]
d [t ] dy[t ]

(
)

(
)

(
)

r
)
2
2
2
2
2
dt
2 dt
dt
dt
dt
dt
dt
dt
dt
( 2rhCos[ [t ]] r 2 Sin[ [t ]])Cos[ [t ]]
m

y pravac
d 2 y[t ]
d 2 y[t ] 2
1
d 2 x[t ] 2
d 2 z[t ] 2 dy[t ] h d [t ] dx[t ]
d [t ] dz[t ]

(
)

(
)

(
)

r
)
2
2
2
2
2
dt
2 dt
dt
dt
dt
dt
dt
dt
dt
( 2rhCos[ [t ]] r 2 Sin[ [t ]])Cos[ [t ]
m

z direction
m

d 2 y[t ] 2
d 2 z[t ]
1
d 2 x[t ] 2
d 2 z[t ] 2 dz h d [t ] dy[t ] h d [t ] dx[t ]

(
)

(
)

(
)

)
2
dt 2 dt
dt
2 dt
dt
dt 2
dt 2
dt 2
dt 2

( 2rhSin[ [t ]] r 2 Cos[ [t ]])Cos[ [t ]]

Moment x ose
3 y[t ] 2 z[t ] 2 d 2
3r 2 h 2
3r 2 h 2
3 x[t ] 2 z[t ] 2
Cos[ ]Cos[ ] m
) 2 (m
Cos[ ]Cos[ ] m
12
12
12
12
dt
2
2
2
x[t ] y[t ]
r
d [t ] d [t ]
( m Cos[ ]Cos[ ] m
))

2
2
dt
dt
d [t ] dx[t ] h d [t ] dz[t ]
(r

)(2rhCos[ [t ]] r 2Sin[ [t ]])Cos[ [t ]]z[t ]

dt
dt
2 dt
dt
h d [t ] dy[t ] h d [t ] dx[t ]
(

)(2rhSin[ [t ]] r 2Cos[ [t ]])Cos[ [t ]] y[t ],

2 dt
dt
2 dt
dt

(m

Moment y ose

x[t ] 2 y[t ] 2
3r 2 h 2
3 x[t ] 2 z[t ] 2 d 2 [t ]
r2
Cos[ ]Cos[ ] m
)

(
m
Cos
[

]
Cos
[

m
12
12
2
2
dt 2
2
2
2
2
3 y[t ] z[t ]
3r h
d [t ] d [t ]
(m
Cos[ [t ]]Cos[ [t ]] m
))

12
12
dt
dt
h d [t ] dy[t ] h d [t ] dx[t ]
(

)(2rhSin[ [t ]] r 2Cos[ [t ]])Cos[ [t ]]x[t ]

2 dt
dt
2 dt
dt
h d [t ] dz[t ] h d [t ] dy[t ]
(

)(2rhCos[ [t ]] r 2 Sin[ [t ]])Cos[ [t ]]z[t ]

2 dt
dt
2 dt
dt

(m

Moment z ose

x[t ] 2 y[t ] 2 d 2
3 y[t ] 2 z[t ] 2
r2
3r 2 h 2
Cos[ ]Cos[ ] m
) 2 (m
Cos[ ]Cos[ ] m
2
2
12
12
dt
2
2
2
2
3r h
3 x[t ] z[t ]
d [t ] d [t ]
(m
Cos[ ]Cos[ ] m
))

12
12
dt
dt
h d dz
d dy
( (
r
)(2rhCos[ [t ]] r 2 Sin[ [t ]])Cos[ [t ]] y[t ]
2 dt dt
dt dt
h d [t ] dx[t ]
d [t ] dz[t ]
(
r
)(2rhCos[ [t ]] r 2 Sin[ [t ]])Cos[ [t ]]x[t ])
2 dt
dt
dt
dt
(m

Those equations are solved and animated in Mathematica 10

softwer, contribution of this eq is that now we can engage felsh
trajectory even where is not translation at all. So you can have a
curve path, even if you dont have initial translation speed.
Trkulja Goran-Fast and furios