R (t0 )

t0 = t (1)
c

R (t0 ) = |~r ~r( t0 )| = (R (t0 ) .R (t0 )) (2)

R(t0 )
t0 = t (3)
c

~ (t0 ) .R
c t0 = R (t0 ) = (R ~ (t0 ))1/2 (4)

1 1 ~ (t0 ) .R
~ (t0 ))
c t0 = .(R (5)
~ (t0 ) .R
2 (R ~ (t0 ))1/2

~ B)
(A. ~ = (A
~ .)B
~ + (B.)
~ A~+A
~ ( B)
~ +B
~ ( A)
~ (6)
 
~ (t0 ) .R
(R ~ (t0 )) = 2 R~ (t0 ) .R
~ (t0 ) + R
~ (t0 ) ( R
~ (t0 )) (7)

1  ~ 0 ~ 0 ) + R(t
~ 0 ) ( R ~ (t0 ))

c t0 = (R(t ).)R(t (8)
R (t0 )
   
~ 0 ). R(t
R(t ~ 0 ) = R(t~ 0 ). (~r ~r(t0 )) (9)
     
~ 0 ). R(t
R(t ~ 0 ) = R(t
~ 0 ). ~r R(t
~ 0 ). ~r(t0 ) (10)
 
~ 0 ). ~r = Rx + Ry + Rz (xx + y y + z z)
 
R(t (11)
x y z
 
~ 0 ). ~r = Rx x + Ry y + Rz z
R(t (12)
 
~ 0 ). ~r = R(t
R(t ~ 0) (13)
 

~ 0

R(t ). ~r = Rx + Ry + Rz (xx + y y + z z) (14)
x y z

 0
y 0 z 0
 0
y 0 z 0
 0
y 0 z 0
  

~ 0
 x x x
R(t ). ~r = Rx x + y + z +Ry x + y + z +Rz x + y + z
x y z x y z x y z
(15)

 0 0   0 0   0 0 
~ 0 ). ~r = Rx dx t x + Ry dx t x + Rz dx t x
 
R(t (16)
dt0 y dt0 y dt0 y

1
  0
dy 0 dz 0
 0  0
dy 0 dz 0
 0  0
dy 0 dz 0
 0

~ 0
 dx t dx t dx t
R(t ). ~r = Rx x + 0 y + 0 z +Ry x + 0 y + 0 z +Rz x + 0 y + 0 z
dt0 dt dt x dt0 dt dt y dt0 dt dt z
(17)
0 0 0
~ (t0 ) t + Ry V ~ (t0 ) t + Rz V
~ (t0 ) t
 
~ 0 ). ~r = Rx V
R(t (18)
x y z
0 0 0
 
~ (t0 ) Rx t + Ry t + Rz t
 
~ 0 ). ~r = V
R(t (19)
x y z
   
~ 0 ). ~r = V
R(t ~ (t0 ) R(t
~ 0 )t0 (20)
   
R(t ~ 0 ) = R(t
~ 0 ). R(t ~ 0) V ~ 0 ).t0
~ (t0 ) R(t (21)

~ 0 0
~ 0 ) = ~r ~r(t0 ) dR(t ) = d~r(t ) = V
R(t ~ (t0 ) (22)
dt dt
 
~ 0 ) R(t
R(t ~ 0) (23)

~ 0 ) = (~r ~r(t0 )) = ~r ~r(t0 )

R(t (24)

 
 x y z       
 = z y x+ x y y+ y x z = 0
 
~r =  /x /y /z
 x
 y z z x x y
y z 
(25)

~r = 0 (26)

z 0 y 0 x0 y 0 y 0 x0
     
0
~r(t ) = x + y + z (27)
y z z x x y

dz 0 t0 dy 0 t0 dx0 t0 dz 0 t0 dy 0 t0 dx0 t0
     
0
~r(t ) = x+ y+ 0 z
dt0 y dt0 z dt0 z dt0 x dt0 x dt y
(28)
 
 x y z 
0
~r(t ) =  t0 /x t0 /y t0 /z ~ (t0 )
 = (t0 ) V
 
(29)
 dx0 /dt0 dy 0 /dt0 dz 0 /dt0



~ (t0 ) (t0 )
~r(t0 ) = V (30)

2
 ~ 0) = V
R(t ~ (t0 ) (t0 ) (31)
   
~ 0 ) R(t
R(t ~ 0 ) = R(t
~ 0) V~ (t0 ) (t0 ) (32)

1 ~ 0 
~ (t0 ) R(t
 
~ 0) V
~ 0 ).(t0 + R(t ~ (t0 ) t0

ct0 = R(t ) V (33)
R(t0 )

~ (B
A ~ C)
~ = B(
~ A.
~ C)
~ C(
~ A.
~ B)
~ (34)
     
~ 0) V
R(t ~ (t0 ) t0 = V
~ (t0 ) R(t
~ 0 ).t0 t0 R(t
~ 0 ).V
~ (t0 (35)

1 ~ 0  
~ 0 ).t0 + V
~ (t0 ) R(t
  
~ 0 ).V
~ 0 ).t0 t0 R(t
~ (t0 ) R(t ~ (t0 )

ct0 = R(t ) V
R(t0 )
(36)

1 ~ 0 t0  ~ 0 ~ 0 
ct0 = R(t ) R(t ).V (t ) (37)
R(t0 ) R(t0 )
!
~ 0 ).V
R(t ~ (t0 ) ~ 0)
R(t
0
t c + = (38)
R(t0 ) R(t0 )

~ 0)
R(t
t0 = (39)
~ 0 ).V
c R(t0 ) R(t ~ (t0 )
Como
 
~ (t
R(t0 ) = R(t0 ) t0 R(t0 ).V (40)
 
~ 0 ) R(t0 ).V
R(t ~ (t0 )
R(t0 ) = R(t0 ) + (41)
~ 0 ).V
c R(t0 ) R(t ~ (t0 )

   
~ 0 ).V
c R(t0 )R(t0 ) R(t0 ) R(t ~ (t0 ) + R(t0 ) R(t
~ 0 ).V
~ (t0 )
R(t0 ) = (42)
~ 0 ).V
c R(t0 ) R(t ~ (t0 )

~ 0)
c R(t
R(t0 ) = (43)
~ 0 ).V
c R(t0 ) R(t ~ (t0 )