UNIVERZITET U NIŠU

MAŠINSKI FAKULTET

Gipki mehanizmi
Kandidat
Petar Krstić 29u
______________________________

IV grafički rad

SINTEZA BISTABILNIH GIPKIH MEHANIZAMA

Na slikama je prikazan gipki mehanizam od polipropilena (E=1.5 GPa) u 2 stabilna položaja; u tabeli
su definisane njegove dimenzije, početni (stabilni) položaj i aksijalni momenti inercije odgovarajućih
gipkih segmenata.

l1

pogon

10
l4
l3

30

l1 ( μm ) l3 ( μm ) l4 ( μm ) 10 30 I1 ( μm )
4
I3 ( μm )
4

277.65 128.24 120 130° 90° 4.5 4.5

a) prepoznati tipove gipkih zglobova;

b) zameniti gipke zglobove odgovarajućim klasičnim zglobovima sa oprugama i modelirati
mehanizam modelom kvazikrutog tela (skicirati ga);
c) odrediti stabilne i nestabilne ravnotežne položaje mehanizma.

Predmetni nastavnik

prof. dr Nenad Pavlović

 In[ ]:= l3 = 0.00012824
l2 = 281  1 000 000 // N
l1 = 0.00027765
l4 = 0.00012
γ = 0.85
cΘ = 2.65
a = l1 * γ
c = l2
b = γ * l3
d = l4
θ10 = 130
θ20 = - 14.8
θ30 = 90
I1 = 4.5 * 10 ^ - 24
I3 = 4.5 * 10 ^ - 24
E3 = 1.5 * 10 ^ 9
E3 * I1
c2 = 0.85 * 2.65 * // N
l1
E3 * I3
c3 = 0.85 * 2.65 * // N
l3

f= a^2 + d^2 - 2 * a * d * Cos[θ1 * Pi / 180] // N

a * Sin[θ1 * Pi / 180] c^2 + f^2 - b^2
θ2 = ArcTan  + ArcCos 
a * Cos[θ1 * Pi / 180] - d 2*c*f

1 a * Sinθ1 * Pi  180 c^2 + f^2 - b^2

θ3 = Pi - ArcSin * c * SinArcTan  + ArcCos  -
b a * Cosθ1 * Pi  180 - d 2*c*f

a * Sinθ1 * Pi  180
f * SinArcTan  
a * Cosθ1 * Pi  180 - d
ψ2 = θ1 * Pi  180 - θ10 * Pi  180 - θ2 - θ20 * Pi  180 // N
ψ3 = θ3 - θ30 * Pi  180 - θ2 - θ20 * Pi  180 // N
Ep = c3 * ψ3 ^ 2  2 + c2 * ψ2 ^ 2  2
Plot[Ep , {θ1 , 100, 270}]
Iz1 = ∂θ1 Ep
Plot[Iz1, {θ1 , 100, 270}]
FindRoot[Iz1 ⩵ 0, {θ1 , 120}]
FindRoot[Iz1 ⩵ 0, {θ1 , 215}]
FindRoot[Iz1 ⩵ 0, {θ1 , 170}]
Plot[{Ep , Iz1}, {θ1 , 110, 280}]
Iz2 = ∂θ1 Iz1
Plot[Iz2, {θ1 , 130, 280}]
bΘ = 1.02
θS1 = 224.631 * bΘ

Out[ ]= 0.00012824

Out[ ]= 0.000281

Out[ ]= 0.00027765

Out[ ]= 0.00012
2 Petar Krstic 29u.nb

Out[ ]= 0.85

Out[ ]= 2.65

Out[ ]= 0.000236003

Out[ ]= 0.000281

Out[ ]= 0.000109004

Out[ ]= 0.00012

Out[ ]= 130

Out[ ]= - 14.8

Out[ ]= 90

Out[ ]= 4.5 × 10-24

Out[ ]= 4.5 × 10-24

Out[ ]= 1.5 × 109

Out[ ]= 5.47609 × 10-11

Out[ ]= 1.18562 × 10-10

Out[ ]= 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

1779.36 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

Out[ ]= ArcCos +
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

0.000236003 Sin π θ1 
180
ArcTan 
- 0.00012 + 0.000236003 Cos π θ1 
180

Out[ ]= π - ArcSin9173.98

1779.36 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

0.000281 SinArcCos +
-8 -8
7.00972 × 10 - 5.66406 × 10 Cos[0.0174533 θ1 ]

0.000236003 Sin π θ1 
180
ArcTan  -
- 0.00012 + 0.000236003 Cos π θ1 
180

0.000236003 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] Sin π θ1 

180

π θ1 2
-8
5.56972×10 Sin 
- 0.00012 + 0.000236003 Cos π θ1  1+ 180
2
180 -0.00012+0.000236003 Cos
π θ1

180
 Petar Krstic 29u.nb 3

1779.36 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

Out[ ]= - 2.52724 - 1. ArcCos -
-8 -8
7.00972 × 10 - 5.66406 × 10 Cos[0.0174533 θ1 ]
0.000236003 Sin[0.0174533 θ1 ]
1. ArcTan  + 0.0174533 θ1
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

Out[ ]= 1.31249 -
1779.36 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]
1. ArcCos  - 1. ArcSin9173.98
-8 -8
7.00972 × 10 - 5.66406 × 10 Cos[0.0174533 θ1 ]

0.000281 SinArcCos1779.36 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] 

7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]  +

0.000236003 Sin[0.0174533 θ1 ]
ArcTan  -
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

0.000236003 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] Sin[0.0174533 θ1 ] 

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

5.56972 × 10-8 Sin[0.0174533 θ1 ]2

1. + -
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

0.000236003 Sin[0.0174533 θ1 ]
1. ArcTan 
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]
4 Petar Krstic 29u.nb

Out[ ]= 5.92809 × 10-11

1.31249 - 1. ArcCos1779.36 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] 

7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]  -

1. ArcSin9173.98 0.000281 SinArcCos1779.36 1.37176 × 10-7 - 5.66406 × 10-8 Cos[

0.0174533 θ1 ]  √ 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533

0.000236003 Sin[0.0174533 θ1 ]
θ1 ] + ArcTan  -
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

0.000236003 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

Sin[0.0174533 θ1 ]  - 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

5.56972 × 10-8 Sin[0.0174533 θ1 ]2

 1. + -
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2
2
0.000236003 Sin[0.0174533 θ1 ]
1. ArcTan  + 2.73805 × 10-11
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

- 2.52724 - 1. ArcCos1779.36 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] 

7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]  -

0.000236003 Sin[0.0174533 θ1 ]
1. ArcTan +
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]
2
0.0174533 θ1

3. × 10-11

2. × 10-11
Out[ ]=

1. × 10-11

150 200 250

Out[ ]= 1.18562 × 10-10

1779.36 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

1.31249 - 1. ArcCos -
-8 -8
7.00972 × 10 - 5.66406 × 10 Cos[0.0174533 θ1 ]
1. ArcSin9173.98

0.000281 SinArcCos1779.36 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] 

√ 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] +

 Petar Krstic 29u.nb 5

0.000236003 Sin[0.0174533 θ1 ]
ArcTan  -
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

0.000236003 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

Sin[0.0174533 θ1 ]  - 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

5.56972 × 10-8 Sin[0.0174533 θ1 ]2

 1. + -
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

0.000236003 Sin[0.0174533 θ1 ]
1. ArcTan 
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

1.75901 × 10-6 Sin[0.0174533 θ1 ]

1. -
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]
8.79506 × 10-7 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

3/2
Sin[0.0174533 θ1 ]  7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] 

2
 1 - 3.16612 × 106 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]  
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] -
4.11902 × 10-6 Cos[0.0174533 θ1 ]
1. +
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

9.72099 × 10-10 Sin[0.0174533 θ1 ]2


- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2
5.56972 × 10-8 Sin[0.0174533 θ1 ]2
1+ -
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

9173.98 - 4.11902 × 10-6 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

Cos[0.0174533 θ1 ]  - 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

5.56972 × 10-8 Sin[0.0174533 θ1 ]2

 1. + -
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

9.72099 × 10-10 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

Sin[0.0174533 θ1 ]2  - 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

5.56972 × 10-8 Sin[0.0174533 θ1 ]2

 1. + - 1.16652 × 10-13
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

Sin[0.0174533 θ1 ]2   7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

6 Petar Krstic 29u.nb

5.56972 × 10-8 Sin[0.0174533 θ1 ]2

 1. + +
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

0.000118001 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

1.9442 × 10-9 Cos[0.0174533 θ1 ] Sin[0.0174533 θ1 ]

Sin[0.0174533 θ1 ] +
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2
4.58836 × 10-13 Sin[0.0174533 θ1 ]3

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]3

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

3/2
5.56972 × 10-8 Sin[0.0174533 θ1 ]2
1. + +
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2
0.000281 CosArcCos1779.36 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] 
√ 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] +
0.000236003 Sin[0.0174533 θ1 ]
ArcTan 
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

- 1.75901 × 10-6 Sin[0.0174533 θ1 ]  √ 7.00972 × 10-8 -

5.66406 × 10-8 Cos[0.0174533 θ1 ] - 8.79506 × 10-7 1.37176 × 10-7 -

5.66406 × 10-8 Cos[0.0174533 θ1 ] Sin[0.0174533 θ1 ] 
3/2
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] 
2
 1 - 3.16612 × 106 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]  
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] +
4.11902 × 10-6 Cos[0.0174533 θ1 ]
+
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

9.72099 × 10-10 Sin[0.0174533 θ1 ]2


- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

5.56972 × 10-8 Sin[0.0174533 θ1 ]2

1+ 
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

7 -7
 1 - 8.41618 × 10 0.000281 SinArcCos1779.36 1.37176 × 10 -

5.66406 × 10-8 Cos[0.0174533 θ1 ] 

√ 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] +
0.000236003 Sin[0.0174533 θ1 ]
ArcTan  -
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]
0.000236003 √ 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]
Sin[0.0174533 θ1 ]  - 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]
 1. + 5.56972 × 10-8 Sin[0.0174533 θ1 ]2  

2
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2  +
 Petar Krstic 29u.nb 7

1.75901 × 10-6 Sin[0.0174533 θ1 ]

5.47609 × 10-11 0.0174533 + 1. -
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]
8.79506 × 10-7 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

3/2
Sin[0.0174533 θ1 ]  7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] 

2
 1 - 3.16612 × 106 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]  
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] -
4.11902 × 10-6 Cos[0.0174533 θ1 ]
1. +
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

9.72099 × 10-10 Sin[0.0174533 θ1 ]2


- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

5.56972 × 10-8 Sin[0.0174533 θ1 ]2

1+
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

1779.36 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

- 2.52724 - 1. ArcCos -
-8 -8
7.00972 × 10 - 5.66406 × 10 Cos[0.0174533 θ1 ]
1.
ArcTan

0.000236003 Sin[0.0174533 θ1 ]
 + 0.0174533 θ1
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

1. × 10-12

5. × 10-13
Out[ ]=

150 200 250

-5. × 10-13

Out[ ]= {θ1 → 129.991}

Out[ ]= {θ1 → 224.631}

Out[ ]= {θ1 → 188.038}

8 Petar Krstic 29u.nb

3. × 10-11

2.5 × 10-11

2. × 10-11

1.5 × 10-11
Out[ ]=

1. × 10-11

5. × 10-12

150 200 250

Out[ ]= 5.47609 × 10-11

1.75901 × 10-6 Sin[0.0174533 θ1 ]

0.0174533 + 1. - 8.79506 × 10-7
-8 -8
7.00972 × 10 - 5.66406 × 10 Cos[0.0174533 θ1 ]
1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] Sin[0.0174533 θ1 ] 

3/2
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] 

2
 1 - 3.16612 × 106 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]  
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] -
4.11902 × 10-6 Cos[0.0174533 θ1 ]
1. +
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

9.72099 × 10-10 Sin[0.0174533 θ1 ]2


- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2
2
5.56972 × 10-8 Sin[0.0174533 θ1 ]2
1+ +
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

1.75901 × 10-6 Sin[0.0174533 θ1 ]

1.18562 × 10-10 1. -
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]
8.79506 × 10-7 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] Sin[0.0174533

3/2
θ1 ]  7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] 

2
 1 - 3.16612 × 106 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]  
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] -
4.11902 × 10-6 Cos[0.0174533 θ1 ]
1. +
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

9.72099 × 10-10 Sin[0.0174533 θ1 ]2


- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2
5.56972 × 10-8 Sin[0.0174533 θ1 ]2
1+ -
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2
 Petar Krstic 29u.nb 9

9173.98 - 4.11902 × 10-6 √ 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

Cos[0.0174533 θ1 ]  - 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

 1. + 5.56972 × 10-8 Sin[0.0174533 θ1 ]2  

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2  -

9.72099 × 10-10 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

Sin[0.0174533 θ1 ]2  - 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

5.56972 × 10-8 Sin[0.0174533 θ1 ]2

 1. + - 1.16652 × 10-13
2
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

Sin[0.0174533 θ1 ]2   7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

5.56972 × 10-8 Sin[0.0174533 θ1 ]2
 1. + +
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

0.000118001 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

Sin[0.0174533 θ1 ] 1.9442 × 10-9 Cos[0.0174533 θ1 ] Sin[0.0174533 θ1 ] 

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2 +

4.58836 × 10-13 Sin[0.0174533 θ1 ]3

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]3

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

3/2
5.56972 × 10-8 Sin[0.0174533 θ1 ]2
1. + + 0.000281
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2
CosArcCos1779.36 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] 
√ 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] +
0.000236003 Sin[0.0174533 θ1 ]
ArcTan 
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

- 1.75901 × 10-6 Sin[0.0174533 θ1 ]  √ 7.00972 × 10-8 - 5.66406 × 10-8

Cos[0.0174533 θ1 ] - 8.79506 × 10-7 1.37176 × 10-7 -

5.66406 × 10-8 Cos[0.0174533 θ1 ] Sin[0.0174533 θ1 ] 
3/2
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]    1 -
2
3.16612 × 106 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]  
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] +
4.11902 × 10-6 Cos[0.0174533 θ1 ]
+
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]
10 Petar Krstic 29u.nb

9.72099 × 10-10 Sin[0.0174533 θ1 ]2


- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

5.56972 × 10-8 Sin[0.0174533 θ1 ]2

1+ 
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

7 -7
 1 - 8.41618 × 10 0.000281 SinArcCos1779.36 1.37176 × 10 -

5.66406 × 10-8 Cos[0.0174533 θ1 ] 

√ 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] +
0.000236003 Sin[0.0174533 θ1 ]
ArcTan  -
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]
0.000236003 √ 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]
Sin[0.0174533 θ1 ]  - 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]
 1. + 5.56972 × 10-8 Sin[0.0174533 θ1 ]2   - 0.00012 +
2
2
2
0.000236003 Cos[0.0174533 θ1 ]  + 1.18562 × 10-10

1779.36 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

1.31249 - 1. ArcCos -
-8 -8
7.00972 × 10 - 5.66406 × 10 Cos[0.0174533 θ1 ]
1.
ArcSin
9173.98

0.000281 SinArcCos1779.36 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] 

√ 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] +

0.000236003 Sin[0.0174533 θ1 ]
ArcTan  -
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

0.000236003 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

Sin[0.0174533 θ1 ]  - 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

5.56972 × 10-8 Sin[0.0174533 θ1 ]2

 1. + -
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

0.000236003 Sin[0.0174533 θ1 ]
1. ArcTan 
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

1.75901 × 10-6 Sin[0.0174533 θ1 ]

- 0.5 -
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]
8.79506 × 10-7 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

3/2
Sin[0.0174533 θ1 ]  7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

- 0.00625983 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

Sin[0.0174533 θ1 ]  7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] +
 Petar Krstic 29u.nb 11

2
0.00312992 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

2
Sin[0.0174533 θ1 ]  7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]  

2
1 - 3.16612 × 106 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]  

3/2
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] +

3.07006 × 10-8 Cos[0.0174533 θ1 ]

1. -
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]
1.53503 × 10-8 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]
3/2
Cos[0.0174533 θ1 ]  7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] -
1.7389 × 10 -15
Sin[0.0174533 θ1 ]2
+
7.00972 × 10 -8
- 5.66406 × 10-8 Cos[0.0174533 θ1 ]3/2
1.30417 × 10-15 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

5/2
Sin[0.0174533 θ1 ]2   7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] 

2
 1 - 3.16612 × 106 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]  
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] -
7.18905 × 10-8 Sin[0.0174533 θ1 ]
1. - +
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]
5.0899 × 10-11 Cos[0.0174533 θ1 ] Sin[0.0174533 θ1 ]
+
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2
8.00819 × 10-15 Sin[0.0174533 θ1 ]3

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]3
5.56972 × 10-8 Sin[0.0174533 θ1 ]2
1+ +
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2
4.11902 × 10-6 Cos[0.0174533 θ1 ]
1. +
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

9.72099 × 10-10 Sin[0.0174533 θ1 ]2

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2
1.9442 × 10-9 Cos[0.0174533 θ1 ] Sin[0.0174533 θ1 ]
+
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2
4.58836 × 10-13 Sin[0.0174533 θ1 ]3

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]3
2
5.56972 × 10-8 Sin[0.0174533 θ1 ]2
1+ -
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

7.72098 × 1011
12 Petar Krstic 29u.nb

0.000281 SinArcCos1779.36 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] 

√ 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] +

0.000236003 Sin[0.0174533 θ1 ]
ArcTan  -
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

0.000236003 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

Sin[0.0174533 θ1 ]  - 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

5.56972 × 10-8 Sin[0.0174533 θ1 ]2

 1. +
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

- 4.11902 × 10-6 √ 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

Cos[0.0174533 θ1 ]  - 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

 1. + 5.56972 × 10-8 Sin[0.0174533 θ1 ]2  

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2  -

9.72099 × 10-10 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

Sin[0.0174533 θ1 ]2  - 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

5.56972 × 10-8 Sin[0.0174533 θ1 ]2

 1. + - 1.16652 × 10-13
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

Sin[0.0174533 θ1 ]2   7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

5.56972 × 10-8 Sin[0.0174533 θ1 ]2
 1. + +
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

0.000118001 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

Sin[0.0174533 θ1 ] 1.9442 × 10-9 Cos[0.0174533 θ1 ] Sin[0.0174533 θ1 ] 

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2 +

4.58836 × 10-13 Sin[0.0174533 θ1 ]3

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]3

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

3/2
5.56972 × 10-8 Sin[0.0174533 θ1 ]2
1. + + 0.000281
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2
CosArcCos1779.36 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] 
√ 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] +
0.000236003 Sin[0.0174533 θ1 ]
ArcTan 
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]
 Petar Krstic 29u.nb 13

- 1.75901 × 10-6 Sin[0.0174533 θ1 ]  √ 7.00972 × 10-8 - 5.66406 × 10-8

Cos[0.0174533 θ1 ] - 8.79506 × 10-7 1.37176 × 10-7 -

5.66406 × 10-8 Cos[0.0174533 θ1 ] Sin[0.0174533 θ1 ] 
3/2
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]    1 -
2
3.16612 × 106 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]  
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] +
4.11902 × 10-6 Cos[0.0174533 θ1 ]
+
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

9.72099 × 10-10 Sin[0.0174533 θ1 ]2


- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2
2
5.56972 × 10-8 Sin[0.0174533 θ1 ]2
1+ 
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

1 - 8.41618 × 107 0.000281 SinArcCos1779.36 1.37176 × 10-7 -

5.66406 × 10-8 Cos[0.0174533 θ1 ] 

√ 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] +
0.000236003 Sin[0.0174533 θ1 ]
ArcTan  -
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]
0.000236003 √ 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]
Sin[0.0174533 θ1 ]  - 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]
 1. + 5.56972 × 10-8 Sin[0.0174533 θ1 ]2  
2 3/2
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2  -

9173.98 7.18905 × 10-8 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

Sin[0.0174533 θ1 ]  - 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

5.56972 × 10-8 Sin[0.0174533 θ1 ]2

 1. + -
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

5.0899 × 10-11 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

Cos[0.0174533 θ1 ] Sin[0.0174533 θ1 ] 

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

5.56972 × 10-8 Sin[0.0174533 θ1 ]2

 1. + -
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

6.10788 × 10-15 Cos[0.0174533 θ1 ] Sin[0.0174533 θ1 ] 

7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

14 Petar Krstic 29u.nb

5.56972 × 10-8 Sin[0.0174533 θ1 ]2

 1. + -
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

8.00819 × 10-15 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

Sin[0.0174533 θ1 ]3  - 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]3

5.56972 × 10-8 Sin[0.0174533 θ1 ]2

 1. + -
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

9.60983 × 10-19 Sin[0.0174533 θ1 ]3  

7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

5.56972 × 10-8 Sin[0.0174533 θ1 ]2
 1. + +
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

5.7659 × 10-23 Sin[0.0174533 θ1 ]3  

3/2
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

5.56972 × 10-8 Sin[0.0174533 θ1 ]2
 1. + +
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

4.11902 × 10-6 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

1.9442 × 10-9 Cos[0.0174533 θ1 ] Sin[0.0174533 θ1 ]

Cos[0.0174533 θ1 ] +
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2
4.58836 × 10-13 Sin[0.0174533 θ1 ]3

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]3

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

3/2
5.56972 × 10-8 Sin[0.0174533 θ1 ]2
1. + +
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

9.72099 × 10-10 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

1.9442 × 10-9 Cos[0.0174533 θ1 ] Sin[0.0174533 θ1 ]

Sin[0.0174533 θ1 ]2 +
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2
4.58836 × 10-13 Sin[0.0174533 θ1 ]3

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]3

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

 Petar Krstic 29u.nb 15

3/2
5.56972 × 10-8 Sin[0.0174533 θ1 ]2
1. + + 1.16652 × 10-13
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

1.9442 × 10-9 Cos[0.0174533 θ1 ] Sin[0.0174533 θ1 ]

Sin[0.0174533 θ1 ]2 +
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2
4.58836 × 10-13 Sin[0.0174533 θ1 ]3

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]3

7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

3/2
5.56972 × 10-8 Sin[0.0174533 θ1 ]2
1. + -
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

0.000177002 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

Sin[0.0174533 θ1 ] 1.9442 × 10-9 Cos[0.0174533 θ1 ] Sin[0.0174533 θ1 ] 

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2 +

2
4.58836 × 10-13 Sin[0.0174533 θ1 ]3

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]3

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

5/2
5.56972 × 10-8 Sin[0.0174533 θ1 ]2
1. + +
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

0.000118001 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

3.39327 × 10-11 Cos[0.0174533 θ1 ]2

Sin[0.0174533 θ1 ] -
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2
3.39327 × 10-11 Sin[0.0174533 θ1 ]2
+
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2
4.0041 × 10-14 Cos[0.0174533 θ1 ] Sin[0.0174533 θ1 ]2  
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]3 +
5.66986 × 10-18 Sin[0.0174533 θ1 ]4

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]4

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

3/2
5.56972 × 10-8 Sin[0.0174533 θ1 ]2
1. + -
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2
0.000281 SinArcCos1779.36 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] 
√ 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] +
0.000236003 Sin[0.0174533 θ1 ]
ArcTan 
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]
16 Petar Krstic 29u.nb

- 1.75901 × 10-6 Sin[0.0174533 θ1 ]  √ 7.00972 × 10-8 - 5.66406 × 10-8

Cos[0.0174533 θ1 ] - 8.79506 × 10-7 1.37176 × 10-7 -

5.66406 × 10-8 Cos[0.0174533 θ1 ] Sin[0.0174533 θ1 ] 
3/2
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]    1 -
2
3.16612 × 106 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]  
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] +
4.11902 × 10-6 Cos[0.0174533 θ1 ]
+
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

9.72099 × 10-10 Sin[0.0174533 θ1 ]2


- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2
2
5.56972 × 10-8 Sin[0.0174533 θ1 ]2
1+ +
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2
0.000281 CosArcCos1779.36 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] 
√ 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] +
0.000236003 Sin[0.0174533 θ1 ]
ArcTan 
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

1.75901 × 10-6 Sin[0.0174533 θ1 ]  √ 7.00972 × 10-8 - 5.66406 × 10-8

Cos[0.0174533 θ1 ] - 8.79506 × 10-7 1.37176 × 10-7 -

5.66406 × 10-8 Cos[0.0174533 θ1 ] Sin[0.0174533 θ1 ] 
3/2
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] 
-7 -8
- 0.00625983 1.37176 × 10 - 5.66406 × 10 Cos[0.0174533 θ1 ]
-8
Sin[0.0174533 θ1 ]  7.00972 × 10 - 5.66406 × 10-8
Cos[0.0174533 θ1 ] + 0.00312992 1.37176 × 10-7 -
2
5.66406 × 10-8 Cos[0.0174533 θ1 ] Sin[0.0174533 θ1 ] 
2
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]  
2
2 1 - 3.16612 × 106 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]  
3/2
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] -

3.07006 × 10-8 Cos[0.0174533 θ1 ]  √ 7.00972 × 10-8 - 5.66406 × 10-8

Cos[0.0174533 θ1 ] - 1.53503 × 10-8 1.37176 × 10-7 - 5.66406 × 10-8
Cos[0.0174533 θ1 ] Cos[0.0174533 θ1 ]  7.00972 × 10-8 - 5.66406 ×
3/2
10-8 Cos[0.0174533 θ1 ] - 1.7389 × 10-15 Sin[0.0174533 θ1 ]2  
3/2
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] + 1.30417 × 10-15
1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] Sin[0.0174533 θ1 ]2  
5/2
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] 
6 -7 -8 2
 1 - 3.16612 × 10 1.37176 × 10 - 5.66406 × 10 Cos[0.0174533 θ1 ]  
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] +
7.18905 × 10-8 Sin[0.0174533 θ1 ]
- + 5.0899 × 10-11
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]
Cos[0.0174533 θ1 ] Sin[0.0174533 θ1 ]  - 0.00012 + 0.000236003 Cos[
 Petar Krstic 29u.nb 17

8.00819 × 10-15 Sin[0.0174533 θ1 ]3

0.0174533 θ1 ]2 + 
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]3
5.56972 × 10-8 Sin[0.0174533 θ1 ]2
1+ -
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2
4.11902 × 10-6 Cos[0.0174533 θ1 ]
+
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

9.72099 × 10-10 Sin[0.0174533 θ1 ]2

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

1.9442 × 10-9 Cos[0.0174533 θ1 ] Sin[0.0174533 θ1 ] 

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2 +

4.58836 × 10-13 Sin[0.0174533 θ1 ]3

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]3
2
5.56972 × 10-8 Sin[0.0174533 θ1 ]2
1+ 
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

7 -7
 1 - 8.41618 × 10 0.000281 SinArcCos1779.36 1.37176 × 10 -

5.66406 × 10-8 Cos[0.0174533 θ1 ] 

√ 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] +
0.000236003 Sin[0.0174533 θ1 ]
ArcTan  -
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]
0.000236003 √ 7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]
Sin[0.0174533 θ1 ]  - 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]
 1. + 5.56972 × 10-8 Sin[0.0174533 θ1 ]2  

2
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2  +

1.75901 × 10-6 Sin[0.0174533 θ1 ]

5.47609 × 10-11 - 0.5 -
-8 -8
7.00972 × 10 - 5.66406 × 10 Cos[0.0174533 θ1 ]
-7 -7 -8
8.79506 × 10 1.37176 × 10 - 5.66406 × 10 Cos[0.0174533 θ1 ]

3/2
Sin[0.0174533 θ1 ]  7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

- 0.00625983 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

Sin[0.0174533 θ1 ]  7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] +
2
0.00312992 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]

2
Sin[0.0174533 θ1 ]  7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]  

2
1 - 3.16612 × 106 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]  
18 Petar Krstic 29u.nb

3/2
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] +

3.07006 × 10-8 Cos[0.0174533 θ1 ]

1. -
-8 -8
7.00972 × 10 - 5.66406 × 10 Cos[0.0174533 θ1 ]
-8 -7
1.53503 × 10 1.37176 × 10 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]
3/2
Cos[0.0174533 θ1 ]  7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] -
1.7389 × 10-15 Sin[0.0174533 θ1 ]2
+
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]3/2
1.30417 × 10-15 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]
Sin[0.0174533 θ1 ]2  

5/2
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] 

2
 1 - 3.16612 × 106 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]  
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ] -
7.18905 × 10-8 Sin[0.0174533 θ1 ]
1. - +
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]
5.0899 × 10-11 Cos[0.0174533 θ1 ] Sin[0.0174533 θ1 ]
+
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2
8.00819 × 10-15 Sin[0.0174533 θ1 ]3

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]3
5.56972 × 10-8 Sin[0.0174533 θ1 ]2
1+ +
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2
4.11902 × 10-6 Cos[0.0174533 θ1 ]
1. +
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]

9.72099 × 10-10 Sin[0.0174533 θ1 ]2

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2
1.9442 × 10-9 Cos[0.0174533 θ1 ] Sin[0.0174533 θ1 ]
+
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2
4.58836 × 10-13 Sin[0.0174533 θ1 ]3

- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]3
2
5.56972 × 10-8 Sin[0.0174533 θ1 ]2
1+
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]2

- 2.52724 -

1.
ArcCos
1779.36 1.37176 × 10-7 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]
-
7.00972 × 10-8 - 5.66406 × 10-8 Cos[0.0174533 θ1 ]
 Petar Krstic 29u.nb 19

0.000236003 Sin[0.0174533 θ1 ]
1. ArcTan +
- 0.00012 + 0.000236003 Cos[0.0174533 θ1 ]
0.0174533

θ1

6. × 10-14

5. × 10-14

4. × 10-14

3. × 10-14

Out[ ]=
2. × 10-14

1. × 10-14

140 160 180 200 220 240 260 280

-14
-1. × 10

Out[ ]= 1.02

Out[ ]= 229.124

E
Ep

c3
4.47403 × 10-11 × 0.000281Θ
θ1 → 129.991o

θ1 → 224.631o

θ1 → 188.038o

Prva dobijena vrednost za ugao θ1 odgovara početnom položaju mehanizma i predstavlja

prvi stabilni položaj, položaj u kome je zatvarač otvoren. Druga dobijena vrednost za ugao θ1
predstavlja drugi stabilni položaj, položaj u kome je zatvarač zatvoren. Treća dobijena
vrednost za ugao θ1 predstavlja nestabilan položaj bistabilnog mehanizma.