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−11−11
νx
[]
νy =
νω
R
4 1
[11 11
−1 −1 1
L+W L+W L+W L+W
ω2
ω3
ω4
¿ u ( t ) −E(q)
C −B B D
[
M 0 ( q )= −B C
B
D
D
D B
C −B
B −B C
]
m r2 I z r2
A=
8
, B=
16(W + L)
2 , C= A+ B+ I ω
D= A−B