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com

x A t
max t max A
2
a a max t max

2
x

( t )

max ( t ) A
max

max ( t ) 2
max

2
x
F Dx
2
D m

m D
T 2
D , m

1 2
2
1 2
K m
2
1 2 1 2
E DA U max m max
K max
2 2

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1 2 t
U DA 2 2
t U E
2
1 2 t
K DA 2 2
t K E
2

1 2
K E Dx
2

1 2
U E m
2

2 x2

a 2 2
m

dK dW F dx
F F
dt dt dt

dU dK
dt dt

dx d dp F
dt dt dt

% 100%

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WF U U

WW U U

U mgh

W U U
F

W K K
F

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dF
p
dA

p gh

p = p + gh

. :

( )

F nA

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F' b

F ma F F ma b Dx ma

t nT
:
Ao A1 A2 An 1 An
....... .... .
A1 A2 A3 An An 1

E
1
DA2
1
D A0 e t 2 1
DA02 e t 2
E E0e 2 t
2 2 2

t A0 t1 1 t1 t1
A A0 e A0 e 2
e 2
e 2
2 t1 ln 2
2 2 2

t1 n2
2

fo f

1 D
f0
2 m

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x1 A1 t & x2 A2 ( t )
A A12 A22 2 A1 A2
A2
1 2

x1 A 1t & x2 A 2t

1 2 1 2
x 2A ( t) ( t)
2 2
1 2 x A' t
f f1 f2

1 2
2 f1 2 f 2 f1 f2
1 2
2 f f
2 2 2

1 2
T T
f f1 f2

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x
t f
y A t

t x
y A 2
T
t x
y A 2
T

y A ( t 0 )

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A'

r1 r2 N N 0, 1, 2,....

r1 r2 ( 2 N 1) N 0, 1, 2,....
2

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-2 -1 0 1 2

1 2

r1 r2

-3 -2 -1 0 1 2

x t
y 2A 2 2
T

x K
2

x ( 2 K 1)
4

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2.

2 d

R
2
1 d
t+dt
t
ds

d
dt
ds
dt
ds d ( R) R d R
dt dt dt
d
dt
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2 2

2
2
R
R
d
dt
a d d ( R) d R a R
dt dt dt
0, , t

, t,
1
t a t2
2
cm R, acm a a R
Fl
Fd

: =0

I m1r12 m2 r22 ....


Ip I cm Md 2
Ia

L pr L m r

L I

L L1 L2 L3 ...

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dL
dt

L L I1 1 I2 2

1 2
K I
2
1 2 1 2
K M cm I
2 2

dW d

W
P
1 2 1 2
W I I
2 2

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dxcm ds d
cm
dt dt dt
d cm d d
acm a a
dt dt dt

s t

0 t 0 t

dp dL
F
dt dt
p L

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F 0 dp 0 p
dt

(+)
m1 m2 m1 m2

' = m1 - m2 2m2
+
1 m1 + m2 1 m1 + m2 2

' = 2m1 +
m2 -m1
2 m +m 1 m1 +m2 2
1 2

' =
m1 - m2
1 m1 + m2 1

' = 2m1
2 m +m 1
1 2

m1 m2 m1+m2

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fA fS

fA fS

fA fS
S

fA fS
S

f f
A S
S
( )
,
,
f

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f f
A S
S
,
,
f

f f
A S
S
( )
,
,
f

f f
A S
S
,
,
f

A
A f f
S A S
S
S

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