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# » # » # » # »
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/ā,RLURcRNc. I3 LRL3Nj 0wNLC\n3 -

# » # » # »
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# » # » # » # » # »
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# » # » # » # » # »
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p∈ E p∈ E

# » # » # »
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p∈ E

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+  p∈ E
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⎩ +2 AP ∧ Ω R1 /Rg ∧ VP,E/R1 · dm⎪
⎭
p∈ E A
Ua NIR<C3
       
D E/R = D E/R1 + D E,R1 /Rg + Dcor,E/Rg
= {Drel } + {Dent } + {Dcor }

jX9XjX S`BM+BT2 7QM/K2MiH /Mb mM `2Tĕ`2 MQM ;HBHû2M

bRCj E nN 3Nc3L$I3 LjāaC3I. R g I3 a3Uěa3 <ICIā3N 3j R1 I3 a3Uěa3 0ȕājn03Y QN c3 UaRURc3 0ȕā,aCa3 I3
UaCN,CU3 8RN0L3NjI 03 I 0wNLC\n3 0Nc I3 a3Uěa3 R1 . Ua 0ā~NCjCRN I3 TY7Y/Y cȕā,aCj -
   
D E/Rg = A E→E

2N 0ā,RLURcNj I3 jRac3na 0wNLC\n3 cna I3 a3Uěa3 R1 -

       
D E/R1 + D E,R1 /Rg + Dcor,E/Rg = A E→E

7CNI3L3Nj I3 TY7Y/ Ua aUURaj n a3Uěa3 NRN <ICIā3N R1 03qC3Nj -

       
D E/R1 = A E→E − D E,R1 /Rg − Dcor,E/Rg

/Nc nN a3Uěa3 NRN <ICIā3N. CI 8nj cRncjaCa3 nu 8Ra,3c 3ujāaC3na3c UUIC\nā3c © Iȕ3Nc3L$I3 LjāaC3I E

I3 jRac3na 03c 8Ra,3c 0ȕCN3ajC3 0ȕ3NjaţN3L3Nj 3j I3 jRac3na 03c 8Ra,3c 0ȕCN3ajC3 03 +RaCRICcY   
`3La\n3 - cC R1 3cj 3N jaNcIjCRN nNC8RaL3 Ua aUURaj n a3Uěa3 <ICIā3N. IRac D E,R1 /Rg = 0
       
3j Dcor,E/Rg = 0 0RN, D E/R1 = A E→E . R1 3cj 0RN, nccC nN a3Uěa3 <ICIā3NY

jX8X TTHB+iBQM Ĝ ú[mBHB#`;2 /ǶmM bQHB/2

jX8XRX S`Q#HĕK2 ;ûMû`H /2 HǶû[mBHB#`;2
/Nc I3 ,c 0ȕnN LRnq3L3Nj 03 aRjjCRN. I3c qC$ajCRNc 0n3c © nN3 LnqCc3 aāUajCjCRN 03c Lcc3c Ua
aUURaj © Iȕu3 03 I aRjjCRN CN0nCc3Nj nN3 ncna3 3j nN3 0ājāaCRajCRN aUC03 03c UIC3ac 3j ,aā3Nj nN3 <ćN3
URna IȕnjCICcj3na V$anCjc. qC$ajCRNcWY
HȕR$E3j 03 Iȕā\nCIC$a<3 3cj 03 cnUUaCL3a ,3c qC$ajCRNcY
MRnc IIRNc. āqIn3a IȕCNn3N,3 03 I aāUajCjCRN 03c Lcc3c VURcCjCRN 0n ,3Nja3 0ȕCN3ajC3. cwLājaC3 0n
cRIC03W cna ,3c qC$ajCRNcY

Hw,ā3 +@aI3L<N3ATaCc :l
kY /wNLC\n3 0n cRIC03

 VX .QMMû2b

bRCj nN cRIC03 S1 03 Lcc3 K 3N ICCcRN UCA

z#»0 y#»1
qRj 0ȕu3 (O, z#»0 ) Ua aUURaj n $‘jC S0 Y +3 cRA
x#»1 IC03 NȕwNj n,nN3 UajC,nIaCjā <āRLājaC\n3
Q VNC UIN 03 cwLājaC3. NC u3 03 aāqRInjCRNW. I
×G θ LjaC,3 0ȕCN3ajC3 0n cRIC03 3N Q 3cj 03 I 8RaL3 -
⎛ ⎞
x#»0 A −F −E
I O ( S1 ) = ⎝ − F B − D ⎠
−E −D C O
( x#»1 , y#»1 , z#»1 )

H3 a3Uěa3 R1 = (O, x#»1 , y#»1 , z#»1 ) 3cj ICā n cRIC03 3N

aRjjCRN q3, ( x#»0 , x#»1 ) = θ. URna j5z. θ = 0Y
# »
OG = x g · x#»1 + z g · z#»0
R0 nN a3Uěa3 <ICIā3N. z#»0 3cj q3ajC,I c,3N0NjY
#»
mN ,RnUI3 LRj3na Cm = Cm · z#»0 U3aL3j I aRjA
jCRNY
7ϔόЛЁζ kYkY Ģ Ā\nCIC$a<3 H ICCcRN UCqRj 3cj Ua8Cj3Y

# VX úim/2 /vMKB[m2
AMp2MiB`2 /2b +iBQMb 2tiû`B2m`2b UUIC\nā3c n cRIC03 3N aRjjCRN
  − M · g · z#» 
− M · g · z#»0

0
ġ ,jCRN 03 I U3cNj3na cna I3 cRIC03 - P g→S1 = #» =
0 G
M · g · x g · y#»1 O
   #» 
0
ġ +RnUI3 LRj3na - C Mot→S1 = d
Cm · z#»0 ∀ P
⎧ ⎫
  ⎨ X01 L01 ⎬
ġ ,jCRNc jaNcLCccC$I3c Ua I ICCcRN UCqRj - LS0 →S1 = Y01 M01 Y
⎩ ⎭
Z01 0 ∀ P∈( #»
#»O,#»z0 )
( ? , ? ,z#»0 )

.ûi2`KBMiBQM /m iQ`b2m` /vMKB[m2 3N Q 0n cRIC03 S1 0Nc cRN LRnq3L3Nj Ua aUURaj © R0 Y

/āj3aLCNRNc 0Nc nN Ua3LC3a j3LUc I3 jRac3na ,CNājC\n3 3N Q 0n cRIC03 S1 0Nc cRN LRnq3L3Nj Ua
aUURaj © R0 -
# »
ġ `ācnIjNj3 ,CNājC\n3 - p# » = M·V
S1 /R0 = M · x · θ̇ · y#»
G ∈S1 /R0 g 1
ġ KRL3Nj ,CNājC\n3. Q 3cj nN URCNj ~u3 0Nc I3 aā8āa3NjC3I. 0RN, -
⎛ ⎞ ⎛ ⎞
A −F −E 0
# »
σ# O,S1 /R»g = IO (S1 ) · ΩS1 /R0 = ⎝ − F B − D ⎠ · ⎝0⎠
−E −D C O θ̇
B1

= − E · θ̇ · x#»1 − D · θ̇ · y#»1 + C · θ̇ · z#»0

= − E · ω · x#»1 − D · ω · y#»1 + C · ω · z#»0 q3, ω = θ̇
# »
  AS1 /R0
0ȕRɵ I3c ,RLURcNj3c 0n jRac3na 0wNLC\n3 - DS1 /R0 = # »
δO,S1 /R0
O
# »
ġ AS1 /R0 . aācnIjNj3 0wNLC\n3. Ua 0āaCqjCRN 03 I aācnIjNj3 ,CNājC\n3 -
# »
AS1 /R0 = M · x g · θ̈ · y#»1 − M · x g · θ̇ 2 · x#»1

Hw,ā3 +@aI3L<N3ATaCc :k
kY /wNLC\n3 0n cRIC03

# »
ġ δO,S1 /R0 . LRL3Nj 0wNLC\n3 3N O . O 3cj nN URCNj ~u3 0Nc R0 0RN, -

# » d# »
δO,S1 /R0 = σ
dt O,S1 /R0 R0
= − E · θ̈ · x#» − D · θ̈ · y#» − E · θ̇ · y#» + D · θ̇ 2 · x#» + C · θ̈ · z#»
2
1 1 1 1 0
 
= D · θ̇ 2 − E · θ̈ · x#»1 + − D · θ̈ − E · θ̇ · y#»1 + C · θ̈ · z#»0
2

S`BM+BT2 7QM/K2MiH /2 H /vMKB[m2 UUIC\nā n cRIC03 S1 Y

   
DS1 /R0 = AS →S
1 1
       
DS1 /R0 = P g→S1 + C Mot→S1 + LS0 →S1
# ⎧ ⎫
»  #»   #»  ⎨ X01 L01 ⎬
A − M · g · z0 0
# S1 /R0» = + +
M · g · x g · y#»1 O Cm · z#»0 ∀ P ⎩ 01
Y M01
δO,S1 /R0 ⎭
O Z01 0 ∀ P∈( #»
#»O,#»z0 )
( ? , ? ,z#»0 )
 
BI 3cj En0C,C3nu C,C. 0ȕā,aCa3 I3 jRac3na 03c 3{Rajc jaNcLCccC$I3c Ua I ICCcRN UCqRj LS0 →S1 0Nc I
$c3 ( x#»1 , y#»1 , z#»1 ). 03 0āj3aLCN3a I3c ,RLURcNj3c 03 I ICCcRN 0Nc ,3jj3 $c3 UnCc 03 a3q3NCa 0Nc I $c3
( x#», y#», z#»)Y
0 0 0
QN R$jC3Nj 0RN, I3c 03nu ā\njCRNc q3,jRaC3II3c cnCqNj3c -
ġ i@āRaěL3 03 I aācnIjNj3 0wNLC\n3
# » #»
AS1 /R0 = − M · g · z#»0 + 0 + X01 · x#»1 + Y01 · y#»1 + Z01 · z#»0
#»
M · x g · θ̈ · y#»1 − M · x g · θ̇ 2 · x#»1 = − M · g · z#»0 + 0 + X · x#» + Y · y#» + Z · z#»
01 1 01 1 01 0

ġ i@āRaěL3 0n LRL3Nj 0wNLC\n3

# »
δO,S1 /R0 = M · g · x g · y#»1 + Cm · z#»0 + L01 · x#»1 + M01 · y#»1

 
D · θ̇ 2 − E · θ̈ · x#»1 + − D · θ̈ − E · θ̇ · y#»1 + C · θ̈ · z#»0 = M · g · x g · y#»1 + Cm · z#»0
2

+ L · x#» + M · y#»
01 1 01 1

H UaRE3,jCRN 03 ,3c 03nu ā\njCRNc 0RNN3 I3c f ā\njCRNc c,ICa3c cnCqNj3c -

⎧ ⎧
⎪ − M · x · θ̇ 2
= X ⎪
⎪ D · θ̇ 2 − E · θ̈ = L01
⎨ g 01 ⎨
2
M · x g · θ̈ = Y01 3j − D · θ̈ − E · θ̇ = M · g · x g + M01
⎪
⎩ ⎪
⎪
0 = − M · g + Z01 ⎩ C · θ̈ = Cm

.ûi2`KBMiBQM /2b 2zQ`ib /Mb H HBBbQM TRna ,RNjCNn3a 3j cCLUIC~3a I3c ,I,nIc. NRnc cnUURc3aRNc \n3
I3 aRjRa jRnaN3 © qCj3cc3 ,RNcjNj3 ω̇ = θ̈ = 0. I3c f ā\njCRNc 03qC3NN3Nj -
⎧ ⎧
D · θ̇ 2 = L01
⎨ − M · x g · θ̇ = X01
2
⎪ ⎪
⎨
0 = Y01 3j 2
− E · θ̇ − M · g · x g = M01
⎪
⎩ ⎪
⎩
M · g = + Z01 0 = Cm

Hw,ā3 +@aI3L<N3ATaCc ::
kY /wNLC\n3 0n cRIC03

H3 jRac3na 03c ,jCRNc jaNcLCccC$I3c 0Nc I ICCcRN UCqRj cȕā,aCj 0Nc I $c3 ICā3 n cRIC03 3N aRjjCRN
( x#»1 , y#»1 , z#»1 ) -
⎧ ⎫
X = − M · x g · θ̇ 2 L01 = D · θ̇ 2
  ⎨ 01 2
⎬
L S0 → S1 = Y01 = 0 M01 = − E · θ̇ − M · g · x g
⎩ ⎭
Z01 = M · g 0 O
( x#»1 ,y#»1 ,z#»1 )

QN cȕU3aÓRCj \n3 I3c 3{Rajc VaācnIjNj3 3j LRL3NjW 0Nc I ICCcRN UCqRj cRNj 8RN,jCRN 03 I qCj3cc3 03
aRjjCRN θ̇Y 2N UaRE3,jCRN 0Nc I $c3 <ICIā3NN3. R0 . RN U3nj LC3nu āqIn3a IȕCNn3N,3 03c UaLěja3c
,CNājC\n3c cna I3c 3{Rajc 0Nc I ICCcRNY
⎧ ⎫
  ⎨ X 01 · cos θ L 01 · cos θ − M01 · sin θ ⎬
LS0 →S1 = X01 · sin θ L01 · sin θ + M01 · cos θ q3, θ = ω · t
⎩ ⎭
Z01 0 O
( x#»0 ,y#»0 ,z#»0 )
⎧ ⎫
  ⎨ X 01 · cos ( ω · t ) L 01 · cos ( ω · t ) − M01 · sin ( ω · t ) ⎬
LS0 →S1 = X01 · sin (ω · t) L01 · sin (ω · t) + M01 · cos (ω · t)
⎩ ⎭
Z01 0 O
( x#»0 ,y#»0 ,z#»0 )

QN ,RNcjj3 0RN, \n3 I3c 3{Rajc jaNcLCc n $‘jC Ua I ICCcRN UCqRj N3 cRNj Uc ,RNcjNjc 3j 0āU3N03Nj
0n j3LUcY TRna a3N0a3 ,3c 3{Rajc CN0āU3N0Njc 0n j3LUc. CI 8nj \n3 -
⎧ ⎧ ⎧
= ⎪ − M · x g · θ̇ 2 = 0
⎪
⎨ X 01 0 ⎪
⎨ ⎨ xg = 0
⎪
L01 = 0 ,ȕ3cj © 0Ca3 D · θ̇ − E · θ̈ = 0 0ȕRɵ
2
D=0
⎪
⎩ ⎪
⎪ ⎪
⎩
M01 = 0 ⎩ 2 E=0
− D · θ̈ − E · θ̇ − M · g · x g = 0

pRnc URnaa3y qāaC~3a \n3 ,3c ,RN0CjCRNc cRNj nccC cn|cNj3c cC I qCj3cc3 Nȕ3cj Uc ,RNcjNj3Y

jX8XkX ú[mBHB#`;2
 VX ú[mBHB#`;2 biiB[m2
QN 0Cj \nȕnN cRIC03 3N aRjjCRN 3cj ā\nCIC$aā cjjC\n3L3Nj IRac\n3 I3 ,3Nja3 0ȕCN3ajC3 3cj cna Iȕu3 03
aRjjCRN V0Nc Iȕ3u3LUI3 Uaā,ā03Nj x g = 0 WY

# VX ú[mBHB#`;2 /vMKB[m2
QN 0Cj \nȕnN cRIC03 3cj ā\nCIC$aā 0wNLC\n3L3Nj. cȕCI 3cj ā\nCIC$aā cjjC\n3L3Nj 3j \n3 I3c UaR0nCjc
0ȕCN3ajC3 ,RLURajNj Iȕu3 03 aRjjCRN cRNj NnIc V0Nc Iȕ3u3LUI3 Uaā,ā03Nj D = 0 3j E = 0WY

+ VX S`BM+BT2 /2 HǶû[mBHB#`;2
Ā\nCIC$a3a nN cRIC03 3N aRjjCRN a3qC3Nj 0RN, © NNnI3a I3c 0C{āa3Njc j3aL3c ,C 03ccncY /3nu cjajā<C3c
cRNj 3NqCc<3$I3c
ġ ERnj3a 03c Lcc3c n cRIC03 ~N 03 LR0C~3a ,3c ,a,jāaCcjC\n3c ,CNājC\n3c d
ġ mcCN3a I3 cRIC03 VU3aÓ<3. L3nI<3W ~N 03 LR0C~3a I aāUajCjCRN 03c Lcc3cY
H Ua3LCěa3 cRInjCRN 3cj njCICcā3 URna aāICc3a Iȕā\nCIC$a<3 03c aRn3c 03 qā@C,nI3c. QN a3jaRnq3 UInjǃj I
c3,RN03 IRac 0ȕā\nCIC$a<3 aāICcā cna 03c UCě,3c LccCq3c VqRINj 0ȕCN3ajC3W. ,3c ncCN<3c cRNj IRac 3{3,jnāc
3N ncCN3. IRac 03 I 8$aC,jCRNY
/n URCNj 03 qn3 03c ,I,nIc © aāICc3a. I3c 03nu Lāj@R03c cRNj NIR<n3c. I c3,RN03 a3qC3Nj © ERnj3a
03c Lcc3c Nā<jCq3cY

Hw,ā3 +@aI3L<N3ATaCc :9
kY /wNLC\n3 0n cRIC03

jX8XjX ú[mBHB#`;2 ¨ k Kbb2b

bRCj nN cRIC03 S1 . 3N aRjjCRN Ua aUURaj n a3Uěa3 <ICIā3N R0 Y QN cRn@Cj3 ā\nCIC$a3a ,3 cRIC03Y TRna
,3I RN aERnj3 n cRIC03 © ā\nCIC$a3a 3N aRjjCRN 03nu Lcc3c URN,jn3II3c M1 3j M2 V~<na3 3j 0RNNā3c kY:WY
H3 NRnq3I 3Nc3L$I3 3cj 0RN, - Σ = {S1 , M1 , M2 }Y
MRnc IIRNc a3,@3a,@3a I Lcc3 3j I URcCjCRN 0Nc I3 a3Uěa3 ICā n cRIC03 S1 03 ,@,nN3 03c Lcc3c
URN,jn3II3c URna \n3 Iȕ3Nc3L$I3 Σ cRCj ā\nCIC$aāY

z#»0 y#»1
S1 . I3 cRIC03 © ā\nCIC$a3a 03 Lcc3 M M1
03 LjaC,3⎛0ȕCN3ajC3 - ⎞ x#»1
A −F −E Q
×G θ
I O ( S1 ) = ⎝ − F B − D ⎠
−E −D C O M2
( x#»1 , y#»1 , z#»1 )
x#»0
03 ,3Nja3 0ȕCN3ajC3 -
# »
OG = x g · x#»1 + z g · z#»0 d
# »
M1 I Lcc3 URN,jn3II3 03 Lcc3 m1 . q3, OM1 =
x1 · x#»1 + y1 · y#»1 + z1 · z#»0 d
# »
M2 I Lcc3 URN,jn3II3 03 Lcc3 m2 . q3, OM2 =
x2 · x#»1 + y2 · y#»1 + z2 · z#»0 Y
VW 0RNNā3c V$W c,@āL

7ϔόЛЁζ kY:Y Ģ Ā\nCIC$a<3 © 03nu Lcc3c

 VX .ûi2`KBMiBQM /2b +`+iû`BbiB[m2b +BMûiB[m2b /2 HǶ2Mb2K#H2

H Lcc3 jRjI3 03 Σ 3cj mΣ = m + m1 + m2 Y H LjaC,3 0ȕCN3ajC3 03 Iȕ3Nc3L$I3 3cj -

IO (Σ) = IO (S1 ) + IO ( M1 ) + IO ( M2 )

`3La\n3 - I LjaC,3⎛ 0ȕCN3ajC3

⎞ 0ȕnN3 Lcc3 URN,jn3II3 3N cRN ,3Nja3 0ȕCN3ajC3 3cj NnII3 VI3 qRInL3 3cj
0 0 0
NnI 6W - I M1 ( M1 ) = ⎝0 0 0⎠
0 0 0 M1
∀B
2N UUIC\nNj I3 j@āRaěL3 03 ?nw<3Nc. RN R$jC3Nj I LjaC,3 3N O 03 I Lcc3 m1 -
⎛ 2 ⎞
y1 + z21 − x1 · y1 − x1 · z1
IO ( M1 ) = m1 · ⎝− x1 · y1 z21 + x12 −y1 · z1 ⎠
− x1 · z1 −y1 · z1 x12 + y21 O
( x#»1 , y#»1 , z#»1 )

H LjaC,3 0ȕCN3ajC3 03 Iȕ3Nc3L$I3 LjāaC3I Σ cȕā,aCj ~NI3L3Nj -

⎛ ⎞
AΣ − FΣ − EΣ
IO (Σ) = ⎝ − FΣ BΣ − DΣ ⎠
− EΣ − DΣ CΣ O
( x#»1 , y#»1 , z#»1 )

Hw,ā3 +@aI3L<N3ATaCc :f
kY /wNLC\n3 0n cRIC03

q3,
   
AΣ = A + m1 · y12 + z21 + m2 · y22 + z22 − DΣ = − D − m 1 · y 1 · z 1 − m 2 · y 2 · z 2
   
BΣ = B + m1 · z21 + x12 + m2 · z22 + x22 − EΣ = − E − m1 · x1 · z1 − m2 · x2 · z2
   
CΣ = C + m1 · x12 + y21 + m2 · x22 + y22 − FΣ = − F − m1 · x1 · y1 − m2 · x2 · y2

# VX ú[mBHB#`;2 biiB[m2
Hȕ3Nc3L$I3 3cj ā\nCIC$aā cjjC\n3L3Nj cC I3 ,3Nja3 0ȕCN3ajC3 03 Iȕ3Nc3L$I3 3cj cna Iȕu3 03 aRjjCRNY

# » 1 # » # » # »
OGΣ = M · OG + m1 · OM1 + m2 · OM2
MΣ
# » # »
Hȕā\nCIC$a3 cjjC\n3 3cj 0RN, aāICcā cC OGΣ · x#»1 = 0 3j OGΣ · y#»1 = 0
/ȕRɵ I3c 03nu Ua3LCěa3c ā\njCRNc © a3cU3,j3a -

M · x g + m1 · x1 + m2 · x2 = 0 VkYSlW
m1 · y1 + m2 · y2 = 0 VkYSkW

+ VX ú[mBHB#`;2 /vMKB[m2
H3c UaR0nCjc 0ȕCN3ajC3 ,RLURajNj Iȕu3 03 aRjjCRN (O, z#»0 ) 0RCq3Nj ćja3 NnIc VC,C DΣ 3j EΣ W. 0ȕRɵ I3c 03nu
ā\njCRNc cnCqNj3c -

− DΣ = − D − m 1 · y 1 · z 1 − m 2 · y 2 · z 2 = 0 VkYS:W
− EΣ = − E − m1 · x1 · z1 − m2 · x2 · z2 = 0 VkYS9W

H3 cwcjěL3 © aācRn0a3 3cj nN cwcjěL3 03 : ā\njCRNc 3j 4 CN,RNNn3c Vm1 . m2 . x1 . x2 . y1 . y2 . z1 . z2 WY BI 3uCcj3

0RN, © UaCRaC nN3 CN~NCjā 03 cRInjCRNcY

/ VX TTHB+iBQM , `Qm2
/Nc I aāICjā 03c ,RNjaCNj3c UajC\n3c 03 aāICcjCRN ICLCj3Nj I3 NRL$a3 03 cRInjCRN. CNcC URna nN3
aRn3 V~<na3 kY9W. I3c Lcc3c 0ȕā\nCIC$a<3 N3 U3nq3Nj ćja3 ~uā3c \n3 cna I3 URnajRna 03 I ENj3 V03 awRN
R. 03 Ia<3na LW 03 ,@\n3 ,Rjā 0n UN3nY
QN  0RN, -

ġ x12 + y21 = R 3j z1 = 0 VRn z1 = LW URna I Ua3LCěa3 Lcc3 d

ġ x22 + y22 = R 3j z2 = L VRn z2 = 0W URna I c3,RN03Y
`3Ua3NRNc I3c \nja3 ā\njCRNc 03 Iȕā\nCIC$a<3Y

M · x g + m1 · x1 + m2 · x2 = 0
m1 · y1 + m2 · y2 = 0
− D − m1 · y1 · z1 − m2 · y2 · z2 = 0
− E − m1 · x1 · z1 − m2 · x2 · z2 = 0

QN ,@RCcCj. nN UIN URna I Ua3LCěa3 Lcc3 Vz1 = 0W 3j I3 c3,RN0 URna Iȕnja3 z2 = LY

BI 3cj Uaā8āa$I3 URna aācRn0a3. 0ȕā,aCa3 3N URICa3 I3c \nja3 ā\njCRNc. 3N URcNj -
 
x1 = R · cos θ1 x2 = R · cos θ2
3j
y1 = R · sin θ1 y2 = R · sin θ2

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M · x g + m1 · R · cos θ1 + m2 · R · cos θ2 = 0
m1 · R · sin θ1 + m2 · R · sin θ2 = 0
− D − m2 · R · sin θ2 · L = 0
− E − m2 · R · cos θ2 · L = 0

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⎩ m2 = ⎩ m1 = ·
L·R R · L sin θ1
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X = − M · x g · θ̇ 2 L01 = D · θ̇ 2
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⎬
L S0 → S1 = Y01 = 0 M01 = − E · θ̇ − M · g · x g
⎩ ⎭
Z01 = M · g 0 O
( x#»1 ,y#»1 ,z#»1 )

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