1

A ( A1 , A2 , A3 )

A A

A A

(1)

C

B
A

C A B

CA B

(2)
C A

A C

C A

C A

A Ar
0

A A

A
r0
A

(3)

e1e2

A A1e1 A2 e2

e e
1
2

A Ax i Ay j Az k

A A

Ax2 Ay2 Az2

Z
P

j
i

r xi yj zk

r r x2 y2 z 2
x

Ax A cos
Ay A cos
Az A cos

AX , Y , Z

A B ( Ax Bx )i ( Ay B y ) j ( Az Bz ) k

(4)
A B AB cos ( AB)
B
A B A B

B
0
90 , A B 0

0

90 , A B 0

A

0
B cos
90 , A B 0

A A A2 0

A B 0 A 0

B0

A B

A B B A

A (B C) A B A C

i i j j k k 1

i j j k k i 0

A B ( Ax i Ay j Az k ) ( Bx i B y j Bz k )
Ax Bx Ay B y Az Bz

B cos

(5) C

A B C

C A B AB sin

(0 )

A B B A

A ( B C ) A B A C
A A 0

i i j j k k 0

i j k


j k i
A B

k i j

i
Ax
Bx

j
Ay
By

k
Az
Bz

(6)

ln B,

C,

dr0
dA dA

A Ar0

r0 A
dt dt
dt

dA dAx dAy dAz

i
j
k
dt
dt
dt
dt

dA dA

dt
dt

A Ax i Ay j Az k

dA dAx dAy dAz

i
j
k
dt
dt
dt
dt

2
2
dAy
dA
dAx
dAz

dt
dt
dt
dt

2
2
2
A A Ax Ay Az

dA d A A A

dt
dt
2
x

2
y

2
z

dB
AB
A,

dt

dB Adt ( Ax i Ay j )dt

B Adt ( Ax dt )i ( Ay dt ) j

Bx i B y j

Bx Ax dt , B y Ay dt ,

dW F dr Fx dx Fy dy Fz dz

W F dr Fx dx Fy dy Fz dz