10

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 ()

C A B C AB sin

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2
A B

A B B A

A / /B A B 0


A B C A B A C

dB dA
d
A B A

B
dt
dt dt

.10

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i j k
j k i

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j k i

k i j

k i j

18/11/2011

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18/11/2011

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r =

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l = r sin() = =

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.

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r O,
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N

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.


2 .

Z-.

m1 r1
.

3 : F1,rad
,

, F1,tan

F1z

1 tan
.

F1,rad F1z
z.

2 :

F1,tan
m1a11,tan a11,tan r1 z
1
F1,tan m1r1 z z
18/11/2011

.10


F1,tan
1:

1z F1,tan r1 m r z I1 z
2
1 1

2
i iz i mi ri z i Ii z

I z

!
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z rad/s2

,
.

18/11/2011

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18/11/2011

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18/11/2011

.10

10

CM
CM:

1
1
2
K M cm I cm 2
2
2

ri rc ri i c i i c R
1
1
1
1
1
2
2
2 2
2
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2
2
2
2
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.10

11

(..
( s =
R).
CM.

18/11/2011

ds
d
s R
cm R
R
dt
dt
cm R

.10

12

CM
CM. vcm=R.

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45 .
18/11/2011

.10

13

M cm
Fext Ma

I cm z

:
1. CM

2.

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14


: :

Ma
ext
cm

I cm z

Mg sin f MaCM (1)

fR I CM z (2)

I CM aCM
: aCM R z , (2) f
R2
I CM aCM
g sin
(1) Mg sin
MaCM aCM
2
I CM
R
1

:

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aCM
18/11/2011

5
g sin
7
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2
f Mgg sin
5
15

()
:
1 ) (
).
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. ():
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16


Ftan

.

ds
d :

dW Ftan ds, ds Rd dW Ftan Rd

z Ftan R, : dW z d

1 2 :

.:
(W=FS) .

W z d

W z ( 2 1 ) z
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17

Wtot

1 2 1 2
I z d z I2 I1
2
2

P z z

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18

: L O
r O
.

L r p r m

O,
.

: kgm2/s

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19





.
i
.

Li ri pi ri mi

L Li ri pi
i

CM 2
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20

m1

r1

CM

rc

r1

r2

r2

m2

2
.

,

CM.



2 .

r1 r1 rc , r2 r2 rc 1 1 c , 2 2 c

m11 m11 m1c , m2 2 m2 2 m2c

p1 p1 m1c , p2 p2 m2c
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21

m1

r1

CM

rc

r1

r2

r2

m2

L L1 L2 r1 p1 r2 p2

r1 ( p1 m1c ) r2 ( p2 m2c )
:

Lc ( r1 p1) (r2 p2 )
y

Spin
:

L r1 p1 m1r1 c r2 p2 m2 r2 c

( r1 rc ) p1 m1r1 c (r2 rc ) p2 m2 r2 c






( r1 p1 ) (rc p1 ) (r2 p2 ) ( rc p2 ) m1r1 c m2 r2 c

( r1 p1 ) (r2 p2 ) rc ( p1 p2 ) ( m1r1 m2 r2 ) c
18/11/2011

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22

=m1+m2
CM

rc
x

rc ( p1 p2 ) 0

Pc M c

L Lc rc M c

L Lc rc Pc

CM

CM

CM.
CM
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23

dL d (r p ) dr dp

p r ( p ) (r p )
dt
dt
dt
dt



p m 0. :

dL

r ma r F
dt

dL

dt
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24

Z-

XY .

O,
vi
r

i r
i

, =90,

Li

:

Li ri mii mi ri ( ri )
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25

Li

Li ri mii mi ri ( ri ),
) ri ( xi , yi , 0),
0) (0,
(0 0,
0 )
i

( ri ) 0
xi

j
0
yi

iyi jxi
0

i

mi ri ( ri ) mi xi
yi

j
yi

k
0 mi ( xi 2 yi 2 )k mi ri 2 k

xi

Li :

L Li mi ri 2 I
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26

XY,
Z .

Li ri mii mi ri ( ri ), ri ( xi , yi , zi ), (0, 0, )
i

( ri ) 0
xi

0
yi

iyi jxi
zi
i

mi ri ( ri ) mi xi
yi

yi

zi

xi

i jyi ) mi ( xi 2 yi 2 )k
mi zi (ix
Z-


:

2
2
2
2

Li (mi zi (ixi jyi ) mi ( xi yi )k ) mi ( xi yi ) k ) I

18/11/2011

.10

27

18/11/2011

.10

28

( ),
)

.

,

:

dL
dt

(-Z),
(-Z) Lz=Iz I .

, L
, .

dLz Id z
dt dt I z
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.10

,

I
, L
.

29

L,
.

,
L

.

,
,
.

L

,
.

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30



:
(
()
)

dL
z dt 0,0 L .

,


:

CM
1. I1
I2.

I1 2
L I11 I 22
I 2 1
18/11/2011

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31

Young et. al.

10 39 10.80,
10.39,
10 80 10.82,
10 82 10.83,
10 83 10.87,
10 87 10.94,
10 94 10.100
10 100

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32