1

1.1

-
-
-
-


e
F c l = , l x = ,
ex
F cx =


1.2




e
ma F N mg = + +



ex
mx F =
ex
F cx =
0 my N mg = = N mg =
mx cx = 0
c
x x
m
+ =

2
c
m
=
2
0 x x + =
t
x Ae

=
t
x Ae

=
2 t
x Ae

=
( )
2 2
0
t
Ae

+ =
2 2
0 + =
1,2
i = cos sin
i
e i

=
1 2
1 2
t t
x Ae A e

= + ( ) ( )
1 2 1 2
cos sin x A A t i A A t = + +
1 1 2
C A A = + ( )
2 1 2
C i A A =
1 2
cos sin x C t C t = +
1 2
sin cos x C t C t = +

1

2
2 ,
0
0 t t = =
0
(0) x x =
0
(0) x x =
0 1
x C =
0 2
x C =
0
0
cos sin
x
x x t t

= +


1
cos C C =
2
sin C C =
( ) cos cos sin sin x C t t = + ( ) cos x C t =

2
1
C
tg
C
=
0
0
x
tg
x

=


2 2
1 2
C C C = +
2
2 0
0
2
x
C x

= +


( ) cos x C t =
( ) ( )
1 2
cos cos t t =
1 2
2 t t + =
( )
2 1
2 t t = 2 T

=
2
T

= 2
m
T
c

=
1
f
T

=
1
2
f
m
c

=
1
2
f

= 2 f =


1.2.1

st
l f x = +
( )
ex st
F c x f = +
ex
mx F mg = +
st
mx cx mg cf = +
0, 0 x x x = = =
0
st
mg cf =
0 mx cx + = 0
c
x x
m
+ =
2
2
st
f
T
g

= =


3

4
3

1.3

1.3.1


v
F bv =

0 b >

v e
ma F F N mg = + + +




, , v x e x
mx F F = +
, e x
F cx =
, v x
F bx =
0 my N mg = = N mg =
mx bx cx = 0
b c
x x x
m m
+ + = 2
b
m
=
2
c
m
=
2
2 0 x x x + + =
t
x Ae

=
t
x Ae

=
2 t
x Ae

=

( )
2 2
2 0
t
Ae

+ + =
2 2
2 0 + + =

2 2
1,2
=

1. ( ): <
1,2
i p =
2 2
p =
1 2
1 2
t t
x Ae A e

= +
( ) 1 2
t ipt ipt
x e Ae A e

= +
( )
1 2
cos sin
t
x e C pt C pt

= +
( ) ( )
1 2 1 2
cos sin sin cos
t t
x e C pt C pt e pC pt pC pt

= + + +
0
0 t t = =
0
(0) x x =
0
(0) x x =
0 1
x C =
0 1 2
x C pC = +
0 1
2
x C
C
p
+
=


0 0
2
x x
C
p
+
=


0 0
0
cos sin
t
x x
x e x pt pt
p

+
= +

1
cos C R =
2
sin C R =
( ) cos cos sin sin
t
x Re pt pt

= +

5
4 ,
( ) cos
t
x Re pt

=
2 2
1 2
R C C = +
2
2 0 0
0
x x
R x
p
+
= +

2
1
C
tg
C
=
0 0
0
x x
tg
px

+
=



( ) ( )
1 2
cos cos pt pt =
1 2
2 pt pt + =
( )
2 1
2 p t t =
2
p
T
p

=
2 2
2
p
T


=

p
T T

>
2
2 1
1
p
T

=
2
2
1
1 ...
2
1
p
T
T T

= + +

( )
*
cos 1
n
pt =
( )
*
*
n
t
n
x t Re

=


1.3.1.1

( )
'
1
0 x t =
( ) ( )
' '
1 1
' ' ' '
1 1 2 1 1 1 2 1
0 cos sin sin cos
t t
e C pt C pt e pC pt pC pt

= + + +
( ) ( )
' '
1 1
' ' '
1 1 2 1 1 1 2
0 cos
t t
pt e C C tgpt e pC tgpt pC




= + + +



( )
' 2 1
1
2 1
pC C
tg pt
C pC

=
+

' 2 1
1
2 1
pC C
pt arctg
C pC

=

+



( ) cos
t
x Re pt

=

6
5
' '
2 1
2
p
T
t t = +
' ' '
3 2 1
2
2 2
p p
T T
t t t = + = +

( )
' ' '
1 1
1
2 2
p p
n n
T T
t t t n

= + = +
( )
( )
( )
'
'
'
' 1
' '
'
1 '
1
2
cos cos
cos
cos
2
n
n
p
n
n
t
t
n n
n
T
t
t p n
n
n
Re pt pt
x e
T x
Re pt
pt p
e

+ +
+


= =

+



( )
( )
'
2
'
1
2
cos
1
cos
p
p
T
n
n
T
n
n
pt
x
e D
x
pt
e

= = =
+

2
1
ln ln ln ln
2
p
T
p
n n
T
x x e D

+
= = = = D


2. ( ): =
= =
2 2
2 , 1

( )
1 2 1 2
t t t
x C e C te e C C t

= + = +
( )
1 2 2
t t
x e C C t e C

= + +
1 0
C x =
0 1 2
x C C = +
2 0 0
C x x = +
( )
m
t x x x = =
max

( ) 0 =
m
t x ( )
2 2 1
C t C C
m
= +
( )
0 0
0
2
1 2
x x
x
C
C C
t
m

+
=

( ) 0
1
= t x 0
1 2 1
= + t C C
0 0
0
2
1
1
x x
x
C
C
t
+
= =

6 ,





7 8 9
)
0
0
> x 0
0
> x
0 >
m
t 0
1
< t

)

0
0 x > 0
0
< x
0 0
0 x x + <
0 >
m
t 0
1
> t
)
0
0
> x 0
0
< x
0 0
0 x x + >
0 <
m
t 0
1
< t

3. ( ): >


2 2
2 , 1
= =
2 , 1

2 2 2
=
t t
e A e A x
2 1
2 1

+ =
( )
1 2
t t t
x e Ae A e

= +
( ) ( ) t sh t ch e
t

( ) ( )
1 2
t
x e C ch t C sh t

= +




2 1 1
A A C + =
2 1 2
A A C =
) (t x x = = ( , , )


1.4

( )
, 0
sin
x
F F t

= +
, e x
F cx =
e
ma F N mg F

= + + +



( )
0
sin mx cx F t = + +
0 my N mg = = N mg =
( )
0
sin
F c
x x t
m m
+ = +
0
F
h
m
=
2
c
m
=
( )
2
sin x x h t + = +
h p
x x x = +
1 2
cos sin
h
x C t C t = +

10
7
( ) sin
p
x C t = + ( )
2
sin
p
x C t = +
( )
( ) ( )
2 2
sin sin C t h t + +
2 2
h
C

( )
2 2
sin
p
h
x t

= +

( )
1 2
2 2
cos sin sin
h
x C t C t t

= + + +

0
0 t t = =
0
(0) x x =
0
(0) x x =
( )
1 2
2 2
sin cos cos
h
x C t C t t

= + + +

0 1
2 2
sin
h
x C

= +

1 0
2 2
sin
h
C x

0 2
2 2
cos
h
x C

= +

0
2
2 2
cos
x h
C

( )
0
0
2 2 2 2 2 2
sin cos cos sin sin
x h h h
x x t t t


= + + +

( )
0
0
2 2 2 2
cos sin cos sin sin cos sin
x h h
x x t t t t t


= + + + +

1.4.1


0
F F const

= =
( )
2
s
p
h
x

=
2
st
h
C

=
( )
0
sin F F t

= +
( )
( )
2 2
sin
d
p
h
x t

= +


2 2
d
h
C

2
2 2 2
1
1
d
d
st
C
C

= = =

=
d
-
-
d
- 1 =
( ) sin
p d st
x C t = +



8 ,




11 12


1.4.2

=
( ) cos
p
x Bt t = +
( ) ( ) cos sin
p
x B t Bt t = + +
( ) ( )
2
2 sin cos
p
x B t Bt t = + +
( ) ( ) ( ) ( )
2 2
2 sin cos cos sin B t Bt t Bt t h t + + + + +
2
h
B =

( ) cos
2
p
h
x t t = +

( ) sin
2 2
p
h
x t t

= +

1.4.3 ()

0 0
0 x x = = 1

. 2 =
( ) ( )
2 2 2 2
cos sin sin cos sin
h h
x t t t

+ + +


( ) ( ) ( )
2 2
sin sin
h
x t t

+ +

( ) sin sin cos cos sin x y x y x y =
( ) ( ) sin sin 2cos sin x y x y x y + =

13
9
x y t
x y t

+ = +
= +

2
2
x t t
y t t

+
= + +

= =

( ) ( ) ( ) ( )
2 2 2 2
2 2
cos sin sin cos
h h
x t t t t

+ = +


( ) ( ) cos x D t t = + ( ) ( )
2 2
2
sin
h
D t t

14

1.5

1.5.1


v
F bv =

0 b >
v e
ma F F F N mg

= + + + +



, , , v x e x x
mx F F F

= + +

, e x
F cx =
, v x
F bx =
0 my N mg = = N mg =
( )
0
sin mx bx cx F t = + +
( )
0
sin
F b c
x x x t
m m m
+ + = +
2
b
m
=
2
c
m
=
0
F
h
m
=
( )
2
2 sin x x x h t + + = +

15
10 ,
h
x

( )
( )
( )
1 2
1 2
1 2
cos sin
t
t
t
e C pt C pt
e C C t
e C ch t C sh t

+
+
+

( )
( )
( )






<
=
>

( ) sin
p
x A t = +
( ) cos
p
x A t = +
( )
2
sin
p
x A t = +
( )
( ) ( ) ( )
2 2
sin 2 cos sin A t A t h t + + + + +

( )
( ) ( )
( ) ( )
2 2
sin 2 cos
sin cos cos sin
A t A t
h t h t


+ + +
+ + +

( )
2 2
cos
2 sin
A h
A h


=
=


2 2
2
tg

( )
2
2 2 2 2
4
h
A

=
+

= -

= -
( )
2
2
2 2 2
/
1 4
h
A

=
+

2
2
1
tg

=



1.5.2
( ) ( )
0
1
cos sin
n n
n
F t F A n t B n t

=
= + +

0
, ,
n n
F A B

-
0
0
1
( )
T
F F t dt
T

=


0
2
( ) cos
T
n
A F t n tdt
T

11
0
2
( ) sin
T
n
B F t n tdt
T

cos sin
n n
A n t B n t + - n ( ) F t

cos sin
n n n n n n
A C B C = =
2 2
n n n
C A B = +
n
n
n
B
tg
A
=
( ) ( )
0
1
cos
n n
n
F t F C n t

=
= +

( )
2 0
1
1
2 cos sin
n n
n
F
x x x A n t B n t
m m

=
+ + = + +

( )
0
1
cos sin
p n n
n
x x a n t b n t

=
= + +

( ) ( ) { }
( )
2 2 2 2 2 2 2
0
1
0
1
2 cos 2 sin
1
cos sin
n n n n
n
n n
n
x n a n b n t n b n a n t
F
A n t B n t
m m

=

+ + + =

= + +

2 0
0
F
x
m

=

( )
2 2 2
2
n
n n
A
n a n b
m
+ =

( )
2 2 2
2
n
n n
B
n b n a
m
=

0
0
2
F
x
m

=

( )
( )
( )
2 2 2
2
2
2 2 2
2
2
n n
n
n A n B
a
m n n



=

+



( )
( )
( )
2 2 2
2
2
2 2 2
2
2
n n
n
n B n A
b
m n n


+
=

+





1.5.3

d
d
st
A
A
=
2
st
h
A

=
( )
2
2
2 2 2
/
1 4
d
h
A

=
+

( )
2
2 2 2
1
1 4
d

=
+

( )
2
2 2 2
2
1
1 4
d
y

= = +
( )
2 2
' 4 1 8 y = +
( )
2 2
' 4 1 2 y =
12 ,
' 0
e
y y y = =
2 2
1 2 3
0, 1 2 , 1 2 = = =
2
2

2
=
2
2 2
2
'' 4 12 8
d y
y
d
= = + +

( )
( )
2 2
2
'' 4 12 1 2 8 y = + +
( )
( )
2 2
2
'' 8 16 8 1 2 0 y = = >
( )
( ) ( ) ( )
2
2 2 2 2 2
2
1 1 2 4 1 2 4 1 y

= + =


,max
2
1
2 1
d

16 17


, 13
1.6






( ) ( )
2
1 1
2
2 2 2
, , , , , 1, 2,...,
1
2
2 2
i i
N N
i i i
i i
i i i
i
i i i i i i i i i
i i i
d T T
Q q q t r r q t i N
dt q q
T T mV
dr r r
V q
dt q t
r r r r r r r r r
V V V q q q
q q q t t t q q
= =
| | c c
= = =
|
c c
\ .
= =
c c
= = +
c c
| | | | c c c c c c c c c
= = + + = +
| |
c c c c c c c c c
\ . \ .

( )
2
2
2
2
1
2
2
2
1 1 1
2
1
2
2
1
= 2
2
,
i
N
i i i i
i
i
N N N
i i i i
i i i
i i i
i
r
q
t t
r r r r
T m q q
q q t t
r r r r
m q m q m
q q t t
r
a q t m
=
= = =
| | c | |
+
| |
c
\ .
\ .
(
| | c c c c | |
( = + + =
| |
c c c c
\ . ( \ .

(
| | ( c c c c | |
( + +
`
| | (
c c c c
\ . ( \ .

)
c
=

( ) ( )
( )
2
2
1 0
1 1 1
2
2 1 0
2 0 2 1
2 1
2 2 1 2 2
2 2
; , ; ,
1
2
2
1 1

2 2
N N N
i i i i
i i
i i i
r r r
a q t m a q t m
q q t t
T a q a q a
a a a T T
a q a q q
q q q q q
da da a a d T
q a q q q a
dt q dt dt q t
= = =
| | c c c | |
= =
| |
c c c c
\ .
\ .
= + +
c c c c c
= + = + +
c c c c c
| | c c c
= + + = + +
|
c c c
\ .

1 1
2 0 2 2 1
2
1 1
2 2
a a
q q
q t
a a a a d T T
a q q q
dt q q q t t q
c c
+ +
c c
| | c c c c c c
= + + +
|
c c c c c c
\ .

, 14
( )
( )
( ) ( )
0 2 1
2 2
2
2 2
2
1
, ,
2
1
, ,
2
1
, , , ,
2
a a a
q q t q
q t t
a d T T
a q q q q t
dt q q q
a
a q q Q q q t q q t
q
c c c
=
c c c
| | c c c
= +
|
c c c
\ .
c
+ = +
c

-

( )
( ) ( ) ( )
( ) ( ) ( )
( ) ( )
1
0
2
2 2
2
2 2
2
0
0 0 , , 0
0
1
, , , , , ,
2
1
, , , , , ,
2
, , , , -

i
a
r
a q q t
t
a
t
a
a q Q q q t q q t q Q q q t
q
a
Q q q t Q q q t q q t q
q
a q Q q q t mx x x t



c
=
`
c

c

c )
c
= + =
c
c
= +
c
= =

( )
( ) ( )
( )
( )
( )
( )
0
2
2 0
1
const 0
, , 0
, ,
, const > 0
, const > 0
N
i
i q
i
r
= a q m
q
q q t
q Q q q t
Q q cq c
Q Q q bq b
Q t
=
| | c
= ~ >
|
c
\ .

=
= =

= = =