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       fi
      fi
              
      
                
         
               

  

𝑉
𝐵
              
𝐴 𝜃   𝐴       p𝐵 q    
        𝐶    ℎ 
 fi  𝑥          
ℎ                 
             
𝐶     𝑔 
.

 𝑥

     𝐴 𝐶           

𝑔𝑥

𝑦𝑓  𝑦𝑖 𝑥  p𝜃  q 
p 𝜃 q

𝑣



.
p
q

  ℎ
 p  q 

p
q

p  q
ℎ  .  

  fi   

                          


                       
𝑣 p𝜃 q                 𝐴  𝐶
  𝑣𝑓
𝑦  𝑣

p𝜃 q 
𝑔 p𝑦𝑓  𝑦𝑖 q     𝐴 𝐶       
𝐶 
b b b
𝑣 𝑓𝐶  𝑣𝑥
𝑣𝑦
𝐶  𝑣

p𝜃 q 𝑣

p𝜃 q 
𝑔 p𝑦𝑓  𝑦𝑖 q  𝑣

𝑔 p𝑦𝑓  𝑦𝑖q
a
𝑣 𝑓𝐶 


p
.
qp  . q  .
 
 


       

                        


                      
b
 𝑣
 p𝜃 q

𝑔 p𝑦𝑓  𝑦𝑖q a

 p q

p
.
qp  . q
 p𝜃 𝑣 q   
𝑣𝑦
𝑣𝑥 𝑣 p𝜃 q
p  q

 p 𝜃 q 

.

ùñ 𝜃𝑣   . 
.
             𝐶   .     
          𝐴 𝐶                
       

𝑥  𝑣 p𝜃 q𝑡 ùñ 𝑡 

p q  .

𝑥
𝑣 p𝜃 q

                     


         𝐴 𝐵         𝐴   
   

𝑣𝑓
𝑦  𝑣

p𝜃q
𝑔p𝑦𝑓 𝑦𝑖q ùñ  


p  q
p
.
qp𝑦𝑚𝑎𝑥 q ùñ 𝑦𝑚𝑎𝑥  . 

                      


               𝑣 p𝜃 q 
p  q 
. 

     𝐴 𝐵    
𝑣 𝑓𝑦  𝑣  p𝜃q  𝑔𝑡 ùñ  
 p  q 
.
𝑡 ùñ 𝑡  . 

                   
   
          
 
    𝑡     𝑡 
             
                     

𝑦𝑓  𝑦𝑖 𝑣𝑖 𝑦𝑡  𝑔𝑡

ùñ  𝑣𝑖𝑦 p
q 

p.qp
q
ùñ 𝑣 𝑖𝑦  . 
                          
                         
                       

𝑦𝑓  𝑦𝑖 𝑣𝑖 𝑦𝑡  𝑔𝑡

ùñ 𝑦𝑓  𝑦𝑖  𝑦    .𝑡 
p.q𝑡
ùñ 𝑡 
.  

                𝑣       


               𝑣 
 
                       
                       
                        
             
 


       

       𝑣𝑥  𝑣 p𝜃q  𝑣 p  q


      𝑣𝑦  𝑣  p𝜃q  𝑔𝑡  𝑣  p  q  .p
q  𝑣  p  q  .

                  


b b

𝑣  𝑣𝑥
𝑣𝑦
 𝑣

p  q p𝑣  p q  .qq

                


𝑣
 𝑣
 .
 p q𝑣  . 
   𝑣
 .𝑣  . 
            𝑣   .
 𝑣  .   
                     

                   


                
 
                         
   𝜃                 
                      
  𝑣𝑦                       
                   

a
 p𝜃𝑣 q   p
q 
𝑣𝑦
𝑣𝑥
 𝑣  p𝜃 q  𝑔𝑡
𝑣 p𝜃q
 𝑣  𝑣 p
q  .p q   
pq 𝑣
 

𝑣  . 
   fi 
               𝑣    
                     
             
  

             𝐴  
          𝐵    
𝑉               
fi         p𝜃𝑣 q 
𝑣𝑦
 𝑣𝑥
𝐴
 𝐴 𝑣𝑖𝑦  𝑣𝑖𝑥  p  q
 𝐵 𝑣𝑓𝑦  𝑣𝑖𝑥  p  q


    𝐴 𝐵
𝐵
  
𝑣𝑓
𝑦 𝑣𝑖
𝑦 
𝑔p𝑦𝑓  𝑦𝑖q
𝑣𝑖
𝑥 
p  q  𝑣𝑖
𝑥 
p  q 
p.qp
q
𝑉𝑓 𝑣𝑖
 𝑥


b b b 
    𝐴 𝑣  𝑣𝑖
𝑦 𝑣𝑖
𝑥  𝑣𝑖
𝑥 
p  q 𝑣𝑖
𝑥   
p  q
 
 


       

                      fi
                  𝑚  
      fi                
                   
                  fi
 
                        
                         
                          
      

𝑣𝑓
𝑦  𝑣𝑖

𝑔p𝑦𝑓  𝑦𝑖q ùñ   𝑣

p.qp   q ùñ 𝑣 
.
 
𝑦 𝑦 𝑦

𝑣𝑓  𝑣𝑖  𝑔𝑡 ùñ  
.
  .𝑡 ùñ 𝑡 
.  
𝑦 𝑦

𝑥  𝑥𝑖 𝑣𝑖 𝑡 ùñ    𝑣 p
.  q ùñ 𝑣  .

?
𝑥 𝑥 𝑥
b
𝑣  𝑣
𝑣
 .


.


.  
𝑥 𝑦

 p 𝜃 q  
.
 ùñ  . 
𝑣𝑦
𝜃
𝑣𝑜𝑥 .

                        


     𝑣𝑥    


                       

       
                 
                         
 
 
𝑉
        fi    
𝐵
𝐴     𝐵           𝐴
𝜃
             
    𝐻         

 𝐵    𝐴         𝐻 
𝐻
   
   fi   
𝐶             
    fl     


    𝐵 𝐶 
                 
  
𝑥𝑓  𝑥𝑖  𝑣𝑥𝑡 ùñ   𝑣 p
q ùñ 𝑣   𝑥 𝑥

                       


                      𝐴

 p𝜃  q  ùñ 𝑣  𝑣  p𝜃 q 
 p  q  . 
𝑣𝑦
𝑦 𝑥
𝑣𝑥

𝑣𝑥  𝑣 p𝜃q ùñ 𝑣  𝑣p𝜃 q  p q  .  


𝑥


 


       

    𝐵 𝐶    

𝑦𝑓  𝑦𝑖 𝑣𝑖𝑦 𝑡  𝑔𝑡

ùñ  
𝑣𝑖𝑦 p
q 

p.qp
q
ùñ 𝑣 𝑖𝑦  
. 
      𝐴 𝐵              

𝑣𝑓
𝑦  𝑣𝑖

𝑔p𝑦𝑓  𝑦𝑖q ùñ p
.q
 p . q

p.qp
 𝐻 q ùñ 𝐻 
.


𝑦

         𝐴           𝐵

                         


                       
                         
 
𝐴

𝜃
𝑉                
             
   𝜃             
𝐻         

⃗𝑟

     ?        


 𝐴  𝐵    𝑟  𝑥
𝐻

 𝑥
    𝐴 𝐵                

𝑦𝑓  𝑦𝑖 𝑣 𝑖𝑦 
𝑔𝑡
ùñ    𝑣𝑖𝑦 p . q 

p.qp . q
𝑣𝑖𝑦   .
 
             

𝑣 𝑖𝑥   𝑣𝑖p𝜃 q   𝑣𝑖p𝜃 q   .

𝑦 𝑦

p q  .  
 

                𝑥  


       𝑟
? ?
𝑥  𝑣𝑖𝑥 𝑡  . p . q  
.  ùñ 𝑟  𝑥
𝐻
 
. 

  .

 


       

                       


                      

                     
           
 
    𝐴 𝐵      
𝐵              
𝑣                
     
𝐴 𝜃 𝑔𝑥

𝑦𝑓  𝑦𝑖 𝑥  p 𝜃 q 

𝑣

p𝜃 q

𝑔𝑥

𝑦𝑓  𝑦𝑖 𝑥  p 𝜃 q 

𝑣


p𝜃  q


         

   p𝜃q  . p q 
p𝜃 q



p
q

  
. 

p𝜃q   p𝜃q  . 

 p𝜃 q  .
 ,  p𝜃 q  . 
𝜃  . , 𝜃  .

                       


                    
                     

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