l 12 l 22 2

2 l3
i 11=¿ I 1 ,zz + I 2 , zz+ I 3 , zz +m1
( ) (
4
2
+m2 l 1 +l 1 l 2 C 2+
4 ) (
+m3 l 1 + +2 l 1 l 2 C 2 +l 1 l 3 C23 +l 2 l 3 C3
4 )
l 1 l2 C 2 l 22 l1 l 3 C 12 2 l 32
i 21=i 12=I 2 , zz + I 3 , zz +m2 ( 2
+
4 ) (
+m3 l 1 l 2 C2 +
2
+l 2 + l2 l 3 C 3 +
4 )
l 1 l 3 C 23 l 2 l 3 C 3 l 32
i 31=i13=I 3 , zz +m3
2 ( +
2
+
4 )
l 22 l 32
i 22=I 2 , zz + I 3 , zz+ m2
4 ( ) ( 2
+ m3 l 2 +l 2 l3 C 3+
4 )
l32 l 2 l 3 C 3
i 23=i 32=I 3 , zz +m 3 ( 4
+
2 )
l 32
i 33=I 3 , zz +m 3
4

md 2

[ ]
0 0
8
0 0 0
0
❑
^I = 0

0
md 2
8
0
0

md 2 ml2
+
T T
y J w1 J w1=J w2 J w2=J w3 J w3= 0
T

[ ]
0 0
0 0 1

16 12

0 0 0
J wiT J wi I^ =
[ 0 0

0 0
0
m i di2 m i l i2
16
+
12
]
 0 0 0
J wiT J wi I^ =
[ ] 0 0

0 0
0
mi li2
12

m1 l 12 m2 l 22 m 3 l 32 l 12 l22 2
2 l3
i 11=¿
12
+
12
+
12
+m
1 4
( ) ( 2
+ m2 l 1 +l 1 l 2 C2 +
4 ) (
+ m3 l 1 + + 2l 1 l 2 C 2+l 1 l 3 C 23+l 2 l 3 C 3
4 )
m 2 l 2 2 m 3 l 32 l 1 l 2 C2 l 22 l 1 l3 C 12 2 l 32
i 21=i 12=
12
+
12
+ m2 ( 2
+
4 ) (
+ m3 l 1 l 2 C 2+
2
+ l 2 +l 2 l3 C 3+
4 )
m 3 l32 l 1 l 3 C 23 l2 l 3 C 3 l 32
i 31=i13=
12
+m 3 ( 2
+
2
+
4 )
m2 l 22 m3 l 32 l 22 l 32
i 22=
12
+
12
+m2
4 ( ) ( 2
+ m3 l 2 +l 2 l 3 C3 +
4 )
m3 l32 l2 l l C
i 23=i 32=
12 3 4
(
+m 3 + 2 3 3
2 )
m3 l 32 l 32
i 33= +m 3
12 4