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4 m 4 m 4 { <;8$h46E#I%!X(R461CGL$-(0*I%!D461CG mmomfmomfmomfmfmommomfmomfmfmomfmommomfmfmomfmomfmmom 506
4 m 4 m75 { <;8$h46E#I%!X(R461CGU@A!Xu?46*,()qW1<; momfmomfmomfmfmommomfmomfmfmomfmommomfmfmomfmomfmmom 508
4 m 4 m76 { <;8$h46E#I%!X(R461CGLN I%u I%ED461CG mmomfmomfmomfmfmommomfmomfmfmomfmommomfmfmomfmomfmmom 508
4 m75 { <;vI%.)I%$&%*WE#;B,*9 X@A(0*?E#;:9 momfmomfmmomfmomfmomfmfmommomfmomfmfmomfmommomfmfmomfmomfmmom 508
4 m7C5 m 4 @A*'%EX()@A*;vBC1U$&@A!XEX()%!tmomfmmomfmomfmomfmfmommomfmomfmfmomfmommomfmfmomfmomfmmom 508
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4 m7C> m = T/:@A(_GYB,<;v$h46E#I%!X(R461CGYGC%$-+,.)f;#1,!81,*f;XEX!X1'%EX1,!#o$h4<< @A*,*I<3C1,*f'<@A1,+&A? .) m ='>
4 m7C> m7> TV@A*'%.01;X()@A* momfmfmomfmomfmmomfmomfmomfmfmommomfmomfmfmomfmommomfmfmomfmomfmmom ='8
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4 m7C8 m 4 @ 1,NW!D46S,(0.0(0E#I momfmfmomfmomfmmomfmomfmomfmfmommomfmomfmfmomfmommomfmfmomfmomfmmom =;
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4 mB; ¢!#@A+,!X()I%E#I<;9B,o.bK (0*?E#%!b4A'< momfmomfmmomfmomfmomfmfmommomfmomfmfmomfmommomfmfmomfmomfmmom >4
4 mBH; m 4 *WE#%!4A'<fS,.)@W'C S,.)@H' mfmomfmmomfmomfmomfmfmommomfmomfmfmomfmommomfmfmomfmomfmmom >05
4 mBH; m75 *WE#%!4A'<fS,.)@W'C $&@A!XEX()%! mfmmomfmomfmomfmfmommomfmomfmfmomfmommomfmfmomfmomfmmom >;
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C5 m = 2@HB,I%.0();D46EX()@A*UBC();D'%!#l%E#fB,<;8$h4<<@A*,*%!X()<; mfmomfmfmommomfmomfmfmomfmommomfmfmomfmomfmmom 05
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C5 m = m75 ]d<;#'%!X(0+,EX()@A*UBC1L$&@A1,N %$&%*WEBK 1,*U'<@A!X+;%*\+,!#I<;#%*'<fB,!%9 '<@A*WED4A'%E#;9 mfmomfmmom 1=
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C6 m 4 m75 kv+,+,!#@H'#:'#:@A();X() momfmomfmmomfmomfmomfmfmommomfmomfmfmomfmommomfmfmomfmomfmmom 40404
C6 m75 ¢!#IB,I%E#<'%EX()@A*5B,<;"'<@A*?ED4A'%E#;amfmomfmmomfmomfmomfmfmommomfmomfmfmomfmommomfmfmomfmomfmmom 404 5
C6 m76 ]dI%E#<'%EX()@A* ¡9 p*o 9 B,<;"'<@A*WED4A'%E#;;#+OI<'%(_pnqW1f461CG\$h4<< @A*,*%!X()<;Umfmomfmommomfmfmomfmomfmmom 404 6
C6 m7C6 m 4 2U();Do%*\+,.R4A'<fBK 1,*L+,.R46*U;#I%+n46!D46E#%1,!v+n46!".R4j$&I%EX:@HB,fB,T/1,*B46.0. momfmomfmmom 404 6
C6 m7C6 m75 kv.0u @A!X(0EX:,$&f+O@A1,!"+ @J;X(0EX()@A*,*%!".)d+,.R46*;#I%+n46!D46E#%1,! mfmfmomfmommomfmfmomfmomfmmom 404 =
C6 m7C6 m76 ¢!#@6X<'%EX()@A*UB,<;v;#@A$-$&%E#;v;X1,!8.)o+,.R46*U;#I%+n46!D46E#%1,!Zmomfmfmomfmommomfmfmomfmomfmmom 404
C6 m = TF46.)'%1,.B,d.bKi%*WN %.)@A+,+Og'<@A*?N G, mfmmomfmomfmomfmfmommomfmomfmfmomfmommomfmfmomfmomfmmom 4 51=
C6 m = m 4 2I%EX:@HB,d1,EX(0.0();#I<o+ @A1,!".)o'>46.)'%1,.B,f.bKi%*?N %.)@A+,+ '<@A*?N G, mommomfmfmomfmomfmmom 4 51=
C6 m = m75 ]dI%E#%!X$-(0*n46EX()@A*B,o.R4Z>@A*fB,f!#<'<@A1,NW!#%$&%*WELmomfmomfmfmomfmommomfmfmomfmomfmmom 4 508
C6 m7> sH+O@A.)@AuJ()gB,<;";X(0EX1n46EX()@A*;B,o'<@A*?ED4A'%E#; momfmomfmfmommomfmomfmfmomfmommomfmfmomfmomfmmom 4 50A
C6 m78 @ !X(0uJ(0*n46.0(0E#I-B,f.R4h$&@WB,I%.0();¡46EX()@A*+,!#@A+ @J;#I<Z%E9G,%$-+,.)<;dBKM46+,+,.0()'>46EX()@A*5B,g.bKM46.0u @A!X(0EX:,$&-w
B,<;v;XEX!X1'%EX1,!#<;v!#I<%.0.)<;"%*OA6 ] momfmmomfmomfmomfmfmommomfmomfmfmomfmommomfmfmomfmomfmmom 4 J5
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C6 m7C8 m75 WEX!X1'%EX1,!#<;"!#I<%.0.)<;v+,!#I<'<@A*?EX!D46(0*?E#<;j,<;#'>46.0()%!"()B,@A._p%E"'<@A1,+ A? .)fB,fJ1,*n4A;jmfmmom 4 605
C6 m7C8 m76 WEX!X1'%EX1,!#4A'>4AB,I%$-()qW1f(0$-+,.0()qW1n46*?Ev1,*I%+n46();#;#%1,!vB,VX@A(0*?E mmomfmfmomfmomfmmom 4 608
C6 mB; TV@A*'%.01;X()@A*Lmfmomfmommomfmfmomfmomfmmomfmomfmomfmfmommomfmomfmfmomfmommomfmfmomfmomfmmom 4 6;
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= m 4 m 4 2@HB,I%.0();D46EX()@A*UB,<;"!#I>4A'%EX()@A*;vB,o'<@A*?ED4A'%Ed4<N <'f !#@AEXE#%$&%*WEB46*;8.)f'>4A; A5 ] mfmmom 4 ?=

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C> m 4 m = TV@A*'%.01;X()@A* momfmfmomfmomfmmomfmomfmomfmfmommomfmomfmfmomfmommomfmfmomfmomfmmom 4 08
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(0$-+O@A!XED46*WE mmomfmfmomfmomfmmomfmomfmomfmfmommomfmomfmfmomfmommomfmfmomfmomfmmom 4 ;
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C> m = TV@A*'%.01;X()@A*Lmfmomfmommomfmfmomfmomfmmomfmomfmomfmfmommomfmomfmfmomfmommomfmfmomfmomfmmom 50505
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6Cm760z8 v%+,!#I<;#%*WED46EX()@A*B,<;v*@W%1B,;"B,o'<@A*WED4A'%EB46*;v.R4j'<@A1,+&A? .) mfmfmomfmommomfmfmomfmomfmmom 4 61=
6Cm76y; v%+,!#I<;#%*WED46EX()@A*B,<;vNW(0E#<;#;D<;8B,<;8S,.)@W'<;vB46*;".R4j'<@A1,+ A? .)momfmfmomfmommomfmfmomfmomfmmom 4 60>
6Cm760zA @A$gS,!#B,o'<@A*WED4A'%E#;%*\@A*'%EX()@A*UB,d.)%1,!"*n46EX1,!#3` '<@A1,+&A? .)fB,J1,*n4A;¡e mfmfmomfmomfmmom 4 608
6Cm7J6 z*WE#I%uJ!D46EX()@A*BK 1,*-X@A(0*?EBKiI%+n46();#;#%1,!"*@A*L*W1,.0.)%*WEX!#o.)<;8S,.)@H'<; momfmommomfmfmomfmomfmmom 4 6;
=m 4 vH+ @AEX:l<;#oB,o!#I%+n46!XEX(0EX()@A*B,<;"!#I>4A'%EX()@A*;"ED46*,u %*?EX()%.0.)<;dB46*;81,*BC(0!#<'%EX()@A*%*GA5 ] mmom 4=4
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=m76 vI>4A'%EX()@A*;v*@A!X$h46.)<;v%E"ED46*,u %*WEX()%.0.)<;9461CGY*@W%1B,;BC1L;#@A.0()B, A5 ] ` N @A(0!8puJ1,!# = m 4 e/mfmmom 4 ='>
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=m7> .0.01;#EX!D46EX()@A*BK 1,*o:WW+ @AEX:l<;#oB,o+,!#@A+ @A!XEX()@A*,*n46.0(0E#Ig%*WEX!# Z5 *@H%1B,; mmomfmfmomfmomfmmom 4 ='A
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x y
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=m750z6 −40000N mfmom 4 ; 4
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z
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momfmfmom 4 ;:=
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4 ;
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x846*BC();g& 4 0A ` J eXem & &
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σn un
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u I%*I%!D46.)%$&%*WE1,EX(0.0();#I<f+O@A1,!8$&@HB,I%.0();#%!v'<o'<@A$-+ @A!XE#%$&%*?E>mTV%EXE#o.)@Aσ(n<;XE"B,Ip*,()f+n46! un
σn =
un kn0 Vm 4 B; 76
` m Hm e
Vm − u n
£Y

j~ , P
n h ~
~ O

4 76 4
σ
m
xV:@8$-(0 GC%$-+,.)<;B,/+,()%!X!#<;|4>N <'/.)%1,!#;|'<@Hh'%()%*?E#;B,s!X1,u @J;#(0E#I "T9=WT8%E46*,uJ.)/B,s !#@AEXE#%$&%*WE>=
5 1=
46.` xV:@ 8$-(0L%E"]1,EXED4U` JJ WeXe
@ =
B,I<;X(0uJ*f.R4g %!X$&%EX1,!#o$h4GC(0$h46.)BC1jX@A(0*?E>=
Vm
<;XE"B,Ip*,(E#%.q?1-
kn0
kn0 =
dσn
(un = 0)
4 B; =
` m Hm We
dun
# :#N&*"-,' "- M ML&

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E#I%!X();#I<f+n46!8.bKM46*,uJ.)B\B,fBC(0.R46ED46*'<&
d = Arctan
dun 4 B; 7>
` m Hm e
dut
x846!XE#@A* 4 ;0;
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C
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e
Ks =
100
σn tan[JRClog10 (JCS/σn ) + φr ]
4 B; 78
` m Hm e
Lx
@ =
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Lx
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τ σn

j~ , P
n h ~
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.R4Z.)@A(
τ = c + σn tanφ
4 B; B;
` m Hm Je
@ =
<;XE8.bKM46*,uJ.)fB,9 !#@AEXE#%$&%*?E9BC1-X@A(0*?E"+,.R46* =
φ
<;XE8.R4j'<@A:I<;X()@A* m
c
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<
!#@H'#:fB,f.R4g4 <@A*U;#1,(0NA46*WE#&
τ = σn tan[φb + JRClog10 (
JCS
)]
4 B; 7A
` m Hm e
σn
@ =
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fcisaillement
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P

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.)V$&@A1,N %$&%*?E/BK 1,*/+n46!XEX()'%1,.)8;D@A1;.bKi^%EB,<;| @A!#'<<;qW1,(H.01,(C;D@A*?Es46+,+,.0()q?1I<<;~mJ{4.)@A(W@A!#'<B,I%+,.R4A'<%$&%*?E
<;XE|1,EX(0.0();#I<V+ @A1,!EX!#@A1,N %!.R4v @A!#'<VB,V'<@A*?ED4A'%Ewv+n46!XEX(0!B,V.bK (0*WE#%!X+OI%*I%EX!D46EX()@A* = %.0.)b$ %$&8'>46.)'%1,.)I<FGC+,.0()'%(_
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4 ; 4 ;
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B,j'<%EXE#j(0*?E#%!X+ I%*I%EX!D46EX()@A*<;#E9BC(0!#<'%E#%$&%*WE!#%.0()I<&w3.R4h @A!#'<jB,j'<@A*?ED4A'%E>m .<;XEd(0$-+O@A!XED46*WEB,j;X(0uJ*n46.)%!
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{ f+,!X(0*'%(0+Od@A*B46$&%*?ED46.|B,o.R4jBCH*n46$-()q?1f<;#E"B,Ip*,('<@A$-$&;X1,(0E8+ @A1,!81,*o+n46!XEX()'%1,.)gB,d$h4A;#;#d$
mẍi = Fi + Fia
%E
I ẇi = Mi − αIwi
5 76 4
` Cm Cm e
kN <'J=
,.R4- @A!#'<gBKM46$&@A!XEX();#;#%$&%*?EdB,Ip*,()Z'<@A$-$&I%ED46*?E91,*o !D4A'%EX()@A*B,.R4-;#@A$-$&gB,<;"@A!#'<<;v;X1,S,()<;v+n46!
Fia
.R4Z+n46!XEX()'%1,.)J=
9C$&@A$&%*?E9BK (0*%!XEX()B,d.R4j+n46!XEX()'%1,.)J=
,!#@AED46EX()@A*UB,o.R4Z+n46!XEX()'%1,.)J=
wi
4A'<'<I%.)I%!D46EX()@A*5B,d.R4j+n46!XEX()'%1,.)J=
ẍi
CNW();D'<@J;X(0E#IJ=
α
$&@A$&%*?Ev!#I<;#1,.0ED46*?E>m
Mi
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*n46$-()qW1<;>m
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9
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δt
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δt

z ? ~n n
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;#@A*5N @A();X(0*n46u Z(0$-$&I<BC(R46E>m{ j+n4A;dB,ZE#%$-+;oB,@A(0E %EX!#j1,*g !D4A'%EX()@A*cB,Z.R43+OI%!X()@HB,Z+,!#@A+,!#ZBKi@J;D'%(0.0.R46EX()@A*
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+n46!XEX()'%1,.)3
∆tcrit = min[
r
m
i
,
s
I
i
]
5 76 75
` Cm Cm e
ktran krot
kN <'J=
$ < ;XEv.R4Z$h4A;#;#oB,o.R4Z+n46!XEX()'%1,.)J=
V;#@A*L;#@A$-$&%EvBK (0*%!XEX()3` +n46!XEX()'%1,.);X+,:I%!X()qW1~e=
ktran i

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./46+,+n46!D4 k)rot
EgqW1-+ @A1,!$-(0*,(0$-();#%!g.)-E#%$-+;ZB,&'>46.)'%1,.b='JKi<;XEwBC(0!#Y461,uJ$&%*?E#%!Z.)-+n4A;ZB,-E#%$-+;>=(0.<;XE
+,!#II%!D46S,.);D@A(0EVB,9B,Ip*,(0!VB,<;/!D46()B,%1,!#;FB,'<@A*WED4A'%EV46(0S,.)J=H;#@A(0E/B,9B,Ip*,(0!8B,<;$h4A;D;#<;(0$-+ @A!XED46*?E#<;F+ @A1,!
.)<;+n46!XEX()'%1,.)<;>mW{<;!D46()B,%1,!#;VB,v'<@A*WED4A'%EV;#@A*WEs@A*'%EX()@A*3BC13$h46E#I%!X(R4613+,!X();/%*3'<@A$-+,E#J=HBKM461,EX!#"+n46!XE>= (0.O<;XE
*I<'<<;#;¡46(0!#fq?1f.R4j!D46()B,%1,!v*f;D@A(0E"+n4A;"EX!#@A+\b46(0S,.)g4p*BKiI%NW(0E#%!9B,<;8(0*?E#%!X+ I%*I%EX!D46EX()@A*;f461U'<@A*?ED4A'%EEX!#@A+
(0$-+ @A!XED46*?E#NW();wbNH();"B,<;"BC(0$&%*;#()@A*;vB,<;8+n46!XEX()'%1,.)<;>m
•
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s1,*U'<@A*WED4A'%EI%.R4A;XEX()qW1d.0(0*I>46(0!#J=

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. <;XE8+ @J;#;X(0S,.)oBK (0*?E#I%uJ!#%!9BKM461,EX!#<;"EW+ <;"B,o.)@A(%*\+,!#@AuJ!D46$-$h46EX()@A*rT Zm
& ) &&"%0!HNM "% IJ, M H'"-1
5 4 6 emkv(0*;#(b=,.)<;
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puJ1,!# Cm

@A!#'<<;8*@A!X$h46.)<;v%EvED46*,u %*?EX()%.0.)<;d461U'<@A*?ED4A'%E9;#@A*?E"B,Ip*,()<;v+n46!
Fin = K n U n ni
%E
δFit = −K t δUit
5 76 76
` Cm Cm e
kN <'J=
C(0*?E#%!X+ I%*I%EX!D46EX()@A*c461U'<@A*?ED4A'%E>=
Un
C(0*'%!#I%$&%*WEB,fB,I%+,.R4A'<%$&%*WEvED46*,u %*WEX()%.b=
δUit
,.R4Z!D46()B,%1,!vED46*,u %*WE#g461L'<@A*WED4A'%E>=
Kt
K n C.R4Z!D46()B,%1,!*@A!X$h46.)461U'<@A*WED4A'%E>m
{ <;L!D46()B,%1,!#;LB,c'<@A*?ED4A'%EU;D@A*?E\@A*'%EX()@A*B,<;\!D46()B,%1,!#;LB,Ip*,()<;\+ @A1,!\.)<;LB,%1CGa+n46!XEX()'%1,.)<;U4}%E\S%*
'<@A*WED4A'%EvE#%.0.)<;"qW1&
Kn =
kan kbn %E
Ks =
kas kbs 5 76 =
` Cm Cm We
kan + kbn kas + kbs
. <;XEvwZ*@AE#%!vqW1&
+ @A1,!B,<;v+n46!XEX()'%1,.)<;9+,!#I<;#%*?ED46*WE9.R4-$ %$&f!D46()B,%1,!>=.R4-!D46()B,%1,!B,g'<@A*?ED4A'%Ed<;XE".R4&$&@A(0EX()IB,f.R4&!D46()B,%1,!
B,Ip*,()o+ @A1,!v'D:n4Aq?1o+n46!XEX()'%1,.)J=
"B46*;d.)j'>4A;dBK 1,*r'<@A*?ED4A'%EfBK 1,*j+n46!XEX()'%1,.)&4<N <'j1,*5+,.R46* =O.)<;d$ %$&<;d!#%.R46EX()@A*;f;#@A*WEf46+,+,.0()q?1I<<;4>N <'
Y

WR P W 3 vn ~ ,
n %E s %*\.0()%1U%E8+,.R4A'<fB, m
Kmur Kmur kb
Ra
~ni
Rb
5Cm 4 6
Un
{ @A(B,o'<@A*?ED4A'%E9I%.R4A;XEX()qW1o.0(0*I>46(0!#JmTV@A*?ED4A'%E9%*?EX!#gB,%1CGP+n46!XEX()'%1,.)<;
•
& ) &&"%0!HNM "% IJ, & M H"-: ( M
5 76 76
{4L.)@A(B,h'<@A*WED4A'%Eg*@A*Cb.0(0*I>46(0!#Y4Y.R4Y$ %$&3GH+,!#<;D;X()@A*qW1-.R4Y.)@A(/.0(0*I>46(0!#J= .)<;GC+,!#<;#;X()@A*; Cm Cm L;#@A*WE
46+,+,.0()qW1I<<;>mV *a!#%NA46*'D:J=/.)<;PGC+,!#<;#;X()@A*;YB,<;h!D46()B,%1,!#;Y*@A!X$h46.)<;Y%EPED46*,u %*?EX()%.0.)<;U461a'<@A*?ED4A'%E\;#@A*WE
BC(0!#<'%E#%$&%*WE3.0()I<<;h461CG '>46!D4A'%E#I%!X();XEX()qW1<;h+,:WH;#()q?1<;&%E&BC(0$&%*;#()@A*;hB,<;&+n46!XEX()'%1,.)<;3%*y'<@A*?ED4A'%E3+n46!&.)<;
!#%.R46EX()@A*;;X1,(0NA46*WE#<;
n
K =
√
2G 2R √ n
U
%E
Kt =
2(3RG2 (1 − µ))1/3 n 1/3
|F |
5 76 7>
` Cm Cm e
3(1 − µ) 2−µ
kN < 'J=
[ C $&@HBC1,.)fB,f'%();¡46(0.0.)%$&%*?Ev$&@~ %*B,<;8+n46!XEX()'%1,.)<;94j%E"SL%*U'<@A*WED4A'%E>=
G=
(Ga + Gb ) 5 76 78
` Cm Cm e
2
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µ
µ=
(µa + µb ) 5 76 B;
` Cm Cm Je
2
,<;XEF @A*'%EX()@A*B,o.R4ZED46(0.0.)fB,<;"B,%1CG\+n46!XEX()'%1,.)<;g` %E e
Ra Rb
R=
(2Ra Rb ) 5 76 7A
` Cm Cm e
Ra + R b
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O+ @J;#(0EX(0N &
RN ≥ 0
TV<;V'<@A*BC(0EX()@A*;F;#"EX!D4ABC1,();#%*WEF+n46!/1,*v!#%.R46EX()@A*YB,'<@A$-+,.)I%$&%*?ED46!X(0E#Ih` @A13!#%.R46EX()@A*\B,9W(0uJ*@A!X(0*,(
e/B,@A*,*I<
+n46!
gN ≥ 0, RN ≥ 0, g N RN = 0
5=4
` Cm m e
minmi2@A!#>46154jI%ED46S,.0( .R4Z@A!X$1,.R46EX()@A*I<qW1,(0NJ46.)%*?E#gw Cm m %*LNW(0E#<;D;#j 5=4

gN (t0 ) ≥ 0
461\E#%$-+;"(0*,(0EX(R46.
+
t0
+
5 = 75
` Cm m e
gN (t) ≤ 0 ⇒ UN ≥ 0, RN (t) ≥ 0, UN (t)RN (t) =0 ∀t ∈ I
O5 = 75
{4-!#%.R46EX()@A* Cm m -<;XE"'<@A$-+,.)I%E#I<+n46!".R4Z!#%.R46EX()@A*
gN (t) > 0 ⇒ RN (t) = 0
W( aGC();XE#` $&@A1,N %$&%*WEF4A;#;D%"!#I%uJ1,.0()%!¡es%E <;XEs1,*" @A*'%EX()@A*P'<@A*?EX(0*W1BC1&E#%$-+;F46.)@A!#;s.R4f'<@A*BC(0EX()@A*
5=4
B,W(0uJ*@A!X(0*,(|GH+,!X(0$&I<f%*Q` Cm m eF<;XE"I<qW1,(0NAR 46.)N%*WE#gwZ.R4Z@A!X$1,.R46EX()@A*t%*\NW(0E#<;#;DoB,@A*,*I<%* ` Cm m em 5 = 75
{ fuJ!D46+,:fB,<;8!#%.R46EX()@A*;v<;#E"!#%+,!#I<;#%*?E#I;X1,!".R4gpuJ1,!# Cm m 5 4=
RN
UN
5Cm 4 = [9!D46+,:fB,d.R4&'<@A*BC(0EX()@A*B,W(0uJ*@A!X(0*,(
Q&2
W
H ~ , 3
@ *L+ @A1,!X!D4Z!#I<;X1,$&%!".R4&'<@A*BC(0EX()@A*B,W(0uJ*@A!X(0*,(;D@A1;8.R4g @A!X$&h
Signor(UN , RN )
5 = 76
` Cm m e
2 & : /L&

<

{4P.)@A(sB,g !#@AEXE#%$&%*?Eg1,EX(0.0();#I<-B46*;d.)<;o$h4 <@A*,*%!X()<;wgX@A(0*?E#;oNH(_;9<;#Ef'<%.0.)-B,-TV@A1,.)@A$gS m *r^%E>=%*

u %I *I%!D46.b= @A*c<;XEdB46*;.R43'<@A*CpuJ1,!D46EX()@A*r@A15.)g'<@A*WED4A'%Ef%*?EX!#Z.)<;9S,.)@W'<;d<;XEdB,gEH+O !#@AEXE#%$&%*WEf;#<'JmO .0.)
(0$-+,.0()qW1v1,*v!#%.R46EX()@A*3!#%.0(R46*WEF.R4d@A!#'<vB,8 !#@AEXE#%$&%*?E wf.R4oNH(0E#<;#;#B,"uJ.0();#;#%$&%*WE + @A1,!/GC+,!X(0$&%!
RT UT
.R4Z!#I<;X();#ED46*'<461LuJ.0();#;#%$&%*WE"ED46*,u %*?EX()%.bm
.0.)<;XE"B,I%E#%!X$-(0*I<f+n46!".R4Z!#%.R46EX()@A*t;X1,(0NJ46*?E#&
` @A*UuJ.0();#;#%$&%*?E¡e
5==

 UT = 0, kRT k < µRN
` Cm m We
R
 UT = −λ T , kRT k = µRN
`b[d.0();#;#%$&%*?E¡e
kRT k
]o46*;9.R4&+,!#%$-()l%!#Z!#%.R46EX()@A* =O.R43'<@A$-+O@J;D46*WE#Z*@A!X$h46.) B,g.R4&!#I>4A'%EX()@A*c<;XE9'<@A*;X()B,I%!#I<j'<@A$-$&g+ @6
;X(0EX(0N \`wY'>461;#jB,j.bK 1,*,(0.R46E#I%!D46.0(0E#I~ef%E !#%+,!#I<;#%*WE#-.)jR'<N@Wh'%()%*WEB,g !#@AEXE#%$&%*WE>m .0.)j(0*BC()qW1-B,j+,.01;
qW1d.R4j!#I>4A'%EX()@A*U E#%.0.)fq?1 ~
R = R~N + R~T
µ
/? /?
!#<;XE#oB46*;81,*' A*46+,+O%.)I' A*fB,TV@A1,.)@A$S m
TV@A*'<%!X*n46*WEs.R4vB,%1CGC()l%$&F!#%.R46EX()@A* =J@A*j!#%$h46!#q?1FqW1F;X(W1,*juJ.0();#;D%$&%*?E;#/+,!#@WBC1,(0E>=J'JKi<;XEwBC(0!#F.R4vNH(0E#<;#;#
ED46*,u %*WEX()%.0.) =n46.)@A!#;8.R4j!#I>4A'%EX()@A*LED46*,u %*WEX()%.0.)g@A1Y@A!#'<fB,9 !#@AEXE#%$&%*?E9;>Ki@A+,+O@J;Df461LuJ.0();#;#%$&%*WE>m
UT 6= 0
{ fuJ!D46+,:fB,o.R4Z.)@A(B,TV@A1,.)@A$gS<;XE8!#%+,!#I<;#%*WE#I;X1,!v.R4gpuJ1,!# Cm Cm 5 4>

µ
µ

0 0

−µ
[9!D46+,:B,gTV@A1,.)@A$S ?
T A*fB,gTV@A1,.)@A$S
5Cm 4 > [9!D46+,:fB,o.R4Z.)@A(B,TV@A1,.)@A$S
*'>4A;"B,ouJ.0();#;#%$&%*WE>=,.R4Z@A!#'<oB,d !#@AEXE#%$&%*?E <;XE8+,!#@A+ @A!XEX()@A*,*%.0.)gw-.R4Z!#I>4A'%EX()@A*U*@A!X$h46.) m

RT RN
Q £Y

z ? ~n n
¥Æ¥ )- ;Ì '

º@ 9 « +¾ ( ; Æ + ºN a

¢|@A1,!d1,*5'<@A!X+;9!X(0uJ()B,J=O.bKiI<qW1n46EX()@A*5;Df!#I<BC1,(0EfwhBC(0!#jqW1.)gE#@A!#;#%1,!dBCW*n46$-()qW1j<;XEdI%u?46.461tE#@A!#;#%1,!oB,<;
^@A!XE#;"GCE#I%!X()%1,!#;v%EvB,o'<@A*WED4A'%E#;>mn{ ;XH;#E#l%$&oBC(_^ I%!#%*WEX()%.|wZ!#I<;#@A1BC!#f<;#E"'<%.01,(B,f9 8E#@A*C 1,.)%!g
(
mu̇ = P (t) + r 5 = 7>
` Cm m e
I ẇ = −w ∧ (Iw) + Mp(t) + Mr
@ <;XE.R49NW(0E#<;D;#8BC1&'<%*?EX!#B,F$h4A;#;#J= .R49NH(0E#<;#;#"46*,uJ1,.R46(0!#9461,E#@A1,!BC1&'<%*?EX!#BK (0*%!XEX()J= .R4oB,I%!X(0N I<

CB 1YuN <'%E#%1,!"NH(0E#<;#;#dB46*;F.)9!#%+Ol%!#d.0()Io461L;#@A.0()B,J= %E ;D@A*?E8!#<;X+ <'%EX(0N %$&%*?E".R4g!#I<;X1,ẇ.0ED46*WE#f%E8.)
P (t) Mp(t)
$&@A$&%*WEo!#I<;X1,.0ED46*?E461c'<%*?EX!#-B,Z$h4A;#;DgB,<;d^@A!XE#;f46+,+,.0()q?1I<;>m %E ;#@A*WEd!#<;X+O<'%EX(0N %$&%*WEf.R4h!#I<;X1,._
ED46*WE#9%EF.)$&@A$&%*?E8!#I<;X1,.0ED46*WEv461P'<%*WEX!#oB,v$h4A;D;#B,<;F^@A!XE#;FB,r9'<@A*WM ED4Ar'%E>= %E ;#@A*?EF!#<;X+ <'%EX(0N %$&%*?E
m I
.)<;8$h46EX!X()'<<;B,o$h4A;#;#o%E"BK (0*%!XEX()Jm
{ PE#%!X$& *5 6
=wL+,!X()@A!X(F*@A*Cb.0(0*I>46(0!#J=s<;#Eg*W1,.FB46*;Z.)P'>4A; A] %Ej%* A] .)@A!#;#qW1h.)P'<@A!X+;-<;XE
u I<@A$&I%EX!X()qW1−w %$&%∧*?E9(Iw)
();#@AEX!#@A+ h` ;XH$&I%EX!X()o;X+,:I%!X()q?1~em
{ <;I<q?1n46EX()@A*;9B,o.R4-BCH*n46$-()qW1f+ @A1,!"1,*U'<@A!X+;v%*U+,!#I<;#%*'<B,f'<@A*WED4A'%Ej` $h46();%*L.bKM46S;#'<%*'<ZBKiI%N l%*

$&%*WE"*@A*Cb!#I%uJ1,.0()%!Z,'D:@W'<;eV+O%1,N %*WEv;>KiI<'%!X(0!#f;D@A1;8.R4g @A!X$&;X1,(0NA46*WE#&
M(q)u̇ = F(q, u, t) + P(t) + R

TV@A*BC(0EX()@A*;(0*,(0EX(R46.)<;v%E"'<@A*BC(0EX()@A*;d461CGP.0(0$-(0E#<;
5 = 78
` Cm m e
+
@ 5q ;#@A*?EoB,<;9NA46!X(R46S,.)<;dB,Z{46uJ!D46*,u ju I%*I%!D46.0();#I<<;&` .)<;dB,I%+,.R4A'<%$&%*?E#;B,<;*@H%1B,;9+O@A1,!91,*c'<@A!X+;

∈Rn
B,I@A!X$h46S,.)j@A1.)gB,I%+,.R4A'<%$&%*?Ef%E9.R4&!#@AED46EX()@A*cBC15'<%*?EX!#jB,fuJ!D4>NW(0E#IjBK 1,*5'<@A!X+;!X(0uJ()B,~e=O1 .)N <'
∈Rn
E#%1,!NW(0E#<;#;Df%E n )
. f
N <
%
' #
E %
,
1 9
! ,
B <

; <
' A
@ ?
* X
E X
! 0
( ,
S ,
1 X
E )
( A
@
* o
; ,
B <
v
;

^ A
@ X
! #
E v
; ,
B g
<
' A
@ ?
* D
E A
4 %
' -
E ` #
! >
I A
4 %
' X
E )
( A
@
* d
; ,
B f
<
' A
@ ?
* D
E A
4 '%E¡emi{
N <'%E#%1,!F8` q= 1 = E¡Re!#∈R
%+,!#I<;#%*?E#9.)<;sE#%!X$&<;VuJH!#@J;#'<@A+,()qW1<;/%EV'<%*?EX!X(_ 1,u <;V%E/.)"N <'%E#%1,!F¢v` E¡e.bKi%*;D%$S,.)dB,<;
@A!#'<<;"GCE#I%!X()%1,!#<;vGC+,.0()'%(0E#%$&%*?Ed'<@A*,*?1<;>m s*Cp* n n×n <;XE8.R4j$h46EX!X()'<fBK (0*%!XEX()Jm
M(q) R 7→ M
2 +2 " &H 1" # 1M M

@

{ <;3(0*?E#I%!D4A'%EX()@A*;\%*WEX!#5'<@A!X+;3;#@A*WEP;#1;#'<%+,EX(0S,.)<;3B,Uu I%*I%!#%!\B,<;3BC();#'<@A*WEX(0*?1,(0E#I<;\;X1,!3.)<;hNH(0E#<;#;#<;~m *
'D:%!#'#:gw&@AS,E#%*,(0!"1,*f;#@A.01,EX()@A*UBC();D'%!#l%E#fB,<;"I<qW1n46EX()@A*;vB,d.R4-BCH*n46$-()q?1Jm
@
¢|@A1,!E#@A1,E %EvEvB46*; =i =.R4jNH(0E#<;#;#f1U<;XEv'<@A*;X()B,I%!#I<g(0*?E#I%uJ!D46S,.)Z;X1,!".bK (0*WE#%!XNA46.0.) = E |%Ev!#%.0()I<gw-q
+n46!".R4Z!#%.R46EXτ()@A*t;X1,(0NJ46*?E#& τ
q(t) = q(τ ) +
Z t
uds
5 = B;
` Cm m Je
τ
¢|@A1,!vu I%!#%!.bKiI%N @A.01,EX()@A*%*UE#%$-+;B46*;".)f'>4A;v*@A*Cb!#I%uJ1,.0()%!>=n.bKM46+,+,!#@H'#:+n46!v.R4j$&I%EX:@HB,fBC(0E#gB,fF(0$&

;XE#%+,+,(0*,uQ` +n4A;wP+n4A;¡e9<;XEo.R4P$-()%1CGr4AB46+,E#I<L .)-B,I<'<@A1,+n46u h%*cE#%$-+;<;XEdp,GCI-B,j$h46*,()l%!#346!XS,(0EX!D46(0!#
%EV*@A*h*I<'<<;#;¡46(0!#%$&%*?E"'<@A*;XED46*WE>mH{4f$&I%EX:@HB,<;#E/'>46+n46S,.)dBK (0*?E#I%uJ!#%!F.)<;VI<q?1n46EX()@A*;FBC1P$&@A1,N %$&%*?Ev461
'<@A1,!#;"BK 1,*U+n4A;vB,dE#%$-+;vB,@A*,*IJmn]d46*;v'<f'>4A;>=C.bKi@A!#BC!#fB,o.bK (0*WE#I%uJ!D46E#%1,!9<;#E8*I<'<<;#;D46(0!#%$&%*?Ev46(0S,.)Jm
Q

W
H ~ , 3
2 +2 /&H :" )OM" "-LIJ, & 1H &,M

'1
*Y+,!#I<;#%*'<dB,d'#:@H'<;8%*?EX!#d.)<;V+n46!XEX()'%1,.)<;` BC();D'<@A*?EX(0*?1,(0E#I<;%*3NH(0E#<;#;#~e=H.)<;FB,I%!X(0N I<<;8B,@A(0N %*?E%EX!#9(0*WE#%!
+,!#I%E#I<<;9461L;#%*;"B,<;"BC();XEX!X(0S,1,EX()@A*;~mn{ fB,I<'<@A1,+n46u g<;XEv4AB46+,E#IwZ.bKiI%N @A.01,EX()@A*tB,<;vI%N l%*%$&%*?E#;~m
'1 ,: N 1L' *)OL' ,1' H'1&M M'
@

* '<@A*;X()B,l%!#B,<;v+n4A;B,E#%$-+;
t B,f.)@A*,uJ1%1,! h = ti+1 − ti m *U(0*WE#I%uJ!D46*?Ed.)<;vB,%1CG\$&%$S,!#<;
5 = 7>
B,d.bKiI<qW1n46EX()@A* Cm m -;#1,!8.bK (0*?E#%!XNJ46.0.)B,oE#%$-+;
ti , ti+1
t ,t
=,@A*4Y
i i+1
ti+1
5 = 7A
Z Z
M(u(ti+1 ) − u(ti )) = P (t)dt + rdν
ti ]ti ,ti+1 ] ` Cm m e
Z t
q(t) = q(τ ) + uds
τ
{sK (0$-+,1,.);#()@A*U$&@> %*,*
r(i + 1) =
1
Z
rdν
5=
` Cm mM e
h ]ti ,ti+1 ]
46+,+n46!D46(0E9'<@A$-$&o1,*o(0*'<@A*,*?1*n46EX1,!#%.0.)Jm
@ *5!#I>46.0();#Z$h46(0*?E#%*n46*WE1,*Z(0*?E#I%uJ!D46EX()@A* (0$-+,.0()'%(0E#-B,<;dE#%!X$&<;o;X1,+,+O@J;DI<;9'<@A*WEX(0*?1;o+n46!d1,* b$&I%EX:@HB,

θ
4
4>N <' 46+,+n46!XE#%*n46*?Edwj.bK (0*?E#%!XNJ46.0.) 1 =+O@A1,!f θ
=@A*\!#%EX!#@A1,N f.);#'#:I%$h4-2 BKi s1,.)%!v(0$-+,.0()'%(0E#Jm
•θ=1
*U*@AED46*?Ev.)d+n4A;vB,oE#%$-+; =n@A*U4Z.R4Z @A!X$&BC();#'%!#I%EX();#I<f;X1,(0NJ46*?E#h
h = ti+1 − ti
M(ui+1 − ui ) = h[(1 − θ)Pi + θPi+1 ] + hri+1 5=4 ` Cm m e

q − q = h[(1 − θ)u + θu ]
i+1 i i i+1
2 +2
:H' " *:NM" & ! )"% " ON&:%"%1" M !M3"-M' E M "-M'
]jKM46+,!#l<;o.)-;XC;XE#l%$&-BKiI<qW1n46EX()@A*; 5Cm =m 4 C=.)<;oNJ46!X(R46S,.)<;f'%(0*I%$h46EX()qW1<;%*5p*rB,j+n4A;h` 'JKi<;#EwBC(0!#&I%N %*C

EX1%.0.)%$&%*WE946+,!#l<;".)o'D:@W'~e8%E".bK (0$-+,1,.);X()@A*U$&@~ %*,*;#@A*WE".)<;8(0*'<@A*,*W1<;461L+,!#@AS,.)l%$&Jm

{ ;#'#:I%$h4-B,f!#I<;#@A.01,EX()@A*U<;XEvwjB,%1CG\*,(0N >461CGr
•
@
1,*\*,(0N >4615[d{ xVk9{s=qW1,( <;XE"'<%.01,(B,f.bKiI<q?1n46EX()@A*UB,f.R4jBCW*n46$-()qW1f;#%$-(_BC();#'%!#I%EX();DI<Jm{ <;
NA46!X(R46S,.)<;v$h46*,(0+,1,.)I<<;w-'<d*,(0N >461;#@A*?E".)<;"NW(0E#<;#;D<;8u I%*I%!D46.0();#I<<;"1L%Ev.)<;"^ @A!XE#;vBC1n461CGY!` ^@A!XE#;
B,f'<@A*?ED4A'%E#;em
@
1,*\*,(0N >461{ TVk9{s=qW1,( <;XE"'<%.01,(B,<;'<@A*BC(0EX()@A*;"1,*,(0.R46E#I%!D46.)<;>m{ <;8NJ46!X(R46S,.)<;"$h46*,(0+,1,.)I<<;9;#@A*?E
46.)@A!#;".)<;8NH(0E#<;#;#<;F!#%.R46EX(0N <;9461U'<@A*?ED4A'%
•
E %E8.)<;v^ @A!XE#;B,d.0(R46();#@A*;vBC1n461CG\m
{4-SO@A1'%.)o!#%+,!#I<;D%*?E#I<%* ` Cm m 5 = 404 e8+,!#I<;#%*?E#fS,()%*L.R4-BC1n46.0(0E#If%*WEX!#o.)<;vBC(_Î%!#%*?E#;<;X+n4A'<<;>m
v(0N >461UuJ.)@ASn46.

5 = 404 e
q, u ←−−−−−−−−−−−−−−−− r

H ∗ (q)y

x
H(q) ` Cm m

v(0N >461L.)@H'>46.

Uα − − −− −−−−−−−−−−→

!

Rα
Q

z ? ~n n
{ <;"!#%.R46EX()@A*;%*WEX!#f'<<;8*,(0N >461CGL;>Ki^<'%EX1%*?EvuJ!DA'<g461CG\46+,+,.0()'>46EX()@A*;
H ∗ (q)

%E Z` q,em
¢|@A1,!v1,*L'<@A*WED4A'%E =
@A*L+ %1,Ev46(0*;Xα(I<'%!X(0!#o.R4ZNH(0E#<;#;#d!#%.R46EX(0N Z461L'<@A*?ED4A'%E%*L @A*'%EX()@A*UB,d.R4-NW(0E#<;#;DoB,<;"'<@A!X+;f
U α = H ∗α (q)u
5 = 45e
` Cm m
@A*L+ %1,Ev46(0*;X(B,Ip*,(0!".R4-'<@A*WEX!X(0S,1,EX()@A* α B,<;"^@A!XE#;"B,f'<@A*WED4A'%E#;461L*,(0N >461LuJ.)@ASn46.%*\ @A*'%EX()@A*

B,<;"^@A!XE#;vB,o'<@A*?ED4A'%E#;d461\*,(0N >461L.)@H'>46. r α
R
r α = H α (q)Rα
5 = 46e
` Cm m
{ <;v@A+OI%!D46E#%1,!#; ∗α = α ;#@A*?EvEX!D46*;X+O@J;DI<;8.bK 1,*\+n46!"!D46+,+ @A!XEwZ.bKM461,EX!#Jm

@
*UB,Ip*,(0Ev.bKM46+,+,H.0()'>46EX()H@A* ∗ %E
H
qW1,(N I%!X(_pn%*?E9.)<;8!#%.R46EX()@A*;v;X1,(0NJ46*?E#<;g
H
nc
5 = 4=
X
α α
H : R = [R , α = 1..nc ] → r = H α (q)Rα
α ` Cm m We
Xnc
H ∗α : u = [ui , i = 1..nddl ] → U = H ∗α (q)u
α
{ <;9NH(0E#<;#;#<;!#%.R46EX(0N <;o;#@A*?E9!#%.0()I<<;o461CGU!#I>4A'%EX()@A*;d.)@H'>46.)<; α +n46!.)<;9.)@A();9BK (0*?E#I%!D4A'%EX()@A*;3OW(0uJ*@A!X(0*,(s%E
R
TV@A1,.)@A$gS m
5 = 4=
{ <;"!#%.R46EX()@A*;'%(0*I%$h46EX()q?1<; Cm m 3;>KiI<'%!X(0N %*WE
α
Ui+1
α
= H ∗α (q̂)ui+1
α α
5 = 4>e
` Cm m
ri+1 =H (q̂)Ri+1
{4-NA46!X(R46S,.) B,I<;X(0uJ*o.R4j'<@A*CpuJ1,!D46EX()@A*5qW1,( ;#%!XEvwjB,I%E#%!X$-(0*%!v.)<;v!#%+Ol%!#<;8.)@H'>461CGc
q̂
q̂ = qi + h(1 − θ)q̇i
5 = 48e
` Cm m
@ *L+ @A1,!X!D4jI%NJ46.01%!".R4-BC();XED46*'<f%*WEX!#o.)<;8+ @A(0*?E#;B,f'<@A*?ED4A'%E9q?1d.bKi@A*46+,+ %.0.)o(0*WE#%!#;XEX()'<o*@AE#IouU
α
(ġα )i+1 = UN
5 = 4;
` Cm m Je
2 +2
1H " *)' 1M" *)G&&"%0 1 -/"-&

{4j @A!X$&oBC();#'%!#l%E#B,o.R4j'<@A*BC(0EX()@A*B,gW(0uJ*@A!X(0*,(;>KiI<'%!X(0E
Rα (i + 1) = 0
5 = 4Ae
` Cm m
QP
W
H ~ , 3
C461C;X(1,*U'<@A*WED4A'%E<;XE"I%ED46S,.0(b=n46.)@A!#;@A*U4\
α
UN (i + 1) ≥ 0, α
RN (i + 1) ≥ 0, α
UN α
(i + 1)RN (i + 1) = 0
5=4
` Cm m e
{4j @A!X$&oBC();#'%!#l%E#B,o.R4j'<@A*BC(0EX()@A*B,gW(0uJ*@A!X(0*,(;>KiI<'%!X(0E
α
Signor(UN α
(i + 1), RN (i + 1))
5 = 75
` Cm m J e
TV@A$-$&o.)@A(B,9 !#@AEXE#%$&%*WE>=@A*LI<'%!X(0E".R4-.)@A( B,gTV@A1,.)@A$StBC();#'%!#I%EX();#I<f;#@A1;".R4g @A!X$&&
Coulµα RαN (i+1) (UTα (i + 1), RTα (i + 1))

5 = 75 4 e
` Cm m
2 +2
M "- *H'IJ," * :H' H'
@

*\b46(0E81,*f;XH*?EX:l<;DoB,<;"BC(_^ I%!#%*WE#<;I<qW1n46EX()@A*;vBC1\$&@HB,l%.)&
sqW1n46EX()@A*;vBC1\$&@A1,N %$&%*?Ej
•
M(ui+1 − ui ) = h[(1 − θ)Pi + θPi+1 ] + hri+1
qi+1 − qi = h[(1 − θ)ui + θui+1 ]
v%.R46EX()@A*;"B,f+n4A;#;D46u -
•
α = H ∗α (q̂)u
Ui+1 i+1
ri+1 = α H α (q̂)Ri+1α
P
[9!D46+,:<;"B,<;v.)@A();"B,o'<@A*?ED4A'%EZ
•
Signor(UN α (i + 1), Rα (i + 1))
N
Coulµα RαN (i+1) (UTα (i + 1), RTα (i + 1))
2 +2 N " &, J #

5=4

{4d;D@A.01,EX()@A*hB,F*@AEX!#F+,!#@AS,.)l%$&vB,@A(0EN I%!X(_pn%!s1,*&;#H;XE#l%$&8BKiI<qW1n46EX()@A*;sB,F.R4dBCH*n46$-()q?1"uJ.)@ASn46.)` Cm m e
%EFB,<;V.)@A();VBK (0*WE#I%!D4A'%EX()@A*;8.)@H'>46.)<;d` qW1n4A;X(_'D:@W'fW(0uJ*@A!X(0*,(b=W !#@AEXE#%$&%*WE"B,dTV@A1,.)@A$gSem, *P1,EX(0.0();D46*?E8.)<;/!#
5 = 4> 5=4
.R46EX()@A*;'%(0*I%$h46EX()q?1<;Z` Cm m e8%E8.R4Z@A!X$&oBC();#'%!#I%EX();#I<fB,f.bKiI<q?1n46EX()@A*UB,f.R4jBCW*n46$-()qW1h` Cm m e=n@A*U4L
X
U α (i + 1) = Ufαree + W αβ hRβ (i + 1)
β 5 = 7505 e
` Cm m
Ufαree =H ∗α
(ui + M −1
P (i))
αβ ∗α −1 β
W =H M H
4>N <'J=
9@A+OI%!D46E#%1,!B,f]d%.R4A;#;X1;>=
α
Uf ree
!#%+,!#I<;#%*?E#.R4ZNA46.)%1,!vB,
U α (i + 1)
em
%*L;X1,+,+ @J;D46*?Ev.)<;8(0$-+,1,.);X()@A*;vB,'<@A*?ED4A'%E#;"*W1,.0.)<;g` d
Q

z ? ~n n
{ YE#%!X$& <;XE-.R4tNH(0E#<;#;#P!#%.R46EX(0N .0(0S,!#Q'JKi<;XEwBC(0!#U%* .bKM46S;#%*'<LB,Y!#I>4A'%EX()@A*;&B,\'<@A*WED4A'%E

` d em Ulocf ree
@
*L!#I<I<'%!X(0Ev.)o;XH;#E#l%$& Cm m \ 5 = 7505
U α (i + 1) = Ulocf
α
ree + W
αα
hRα (i + 1)
5 = 7506 e
` Cm m
{ fE#%!X$& α <;#E"B,Ip*,(0Ev+n46!f
Ulocf ree
α
Ulocf α
ree = Uf ree +
X
W αβ hRβ (i + 1) 5 = 751=
` Cm m We
β6=α
{ +,!#@AS,.)l%$&oB,oW(0uJ*@A!X(0*,(b=nTV@A1,.)@A$SL;#vEX!D4ABC1,(0EV+n46!F1,*Y;XC;XE#l%$&BKiI<qW1n46EX()@A*;8@P(0.O;>KM46uJ(0E8B,EX!#@A1,N % !
U
%E E#%.);vqW1-
R
5 = 750> e
 α α αα
U = Ulocf ree + W hRα
` Cm m


α α
Signor(UN , RN )

CoulµRαN (UTalpha , RTα )

5 = 750>
{sKi%*;D%$S,.)vB,F'<<;sI<qW1n46EX()@A*; Cm m d;#F'<@A$-+ @J;#8BK 1,*F@A!X$&F.0(0*I>46!X();#I<8B,F.bKiI<qW1n46EX()@A*hB,V.R4dBCW*n46$-()qW1
B,@A*,*n46*WE.R4&NW(0E#<;#;Df!#%.R46EX(0N j461'>46*BC()B46E '<@A$-$&g1,*o@A*'%EX()@A*t4&*ZB,;D@A*U(0$-+,1,.);X()@A*5%EvB,<;!#%.R4
α
EX()@A*;"B,'<@A*?ED4A'%E" !#@AEXED46*?E>m
5 75 6 76
<;#EZ1,*P$h46EX!X()'<\B,YBC(0$&%*;X()@A*` C= eZ@A1` C= eg%EZ.)<;ZE#%!X$&<; = %E ;#@A*WE-B,<;jN <'%E#%1,!#;
46+,+n46!XE#%*n46*WEdw 2 @A1 3 ;D%.)@A*Uq?1d.)d+,!#@AS,.)l%$&g<;XEvwjB,%1CGL@A1\EX!#@AU();vR BC(0$&%*U;X()locf
@A*;~ree
m
R R
¥Æ¥ Æ u Æ

{4Z$&I%EX:@HB,fB,d!#I<;#@A.01,EX()@A*U1,EX(0.0();#I<f<;XE8B,dEH+ f46.0u @A!X(0EX:,$&B,[o461;#;XH%()B,%. *@A*\.0(0*I>46(0!#o+n46!8S,.)@H'Jm,{
+,!X(0*'%(0+ h<;XEZB,h'>46.)'%1,.)%!Z.R4L;#@A.01,EX()@A*QI%.)I%$&%*?ED46(0!#YBC1 +,!#@AS,.)l%$&3+ @A1,!.)h'<@A*WED4A'%E %*Q;X1,+,+ @J;D46*?EZB,<;
α
NJ46.)%1,!#;+,!#@>NH();#@A(0!#<;+ @A1,!.)<;s461,EX!#<;'<@A*?ED4A'%E#; ` emJ{4;D@A.01,EX()@A*&BC1-+,!#@AS,.)l%$&"'<@A$-+,.)%Es<;XE@AS,E#%*?1
%*\(0E#I%!D46*WE;X1,!8.R4j.0();#E#oB,<;v'<@A*?ED4A'%E#;B,<;8!#I<;#@A.0β1,EX()β@A*6=;α
I%.)I%$&%*?ED46(0!#<;/1;Dq?1 KMwj'<@A*WN %!Xu %*'<Jm
2 £ " E H M , & 2-

,)1 MN# ) &&"%0 : /"-&! /"-"%1
@

*L+ %1,E"@AS,E#%*,(0!vGC+,.0()'%(0E#%$&%*?E91,*f;#@A.01,EX()@A*LuJ!DA'<gwZ1,*o(0*?E#%!#;#<'%EX()@A*tB,ouJ!D46+,:<;>m
@ *L+ @J;#9.R4j$h46EX!X()'< ` @A+ I%!D46E#%1,!B,o]d%.R4A;#;X1;¡e9
W αα
=

WTαα
T WTαα
N

, α
hRlocstick = −W αα−1 Ulocf
α 5 = 7508 e
` Cm m
WNααT WNααN ree
{ fE#%!X$& !#%+,!#I<;#%*?E#.R4j!#I>4A'%EX()@A*L+,!X();#o.)@A!#;Dq?1d.R4jNH(0E#<;#;#9!#%.R46EX(0N g<;XE8*?1,.0.)P` e

@ Rstick
*U;#1,+,+O@J;#oqW1- UN = 0
−1 < −µ
WNααT
<1
5 = 75;
` Cm m Je
WNααN
Q Y
W
H ~ , 3
{sKM46.0u @A!X(0EX:,$&ZBK (0*?E#%!#;D<'%EX()@A*;>KiI<'%!X(0E46.)@A!#;
W(b=
α =
• Ulocf reeN > 0
46.)@A!#;8+n4A;'<@A*?ED4A'%EZ %E m
hRN = 0 hRT = 0
α %E α α =
• Ulocf reeN ≤ 0 (Rlocstick )T + µ(Rlocstick )N < 0
46.)@A!#;8(0.Y4ZuJ.0();#;D%$&%*?E8 !#@AEXED46*?Ed4<NJ46*?Eg α =− 1 α %E
hRN W αα Ulocf reeN RTα = −µRN
α
(1−µ W N T αα
)WN
αα N
%E =
NN
α
• Ulocf α α
reeN ≤ 0 (Rlocstick )T − µ(Rlocstick )N > 0
46.)@A!#;8(0.Y4ZuJ.0();#;D%$&%*?E8 !#@AEXED46*?Ed46!X!X()l%!#& α =− 1 α %E
hRN W αα Ulocf ree RTα = µRN
α
(1+µ W N T αα
)WN
αα N
%E %E
NN
α
• Ulocf α α
reeN ≤ 0 (Rlocstick )T + µ(Rlocstick )N ≥ 0 RT − µRN ≤ 0
46.)@A!#;8*@A*CbuJ.0();D;#%$&%*?Ej
Rα = Rlocstick
α
{4-.)@A( B,gW(0uJ*@A!X(0*,(_TV@A1,.)@A$Sc<;XE8!#%+ I<;#%*?E#I<;X1,!".R4gpuJ1,!# Cm Cm 5 48

[9.0();#;D%$&%*?E46!X!X()l%!#
TV@A*?ED4A'%E
¢|4A;B,duJ.0();#;#%$&%*?E

µ

0
!
0
¢4A;vB,f'<@A*WED4A'%E

−µ
[9.0();D;#%$&%*?E4>NA46*WE
TV@A*BC(0EX()@A*B,W(0uJ*@A!X(0*,( [9!D46+,:fB,ZTV@A1,.)@A$S
5Cm 4 8 I<;#@A.01,EX()@A*UBC1L+,!#@AS,.)l%$&fB,'<@A*?ED4A'%E" !#@AEXED46*?E;XED46*B46!#BL%*O5A]
2 £ H' &M, £
), 1 M
L O&"% 1 -/"-&* /"-)"%:
5Cm = m750-> <;XE8!#I<I<'%!X(0Ev;#@A1;".R4Z @A!X$&d$-(_GCE#&

{ ;XH;#E#l%$&
5 = 750A e
 α α αα α
 U − Ulocf ree − W hR = 0

` Cm m
α α α
RN − projR+ (RN − ρ N UN )=0
 α
RT − proj(DµRαN ) (RT − ρN UTα ) = 0
α

QQ

z ? ~n n
@Y]-` α es<;#E.)9BC();#q?19B,!D4< @A* α '<%*WEX!#Iowf.bKi@A!X(0uJ(0*JmTV<;FB,%1CG3;XC;XE#l%$&<;V;#@A*?EFI<q?1,(0NJ46.)%*?E#;F+ @A1,!

m µRN µRN
ρ>0
2.4.28 ⇔ φ(U α , Rα ) = 0
5 = 75
` Cm m J e
@ <;XE81,*d@A*'%EX()@A*,*%.0.)f*@A*Cb.0(0*I>46(0!#Jm
φ
E#@A*u I%*I
{ <;!D4A'%(0*<;9B,'<%EXE#ZI<q?1n46EX()@A**@A*Cb.0(0*I>46(0!#Z;D@A*?EdB,@A*''>46.)'%1,.)I<<;9+n46!v1,*546.0u @A!X(0EX:,$&ZB,g 8
!D46.0();#Ig461CG3@A*'%EX()@A*;"*@A*Cb!#I%uJ1,.0()l%!#<;j` kv.R46!XE"%EdT/1,!X*,()%!g` eXem 4 0A0A
¥Æ¥ Ëu=
+ 9N a~ º + t

] 46*;F'<%EXE#9+n46!XEX()J=W@A*Y+,!#%*BY%*P'<@A$-+,E#9.bKM4ABC:I%!#%*'<oB46*;V.)9'>4ABC!#9B,.R4$&I%EX:@WB,do,TV]Z=H%*Y'<@A*;X()B,I
o
k8'>46!X
5 4

!D46*WEv'#:n4AqW1f+ @A(0*?EvB,o'<@A*WED4A'%E'<@A$-$&o1,*f>@A*f'<@A:I<;X(0N Jm
5 4 5 4
46.` k8'>46!X` JJ e=?k8'>46!X&%EV >46*c` JJ eXe%E/2t@A*%!X()
5
5 4
46.|` xV!#%E#%.0.)9%EV46.bmn` JJ e=H >46*Y%EV46.bm
` JJ e=CxV!#%E#%.0.)%E846.bm ` JJJ eXe@A*WEF+,!#@A+O@J;#I1,*v @A!X$g1,.R46EX()@A*LBCW*n46$-()qW1%EV1,*!#I<;#@A.01,EX()@A*Y*?1,$&I%!X()qW1
BC1P+,!#@AS,.)l%$&o4<N <'dB,<;>@A*<;F'<@A:I<;X(0N <;V !#@AEXED46*?E#<;~mH{v$&@HB,l%.)v(0*WEX!#@WBC1,(0EF1,*NA46!X(R46S,.) q?1,(!#%+,!#I<;#%*?E#
4
.bK (0*WE#%*;X(0E#IoBKM4ABC:I<;X()@A* =;D4NJ46.)%1,!"<;XEV'<@A$-+,!X();Do%*?EX!#fZ%E m,TV%EXE#dNJ46!X(R46S,.)f4ZI%E#IdB,Ip*,β()d+n46!F!#I%$&@A*B
` ,!#%$&@A*BQ` eXem 4 0A05
¢|@A1,!>=
.R4Z>@A*fB,'<@A*?ED4A'%E<;#E8NW()%!Xu J=
•β=1⇒
.R4Z>@A*fB,'<@A*?ED4A'%E<;#E8!#@A$-+,1J=
•β=0⇒
.R4j>@A*B,o'<@A*?ED4A'%E<;#E8+n46!XEX()%.0.)%$&%*?E9!#@A$-+,1Jm
• 0 < β < 1⇒
@ * BC(0!D4jqW1o.R4ZNJ46!X(R46S,.) + %1,E%EX!#4A;#;#@H'%()I<fwZ1,*oNJ46!X(R46S,.)fBKi%*B,@A$-$h46u %$&%*?E>m
U
β
{ f$&@WB,l%.)f'<@A*;#()B,l%!#wZ.R4Z @A();F.)f'<@A*?ED4A'%E1,*,(0.R46E#I%!D46.b=.)9 !#@AEXE#%$&%*?E;D<'oB,gTV@A1,.)@A$St%E8.bKM4ABC:I<;X()@A* m
{ '<@A*?ED4A'%E'<@A:I<;#(_|+ %1,E";>KiI<'%!X(0!#f'<@A$-$&o1,*'<@A*BC(0EX()@A*B,o'<@A$-+,.)I%$&%*?ED46!X(0E#Ij%E81,*o.)@A(B,9 !#@AEXE#%$&%*WE
<
B,d.R4Zb4 <@A*U;X1,(0NJ46*?E#Jm
2 " "%:O #"-M

¢ @A1,!o1,*5$&@WB,l%.)&4ABC$&%EXED46*WEB,<;V@A(0*WE#;dNW(_;d@A15.)@A!#;#q?1Z.)<;VX@A(0*?E#;oB,Z$&@A!XEX()%!#;f;#@A*WEf4A;#;#%&46*'%()%*;>=@A*
|
b46(0E/.bK :WW+ @AEX:l<;#dqW1v.R4g!#I<;X();XED46*'<9BC1Z@A(0*WE8%*3EX!D4A'%EX()@A*L<;XEV*I%uJ.0(0u >46S,.)-W.R4f.)@A( 1,*,(0.R46E#I%!D46.)o;>KiI<'%!X(0EFB,@A*'
'<@A$-$&f@A*U.bKM4ZNW1\+,!#I<'<I<B,%$-$&%*WE>m
*Q+,!#I<;#%*'<PB,&$&@A!XEX()%!#;jB,3SO@A*,*Pq?1n46.0(0E#IJ=|@A*<;#Efb4A'<3wB,&.R4'<@A:I<;X()@A*Q%*WEX!#h.)<;vX@A(0*?E#;-4<N <'31,*
!#I<;X();#ED46*'<wZ.R4jEX!D4A'%EX()@A*UB46*;v.R4jBC(0!#<'%EX()@A*U*@A!X$h46.)Jm
{4&'<@A*BC(0EX()@A*;X1,!8.)<;8NJ46!X(R46S,.)<;8*@A!X$h46.)<;9BC1L'<@A$-+O@A!XE#%$&%*WE9B,o'<@A*WED4A'%Ev*@A!X$h46.|;>KiI<'%!X(0E"B,@A*'&
(RN + β 2 cN [|uN |]) ≥ 0, [|uN |] ≥ 0, (RN + β 2 cN [|uN |])[|uN |] = 0

5 = 76
` Cm m J e
@ =
!#%+,!#I<;#%*WE#f.)f;D461,E"B,B,I%+,.R4A'<%$&%*?Ev*@A!X$h46.b=
[|uN |]
!#%+,!#I<;D%*?E#f.R4-!#I>4A'%EX()@A*L*@A!X$h46.)g461L'<@A*WED4A'%E>=
RN
!#%+,!#I<;#%*WE#f.bK (0*WE#%*;X(0E#IBKM4ABC:I<;X()@A* =
β
.R4Z!D46()B,%1,!v(0*?E#%!b4A'%(R46.)f*@A!X$h46.)J=:@A$&@Au l%*gwZ1,*L$&@HBC1,.)fBKiI%.R4A;XEX()'%(0E#Io+n46!v1,*,(0E#IfB,o.)@A*,uJ1%1,!>m
cN

W
H ~ , 3
*I<'%!X(0NA46*WE".)f'#:n46*,u %$&%*WE9B,dNJ46!X(R46S,.)&
R̃N = RN + β 2 cN [|uN |]
5 = 76 4 e
` Cm m
@ *L+ @A1,!X!D4Z!#I<;X1,$&%!".)'<@A$-+O@A!XE#%$&%*WEB,f'<@A*WED4A'%Ev*@A!X$h46.;#@A1;".R4Z @A!X$&-
φN ([|uN |], R̃N )

5 = 7605 e
` Cm m
2 "% "- N&

.Y4Z+,!X();Df%*L'<@A$-+,E#fBK 1,*f'<@A:I<;X()@A*t;X1,+,+,.)I%$&%*?ED46(0!#gB46*;".R4jBC(0!#<'%EX()@A*ED46*,u %*?EX()%.0.)Jm
{4-.)@A( B,d !#@AEXE#%$&%*WEB,o'<@A$-+ @A!XE#%$&%*?EdB,o'<@A*?ED4A'%EED46*,u %*?EX()%.;>KiI<'%!X(0E"B,@A*'J=,+ @A1,!"1,*dNA46.)%1,!B,o+,!#<;
;X()@A*\*@A!X$h46.)gI%u?46.)w 2
RN + β cN [|uN |]
RT = RTr + RTir

5 = 7606 e

` Cm m

RTir

 UT
kUT k ≥ 0, kRTir k = µ(β)(RN + β 2 cN [|uN |]), ir
=− ,

 kRT k kUT k

kUT k = 0, kRTir k < µ(β)(RN + β 2 cN [|uN |])

@ =
!#%+,!#I<;#%*?E#.R4j'<@A*?EX!X(0S,1,EX()@A*5BC1\ !#@AEXE#%$&%*WE;#<'oB,TV@A1,.)@A$gStwj.R4Z!#I>4A'%EX()@A*ED46*,u %*?EX()%.0.)Jm
RTir
!#%+,!#I<;#%*?E#.R4jNW(0E#<;D;#9ED46*,u %*?EX()%.0.)J=
UT
{4&'<@A*?EX!X(0S,1,EX()@A*5B,d.bKM4ABC:I<;X()@A* r =
RT = −β 2 cT [|uT |]
!#%+,!#I<;#%*?E#.)f;D461,E"B,oB,I%+,.R4A'<%$&%*?E9ED46*,u %*?EX()%.b=
[|uT |]
.R4j!D46()B,%1,!"(0*WE#%!4A'%(R46.)ED46*,u %*?E#J=:@A$&@Au l%*wj1,*\$&@HBC1,.)fBKiI%.R4A;XEX()'%(0E#I+n46!"1,*,(0E#IfB,d.)@A*,uJ1%1,!>m
cT
*I<'%!X(0NA46*WE".)f'#:n46*,u %$&%*WE9B,dNJ46!X(R46S,.)&
R̃T = RT + β 2 cT [|uT |]
5 = 761=
` Cm m We
@ *L+ @A1,!X!D4Z!#I<;X1,$&%!".)'<@A$-+O@A!XE#%$&%*WEB,f'<@A*WED4A'%EvED46*,u %*?EX()%.|;#@A1;8.R4Z@A!X$&-
φT ([|uT |], R̃T )

5 = 760> e
` Cm m
2 &M ,J&)OM &N :+HO "%FH

{sK (0*WE#%*;X(0E#IBKM4ABC:I<;#()@A* <;XE"B,@A*,*I<+n46!8.R4-;#@A.01,EX()@A*UBC1L;XC;XE#l%$&oBC(_Î%!#%*?EX()%.|;X1,(0NA46*WE
β
(
bβ̇ = −[(wh0 (β) − β(cN UN
2
+ cT kUT k2 ) − k∇β)− ](1/p) ,
2
siβ ∈ [0, 1] 5 = 7608 e
` Cm m
0 2 − (1/p)
bβ̇ ≤ −[(wh (β) − β(cN UN + cT kUT k ) − k∇β) ] , siβ = 1
@ =
SL<;XE81,*fNW();#'<@J;#(0E#IJ=
!#%+,!#I<;#%*WE#o.bKiI%*%!XuJ()oBC();#;X(0+ I<oB46*;F.)d+,!#@H'<<;#;X1;8B,o'<@A:I<;X()@A*Uwg.bKiG,'<%+,EX()@A*UB,dE#@A1,E#oBC();#;X(0+n46EX()@A*\NH();
qW1%1;#&` .R4j.0(0$-(0E#fB,f.bKiI%*%!XuJ()fB,fB,I<'<@A:I<;X()@A*e=
+\1,*U%*WEX()%!B,I%E#%!X$-(0*n46*WEv.R4j+,1,();#;¡46*'<fB,d.R4j.)@A( B,fBC();#;#(0+n46EX()@A*U;X1,! =
<;XE"1,*9@A*'%EX()@A*Uq?1,(+O%!X$&%E"B,o+n46!D46$&I%EX!#%!.R4g @A!X$&B,o.bKiI%*%β̇!XuJ()fBC();#;X(0+ I<o%*\@A*'%EX()@A*UB, =
h(β) β
J

z ? ~n n
Y<;XE81,*f'<@A*;XED46*WE#o:@A$&@Au l%*gw-1,*oI%*%!XuJ()Jm
2 J / L 1H' &,):G 1H' N'G)G&FH

{ f$&@WB,l%.)4>N <'f'<@A:I<;X()@A*U;DdEX!D4ABC1,(0E"+n46!"1,*U;XC;XE#l%$&oBKiI<qW1n46EX()@A*;v;X1,(0NJ46*?Eg
5 = 76;
 α α αα
U = Ulocf ree + W hRα
` Cm m Je


φN (UN , R̃N )


φT (UT , R̃T )
<;XE8!#I<I<'%!X(0E;#@A1;8.R4Z@A!X$&d$-(_GHE#h
5 = 760A e

U α − Ulocf
α
ree − W
αα
hRα = 0
` Cm m



α α α
R̃N − projR+ (R̃N − ρ N UN )=0

 R̃α − proj

α (R̃
α
− ρ U α) = 0
T (DµRN ) T N T
¥Æ¥ Æ Æ* u Æ < ®' [ dT + º N a [t@ 9
qÌ ;V ¾)

{4v$&I%EX:@HB,/B,/!#I<;#@A.01,EX()@A*-<;XE'<@A$-$&+,!#I<'<I<B,%$-$&%*WEB,sEW+ V46.0u @A!X(0EX:,$&FB,8[o461;#;H%()B,%.C*@A*Z.0(0*I>46(0!#

+n46!"S,.)@H'Jm
{4c+,!X();#\%*z'<@A$-+,E#LB,\.bKM4ABC:I%!#%*'<B46*;&.)<;-+,!#@AS,.)l%$&<;3B,L'<@A*?ED4A'%Eh !#@AEXED46*WEh;#Y!#I>46.0();#wt.bKM46()B,UB,
'D:n46*,u %$&%*?EdB,oNA46!X(R46S,.)h
R̃ = R + Radh , Radh
<;XE81,*o @A!#'<fB,d!#I<;#();XED46*'<f;X1,+,+,.)I%$&%*WED46(0!#
.
5 = 76
` Cm m J e
4>N <'J=
2 %E =
R̃N = RN + RadhN
%E RadhN = β2 cN [|uN |]
R̃T = RT + RadhT RadhT = β cT [|uT |]
*^ <'%EX1n46*WEv1,*L'#:n46*,u %$&%*WE9B,fNA46!X(R46S,.)o+ @A1,!Fb46(0!#46+,+n46!D4 )EX!# R̃

U α − Ulocf
α
ree − W
αα
h(R̃α − Radh
α
)=0
5==
` Cm m ? e
*I<'%!X(0NA46*WE".R4jNH(0E#<;#;#d.)@H'>46.)d.0(0S,!#h` $&@WBC(_pnI<f+n46!".R4-'<@A:I<;X()@A*eV+n46!g
α
Ũlocf α
ree = Ulocf ree − W
αα α
hRadh
5 = =4e
` Cm m
@ 5 = 76 E#@A*C
* @AS,EX()%*WE1,*g;XH;#E#l%$&sI<q?1,(0NJ46.)%*?E461+n46!D46uJ!D46+,:d` Cm m Cm SeqW1,(?;#!#I<;D@A1Bo+n46!1,*g46.0u @A!X(0EX$&VB,s9 8

u I%*I%!D46.0();#IJm
&2

~ , n n

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4 0808

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+ I%!X()@WBC()qW1Jm,TV%EXE#v:@A$&@Au I%*I%();D46EX()@A*\'<@A*;X();#E#9wB,Ip*,(0!V1,*379 ` 7s@A.01,$&d .)I%$&%*WED46(0!#ov%+,!#I<;#%*WED46EX(_em
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Phase de pré−détection
validée
Détection fine
Algorithme de Cundall
Mise en place du plan séparateur
Détermination de la normale moyenne (principe des perturbations)
Mise en place d’un point appartenant au plan séparateur suivant que le contact est
"affleurant", "interpénétrant" ou "non−contact"
Critère de projection des sommets sur le plan séparateur
Cas du contact à joint Cas du contact à joint

vif de mortier
P. antagoniste

Calcul d’une distance/plan séparateur
P.candidat

Epaisseur du joint
P. antagoniste P.candidat
Projection des sommets (distance d’alerte)

sur plan séparateur
Calcul intersection
segment/segment
Tri et sélection des points de contacts

appartenant à la zone de recouvrement entre le polyèdre antagoniste et candidat
Liste des sommets

antagoniste et candidat à garder
!"#$#&%('%)+*-,.%0/1*-, 23,4*-65.3874%0'9;:<%;74*-==>%;#&%;,'%)7@?7 <*- ,A#&%('%)'9;,.%1/;,4*-

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Rant = max(||GA SA||, SA ∈ V ert(A))
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,

On fixe angle=angle max
On calcule l’interstice initial
On applique les quatre perturbations sur
la normale moyenne au plan
On recalcule l’interstice
Si interstice plus petit Si interstice plus grand

que l’interstice initial que l’interstice initial
On réinitialise n avec la perturbation qui

produit le plus gand interstice (n_max)
Si angle<angle_min Si angle>angle_min
Les composantes t et s du trièdre prenant
la nouvelle valeur.
angle=angle/2
Rotation du trièdre
t et s
Normale moyenne déterminée
Translation du nouveau point de

référence C
Soit contact interpénétré Soit contact affleurant Soit pas contact
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57)+*DACB$0BD3Z>D$c\$0,*mn$&%4,6%1)+BDF_E7%6WBm j %1)+*e8)+E7>D%8D31)+8D31$hx . S $&' −2 lF¦Fr.+%1%1$
>?B%1)+5;E7>D$§~H.MBY*DE S $b.MB>D$c%/)+*e'&$0*,431$X>D$VAC3/. S E;,1@CP¡ )+BD36FGP)->D= @05;E7%/m$03∗BDg*f@ S $0*-,4gB=
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AC5;E7%/%1$0FG$0*,bl )+*.M8D8D5;E7W-B$
BD*$ZJO)+31'&$ ~ ,1$05;57$VW-B$ ~ P
F F = Fx .~x + Fy .~y
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!* * § Lb

L
Fy
NA Fx NB

2
TAx TBx
α
θ
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#$28.M3/.M5;57@057@08DE;8<&>D$$&%4,u'&)+*%1E7>D@031@231$&%4,/.M*,,1)+B+|)+BD31%^$0*G'&)+*,/.+'0,uJd31)+,4,/.M*,9%1$&'CPC#umv.+'&'&@057@03/.M,4E7)+*T)+34E;¢b)+*
,/.M57$L$&%4,uE;*'&)+*D*B$6$0,8$0BD,N0,431$*BD5;57$L.ME;*%1EW-B$25. S E;,1$&%1%1$H>D$H,43/.M*%45.M,4E7)+*>.M*%57$'b.+%^>mv.+>?T@031$0*'&$CP-#$&% ,
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TAx , NA TBx , NB
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8D34E;*'0E;8$ZJO)+*>.MFG$0*,/.M5 >D$V5.`%4,/.M,4E7WB$c%bmn@&'034E;,c
x , P;{CP;{§~
TAx + TBx + Fx = 0
x , P;{CPv=~
NA + N B + F y + P = 0
a b x , P;{CPvU=~
−(TAx + TBx ) + (NA − NB ) = 0
2 2
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É
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TAx TBx x , P;{CP , ~

=
NA NB
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É
a P Fy x , P;{CP 0 ~
NB = Fx − −
2b 2 2
a P Fy x , P;{CP=~
NA = − Fx − −
2b 2 2
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k,>D$g5Kmn@&W-B.M,4E7)+*e%4BD8D8D57@0FG$0*-,/.ME;31$x , P;{CP , ~g
NB x , P;{CP C~
TBx = −Fx ( )
NA + N B
NB x , P;{CP =~

TAx = −Fx + Fx ( )
NA + N B
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5Km E;,1@03/.M,4E7)+* TR57$g8.+%H>D$g,1$0F_8%H>D$V5Km E;,1@03/.M,4E7)+*f$0,2Bo?5. S E;,1$&%1%1$g>?Be%/)+5;E7>D$g%4BDE S .M*-,H5Kmv.[D$ ~ P

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9
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]ti , ti+1 [ h = ti+1 − ti
n+1 n+1 x , P;{CPv}=~

h ∗ TAx + h ∗ TBx + h ∗ Fx = m ∗ (un+1 − un )
x , P;{CP;{b=~
NAn+1 + NBn+1 + Fy + P = 0
n+1 n+1 a b x , P;{CP;{C{§~

−(TAx + TBx ) + (NAn+1 − NBn+1 ) = 0
2 2
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b% mv.4)+BD,1$.MB %4:?%4,1<0FG$>mn@&WB.M,4E7)+*%95. S E;,1$&%1%1$*)+,1@&$B~qP L)+B%R.4)+BD,1)+*%e.M57)+31%R>D$0B?["31$05.M,4E7)+*%Y%4BD8
8D57@0FG$0*-,/.ME;31$&%R5Km T:]8 )+,4T<&%/$>m BD*$r8D31)+8 )+34,4E7)+*D*.M5;E;,1@h>D$&%X'&)+F_8 )C%/.M*-,1$&%X,/.M*DA=$0*,4E7$05;57$&%X8.M3c3/.M8D8)+34,`.MB?[
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'&)+*>?E;,4E7)+*>D$ZAC5;E7%1%1$0FG$0*,6>D$ci9)+BD57)+Fc\l)+*eAB>D@qs*DE;,>D$0B?[R31$05.M,4E7)+*%%4BD8D8D57@0FG$0*-,/.ME;31$&%a
TAx TBx TAx $0, TBx x , P;{CP;{b=~

= =f ⇒ =f =f
NA NB NA NB
¡)+BD3LN0,431$g'&)+T@031$0*-,Z. S $&'g57$&%H'&)+*>?E;,4E7)+*%>D$VAC5;E7%1%1$0FG$0*,L>D$ai9)+BD57)+Fc\l)+*e@&'034E;,c
TAx $0, TBx x , P;{CP;{bU=~

= −f.sign(u) = −f.sign(u)
NA NB
#$Z%4E;AC*$g>D$&%(31@b.+'0,4E7)+*%(,/.M*DA=$0*-,4E7$05;57$&% "8$0BD,2N0,431$LE;*DE;,4E.M5;E7%/@V. S $&'Z57$Z'&)+*,/.+'0,'&)+5;5.M*-,cxd'&)+*>?E;,4E7)+*e>D$6*)+*
AC5;E7%1%/$0FG$0*,~qP
É
#$&%H31@b.+'0,4E7)+*%,/.M*DA=$0*-,4E7$05;57$&%L%bmn)+8D8)C%1$0*-,L.MBY%1$0*%H>D$V>D@08D5.+'&$0FG$0*-,6>?BY%/)+5;E7>D$CP
L*$2.M8D8D31)-'/T$Cl j 5Km E;*DE;,4E.M5;E7%.M,4E7)+*r>?B_'b.+%%1,/.M,4E7WB$ClC'&)+*%4E7%1,1$ j S @034Es$03k57$(%4E;AC*$(>D$&%t31@b.+'0,4E7)+*%k,/.M*DA=$0*,4E7$05;57$&%
8)+BD3H$0*e>D@&>?BDE;31$V'&$05;BDE
>D$V5. S E;,1$&%1%/$ZBR,1$05;57$VWB$r
1 1 x , P;{CP;{ , ~
u= TAx .sign(TAx ) = TBx .sign(TBx )
−f.NA −f.NB
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!* * § Lb

L
#$a8D31)+\D57<0FG$_$&%4,g.M57)+31%6\DE7$0*f8)C%1@X$0,6>mv.M8D31<&%Z57$&%6@&WB.M,4E7)+*%Gx , P;{CPv}=~qlkx , P;{CP;{b=~L$0,_x , P;{CP;{bU=~ql )+*$0*>D@&>?BDE;,

5. S E;,1$&%1%1$ZBo
h x , P;{CP;{ 0 ~
un+1 − un = (f.P sign(u) + Fx )
m
8DBDE7%blD>mv.M8D31<&%57$&%H@&W-B.M,4E7)+*%ax , P;{CPv}=~ql x , P;{CP;{b=~2$0,ax , P;{CP;{C{§~ql
P Fy a a x , P;{CP;{ = ~
NB = − − + Fx − m.(un+1 − un )
2 2 2b 2h.b
P Fy a a x , P;{CP;{§C~
NA = − − − Fx + m.(un+1 − un )
2 2 2b 2b
$0*?s*l>mv.M8D31<&%57$&%H@&W-B.M,4E7)+*%ax , P;{CP;{bU=~ql
x , P;{CP;{ =~

TAx = −f sign(u).NA
x , P;{CP;{b}=~
TBx = −f sign(u).NB
)+BD,1$&%257$&%(E;*'&)+*D*B$&%blD>D$Z'&)+*-,/.+'0,1%H$0,H>D$6FG)+B S $0FG$0*,bl%1)+*-,2>D@0,1$034F_E;*@&$&%bPi9$08$0*>.M*,bl'&$0,4,1$6T:]8)+,4T<&%1$
>D$Z31@08.M34,4E;,4E7)+*>D$&%231@b.+'0,4E7)+*%H,/.M*DA=$0*-,4E7$05;57$&%*$V8 $034FG$0,H8.+%>D$ZA=@031$03H5Kmv.M8D31<&%H\.+%1'0BD57$0FG$0*-,bP
É
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8D31@&%1$0*-,1$VBD*Y$q[D$0F_8D57$g*BDFG@034E7W-B$x S )+E;3HsACBD31$ , P;{§~qP

6)+B%. S +) *%L'1T)+E7%4E
57$&%28.M3/.MFG<0,431$&%*-BDFG@034E7WB$&%L%4BDE S .M*,1%c

É T'&)].M$BDr,1$0'0BDE7$036*>?,6BY>D%1$Z)+J5;31E7>D)+$G,4,1$0FG. $0*-?,aP;{0]FYJ l ?P , l

É 57)+*DACB$0BD36>?BY%1)+5;E7>D$G?\
É Fr.+%1%/$g>?Be%1)+5;E7>D$G?F ?PvMFYl
É b
{ & A l
É 8.+%H>D$V,1$0F_8%c −3 l
É .+'&'&@057@03/.M,4E7)+*>D$gh5.X=8 $&10%.M*,1s$0BD3a l
É '&)+*>?E;,4E7)+*%LE;*DE;,4E.M57$&%c g = −9.81ms−2
m∗g
NA = N B = − 2

u = 0ms−1
P
•
"!$#%&')(
!*!*++,
i9$h'b.+%G.@0,1@ S M. 5;E7>D@Y. S $&'h8D5;B%4E7$0BD31% S .M57$0BD31%_>D$JO)+31'&$R.M8D8D5;E7WB@&$R$0* * $8 $034FG$0,4,/.M*-,G8.+%_>D$h>D@08D5.
'&$03H57$g%/)+5;E7>D$CP£ 4, E;,431$c>mn$q[?$0F_8D57$Cl)+*f'1T)+E7%4E;,H5Kmn$q[D$0F_8D57$g*-BDFG@034E7WB$a%4BDE S .M*-b, P
É
¡)+BD3BD*$6JO)+31'&$c.M8D8D5;E7W-B@&$c.MBe'&$0*,431$c>D$gAC3/. S E;,1@ >?Be%/)+5;E7>D$g,1$05;57$gWB$
Fx = +20N
x $0, ~qP
||F || < ||T || ||T || = P.f = 39.24N
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!*

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w`mv.M8D31<&%H57$&%@&WB.M,4E7)+*%Xx , P;{CP 0 ~ql

x , P;{CP=~ql
x , P;{CP C~2$0,cx , P;{CP =~ql57$Z31@&%4BD5;,/.M,>D)+*D*$G

l
NB = 54.05N
l
NA = 44.05N
l
TBx = −11.02N
l
TAx = −8.98N
#
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NA NB
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N = f
x|{b}C} 0 \~ql?y)+31$b.MBx|{b} =~ql $ $b.M*R$0,(yf)+31$b.MBx|{b}C}C=~4~qP?#$&%(%4E;FcBD5.M,4E7)+*%(*-BDFG@034E7WB$&%2%/)+*,(31@b.M5;E7%1@&$&%2. S $&'657$
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Fx = +50N
−3 Accélération linéaire du centre de gravité G

x 10
1.2
0.8
Valeurs de a (m/s2)
0.6
0.4
0.2
0
1 2 3 4 5 6 7 8 9
Itérations sur 1 pas de temps
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O~x
Réaction tangentielle en A (TA) Réaction tangentielle en B (TB)

0 0
−5
−5
Valeurs de TA
Valeurs de TB
−10
−10
−15
−15
−20
−20 −25
0 2 4 6 8 10 0 2 4 6 8 10
Itérations sur 1 pas de temps Itérations sur 1 pas de temps
Réaction normale en A (NA) Réaction normale en B (NB)

50 60
48 58
Valeurs de NA
Valeurs de NB
46 56
44 54
42 52
40 50
38 48
0 2 4 6 8 10 0 2 4 6 8 10
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=
NA NB
6)+B%g.M5;57)+*%ZE;*,431)]>?BDE;31$G'&$0,4,1$X*)+,4E7)+*>.M*%Z57$a'b.+%g>D$X5.rsACBD31$ , P?P ¡)+BD3c'&$05.?l *)+B%ZFG$0,4,1)+*%g$0*8D5.+'&$
>D$&% S $&'0,1$0BD31%L%4BD8D8D57@0FG$0*-,/.ME;31$&%6*)+,1@&% l $0, Pi9$&% S $&'0,1$0BD31%6%1$03 S E;31)+*, j >D@qs*DE;3L>D$&%T:]8 )+,4T<&%1$&%6>D$
e~1 e~2 e~3
8D31)+8)+34,4E7)+*D*.M5;E;,1@c$0*-,431$V57$&%231@b.+'0,4E7)+*%L>D$V'1T.+W-B$g *)]$0B>P
#umn$qp)+34,bl$0*e'/T.+WB$V*)-$0B>l$&%1,H>D@&'&)+F_8 )C%1@c$0*e$qp)+34,2,/.M*DA=$0*-,4E7$05$0,H$0*f$qp)+34,2*)+34Fr.M5
x , P;{CPvUC=~
F~i = T~i + N
~i
ÉÊ-¨ É

!* * § Lb

L
F3
N3
T33
A3 T3
F1
¢ T32
N1 N2 F2
e3
¢§ e2
T13 T1 :
:? [
[ Q e1
A1
T11 T21
A2
T2
T22
) * , P . #)]'b.M5;E7%/.M,4E7)+*e>D$&%231@b.+'0,4E7)+*%Z.MB?[*)]$0B>D%H$0,H31@08.M34,4E;,4E7)+*>D$&%231@b.+'0,4E7)+*%H,/.M*DA=$0*-,4E7$05;57$&%
i^T.+W-B$Z$qp)+34,9,/.M*DA=$0*,4E7$05Kl j %1)+*,1)+BD3bl]%/$L>D@&'&)+F_8)C%1$6%4BDE S .M*-,(57$&%9>?E;31$&'0,4E7)+*% l $0,

>D$0F_FG$0*-,Xx S )+E;32sACBD31$ , P=~qP e~1 e~2 e~3
>D@qs*DE7$&%(8D31@&'&@ É
£ ,4E;,431$r>mn$q[D$0F_8D57$h.MBo*)]$0B> l5Kmn$qp)+34,X,/.M*DA=$0*,4E7$05 %1$G8D31)M4<0,1$Cl
%1BDE S .M*-,c57$&% S $&'0,1$0BD31% $0, $0*
A1 T1 e~1 e~3
>D$0B?['&)+F_8 )C%.M*,1$&%X'&) S .M34E.M*,1$&% x8.M3/.M5;57<057$ j 5Kmv.[?$ ,1$05;57$GW-B$ ~6$0, x8.M3/.M5;57<057$ j
T11 e~1 T11 = T~11 .e~1 T13
5Kmv.[D$ ,1$05;57$VW-B$ g
~ x +
) ;
E 2
3
s C
A D
B 1
3 $ , P C
q
~ P
e~3 T13 = T~13 .e~3 S
e~2
e~3
T13
T1
T1y e~1
T11
A1 T1x
) * , P . ¡k31)M4$&'0,4E7)+*Y8 $0348$0*>?E7'0BD5.ME;31$c>D$V5Kmn$qp)+34, (

E%1BD3257$&%.[?$&%H5;E7@&%.MBYFG)+\DE;57$ l $0,
e~1 e~2 e~3
ÉÊ-¨ 3 É
!*

!"
•
!$
& "!$#%&')(
!*!*++, |T | < f
N
QL*e>D@qs*DE;,6.M57)+31%2BD*$gT:]8)+,4T<&%1$V>D$g8D31)+8)+34,4E7)+*D*.M5;E;,1@c$0*-,431$V57$&%231@b.+'0,4E7)+*%,/.M*DA=$0*,4E7$05;57$&%X
T11 T21 %4BDE S .M*, x , P;{CPvU?{§~

= e~1
N1 N2
T22 T32 %4BDE S .M*, x , P;{CPvUC=~

= e~2
N2 N3
T13 T33 %4BDE S .M*, x , P;{CPvUCU=~

= e~3
N1 N3
#$&%G31@b.+'0,4E7)+*%G,/.M*DA=$0*,4E7$05;57$&%§l>D@qs*DE7$&%r>.M*%G57$h31$08 <031$RFG)+\DE;57$
8<031$YFG)+\DE;57$ l [l :=l ¢P^£,4E;,431$>mn$q[D$0F_8D57$.MB *)-$0B> l57$&{e
%'&1)+, F_
e2 , e3 }
lk%1)+*,r8D31)M|$0,1@&$&%G>.M*%G57$h31$
8)C%/.M*-,1$&%R'&) S .M34E.M*,1$&% $0,
É
A1 T11 T13
x31$08<031$c.+%1%1)]'0E7@_ ~(%bmn@&'034E S $0*-,L>.M*%257$V31$08 <031$gFG)+\DE;57$ l [l :=l ¢M~g
{e1 , e2 , e3 }
T11 = (T1x .~x + T1y .~y ).e~1 = T1x .cos(T~1x , T~11 ) + T1y .sin(T~1y , T~11 ) x , P;{CPvU , ~
T13 = (T1x .~x + T1y .~y ).e~3 = T1x .cos(T~1x , T~13 ) + T1y .sin(T~1y , T~13 )
>mn)l>m BD*e8 )+E;*-,>D$ S B$VA=@0*@03/.M5
x , P;{CPvU 0 ~
Tij = (Tix ~x + Tiy y~ )e~j = Tix .cos(T~ix , T~ij ) + Tiy .sin(T~iy , T~ij )
•
!$
& "!$#% (
!*!* , |T | = f
N
#$&%HT:]8 )+,4T<&%1$&%L>D$Z8D31)+8 )+34,4E7)+*D*.M5;E;,1@X%1)+*-,>?E;31$&'0,1$0FG$0*,Z>D@qs*DE7$&%H>.M*%H57$Z31$08<031$gFG)+\DE;57$ l [l :=l ¢
|T1 | $0, x , P;{CPvU = ~

=f T1 = T~1x ~x + T~1y ~y
N1
|T2 | $0, x , P;{CPvU=C~

=f T2 = T~2x ~x + T~2y ~y
N2
|T3 | $0, x , P;{CPvU =~

=f T3 = T~3x ~x + T~3y ~y
N3
-BD3HBD*R8D5.M* xd%4BD3|JO.+'&$c>D$g'&)+*,/.+'0,~ql5.G'&)+*>?E;,4E7)+*f>D$ZAC5;E7%1%1$0FG$0*-,L>D$ci9)+BD57)+Fa\f$&%4,H>D@qs*DE7$c8.M3V
ÉÉ
'Cmn$&%4, j >?E;31$ x , P;{CPvUC}=~
q
2 2
T~ix + T~iy = f.Ni 2
Tix 2
+ Tiy = f 2 .N 2
#umn$qp)+34,H,/.M*DA=$0*-,4E7$05$&%4,H)+8D8)C%1@V.MB S $&'0,1$0BD3 S E;,1$&%1%/$CPD#

.`*)+34FG$V>D$Z5. S E;,1$&%1%1$g%§mn@&'034E;,V
q x , P;{CP , =~
||v~i || = 2 + v2
vix iy
ÉÊ É
!* * § Lb

L
Vi
Vix
Tiy :
Viy
Tix
Ti
[
) * , P . $08D31@&%/$0*,/.M,4E7)+*R>D$25.V>D@&'&)+F_8)C%4E;,4E7)+*h>?B S $&'0,1$0BD39,/.M*DA=$0*,4E7$05$0,^>?B S $&'0,1$0BD3 S E;,1$&%1%1$cx57$L'&$031'057$
$&%4,25._,43/.+'&$V>?BY' * $V>D$ai9)+BD57)+Fa\~

#$&%H31@b.+'0,4E7)+*%,/.M*DA=$0*-,4E7$05;57$&% xd%1BDE S .M*-,H5Kmv.[?$ ~9$0, xd%4BDE S .M*,H5Kmv.[D$ ~98$0B S 0$ *,L%bmn@&'034E;31$G

Tix ~x Tiy ~y
vix x , P;{CP , {§~
Tix = − .f Ni
||v~i ||
viy x , P;{CP , =~

Tiy = − .f Ni
||v~i ||
wg.M*%257$g31$08<031$ZFG)+\DE;57$ l [l :=l ¢lD5. S E;,1$&%1%1$V.MBR*)]$0B> $&%4,V ~ ~ ~ ~ P

Ai V (Ai )/O = V (G) /O + Ω ∧ GAi
w`mn)l
x , P;{CP , U=~
vix = u − Ω.GAiy
x , P;{CP , , ~
viy = v + Ω.GAix
£LE;*%4E$0*Y'1T.+W-B$V*)]$0B>R)+*Y8$0BD,H@&'034E;31$r
u − Ω.GAiy x , P;{CP , 0 ~
Tix = − .f Ni
||v~i ||
ÉÊ Ê²É
!*

!"
v + Ω.GAix x , P;{CP , = ~
Tiy = − .f Ni
||v~i ||
#$V8D31)+\D57<0FG$V$&%4,H\DE7$0*Y>D@0,1$034F_E;*@CP
i9$0,4,1$fFG@0,4T)->D$f%1$YA=@0*@03/.M5;E7%/$ j BD* *)+Fc\D31$>D$Y*)]$0B>D%%4BD8 @034E7$0BD3 j U?lE;5L%4B G,>D$Y31$0Fr.M31W-B$03W-Bm j

'/T.+WB$g*)]$0B>Y%4BD8D8D57@0FG$0*-,/.ME;31$Cl>D$0B?[h31$05.M,4E7)+*%>D$V8D31)+8 )+34,4E7)+*D*.M5;E;,1@a%1)+*,L.4)+BD,1@&$&%bP
A3
A4
A1
A2
) * , Pv} .
,/.ME;31$&%
:]8 )+,4T<&%1$6>D$Z8D31)+8)+34,4E7)+*D*.M5;E;,1@g,/.M*DA=$0*,4E7$05;57$ É Ua*)]$0B>D%(8D34E;*'0E;8.MB?[ ) *)]$0B>D%2%4BD8D8D57@0FG$0* É
-E)+*R8D31$0*>h5Kmn$q[D$0F_8D57$V>D$Z5.asACBD31$ , Pv}?l$0*h8D5;B%H>D$&%H>?E;31$&'0,4E7)+*%8D34E;*'0E;8.M57$&% 0$ , 0$ , l?E;5
JK.MBD,H$q[]8D34E;FG$0357$&%H31$05.M,4E7)+*%%1BD8D8D57@0FG$0*,/.ME;31$&%6>.M*%H57$&%H>?E;31$&'0,4E7)+*% $0, A1 A2P A2 A3 A3 A1
A3 A4 A4 A1
•

#%! +!*!
É :]8)+,4T<&%1$g>D$g31@08.M34,4E;,4E7)+*f>.M*%HBD*$V>?E;31$&'0,4E7)+*f>D)+*D*@&$V>D$&%H31@b.+'0,4E7)+*%,/.M*DA=$0*-,4E7$05;57$&%bl
É
'b.+%H>D$Z*)+* AC5;E7%1%1$0FG$0*-,
¡k31)+8)+34,4E7)+*D*.M5;E;,1@6>D$&%9'&)+F_8)C%/.M*,1$&%9,/.M*DA=$0*,4E7$05;57$&%(8.M3^3/.M8D8 )+34,2.MB?[r'&)+F_8)C%/.M*,1$&%9*)+34Fr.M57$&%(>.M*%
BD*$c>?E;31$&'0,4E7)+*f>D)+*D*@&$(g
TAj TBj x , P;{CP , C~

=
NA NB
i9$0,4,1$g31$05.M,4E7)+*f>D@qs*DE;,bl>m BD*Y8 )+E;*-,L>D$ S B$Z8DT:?%4E7W-B$ClDBD*e'&)+F_8)+34,1$0FG$0*,Z@&WBDE S .M57$0*,6>D$&%H*)]$0B>D%
>.M*%BD*$g>?E;31$&'0,4E7)+*f>D)+*D*@&$CP
'b.+%H>D$ZAC5;E7%1%1$0FG$0*-,
#$aFr.M,1@034E.MB@0,/.M*-,6%4BD8D8)C%1@cE7%1)+,431)+8 $Cl5Km T:]8 )+,4T<&%/$ , P;{CP , G8 $0BD,6%1$c>D@&'&)+BD8D57$03Z$0*>D$0B?[Y31$05.M,4E7)+*%
%1BD8D8D57@0FG$0*,/.ME;31$&%`
TAx $0, TBx x , P;{CP , =~

= −f.sign(u) = −f.sign(u)
NA NB
É :]8)+,4T<&%1$g>D$g31@08.M34,4E;,4E7)+*e5;E;*@b.ME;31$c%48.M,4E.M57$V>D$&%H31@b.+'0,4E7)+*%*)+34Fr.M57$&%bl
¡)+BD3RBD*$%1BD3|JO.+'&$>D$'&)+*,/.+'0, j * *)]$0B>D%bl9'&$0,4,1$T:]8 )+,4T<&%1$>D@qs*DE;,RW-B$f57$&%h$q[?,431N0F_E;,1@&%R>D$&%
31@b.+'0,4E7)+*%L*)+34Fr.M57$&%H8.+%/%1$0*,H8.M32BD*eFGN0FG$g8D5.M*P
ÉÊ ÀÉ
!* * § Lb

L
#$&%aUY*)-$0B>D%a8D34E;*'0E;8.MB?[ {Cl e$0,XUR%/)+*,a'/T)+E7%4E7%bP#$&%VF @&WB.M,4E7)+*%X%4BD8D8D57@0FG$0*-,/.ME;31$&%`31$05.M,4E S $&%

.MB?[RE;*'&)+*D*-B$&%H*)+34Fr.M57$&%6%4BD8D8D57@0FG$0*,/.ME;31$&%6%1)+*,L>D@qs*DE7$&%H8.M3c

x1 x2 x3 xj
8)+BD32,1)+B%H57$&% x , P;{CP , }=~

y1 y2 y3 yj
=0 j[1, m]

N1 N2 N3 Nj
1 1 1 1
#
. S .M5;E7>.M,4E7)+* >D$&%VT-:-8)+,4T<&%1$&%X%4BD3V5.h31@08.M34,4E;,4E7)+* 5;E;*@b.ME;31$>D$&%cE;*'&)+*D*B$&%X*)+34Fr.M57$&%X$0,V5.h8D31)+8)+34,4E7)+*
*.M5;E;,1@V>D$&%31@b.+'0,4E7)+*%H,/.M*DA=$0*-,4E7$05;57$&%6$&%1,(JO.ME;,1$c.MBe8.M3/.MAC3/.M8DT$ , PvU`8.M3H5.XF_E7%/$V$0*Y8D5.+'&$V>D$V>D$0B?[RFG)]>D<057$&%
É
É
*-BDFG@034E7WB$&%bl>.M*%257$&%H'b.+%2*)+* AC5;E7%/%/.M*,6$0,HAC5;E7%1%/.M*-,bP
u -O!

! z k=
# mv.M8D8)+34,r>D$*)+,431$R,43/. S .ME;5H'&)+*'&$034*$RE7'0E2BD*$Y.MFG@05;E7)+3/.M,4E7)+* >.M*%_5.31@&%1)+5;BD,4E7)+**BDFG@034E7W-B$e>D$5Kmn@0,/.M8$

u
57)]'b.M57$CP
#
.XFG@0,4T)]>D$Z$q[]E7%1,/.M*,1$g>.M*%(57$g'&)]>D$6#
y i(}C`'&)+*%1E7%4,1$ j 31@&%/)+B>?31$Z57$L8D31)+\D57<0FG$g>D$g'&)+*-,/.+'0,H>m BD*$Z5;E.ME
%1)+*R8D5.M* $ 0%1@&WB$0*-,4E7$05;57$0FG$0*, a*)]$0B>Y.M8D31<&%H*)]$0B>P
É
6)+B%(8D31)+8 )C%/)+*%(E7'0EBD*$LFG@0,4T)]>D$g>D$Z31@&%1)+5;BD,4E7)+*YW-BDE,43/.ME;,1$g%4E;FcBD5;,/.M*@0FG$0*-,L,1)+B%(57$&%(*)]$0B>D%2>m BD*$Z5;E.ME
%1)+*h8D5.M*$CPi9$0,4,1$ZFG@0,4T)]>D$g'&)+*%4E7%4,1$ j 0'&)+BD8D57$03 65Kmn$0*%1$0Fc\D57$g>D$&%2@&W-B.M,4E7)+*%2@&'034E;,1$&%28)+BD3('/T.+WB$6*)]$0B>
É
$0,('&)+*%4,434BDE;31$6BD* S $&'0,1$0BD3(*)]>.M5uxd'&)+*%4,4E;,4B@68.M3^57$&%9E;*'&)+*D*B$&%H.MB?[*)-$0B>D%(W-B$L%1)+*-,^57$&%931@b.+'0,4E7)+*%2$0,957$&%
>D@08D5.+'&$0FG$0*-,1%V>?B'&$0*-,431$`>D$cAC3/. S E;,1@ ~$0,LBD*$XFr.M,434E7'&$`@057@0FG$0*,/.ME;31$YxFr.M,434E7'& $ q3/.ME7>D$0BD3 a8.M3V.M*.M57)+ACE7$
. S $&'g57$ S )]'b.M\D57$V@057@0FG$0*,1%Hs*DE7%~('b.M3/.+'0,1@034E7%/.M*-,5.`5;E.ME7%1)+*e8D5.M*$CP
yeE7%/$g$0*R8D5.+'&$V>?BY8D31)+\D57<0FG$
•
QL*'&)+*%4E7>D<031$`BD*8.M3/.M5;57@057@08DE;8 <&>D$r>D$X'&$0*-,431$_>D$XAC3/. S E;,1@ $0*'&)+*-,/.+'0,c. S $&'`BD*8D5.M*P#$`31$08 <031$X5;E7@_.MB
8D5.M*`>D$^'&)+*-,/.+'0,u$&%4, P+#$31$08<031$^5;E7@9.MB`%1)+5;E7>D$($&%4, P=#$^8.M3/.M5;57@057@08DE;8 <&>D$(8)+BD343/.LN0,431$
{0, xO , yO } {G, x, y, z}
$0*_FG)+B S $0FG$0*-,^)+B_E;F_FG)+\DE;57$CP I5?*mn$&%4,u%1)+BDF_E7%uW-Bm j %1)+*`8 )+E7>D%u8D31)+8D31$Vx . S $&' −2 l
F ]Fr.+%1%1$6>?BY%1)+5;E7>D$§~9.MBh*DE S $b.MBY>D$6%/)+*h'&$0*-,431$g>D$6AC3/. S E;,1@CPD#$g'&)+*,/.+'0P,H$0= *-,431m∗g
$Z57$6%/)+5;E7>D$6g$0=,(57−9.81m.s
$68D5.M*Y$&%4,2>D$
,I:-8$6J31)+,4,/.M*-,bl. S $&'ZJ57$c'&)-$ r'0E7$0*-,>D$ZJd31)+,4,1$0FG$0*,bP
#$&% S $&'0,1$0BD31%H8)C%4E;,4E7)+*%>D$&%2*)]$0B>D%2*-BDFG@031)+,1@&%L>D$G{ j 8f%1)+*,>D@qs*DE7%H8.M3c

 
xi
~ i= x , P;{CP 0 =~
OA  yi 

zi
#$&%'&)-)+31>D)+*D*@&$&%6>?BY'&$0*,431$a>D$ZAC3/. S ;E ,1@ @0,/.M*-,c
 n 
X xi
 i=1 p 
 
 
 n yi  x , P;{CP 0 {§~
X 
~
OG = 
 
 i=1 p 

 n 
Xz 
 i
p
i=1
ÉÊ <Ë É
!*

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#$&%H31@b.+'0,4E7)+*%L>D$g'&)+*-,/.+'0,57)]'b.M5;E7%1@&$&%.MB?[R*)-$0B>D%%1)+*,H*)+,1@&$&%a
 
Tix
~i =  x , P;{CP 0 =~
R  Tiy 

Ni
6)+B%g'&)+*%4E7>D@031)+*%cW-B$X,1)+BD,1$&%g57$&%Z31@b.+'0,4E7)+*%c$q[?,1@034E7$0BD31$&%g:'&)+F_8D34E7%V57$&%6JO)+31'&$&%g>m E;*$034,4E7$&%c%1)+*-,g31@&>?BDE;,1$&%

.MBY'&$0*-,431$c>D$gAC3/. S E;,1@V>?Be8 )+5;:=<&>?31$c. S $&'V'&)+F_FG$g31@&%4BD5;,/.M*-,1$VA=@0*@03/.M57$
 
Fx
x , P;{CP 0 U=~
F~ =  Fy 
 
Fz
k,57$ZFG)+FG$0*,L$q[?,1@034E7$0BD3c
 
L
x , ;P {CP 0 , ~
M (F~ )/G =  M 
 
P
QL*h,43/. S .ME;5;57$Z%4BD3957$31$08<031$6FG)+\DE;57$Cl-57$Z'b.M57'0BD5>D$&%9FG)+FG$0*,1%H>D$&%^JO)+31'&$&%($0*'/T.+WB$6*)]$0B>l]$0,2>D$&% S E;,1$&%1%1$&%
%1)+*-,H31@b.M5;E7%1@&%28.M33/.M8D8 )+34,L.MBY'&$0*-,431$c>D$gAC3/. S E;,1@ >?BY8)+5;:=<&>?31$CP
¨ ÊË %

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, #% % + ') !*,
#%! , ! ! *
! #% !

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.MBD,1$0BD31%VxK-,1)+E.M*) S E7'0E
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p
X x , P;{CP 0 0 ~
Tix + Fx = 0
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p
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Tiy + Fy = 0
i=1
p
X x , P;{CP 0 C~
Ni + F z = 0
i=1
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p p
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p p
i=1 i=1
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L
p p
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p p
i=1 i=1
p p
X yi X xi x , P;{CPC=~
Tix ( (1 − p)) − Tiy ( (1 − p)) + P = 0
p p
i=1 i=1
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y1 y2 y3 yj
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N1 N2 N3 Nj
1 1 1 1
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T11 T21 %4BDE S .M*, x , P;{CPC=~

= e~1
N1 N2
QLBl
%4BDE S .M*, x , P;{CPCU=~

T11 N2 − T21 N1 = 0 e~1
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= e~2
N2 N3
QLBl
%4BDE S .M*, x , P;{CP 0 ~

T22 N3 − T32 N2 = 0 e~2
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= e~3
N1 N3
QLBl
%4BDE S .M*, x , P;{CP=C~

T13 N3 − T33 N1 = 0 e~3
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e~1 e~2 e~3
A1~A2 A2~A3 A3~A1 x , P;{CP =~

e~1 = , e~2 = , e~3 =
||A1~A2 || ||A2~A3 || ||A3~A1 ||
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x , P;{CPC}=~
Tij = (Tix .~x + Tiy .~y ).e~j = Tix .cos(T~ix , T~ij ) + Tiy .sin(T~iy , T~ij )
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x , P;{CP CU=~qlx , P;{CP 0 ~($0,ax , P;{CP =C~qlD8$034FG$0,4,1$0*,6>D$V>D@0,1$034F_E;*$0357$&%231@b.+'0,4E7)+*%,/.M*DA=$0*,4E7$05;57$&%bP
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p p
i=1 i=1
p p
X xi X zi x , P;{CP , ~
h ∗ Nin+1 ( n+1
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p p
i=1 i=1
p p
n+1
X yi n+1
X xi x , P;{CP 0 ~
h ∗ Tix ( (1 − p)) − h ∗ Tiy ( (1 − p)) + h ∗ P = Izz ∗ (Ωn+1 − Ωn )
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v + Ω.GAix x , P;{CP CC~

Tiy = − .f Ni
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x1 x2 x3 xj
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y1 y2 y3 yj
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P =m∗g S g = −9.81m.s−2
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T = v 0
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$c8.M3/.MFG<0,431$X,1$0F_8%ZT$&%4,Z.M57)+31%68D34E7%Z$0*
'&)+F_8D,1$a>.M*%25._%4BDE;,1$Cl
>.M*%257$g'b.+%AC5;E7%1%/.M*,bl %Vx8.M36.M*.M57)+ACE7$a. S $&'V57$V'&)->D$g>D$c'b.M57'0BD5
#y i(}C=~qP
h = 10−4
ÉÊ 3 É
!*

!"
ÉFGi9$0*-)+,*~q>?P E;,4E7)+*%gE;*DE;,4E.M57$&%_ N 1 = N2 = N3 = − m∗g

3

u = v = 0m.s−1
$0,
Ω = 0rad.s−1
xd'b.+%Z>D$XAC5;E7%1%1$ É
# .GA=@&)+FG@0,434E7$a>?Bf8D34E7%4FG$c$&%1,%4:]FG@0,434E7WB$X.MBD,1)+BD3L>D$c%/)+*f.[?$c>D$V31)+,/.M,4E7)+*P #$V,1)+31%1$0BD36>D$&%$qp)+34,1%L$q[?,1@

34E7$0BD31%L$&%4,2,1)+B+|)+BD31%L.M8D8D5;E7WB@c.MBf'&$0*,431$c>D$ZAC3/. S E;,1@a>?BY%1)+5;E7>D$CP
É
Q *.M8D8D5;E7WB$BD*$Jd)+31'&$$q[?,1@034E7$0BD31$ ~
L l5.f%4E;FcBD5.M,4E7)+**-BDFG@034E7WB$h>D)+*D*$57$&%X31@&%4BD5;,/.M,1%
• F = 3000~x
%4BDE S .M*,1%c
Réactions aux noeuds

5500 0
5000
−200
4500 Noeud1
Noeud2
Noeud3 −400
4000
Réactions tangentielles Tix

Réactions normales Ni
3500 −600
3000
−800
2500
2000 −1000
1500
−1200
1000
−1400
500
0 −1600
2 4 6 8 10 2 4 6 8 10
) * , P;{b . @b.+'0,4E7)+*%*)+34Fr.M57$&%$0,2,/.M*DA=$0*,4E7$05;57$&%g.MB?[h*)-$0B>D%>?BY8D34E7%4FG$g8)+BD3
Fx = 3000N

# $6,1)+31%1$0BD3H'0E;*@0Fr.M,4E7W-B$V.a,1)+BD,1$&%H%1$&%('&)+F_8)C%/.M*,1$&%2*-BD5;57$&%V]57$Z%1)+5;E7>D$631$&%4,1$ZE;F_FG)+\DE;57$CPi9$631@&%4BD5;,/.M,H@0,/.ME;,

8D31@ S E7%4E;\D57$Cl$0*e.+'&'&)+31>. S $&'g5. S .M57$0BD3H>D$g5.aJO)+31'&$V$q[?,1@034E7$0BD31$c.M8D8D5;E7WB@&$CP
#$&%'&)+BD34\ $&%L>D$Z5.XsACBD31$ , P;{b_%1)+*-,H,43/.+'&@&$&%H8)+BD3V{bÈ;,1@03/.M,4E7)+*%bP
i9)+F_FG$Z8)+BD325Kmn$q[?$0F_8D57$g$0*YX>?E;FG$0*%4E7)+*%bl57$&%(31@b.+'0,4E7)+*%2,/.M*DA=$0*,4E7$05;57$&%L%bmn)+8D8 )C%/$0*, j 5.cJd)+31'&$g$q[?,1@034E7$0BD31$
$0,H57$&%L31@b.+'0,4E7)+*%6%1)+*,L8D5;B%@057$ S @&$&%Z.MBe*DE S $b.MBf>?Bf*)-$0B> W-Bmv.MB?[R*)-$0B>D% $0, P#
.G>?E;31$&'0,4E7)+*>D$
5.GJd)+31'&$`$q[?,1@034E7$0BD31$`$&%4,Z8 )C%4E;,4E S $X%4BDE S .M*,Z5Kmv.[D$ ~ P#$`%1)+A5;E72>D$a%§mv.M8D8DBDE7$a8D5;B%gA%1BD136%1)+A *3*)]$0B> WBmv.MB?[
Ox A2
>D$0B?[o.MBD,431$&%V*)]$0B>D%bP# .R%1)+F_FG$G>D$&%g31@b.+'0,4E7)+*%a *)+34Fr.M57$&% l $0, >D)+*D*$G57$_8 )+E7>D%a>?B \D57)-'CP
#
.
É
N1 N2 N3
'&)+*>?E;,4E7)+* >D$_*)+* AC5;E7%1%1$0FG$0*-, q 2 2 xE {ClvU=~c$&%4, S @034Es@&$CP#$&%c31@&%4BD5;,/.M,1%a>?Bz'b.+%a%4,/.M,4E7W-B$
T + T < f Ni
%1)+*-,'&)+T@031$0*,1%Z. S $&'V57$&%2T:]8 )+,4T<&%/$&ix%2JK.ME;,1$&iy%bP
#
.%1)+5;BD,4E7)+*%4,/.M,4E7W-B$a'&)+* S $034A=$_.MBf\)+BD,6>D$ÙrE;,1@03/.M,4E7)+*%6$0,Z%1$X%4,/.M\DE;5;E7%1$ j 5. S .M57$0BD3Ls*.M57$CP¡ )+BD3Z57$X'b.+%
>?:]*.MF_E7WB$(57$98.+%k>D$(,1$0F_8%k$&%4,k'/T)+E7%4E j −4 %blE7'0ED57$&%t*)-$0B>D%k>D$('&)+*,/.+'0,1%31$&%4,1$0*,kE;F_FG)+\DE;57$&%$0,u%4,/.M\D57$&%
>?BD3/.M*-,957$&%9E;,1@03/.M,4E7)+*%bPQL*R'1T)+E7%1E;,2.M57)+31%9BD10*8.+%(>D$,1$0F_8%2>D$ −3 %98.M3(.M*.M57)+ACE7$g. S $&'657$Z'&)]>D$L>D$6'b.M57'0BD5
10
#y i(}C?P
ÉÊ É
!* * -
-
#$c'b.M57'0BD5
>D$&%231@b.+'0,4E7)+*%$&%1,.M3431N0,1@a. S $&'VBD*Y,1$&%4,H>D$g'&)+* S $034A=$0*'&$CPQL*RJO$03/.`>D$gFGN0FG$g8.M3H5.`%1BDE;,1$CP
w .M*%25.`>D$0B?[]E7<0FG$a%4E;FcBD5.M,4E7)+*l)+*e.MBDACFG$0*,1$a5. S .M57$0BD3L>D$Z5.XJd)+31'&$g$q[?,1@034E7$0BD31$ ~
g
• F = 10000~x
#
.G'&)+BD34\ $V>D$Z5.`sACBD31$ , P;{bU`FG)+*,431$aWB$Z57$ZFG)]>D<057$g8D31@&>?E;,H\DE7$0*e57$gFG)+B S $0FG$0*,Z.M,4,1$0*>?BP
Accélération linéaire du centre de gravité G

−4
x 10
8 0.1
0.08
7
0.06
6
0.04
Accélération suivant axe Ox
Accélération suivant axe Oy

5
0.02
4 0
−0.02
3
−0.04
2
−0.06
1
−0.08
0 −0.1
2 4 6 8 10 2 4 6 8 10
) * , P;{bU . L$08D31@&%1$0*,/.M,4E7)+*R>D$&%(.+'&'&@057@03/.M,4E7)+*%95;E;*@b.ME;31$&% $0, .MBh'&$0*,431$6>D$LAC3/. S ;E ,1@L>?B8D34E7%4FG$8)+BD3

Γx Γy

Fx = 10000N
#
. S .M57$0BD3u>D$(5Kmv.+'&'&@057@03/.M,4E7)+*G5;E;*@b.ME;31$ %1BDE S .M*-,k5Kmv.[?$ ~ $&%4,k'&)+*%4,/.M*,1$cx ~ $0,t8)C%4E;,4E S $CP
#$c%1)+5;E7>D$g%1$g>D@08D5.+'&$c%1BDE S .M*-,H5.`>?E;31$&Γ'0,4xE7)+* ~ xd'b.+%2AC5;Ox E7%1%/.M*-,~qP Fext = constante
Ox
ÉÊ Ê²É
!*

!"

6000 50
−100
5500
−300
5000
Noeud1
Noeud2 −500
4500
Noeud3
−700
4000

−900
3500
−1100
3000
−1300
2500
−1500
2000
−1700
1500
−1900
1000 −2100
500 −2300
0 −2500
2 4 6 8 10 2 4 6 8 10
) * , P;{ ,'. L@b.+'0,4E7)+*%H*)+34Fr.M57$&%$0,,/.M*DA=$0*,4E7$05;57$&%Z.MB?[*)]$0B>D%H>?BY8D34E7%4FG$V8 )+BD3

Fx = 10000N

#$&%'&)+BD34\ $&%L>D$&%(sACBD31$&% , P;{bU_$0, , P;{ , %1)+*,H,43/.+'&@&$&%8 )+BD3V{b_E;,1@03/.M,4E7)+*%bP

QL*31$0,431)+B S $57$&%^FGN0FG$&%('&)+*'05;B%4E7)+*%(WB$L'&$05;57$&%(>D$5Kmn$q[D$0F_8D57$8D31@&'&@&>D$0*-, j %/. S )+E;39W-B$H57$&%^31@b.+'0,4E7)+*%9,/.M*
A=$0*-,4E7$05;57$&%u%bmn)+8D8)C%1$0*,k.MB_%1$0*%t>D$AC5;E7%1%/$0FG$0*,k>?B_%1)+5;E7>D$^$0,kW-B$57$&% S .M57$0BD31%t>D$&% 31@b.+'0,4E7)+*%k%/)+*,t8D5;B%t@057$ S @&$&%
É
.MBG*DE S $b.MB>?BG*)]$0B>
A2
WBmv.MB?[_*)]$0B>D%
A1 A3
$0, P#$&% S .M57$0BD31%$0*'1T.+W-B$H*)]$0B>G>D$&%u31@b.+'0,4E7)+*%^,/.M*DA=$0*
,4E7$05;57$&%Z%1)+*-,L8D5;B%Z@057$ S @&$&%ZWB$X>.M*%657$a'b.+%6%4,/.M,4E7W-B$a'b.M3Z5.r'&)+*>?E;,4E7)+*>D$cAC5;E7%1%/$0FG$0*, q 2
É
T + Tiy 2 = fN
i
xE {ClvU=~($&%1, S @034Es@&$CP#
._%/)+F_FG$V>D$&%231@b.+'0,4E7)+*%H*)+34Fr.M57$&% l $0, >D)+*D*$g57$Z8 )+E7>D%ix >?BY\D57)-'CP
QL*r.6FG)+*-,431@HWB$(5Kmn@&W-B.M,4E7)+*G>D$(5.Z>?:]*.MF_E7WB$H%1BDE S .M*-,k5Kmv.N[?1$ N N3
~ 8 )+B S .ME;,u%bmn@&'034E;31$2$0*_,1$034FG$&%>D$(FG$&%1BD31$&%
2
Ox
>?Ep@031$0*,4E7$05;57$&%6>D$Z5.XJK. &)+*e%4BDE S .M*,1$G
n+1 n+1 n+1 x , PvU?PvU=~

h ∗ T1x + h ∗ T2x + h ∗ T3x + h ∗ Fx = m ∗ (un+1 − un )
#$,1$034FG$ (un+1 −un ) 31$08D31@&%1$0*,1$5. S .M57$0BD3`>D$G5Kmv.+'&'&@057@03/.M,4E7)+*P *$.MBD,431$rFr.M*DE7<031$h>D$rFG)+*,431$03_WB$r57$&%

T-:-8)+,4T<&%1$&%(JK.ME;,1h$&%%1)+*-,H'&)+*?Jd)+34FG$&%L$&%4,25.`31@&%1)+5;BD,4E7)+*e*BDFG@034E7W-B$c>D$g5Kmn@&W-B.M,4E7)+*zx , PvU?PvU=~ZP

ÉP (un+1 −un ) l
É£LE;*%4EKl
h = 6.05m.s−2
Ti x = −3950N
l
$0, P#umn@&W-B.M,4E7)+*
P (un+1 −un )
Fx + Ti x = 10000 − 3950 = 6050N m∗ = 1000 ∗ 6.05 = 6050N
x , PvU?PvU=~($&%1, S @034Es@&$CP h
#$&%(31@&%1BD5;,/.M,1%2>?Bh'b.+%(AC5;E7%/%/.M*,H%1)+*-,2'&)+T@031$0*,1%L. S $&'Z57$&%9T:]8 )+,4T<&%1$&%9JK.ME;,1$&%(8)+BD3957$ S 0$ 325Km E;*>D@0,1$034F_E;*.M,4E7)+*P
#
.G%1)+5;BD,4E7)+*e>?:]*.MF_E7WB$V'&)+* S $034A=$a.MBR\)+BD,>D$VUÈ;,1@03/.M,4E7)+*%L$0,%1$g%4,/.M\DE;5;E7%1$ j 5. S .M570$ BD32s*.M57$CP
ÉÊ ÀÉ
!* * -
-
QL*".M8D8D5;E7W-B$fFr.ME;*,1$0*.M*,eBD* FG)+FG$0*,Y$q[?,1@034E7$0BD3 ~ ~ l^5.o%4E;FaBD5.M,4E7)+*"*BDFG@034E7W-B$

>D)+*D*•$G M (F ) = −200~z

4000 60 60
Noeud1
3750
Noeud2 50 50
3500 Noeud3
40 40
3250
3000 30 30
2750
Réactions tangentielles Tiy

20 20
2500
10 10
2250
2000 0 0
1750
−10 −10
1500
−20 −20
1250
1000 −30 −30
750
−40 −40
500
−50 −50
250
0 −60 −60
2 4 6 8 10 2 4 6 8 10 2 4 6 8 10
Itérations sur 1 pas de temps Itérations sur 1 pas de temps Itérations sur 1 pas de temps
) * , P;{ 0/. @b.+'0,4E7)+*%2*)+34Fr.M57$&%L$0,H,/.M*DA=$0*,4E7$05;57$&%Z.MB?[R*)-$0B>D%>?BR8D34E7%4FG$g8)+BD3

Mz = −200N m

#$&%2'&)+F_8)C%/.M*-,1$&%>?Bh,1)+31%1$0BD3H'0E;*@0Fr.M,4E7W-B$V%1)+*,2,1)+BD,1$&%(*-BD5;57$&%V?57$Z%1)+5;E7>D$Z31$&%4,1$6E;F_FG)+\DE;57$CP#
. S .M57$0BD3H>?B
FG)+FG$0*-,L$q[?,1@034E7$0BD3L.M8D8D5;E7WB@V*mn$&%4,H8.+%H%4Br%.M*,1$g8)+BD3>D@08D5.+'&$03H57$V%/)+5;E7>D$CP
#$&%'&)+BD34\ $&%L>D$Z5.XsACBD31$ , P;{ 0 %1)+*-,H,43/.+'&@&$&%H8)+BD3V{bÈ;,1@03/.M,4E7)+*%bP
#$^8D34E7%4FG$2.BD*$A=@&)+FG@0,434E7$(%4:]FG@0,434E7WB$98.M33/.M8D8 )+34, j %1)+*`.[D$9>D$31)+,/.M,4E7)+*lM57$&%,431)+E7%31@b.+'0,4E7)+*%t*)+34Fr.M57$&%

%1)+*-,rE7>D$0*-,4E7WB$&%bP^#$&%G31@b.+'0,4E7)+*%,/.M*DA=$0*-,4E7$05;57$&%%/)+*,r31$&%18 $&'0,4E S $0FG$0*-,>D@&'&)+BD8D57@&$&%bl^%4:]FG@0,434E7WB$&%%4BDE S .M*-,
5Kmv.[D$ ~ $0,5.`%1)+F_FG$ %4BDE S .M*,H5Kmv.[D$ ~ P
Ox
AC5;E7%1%/$0FG$0*,
T1y + T3y = −T2y
#
.e%1)+F_FG$r>D$&%c31@b.+'0,4E7)+*%c*)+34Fr.M57$&%
N1 N2
l $0,
N3
>D)+*D*Oy
$0*,X57$_8)+E7>D%c>?Bo\D57)]'CP
# .Y'&)+*>?E;,4E7)+* >D$_*)+* É
2 + T 2 < f N xE {ClvU=~9$&%4, S @034Es@&$CP#$&%(31@&%4BD5;,/.M,1%H>?BR'b.+%H%1,/.M,4E7WB$Z%1)+*-,H'&)+T@031$0*,1%L. S $&'
q
Tix i
57$&%2T-:-8)+,4T<&%1$&%HJO.ME;,1$&%bPiy
i $&%g31@&%1BD5;,/.M,1%V%1)+*,a'&)+*?Jd)+34FG$&%c. S $&'_5.hA=@&)+FG@0,434E7$G>?B%/)+5;E7>D$CP#$_%4E;AC*$G>D$&%Z31@b.+'0,4E7)+*%c,/.M*DA=$0*,4E7$05;57$&%X>D@
9
8$0*>_>?BG%4E;AC*$2>?B_FG)+FG$0*,^$q[],1@034E7$0BD3^.M8D8D5;E7W-B@2$0,k5. S .M57$0BD3u>D$&%k31@b.+'0,4E7)+*%u,/.M*DA=$0*-,4E7$05;57$&%>D@08$0*>G>D$(57$0BD31%
É
8)C%4E;,4E7)+*%28.M3H3/.M8D8)+34, j 5Kmv.[D$V>D$Z31)+,/.M,4E7)+*f$0,H>D$&%L.[?$&% ~ $0, ~ P
Ox Oy
#
.G%1)+5;BD,4E7)+*e%4,/.M,4E7W-B$g'&)+* S $034A=$X.MBY\ )+BD,H>m BD*$cE;,1@03/.M,4E7)+*e $0,%1$g%1,/.M\DE;5;E7%1$ j 5. S .M57$0BD32s*.M57$CP
ÉÊ IË É
!*

!"
i9)+F_FG$28 )+BD3t57$&%u>D$0B?[_%4E;FaBD5.M,4E7)+*%u8D31@&'&@&>D$0*,1$&%§l)+*r.MBDACFG$0*,1$HE7'0ED5. S .M57$0BD3u>?B_FG)+FG$0*-,^$q[?,1@034E7$0BD3

•
lD5.`%4E;FaBD5.M,4E7)+*e*-BDFG@034E7WB$a>D)+*D*$G
M (F~ ) = −60000~z
~
Accélération de rotation du centre de gravité G

1 0
−1
0.8
−2
0.6
−3
Accélération suivant axe Ox et Oy
0.4
Accélération suivant axe Oz

−4
0.2
−5
0 −6
−7
−0.2
−8
−0.4
−9
−0.6
−10
−0.8
−11
−1 −12
2 4 6 8 10 2 4 6 8 10
) * , P;{ . $08D31@&%1$0*-,/.M,4E7)+*Y>D$&%9.+'&'&@057@03/.M,4E7)+*%(5;E;*@b.ME;31$&% l $0,^>D$L31)+,/.M,4E7)+* .MBh'&$0*,431$Z>D$LAC3/. S E;,1@

Γx Γy Ω̇z

>?BY8D34E7%1FG$Z8 )+BD3
Mz = −60000N m
# $&%g'&)+BD34\$&%V>D$`5.rsACBD31$ , P;{ FG)+*,431$0*-,aW-B$X5. S .M57$0BD3V>?BFG)+FG$0*,a$q[],1@034E7$0BD3c.M8D8D5;E7W-B@G$&%4,g%4Br%/.M*-,1$

8)+BD3(JO.ME;31$V\ )+BDA=$03H57$g%/)+5;E7>D$rxd'b.+%2AC5;E7%1%/.M*-,~qP
#
. S .M57$0BD3c>D$G5Kmv.+'&'&@057@03/.M,4E7)+* >D$_31)+,/.M,4E7)+* %4BDE S .M*,c5Kmv.[?$ ~ $&%4,V'&)+*%4,/.M*-,1$$0,c*@0A.M,4E S $CP
#$_8D34E7%1FG$Cl
.MB S B$h>D$%/.f%4:-FG@0,434E7$8.M3X3/.M8D8 )+34, j %1)+Ω̇*
.+'&'&@057@03/.M,4E7)+*'&)+*%4,/.M*,1$CP
z
.[?$>D$31)+,/.M,4E7)+Oz
*lt,1)+BD34*$%1BD3a5;BDE FGN0FG$Y.MBD,1)+BD3_>D$ ~ l j
Oz É
ÉÊ ¨ É
!* * -
-

3500 1200 1400
1300
3250 1000
3000 Noeud1 1100

Noeud2 800
2750 Noeud3
600 900
2500
400 700

2250
2000 200 500
1750 0
300
1500 −200
100
1250
−400
1000 −100
−600
750
−300
−800
500
−1000 −500
250
0 −1200 −700
2 4 6 8 10 2 4 6 8 10 2 4 6 8 10
) * , P;{§ . @b.+'0,4E7)+*%H*)+34Fr.M57$&%L$0,2,/.M*DA=$0*,4E7$05;57$&%g.MB?[h*)-$0B>D%H>?Be8D34E7%4FG$g8)+BD3

Mz = −60000N m

#$&%'&)+BD34\ $&%L>D$&%(sACBD31$&% , P;{ _$0, , P;{§_%1)+*,H,43/.+'&@&$&%8 )+BD3V{b_E;,1@03/.M,4E7)+*%bP

QL*31$0,431)+B S $H57$&%uFGN0FG$&%9'&)+*'05;B%4E7)+*%9WB$'&$05;57$&%^>D$25Kmn$q[D$0F_8D57$H8D31@&'&@&>D$0*-, j %/. S )+E;39WB$H57$&%u,431)+E7%^31@b.+'0,4E7)+*%
*)+34Fr.M57$&%g%1)+*-,ZE7>D$0*,4E7W-B$&%bP#$&%631@b.+'0,4E7)+*%g,/.M*DA=$0*,4E7$05;57$&%c%1)+*,Z31$&%48$&'0,4E S $0FG$0*,V>D@&'&)+BD8D57@&$&%bl%1:-FG@0,434E7W-B$&%
%4BDE S .M*,5Kmv.[?$ ~ $0,H5.`%1)+F_FG$V$&%1, %1BDE S .M*-,H5Kmv.[?$ ~ P
#$&% S .M57$0BD31%t$0*`'/T.+WB$9*)]$0B>a>D$&%31@b.+'0,4E7)+*%t,/.M*DA=$0*-,4E7$05;57$&%u%1)+*,t8D5;B%t@057Oy
Ox T1y + T3y = −T2y
$ S @&$&%kW-B$^>.M*%57$9'b.+%%1,/.M,4E7WB$9'b.M3
5.c'&)+*>?E;,4E7)+*h>D$LAC5;E7%1%1$0FG$0*-, q
2 + T 2 = f N xE {ClvU=~u$&%4, S @034Es@&$CP?#
.c%/)+F_FG$>D$&%931@b.+'0,4E7)+*%9*)+34Fr.M57$&%
Tix
l $0, >D)+*D*$0*-,`57$G8)+E7>D%a>?Bziy\D57)-'CP #$&i%X31@&%4BD5;,/.M,1%a>?B 'b.+%X>?:-*.MF_E7W-B$r%1)+*-,X'&)+T@031$0*-,1%G. S $&'57$&%
N1 N2 N3
T-:-8)+,4T<&%1$&%(JK.ME;,1$&%bP
#
.G%1)+5;BD,4E7)+*e>?:]*.MF_E7WB$V'&)+* S $034A=$a.MBR\)+BD,>D$VUÈ;,1@03/.M,4E7)+*%L$0,%1$g%4,/.M\DE;5;E7%1$ j 5. S .M57$0BD32s*.M57$CP
+
+

#+!$!

!

-BD3'&$0,4,1$V8D31$0F_E7<031$V%1@034E7$V>D$g%4E;FaBD5.M,4E7)+*%31@b.M5;E7%/@&$&%L. S &$ 'V57$g'&)->D$Vy.M,1#

.M\l)+*e31$0Fr.M31WB$VW-B$_
É. S 57$&$&%'g3157@b$&.+%2'057,4)+E7E7)+%*>D%9$6,/.MJd31*D)+A=,4$0,1*$0,4FGE7$0$05;*57$&,6%2'0%§5mn.+)+%18D%48 E7W-)CB%1$&$0%H*-,>D$a,1)+i9B+4)+)+BDBD5731)+%9Fa.M\Bhl %1$0*%^>D$HAC5;E7%1%1$0FG$0*-,bP?i9$&%^31@&%4BD5;,/.M,1%(%1)+*-,^'&)+*?JO)+34FG$&%

É.M8D%18DE5;57E7$gW-B8D@&34$cE7%4FG.MBY$c'&AC$05;*E7%1,4%131$V$c>>D.M$g*AC%3/BD. S*E;$c,1@V>?E;>?31BY$&'0%1,4)+E7)+5;E7*f>D$C>Dl?)+57*D$&*% @&S $C.Ml57$0.MBD57)+3131%H%>DW-$&B%2$0315
@bW-.+B'0,4$VE7)+%1*)+%E;,L*57)+$g34FGFr)-.M>?57$&BD%57$a$0,2>D,/$g.M5*D.XA=$0JO)+*-31,4'&E7$0$c5;57$q$&[?%,131@0$&34%4E7$0,1BD$0*-31$,
E7>D$0*-,4E7WB$&%bPwg.M*%X57$r'b.+%X)z)+*.M8D8D5;E7WB$BD*oFG)+FG$0*-,`$q[?,1@034E7$0BD3_.MBD,1)+BD3`>D$r5Kmv.[?$ ~ l 57$&% S .M57$0BD31%X>D$&%
Oz
31@b.+'0,4E7)+*%L%1)+*,'&)+T@031$0*-,1$&%6. S $&'g5._%4:]FG@0,434E7$g$0,H5Kmv.[D$g>D$g31)+,/.M,4E7)+*e>?Be%/)+5;E7>D$Cl
ÉÊ ÀÉ
!*

!"
É 5._'&)+* S $034A=$0*'&$Cl>.M*%H57$&%H'b.+%2*)+* É AC5;E7%1%/.M*-,L$0,2AC5;E7%1%.M*,bl$&%1,2,431<&%23/.M8DE7>D$rx|{ j UXE;,1@03/.M,4E7)+*%~qP

QL*z8D31)+8 )C%1$r>mn@0,4B>?E7$03a5.Y,43/.M*%4E;,4E7)+* >?Bz'b.+%a>D$_*)+* É AC5;E7%/%1$0FG$0*,G.MBo'b.+%X>D$GAC5;E7%1%/$0FG$0*,bP
#
$G\DBD,a$&%1,a>D$
S @034Es$03u%4E?57$&%k31@b.+'0,4E7)+*% j 5.65;E;F_E;,1$2>?B_AC5;E7%/%1$0FG$0*,u%1)+*-,kE7>D$0*,4E7W-B$&%^.MB?[X31@b.+'0,4E7)+*%k57)+31%1W-B$(57$9%/)+5;E7>D$(AC5;E7%1%1$CP
QL*e.M8D8D5;E7WB$cBD*$6Jd)+31'&$c$q[],1@034E7$0BD31$ ~ l?5.`%4E;FaBD5.M,4E7)+*e*-BDFG@034E7WB$a>D)+*D*$G
• F = −m ∗ g ∗ f~x

6000 0
−100
5500
−250
Noeud1
5000 −400
Noeud2
Noeud3 −550
4500
−700

4000 −850
−1000
3500
−1150
3000
−1300
2500 −1450
−1600
2000
−1750
1500 −1900
1000 −2050
−2200
500
−2350
0 −2500
2 4 6 8 10 2 4 6 8 10
) * , P;{ . L@b.+'0,4E7)+*%2*)+34Fr.M57$&%L$0,2,/.M*DA=$0*-,4E7$05;57$&%6.MB?[R*)]$0B>D%H>?BY8D34E7%4FG$Z8)+BD3
Fx = −m ∗ g ∗ f

#$&% S .M57$0BD31%_>D$&%_31@b.+'0,4E7)+*%G*)+34Fr.M57$&%G$0,_,/.M*DA=$0*,4E7$05;57$&%>D$5.fsACBD31$ , P;{ %1)+*,_E7>D$0*-,4E7WB$&%.MB?[ S .M57$0BD31%

É

4, 31)+B S @&$&%H>.M*%H5.asACBD31$ , P;{ , PD#

.`,43/.M*%4E;,4E7)+*Y>?BY'b.+%H>D$6*)+* AC5;E7%1%/$0FG$0*,6.MBY'b.+%2>D$ZAC5;E7%/%1$0FG$0*,%/$JK.ME;,H>D$
JK.&)+*e'&)+*,4E;*-B$CP
QL*@0,4B>?E7$Fr.ME;*-,1$0*.M*,257$'b.+%9>m BD*'0BD\$H8)C%1@L%4BD3BD*8D5.M*r8)+BD3FG)]>D@05;E7%1$039W-B.M,431$H*)]$0B>D%9>D$'&)+*,/.+'0,1%§P
i9$0,t$q[?$0F_8D57$98$034FG$0,k>D$ S .M5;E7>D$03t57$&% T-:-8)+,4T<&%1$&%8)+BD3 57$ S $03t5Km E;*>D@0,1$034F_E;*.M,4E7)+*r>D$&%31@b.+'0,4E7)+*%t*)+34Fr.M57$&%k$0,
,/.M*DA=$0*-,4E7$05;57$&%bP¡t.M3H3/.M8D8 )+34, j 5Kmn$q[D$0F_8D57$g>?Bh8D34E7%4FG$Cl?5Km T:]8 )+,4T<&%/$g>D$L31@08.M34,4E;,4E7)+*e5;E;*@b.ME;31$g%4BD3(57$&%H.+'0,4E7)+*%
*)+34Fr.M57$&%L$&%4,.|)+BD,1@&$CP
u u ? 4 ]

t
Q *R'&)+*%4E7>D<031$ZBD*Y'0BD\$Z$0*h'&)+*-,/.+'0,L. S $&'ZBD*h8D5.M*RT)+34E;¢b)+*-,/.M5KP#$&%H.+'0,4E7)+*%H>D$Z'&)+*,/.+'0,L%1)+*,257)]'b.M5;E7%1@&$&%H.MB
L
*DE S $b.MBe>D$&%WB.M,431$g*)]$0B>D% l l $0, lD%1)+F_FG$0,1%>D$g5.aJK.+'&$g$0*e'&)+*-,/.+'0,bP
-BD3Z5Kmn$q[D$0F_8D57$X>D$X5.GsACBD31$ A, 1P;{b}?Al 257$aA'0BD3\$_.GA4
BD*$XT.MBD,1$0BD3V>D$_.r$0,Z*mn$&%4,Z%1)+BDF_E7%gW-Bm j %/)+*8)+E7>D%68D31)+8D31$
ÉÊ É
!* * -
-
x . $&' lDF ?Fr.+%/%1$g>?Be%1)+5;E7>D$§~2.MBR*DE S $b.MB>D$g%1)+*Y'&$0*,431$a>D$gAC3/. S E;,1@CP

P =m∗g S g = −9.81m.s−2
 
F 0
x
x , PvU?P , ~
T
 
= Fy 0
Fz Mz
 
#$V,1)+31%1$0BD3'0E;*@0Fr.M,4E7W-B$V$&%4,V

 
v 0
 x  x , PvU?P 0 ~
T = vy 0
0 Ωz
 
#$c'0BD\ $g$&%4,H'&)+*%1E7>D@031@V31$&%4,/.M*-,H,1)+B+|)+BD31%L$0*Y'&)+*,/.+'0,bP
.
[
A4 A3
\
zo [
A1 A2
Q yo
xo
) * , P;{b} . @&)+FG@0,434E7$a>?BY'0BD\ $

É i9)]$r'0E7$0*,6>D$ZJ31)+,4,1$0FG$0*-,a]J ?P , l
É .MBD,1$0BD3>?Be%1)+5;E7>D$_. {0FYl
É #
.M34A=$0BD36>?Be%1)+5;E7>D$_?\ {0FYl
É y.+%1%1$g>?BY%1)+5;E7>D$r?F {bCC & AP
É i9)])+31>D)+*D*@&$&%L>D$&%H*)-$0B>D%V
É

¡t.+%>D$g,1$0F_8%c'&)+F_FG$g8)+BDA3215Kmn= $q[?$0(0,
F_8D0,57$c−1)
8D31@&'&@&A>D2$0*=,bl (1, 0, −1) A3 = (1, 1, −1) A4 = (0, 1, −1)
É
>.M*%V57$_'b.+%c*)+* AC5;E7%1%/.M*-,bl57$G%4:?%4,1<0FG$_>mn@&W-B.M,4E7)+*%c$&%4,c31@&%1)+5;Bo>D$XJK.&)+*E;,1@03/.M,4E S $CP
#$G8.M3/.MFG<0,431$
,1$0F_8%HTY$&%4,28D34E7%L$0*Y'&)+F_8D,1$Cl
>.M*%257$g'b.+%AC5;E7%1%/.M*,bl −4 %Vx8.M36.M*.M57)+ACE7$a. S $&'V57$V'&)->D$g>D$c'b.M57'0BD5
#y i(}C=~qP
É i9)+*>?E;,4E7)+*%_E;*DE;,4E.M57$&%R h = 10
AC5;E7%1%.M*,~qP N1 = N2 = N3 = N4 = − m∗g 4

u = v = 0m.s−1
$0,
Ω = 0rad.s−1
xd'b.+%
#
.6A=@&)+FG@0,434E7$>?B`'0BD\$2$&%4,k%4:]FG@0,434E7WB$H.MBD,1)+BD3u>D$2%/)+*_.[D$(>D$(31)+,/.M,4E7)+*P=#$(,1)+31%1$0BD3u>D$&%k$qp)+34,1%k$q[?,1@034E7$0BD31%
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$&%4,2,1)+B+4)+BD31%L.M8D8D5;E7W-B@&$c.MBe'&$0*-,431$V>D$gAC3/. S E;,1@V>?Bf%1)+5;E7>D$CP
Q *R.M8D8D5;E7WB$6BD*$LJd)+31'&$6$q[?,1@034E7$0BD31$V.MB'0BD\$ ~
L xE;*'05;E;*@&$ j ◦ 8.M3(3/.M8D8)+34,2.MB?[
' ,1@&%H>?Bf'0BD\ $§~qlD5.`%1E;FcBD5.M,4E7)+*e*-BDFG@034E7WB$a>D)+*D*$g57$&%231@&%4BD5;,/.M,1%L%4BDE S .M*,1%c
• F = 1000~x − 1000~y 45

0 320
3000 −20 Noeud1 300

Noeud2
2800 −40 280
Noeud3
2600 −60 Noeud4 260
2400 −80 240
2200 −100 220


2000 −120 200
1800 −140 180
1600 −160 160
1400 −180 140
1200 −200 120
1000 −220 100
800 −240 80
600 −260 60
400 −280 40
200 −300 20
0 −320 0
2 4 6 8 10 2 4 6 8 10 2 4 6 8 10
) * , PvC . L@b.+'0,4E7)+*%c*)+34Fr.M57$&%X$0,c,/.M*DA=$0*-,4E7$05;57$&%G.MB?[*)-$0B>D%a>?Bz'0BD\$G8)+BD3 $0,

Fx = 1000N Fy =

−1000N
#$6,1)+31%1$0BD3H'0E;*@0Fr.M,4E7W-B$V.a,1)+BD,1$&%H%1$&%('&)+F_8)C%/.M*,1$&%2*-BD5;57$&%V]57$Z%1)+5;E7>D$631$&%4,1$ZE;F_FG)+\DE;57$CPi9$631@&%4BD5;,/.M,H@0,/.ME;,
8D31@ S E7%4E;\D57$Cl$0*e.+'&'&)+31>. S $&'g57$&% S .M57$0BD31%>D$Z5.`Jd)+31'&$g$q[?,1@034E7$0BD31$c.M8D8D5;E7W-B@&$CP
#$&%'&)+BD34\ $&%L>D$Z5.XsACBD31$ , PvC_%1)+*-,H,43/.+'&@&$&%H8)+BD3V{bÈ;,1@03/.M,4E7)+*%bP
i9)+F_FG$_8)+BD3V5Kmn$q[D$0F_8D57$G>?B8D34E7%4FG$Cl57$&%g31@b.+'0,4E7)+*%V,/.M*DA=$0*-,4E7$05;57$&%a%bmn)+8D8)C%1$0*-, j 5.JO)+31'&$G$q[],1@034E7$0BD31$CP
#
.
>?E;31$&'0,4E7)+*h>D$H5.gJd)+31'&$L$q[],1@034E7$0BD31$6$&%4,u8)C%4E;,4E S $%1BDE S .M*-,5Kmv.[D$ ~ $0,*@0A.M,4E S $6%4BDE S .M*,^5Kmv.[?$ ~ P k*r3/.ME7%/)+*
>D$Z5.`%4:]FG@0,434E7$Z>?BY'0BD\ $g$0,H>D$Z5Kmv.M8D8D5;E7'b.M,4E7)+*f>D$Z5.aJd)+31'&$g%4BDE Ox Oy
S .M*,25.`>?E.MA=)+*.M57$c>D$Z5.`%4BD3|JO.+'&$Z>D$g'&)+*-,/.+'0,bl
57$&% S .M57$0BD31%G>D$&%`31@b.+'0,4E7)+*%r%/)+*,_57$&%`8D5;B%G@057$ S @&$&%r.MB*DE S $b.MB>?B*)]$0B> ltE7>D$0*-,4E7WB$&%.MB *DE S $b.MB >D$&%
A2
*)]$0B>D% $0, l $0,57$&%6FG)+E;*%6@057$ S @&$&%g.MBf*DE S $b.MB>?Bf*)]$0B> P#$a%/)+5;E7>D$a%bmv.M8D8DBDE7$X>D)+*'a8D5;B%L%4BD3657$
*)]$0B> A1W-B$VA%4BD3 3257$Z*)]$0B> P A4
#
.r%1)+F_AFG2$c>D$&%31@b.+'0,4E7)+*%*)+34AFr4.M57$&%
AC5;E7%1%/$0FG$0*, q 2
x E C
{ l 9
~
l
N1 N2 N3
&
$ 4
% ,
l
0
@ 4
3
E
s &
@
$0,
C
$
P
N4

# &
$ (
%
>D)+*D*$c57$V8)+E7>D%>?BY\D57)]'CP# .G'&)+*>?E;,4E7)+*>D$g*)+*
31@&%4BD5;,/.M,1%H>?BR'b.+%H%1,/.M,4E7WB$Z%1)+*-,H'&)+T@031$0*,1%L. S $&'
É
Tix + Tiy 2 < fN , S
i
57$&%2T-:-8)+,4T<&%1$&%HJO.ME;,1$&%bP
#
.X%1)+5;BD,4E7)+*R%4,/.M,4E7W-B$6'&)+* S $034A=$V.MBh\ )+BD,(>D$gUVE;,1@03/.M,4E7)+*%2$0,(%1$6%4,/.M\DE;5;E7%1$ j 5. S .M57$0BD3^s*.M57$CPDi9)+F_FG$Z8)+BD3
5Kmn$q[D$0F_8D57$V>?BY8D34E7%4FG$Cl57$Z8.+%H>D$g,1$0F_8%H8.M323/.M8D8)+34,L.MBe'b.+%HAC5;E7%1%/.M*,8 $0BD,HN0,431$c.MBDACFG$0*-,1@r −3 %bP h = 10
ÉÊ É

!* * -
-
wZ.M*%L5.>D$0B?[]E7<0FG$X%4E;FcBD5.M,4E7)+*l)+*8D31)+8 )C%/$a>mv.MBDACFG$0*-,1$03g57$&% S .M57$0BD31%L>D$a5.`JO)+31'&$ ~

•
xE;*'05;E;*@&$ j ◦ 8.M323/.M8D8 )+34,6.MB?[R' 1, @&%>?Be'0BD\ $§~6 F = 40000~x −
40000~y 45

−3 −3
x 10 x 10
4 0
3.5 −0.5
3 −1
Accélération suivant axe Ox
Accélération suivant axe Oy

2.5 −1.5
2 −2
1.5 −2.5
1 −3
0.5 −3.5
0 −4
2 4 6 8 10 2 4 6 8 10
) * , Pv?{ . L$08D31@&%1$0*,/.M,4E7)+*>D$&%Z.+'&'&@057@03/.M,4E7)+*%Z5;E;*@b.ME;31$&% $0, .MB'&$0*,431$X>D$VAC3/. S ;E ,1@X>?B'0BD\$V8)+BD3

Γx Γy

$0,
Fx = 40000N Fy = −40000N
#
.G'&)+BD34\ $V>D$Z5.`sACBD31$ , Pv?{gFG)+*,431$cWB$g57$ZFG)]>D<057$g8D31@&>?E;,H\DE7$0*e57$ZFG)+B S $0FG$0*,g.M,4,1$0*>?BP
#$&% S .M57$0BD31%^>D$&%(.+'&'&@057@03/.M,4E7)+*%(5;E;*@b.ME;31$&%
Γx
%4BDE S .M*,^57$&%9.[D$&% ~ $0,
Ox Γy
%4BDE S .M*,957$&%(.[?$&% ~ %1)+*,931$&%48$&'
,4E S $0FG$0*-,L'&)+*%4,/.M*-,1$c8)C%4E;,4E S $V$0,H'&)+*%4,/.M*-,1$c*@0A.M,4E S $CP#$V%1)+5;E7>D$c%1$g>D@08D5.+'&$c%4BD3BD*$g,43/.|Oy
$&'0,1)+E;31$cE;*'05;E;*@&$
É
>D$ ◦ 8.M33/.M8D8 )+34,L.MB?[R>?E;31$&'0,4E7)+*%HE;*DE;,4E.M57$&%L>D$V%1$&%2' ,1@&%bl>.M*%H57$Z31$08<031$gA=@0*@03/.M5KP
45
ÉÊ 3 É
!*

!"

4000 0 1200
3750
1100
3500
−200 1000
3250
3000 900
2750
−400 800

2500
700
2250
2000 −600 600
1750
500
1500
−800 400
1250
1000 300
750
−1000 200
500
100
250
0 −1200 0
2 4 6 8 10 2 4 6 8 10 2 4 6 8 10
) * , PvC . @b.+'0,4E7)+*%g*)+34Fr.M57$&%V$0,g,/.M*DA=$0*-,4E7$05;57$&%a.MB?[*)-$0B>D%V>?B'0BD\$`8 )+BD3 $0,

Fx = 40000N Fy =

−40000N
#$&%'&)+BD34\ $&%L>D$&%(sACBD31$&% , Pv?{V$0, , PvCG%1)+*,H,43/.+'&@&$&%8 )+BD3V{b_E;,1@03/.M,4E7)+*%bP

QL*h31$0,431)+B S $g57$&%9FGN0FG$&%H'&)+*'05;B%4E7)+*%WB$L5Kmn$q[?$0F_8D57$Z8D31@&'&@&>D$0*-, j %/. S )+E;3HW-B$657$&%(31@b.+'0,4E7)+*%2,/.M*DA=$0*,4E7$05;57$&%
%bmn)+8D8)C%1$0*-,t.MBX%1$0*% >D$ÂC5;E7%1%1$0FG$0*-,>?B`%1)+5;E7>D$9$0, W-B$u57$&% S .M57$0BD31%t>D$&% 31@b.+'0,4E7)+*%t%1)+*,8D5;B% @057$ S @&$&%k.MBX*DE S $b.MB
>?Bh*)]$0B> WBmv.MB?[h*)]$0B>D% l $0, P]#
$&% S .M57$0BD31%H$0*R'/T.+WB$Z*)]$0B>R>D$&%(31@b.+'0,4E7)+*%2,/.M*DA=$0*,4E7$05;57$&%
A2 A1 A3 A4
%1)+*-,28D5;B%2@057$ S @&$&%HW-B$g>.M*%(57$g'b.+%2%4,/.M,4E7WB$g'b.M3(5.`'&)+*>?E;,4E7)+*e>D$ZAC5;E7%/%1$0FG$0*, q 2 2 = f N xE {Cl , ~
Tix + Tiy i
$&%4, S @034Es@&$CP
#
.%1)+F_FG$`>D$&%Z31@b.+'0,4E7)+*%g*)+34Fr.M57$&% l l $0, >D)+*D*$X57$X8 )+E7>D%g>?B\D57)]'CP#$&%Z31@&%4BD5;,/.M,1%g>?B'b.+%
N1 N2 N3 N4
>?:]*.MF_E7WB$c%1)+*,'&)+*?JO)+34FG$&%L. S $&'g57$&%2T-:-8)+,4T<&%1$&%2JK.ME;,1$&%bP
#
ÉÊ É
!* * -
-
QL*8D31)+8)C%1$r>mv.M8D8D5;E7W-B$03cFr.ME;*-,1$0*.M*,`BD*FG)+FG$0*-,X$q[?,1@034E7$0BD3a>D$_FG)]>?BD57$ ~ ~ 8)+BD3
@S 34Es•$03V%4Et57$&%Z31@&%4BD5;,/.M,1%c%1)+*,V'&)+T@031$0*-,1%a. S $&'_'&$0B?[8D31)+8 )C%/@&%Z8.M3g57$`8D34E7%4FG$CP#
.h%4ME;Fc(BDF5).M,4=
0 −400~z
E7)+*o *BDFG@034E7W-B$
>D)+*D*$G

3000 200 200
150 150
2500
100 100
2000

50 50
1500 0 0
−50 −50
1000
−100 −100
500
−150 −150
0 −200 −200
2 4 6 8 10 2 4 6 8 10 2 4 6 8 10
) * , PvCU . @b.+'0,4E7)+*%2*)+34Fr.M57$&%6$0,2,/.M*DA=$0*,4E7$05;57$&%Z.MB?[R*)-$0B>D%H>?Bf'0BD\ $Z8)+BD3

Mz = −400N m

#$&%2'&)+F_8)C%/.M*-,1$&%>?Bh,1)+31%1$0BD3H'0E;*@0Fr.M,4E7W-B$V%1)+*,2,1)+BD,1$&%(*-BD5;57$&%V?57$Z%1)+5;E7>D$Z31$&%4,1$6E;F_FG)+\DE;57$CP#
. S .M57$0BD3H>?B
FG)+FG$0*-,L$q[?,1@034E7$0BD3L.M8D8D5;E7WB@V*mn$&%4,H8.+%H%4Br%.M*,1$g8)+BD3>D@08D5.+'&$03H57$V%/)+5;E7>D$CP
#$&%'&)+BD34\ $&%L>D$Z5.XsACBD31$ , PvCU_%1)+*-,H,43/.+'&@&$&%H8)+BD3V{bÈ;,1@03/.M,4E7)+*%bP
i9)+F_FG$h8)+BD3_5Kmn$q[?$0F_8D57$R>?B8D34E7%1FG$Clk$0* 3/.ME7%/)+*>D$h5.eA=@&)+FG@0,434E7$e>?B '0BD\$Clt57$&%_W-B.M,431$h31@b.+'0,4E7)+*%_*)+3
Fr.M57$&%R%1)+*-,hE7>D$0*,4E7W-B$&%bP2#$&%h31@b.+'0,4E7)+*%h,/.M*DA=$0*,4E7$05;57$&%f%1)+*,R%4:]FG@0,434E7W-B$&%%1BDE S .M*-,R57$&%h.[D$&% ~ l ~ $0,
É
Ox Oy
l P
T1x + T2x = −(T3x + T4x ) T1y + T4y = −(T2y + T3y )
# . %1)+F_FG$>D$&%31@b.+'0,4E7)+*%R*)+34Fr.M57$&%

l l $0, >D)+*D*$57$f8)+E7>D%h>?B"\D57)-'CP(#
. '&)+*>?E;,4E7)+* >D$
É
N1 N2 N3 N4
*)+* AC5;E7%1%/$0FG$0*, q
2 + T 2 < f N xE {Cl , ~H$&%1, S @034Es@&$CP#$&%31@&%4BD5;,/.M,1%>?B'b.+%H%4,/.M,4E7W-B$c%1)+*-,'&)+T@031$0*,1%
Tix i
. S $&'g57$&%2T:]8)+,4T<&%1$&%2JK.ME;,1$&%biyP
i9$&%231@&%1BD5;,/.M,1%%1)+*-,'&)+*?Jd)+34FG$&%6.MB?[RT:]8 )+,4T<&%1$&%>D$V%4:]FG@0,434E7$V>?BY%1)+5;E7>D$CP#$c%4E;AC*$V>D$&%231@b.+'0,4E7)+*%L,/.M*DA=$0*
,4E7$05;57$&%k>D@08$0*>`>?B`%1E;AC*$9>?B`FG)+FG$0*-,u$q[],1@034E7$0BD3.M8D8D5;E7W-B@($0,5. S .M57$0BD3k>D$&% 31@b.+'0,4E7)+*%u,/.M*DA=$0*,4E7$05;57$&%u>D@08$0*>
É
ÉÊ VÊ²É
!*

!"
>D$Z57$0BD3H8)C%4E;,4E7)+*Y8.M33/.M8D8 )+34, j 5Kmv.[D$g>D$g31)+,/.M,4E7)+*e>?Bf%1)+5;E7>D$V$0,.MB?[Y.[?$&% ~ $0, ~ P

#
.G%1)+5;BD,4E7)+*e%4,/.M,4E7W-B$g'&)+* S $034A=$X.MBY\ )+BD,H>m BD*$cE;,1@03/.M,4E7)+*e$0,%1$g%1,/.M\DE;5;E7%1$ j Ox
5. S M. 57$0Oy
BD32s*.M57$CP
i9)+F_FG$e8)+BD357$&%>D$0B?[ $q[D$0F_8D57$&%8D31@&'&@&>D$0*-,1%bl()+*".MBDACFG$0*-,1$5. S .M57$0BD3>?B FG)+FG$0*,R$q[?,1@034E7$0BD3

•
~ (F~ ) = −40000~z PQL*Y)+\D,4E7$0*-,57$&%231@&%4BD5;,/.M,1%L%4BDE S .M*,1%V
M

1 0
0.8
−1
0.6
−2
Accélération suivant axe Ox et Oy
0.4
Accélération suivant axe Oz

−3
0.2
0 −4
−0.2
−5
−0.4
−6
−0.6
−7
−0.8
−1 −8
2 4 6 8 10 2 4 6 8 10
) * , Pv , . $08D31@&%1$0*-,/.M,4E7)+*Y>D$&%9.+'&'&@057@03/.M,4E7)+*%(5;E;*@b.ME;31$&% l $0,^>D$L31)+,/.M,4E7)+* .MBh'&$0*,431$Z>D$LAC3/. S ;E ,1@

Γx Γy Ω̇z

>?Be'0BD\$Z8)+BD3
Mz = −40000N m
#$&%6'&)+BD34\$&%L>D$c5.XsACBD31$ , Pv , FG)+*,431$0*-,ZW-B$V5. S .M57$0BD36>?BeFG)+FG$0*-,6$q[?,1@034E7$0BD3Z.M8D8D5;E7W-B@&$c$&%1,L%4Br%/.M*-,1$

8)+BD3(JO.ME;31$V\ )+BDA=$03H57$g%/)+5;E7>D$rxd'b.+%2AC5;E7%1%/.M*-,~qP
#
. S .M57$0BD3>D$R5Kmv.+'&'&@057@03/.M,4E7)+* >D$e31)+,/.M,4E7)+* %1BDE S .M*-,r5Kmv.[D$ ~ $&%1,r'&)+*%4,/.M*,1$f$0,r*@0A.M,4E S $CP^#$e'0BD\$Cl
>?BRJK.ME;,H>D$g%/.`%4:]FG@0,434E7$g8.M3H3/.M8D8)+34, j %1)+*eΩ̇.[Dz $g>D$g31)+,/.M,4E7)+*l,1Oz
)+BD34*$V%4BD325;BDE FGN0FG$a.MBD,1)+BD3L>D$ ~ P É Oz
ÉÊ ÀÉ
!* * -
-

2500 800 800
Noeud1
Noeud2 600 600
Noeud3
2000 Noeud4
400 400

200 200
1500
0 0
1000
−200 −200
−400 −400
500
−600 −600
0 −800 −800
2 4 6 8 10 2 4 6 8 10 2 4 6 8 10
) * , Pv 02. L@b.+'0,4E7)+*%H*)+34Fr.M57$&%L$0,H,/.M*DA=$0*,4E7$05;57$&%Z.MB?[*)]$0B>D%>?BY'0BD\$g8)+BD3

Mz = −40000N m

#$&%'&)+BD34\ $&% , Pv , $0, , Pv 0 %1)+*-,H,43/.+'&@&$&%H8)+BD3V{bÈ;,1@03/.M,4E7)+*%bP

QL*Y31$0,431)+B S $V57$&%2FGN0FG$&%'&)+*'05;B%4E7)+*%LWB$Z8)+BD3H57$g'b.+%H>?Be8D34E7%4FG$V$0,28)+BD3H5Kmn$q[?$0F_8D57$V8D31@&'&@&>D$0*,bP
#$&% S .M57$0BD31%t$0*`'/T.+WB$9*)]$0B>a>D$&%31@b.+'0,4E7)+*%t,/.M*DA=$0*-,4E7$05;57$&%u%1)+*,t8D5;B%t@057$ S @&$&%kW-B$^>.M*%57$9'b.+%%1,/.M,4E7WB$9'b.M3
5.c'&)+*>?E;,4E7)+*h>D$LAC5;E7%1%1$0FG$0*-, q 2 2 = f N xE {Cl , ~u$&%4, S @034Es@&$CP?#
.c%/)+F_FG$>D$&%931@b.+'0,4E7)+*%9*)+34Fr.M57$&%
Tix + Tiy i
l l $0, >D)+*D*$a57$V8)+E7>D%L>?Bf\D57)-'CP#$&%L31@&%4BD5;,/.M,1%Z>?Bf'b.+%6>?:-*.MF_E7W-B$a%/)+*,L'&)+T@031$0*-,1%V. S $&'a57$&%
N1 N2 N3
T-:-8)+,4T<&%1$&%(JK.ME;,1N $&%b4P
#
ÉÊ aË É
!*

!"
QL*f.M8D8D5;E7W-B$gBD*$ZJO)+31'&$V$q[?,1@034E7$0BD31$ ~ 8)+BD3 S @034Es$0357$g'b.+%5;E;F_E;,1$c>D$

AC5;E7%1%/•$0FG$0*,bP# .`%4E;FcBD5.M,4E7)+*f*BDFG@034E7W-B$c>D)+F*D*=$G−m
∗ g ∗ f~x + m ∗ g ∗ f~y

4000 0 1200
3750
−100
3500 Noeud1
Noeud2 −200 1000
3250 Noeud3
3000 Noeud4 −300
2750
−400 800

2500
−500
2250
2000 −600 600
1750
−700
1500
−800 400
1250
1000 −900
750
−1000 200
500
−1100
250
0 −1200 0
2 4 6 8 10 2 4 6 8 10 2 4 6 8 10
) * , Pv . @b.+'0,4E7)+*%L*)+34Fr.M57$&%L$0,H,/.M*DA=$0*-,4E7$05;57$&%g.MB?[h*)]$0B>D%>?Be8D34E7%4FG$g8)+BD3 $0,

Fx = −m ∗ g ∗ f

Fy = m ∗ g ∗ f
i9)+F_FG$_8)+BD3Z5Kmn$q[?$0F_8D57$r>?B8D34E7%1FG$Cl57$&% S .M57$0BD31%g>D$&%V31@b.+'0,4E7)+*%g*)+34Fr.M57$&%V$0,g,/.M*DA=$0*,4E7$05;57$&%X>D$X5.sACBD31$
, Pv g%/)+*,kE7>D$0*,4E7W-B$&%^.MB?[ S .M57$0BD31%k,431)+B S @&$&%>.M*%k5.LsACBD31$ , PvC?P=#
.6,43/.M*%4E;,4E7)+*r>?B'b.+%u>D$(*)+* AC5;E7%1%1$0FG$0*-,
.MBY'b.+%L>D$ZAC5;E7%1%1$0FG$0*,6%1$6JK.ME;,H>D$6JO. &)+*e'&)+*-,4E;*B$CP
É

( + #%! !

!
#$&%GT:]8 )+,4T<&%1$&%_%1BD8D8D57@0FG$0*,/.ME;31$&%>D$h8D31)+8 )+34,4E7)+*D*.M5;E;,1@Y>D$&%G31@b.+'0,4E7)+*%_,/.M*DA=$0*,4E7$05;57$&%$0,_>D$h31@08.M34,4E;,4E7)+*
5;E;*@b.ME;31$V>D$&%H31@b.+'0,4E7)+*%H*)+34Fr.M57$&%)+*-,@0,1@g,1$&%4,1@&$&%>.M*%257$&%H'b.+%H%4,/.M,4E7W-B$g$0,>?:]*.MF_E7WB$V8 )+BD32BD*R*)+Fa\D31$
>D$Z*)]$0B>D%@0A.M5 j U`$0, , P
¡)+BD3 S .M5;E7>D$03H'&$&%HT-:-8)+,4T<&%1$&%V
É É
>D$&%H'&)+*>?E;,4E7)+*%6>D$Z*)+* AC5;E7%1%1$0FG$0*-,6$0,2AC5;E7%/%1$0FG$0*,6%1)+*, S @034Es@&$&%bl
É É
5.r%1E;FcBD5.M,4E7)+*%4BD365._,43/.M*%4E;,4E7)+**)+* AC5;E7%1%/.M*-, AC5;E7%1%/.M*-,g31@b.M5;E7%1@&$X8 )+BD3657$&%L'b.+%Z>?B8D34E7%4FG$X$0,6>?B'0BD\ $`.
FG)+*-,431@cW-B$Z57$&%231@&%4BD5;,/.M,1% j 5._5;E;F_E;,1$V>?BRAC5;E7%1%1$0FG$0*-,L%1)+*-,@&WBDE S .M57$0*,1% j '&$0B?[h>?BeAC5;E7%1%1$0FG$0*,bl
É W-B$057WB$c%1)+E;,25Km E;*DE;,4E.M5;E7%/.M,4E7)+*l57$&% S .M57$0BD31%L>D$&%231@b.+'0,4E7)+*%'&)+* S $034A=$0*, S $031%2BD*$V%1)+5;BD,4E7)+*YBD*DE7W-B$Cl
É )+*e.X31$08D31@&%1$0*-,1@c%4BD3(5.asACBD31$ , Pv=`5.X31@b.+'0,4E7)+*Y,/.M*DA=$0*,4E7$05;57$ q
2 2 .MBR*DE S $b.MBe>?BR*)]$0B>
||T || = T1x + T1y
ÉÊ ?¨ É
!* * -
-
{g>?Be'0BD\$g$0*RJO)+*'0,4E7)+*e>D$Z5. S .M57$0BD3>D$Z5.XJO)+31'&$g$q[],1@034E7$0BD31$ ~ P
Fext = Fx ~x
10000
9000
8000
Réaction tangentielle au noeud 1 (N)

7000
6000
5000
4000
3000
2000
1000
0
0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000
Force extérieure (N)
) * , Pv= .
3/.M*%4E;,4E7)+*f*)+* AC5;E7%1%/.M*, C
É
A 5;E7%/%/.M*,Z.MBY*DE S $b.MBe>?BY*)]$0B>{V>?BY'0BD\$
#
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>D$Hi9)+BD57)+Fc\~ B%1W-Bm j .M,4,1$0E;*>?31$2BD*$ S .M57$0BD3k%1$0BDE;5
xd'b.+%k>D$9AC5;E7%1%/$0FG$0*,bl j %/. S )+E;3u%4BD3 57$2' *$(>D$i9)+BD57)+Fa\~qP
É ÉÉ
P
É
#$Z8.+%/%/.MA=$V$0*,431$V57$&%H'b.+%2*)+* AC5;E7%1%/.M*-,$0,2AC5;E7%1%/.M*-,%1$Z8D31)]>?BDE;,2E7'0E8)+BD3 ~
Fext = −m ∗ g ∗ f~x
'Cmn$&%4, j >?E;31$ ÉÉ
Fx = 3924N
É %1E2BD* %1)+5;E7>D$RAC5;E7%1%/$R%4BDE S .M*-,GBD*$Y>?E;31$&'0,4E7)+* E;*'05;E;*@&$e>D$R5Kmv.M*DAC57$

l 7
5 &
$ % S M
. 7
5 0
$ D
B 1
3 V
% D
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$ g
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3 b
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' 4
, 7
E +
)
* % j D
B
*
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$
B
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*
* G
@ D
> 0
@
8 0
$
* D
> 0
$
* a
, D
> $ θ
P
xsACBD31$ , Pv =~`8.M3G3/.M8D8)+34, j 5Kmv.[D$
£ ,4E;,431$_>mn$q[D$0F_8D57$Cl
)+* S @034Es$_57$&%

Ox~ θ
31@b.+'0,4E7)+*%,/.M*DA=$0*,4E7$05;57$&%Z.MBY*)-$0B> >?Be'0BD\$CP
A1
Fy
1500
1000
valeurs des réactions T1x et T1y
500
θ
Fx 0
-500
Réaction tangentielle T1x

-1000 Réaction tangentielle T1y
θ -1500
0 25 50 75 100 125 150 175 200 225 250 275 300 325 350
Fx angle de rotation
Fy
) * , Pv . * B $0*'&$c>D$Z5. S .M57$0BD3L>?BRFG)->?BD57$V>D$ 0$ , %4BD3257$&% S .M57$0BD31%H>D$&%H31@b.+'0,4E7)+*% 0$ ,
Fx Fy Tx Ty
ÉÊ À É
!*

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i9)+*>?E;,4E7)+*%E;*DE;,4E.M57$&%a?8)+BD3 ◦l $0, P
# $&%'&)+BD34\ $&%(8D31@&%1$0*-,1@&$&% j >?31θ)+E;=,1$V0%4BD3(F5x.a=

,4E7)+*%6%1)+*,631@b.M5;E7%1@&$&%Z.MBe*)]$0B>
sAC10000N
BD31$ , Pv X*$gF%1y)+*-=,280N
.+%2'&$0*,431@&$&%L$0*ea'b.M3257$&%'b.M57'0BD57%H>D$&%(31@b.+'
>?B'0BD\ $CPi9$V*)]$0B>e$&%4,6$q[?'&$0*-,431@c8.M363/.M8D8 )+34,Z.MBf'&$0*-,431$X>D$cAC3/. S E;,1@
É
A1
P
QL*Y8$0BD,2*)+,1$03H57$V>D@&'b.M5.MA=$c>D$ ◦ %4BD3257$&%H'&)+BD34\$&% $0, ◦ P
90 T1x T1y T1x (θ) = T1y (θ + 90 )
QL*%bm E;*-,1@031$&%1%1$`Fr.ME;*-,1$0*.M*, j BD*'b.+%Z5;E;F_E;,1$Y 57$_%1)+5;E7>D$X,1$0*> S $031%g57$X\.+%1'0BD57$0FG$0*-,bP
¡)+BD3c'031@&$03V'&$`>D$03
*DE7$03bl)+*Y'&)+*%1E7>D<031$gBD*R8.M3/.M5;57@057@08DE;8 <&>D$a>D)+*,L57$&%H>?E;FG$0*%4E7)+*%H%1)+*-,>D@0,1$034F_E;*@&$&%6%4BD3(5.XsACBD31$ , PvC}?PD¡)+BD3
É
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>?BY8.M3/.M5;57@057@08DE;8<&>D$V8D5;BD, ,LWB$g'&$05;57$V>D$V5.aJd)+31'&$c.M8D8D5;E7W-B@&$CP
u "OC K I C K

¡ )+BD32E;5;5;B%4,431$03H'&$0,4,1$6FG)]>D@05;E7%/.M,4E7)+*l)+*R'&)+*%4E7>D<031$ZBD*R'0BD\$6$0*R'&)+*-,/.+'0,L. S $&'ZBD*h8D5.M*hT)+34E;¢b)+*,/.M5KP#$&%
.+'0,4E7)+*%a>D$G'&)+*,/.+'0,`%1)+*,c57)-'b.M5;E7%1@&$&%a.MB*DE S $b.MBz>D$&%aWB.M,431$_*)]$0B>D% l l $0, l%1)+F_FG$0,1%a>D$_5.
A1 A2 A3 A4
JK.+'&$g$0*e'&)+*,/.+'0,bP
-BD3H5Kmn$q[D$0F_8D57$c>D$c5.XsACBD31$ , PvC}?l57$c'0BD\$c.`BD*$V%4BD3|JK.+'&$V>D$a'&)+*,/.+'0,L>D$X. \e$0,HBD*$cT.MBD,1$0BD3 S .M34E.M\D57$c'CP
i9$2%1)+5;E7>D$9*mn$&%4,u%/)+BDF_E7%kWBm j %1)+*`8)+E7>D%t8D31)+8D31$Vx . $&' lMF Fr.+%/%1$2>?B_%1)+5;E7>D$§~qP
P = m∗g S g = −9.81m.s−2
£LBR*DE S $b.MBe>D$V%1)+*Y'&$0*-,431$c>D$ZAC3/. S E;,1@CP
 
F 0
x
x , PvU?P=~
T
 
= Fy 0
Fz Mz
 
#$V,1)+31%1$0BD3'0E;*@0Fr.M,4E7W-B$V$&%4,V

 
v 0
 x  x , PvU?P C~
T = vy 0
0 Ωz
 
'
zo :
A4 A3
yo \
xo [
.
A1 A2
) * , PvC} . yf)]>D@05;E7%/.M,4E7)+*e>?BR\.+%/'0BD57$0FG$0*,
ÉÊ É
!*!*
§ D

É i )]$r'0E7$0*,6>D$ZJ31)+,4,1$0FG$0*-,a]J ?P , l
9
É %4BD3|JK.+'&$V>D$g'&)+*-,/.+'0,a. {0F \ , FYl
É

.MBD,1$0BD3 S .M34E.M\D57$V>?Be%1)+5;E7>D$_' FYl
É y.+%1%1$g>?BY%1)+5;E7>D$r?F {bCC & AP

É i9)])+31>D)+*D*@&$&%L>D$&%H*)-$0B>D%V
É É

A1 = (0, 0, x) A2 = (4, 0, x) A3 = (4, 1, x) A4 = (0, 1, x)
¡t.+%>D$g,1$0F_8%c xd'b.+%>D$Z*)+* AC5;E7%1%/$0FG$0*,~2$0, xd'b.+%H>D$ZAC5;E7%1%/$0FG$0*,~qP
É h = 10−3 s
i9)+*>?E;,4E7)+*%LE;*DE;,4E.M57$&%c
#
.`Jd)+31'&$g$q[?,1@034E7$0BD31$c$&%4,2N N4 = − m∗g
,1)+1B+4=)+BDN31%2 .M=8D8DN5;E73W-B=@&$a
h = 10−4 s
.MBY'&$0*-,4314$c>D$ZuAC=
3/. S vE;,1=@cΩ

>?BY=%/)+0m.s
5;E7>D$
−1 xd'b.+%>D$gAC5;E7%1%1$0FG$0*-,~qP
P
Fx = 10000N
5000
A1 A2
A2 A2
4000
A3 A4 N3 ou N4
N1 ou N2
A4 A4
Réactions normales (N)
~
Fext 3000
¢
2000

F~ext '
1000
[
0
2 4 6 8 10 )+B )+B
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Mur avec procédé réaliste de construction

8000 Mur calculé directement
6000
Réaction au bloc (N)
4000
2000
0
0 1 2 3 4
Hauteur du mur (m)
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A1 = (0, 0, −1) A2 = (1, 0, −1) A3 = (1, 1, −1) A4 = (0, 1, −1)
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u = v = 0m.s−1
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2202.50 2702.50 2702.50 2202.50
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