Dynamics of Mechanical Systems 2009 Part 2 potx

... =− AAA BBB CCC BBB CCC AAA CCC AAA BBB mp BBB AAA CCC AAA CCC BBB CCC BB 123 123 123 123 123 123 123 123 123 123 123 123 123 123 123 123 12 BB AAA 3 123 ABC ABCABCCAB BC A BA C CB A AC B ⋅× () =⋅×=×⋅=⋅× =⋅×=−⋅×=−⋅×=−⋅× 0593_C 02_ fm Page 34 Monday, May 6, 20 02 1:46 ... dt=− () [] ++ ()() [] 22 2 22 2θθ θ θ ωθ αω θ= d dt d dt d dtand = = 22 V P rn=ω...

Ngày tải lên: 10/08/2014, 20:20

... ) + () +− () + 12 12 12 12 12 4 12 1 12 12 1 1 1 2 2 2 22 22 2 1 22 1 2 2 1 22 12 2 1 2 m m mm m G G B G G B I I ωω ωω lll ll l ˙˙ ˙˙˙ cos θθ θθθθθ 44 12 1 12 23 12 16 2 2 2 2 2 2 1 22 12 2 1 2 2 2 () [ + ()( ... + () + [ ++ () ] + ()( ) 1 2 1 2 1 2 1 2 1 2 12 2 3 122 12 3 22 2 2 2 1 2 1 2 2 2 2 2 2 2 3 2 3 2 2 2 mm...

Ngày tải lên: 10/08/2014, 20:20

... AA AA==⋅=++ 2 1 2 2 2 3 2 AAA cosθ= ⋅ = ++ ++ () ++ () AB AB AB AB AB AAA BBB 11 22 33 1 2 2 2 3 2 1 2 1 2 2 2 3 2 1 2 AB AB⋅= = ()() () =cosθ 43 32 63 An n n=−+ 524 123 AAAA 2 2 22 2 524 45==⋅= () +− () + () = 0593_C 02_ fm ... An=++ 11 22 33 BBn Bn Bn=++ 11 22 33 AB A A A B B B AB AB AB AB AB AB AB AB ⋅= + + () ⋅++ () =⋅+⋅+⋅ +⋅+⋅+⋅ +⋅+⋅ 11 22 33 11 22 3...

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... dt 2 2 ωαθω 22 2= + ∫ d o ωω αθ 22 2= + o 0593_C04*_fm Page 84 Monday, May 6, 20 02 2:06 PM 86 Dynamics of Mechanical Systems To see this, let c be expressed in terms of the unit vectors n 1 , n 2 , ... 3 m 12 m 60° R Box tttω= ++ () ++ () 2 12 2 3 24 nn nrad sec R n n n 3 ft 4 ft 12 ft A B 3 2 1 0593_C04*_fm Page 120 Monday, May 6, 20 02 2:06 PM 9...

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... 1 =− () l ˙ cos sinθθ θ aNN O XZ 2 111 2 1111 2 1 =− () +− − () [] l ˙˙ cos ˙ sin ˙˙ sin ˙ cosθθθθ θθθθ vvv aaa G O GO G O GO 2 2 22 2 2 22 =+ =+ // and vnn GO 22 22 322 1 22 / ˙ =× () = () ωω llθ 0593_C05_fm ... 3 21 1 32 11 4 12 10 123 10 12 15 3 4 8 3 624 22 3 1 3 3 1 123 31 322 8 3 12 16 120 120 30 180 24 32 72 24 48 + () +× + () =− + + − − − +−− nn nn nnnn...

Ngày tải lên: 10/08/2014, 20:20

... ab 11 22 33 11 22 33 1111 121 2 1313 21 21 22 22 2 323 3131 322 2 3333 0593_C07_fm Page 20 3 Monday, May 6, 20 02 2: 42 PM 23 0 Dynamics of Mechanical Systems where we have made use of Eqs. (7. 12. 4) and ... αβ α β and S iα =− −           22 0 22 24 32 24 64 12 64 92 34 3 3 4 3 4 39 8 3 8 334 38 378 22 0 22 24 32 24 64 12 64 300 050 006 22 24 2...

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... βββ β βββ ββ ββ 1 2 21 2 23 12 2 3 123 2 3 123 2 23 1 12 12 12 12 52 32ggll 1 12 123 12 0+ () + ()( ) ++ () =ββββg l sin 53 32 12 53 13 12 32 12 12 23 23 1 32 33 1 2 21 2 23 12 2 3 () + () ++ () + () [] + () + [] + () + () [] + () + () + () + () + () cos ... = ll ll ll 22 2 20 12 2 12 1 1 12 22 2 12 22 2 2 nnnFT nn n nnFT mg mg ** ** − () ×−...

Ngày tải lên: 10/08/2014, 20:20

... x 12 00== =, P 0 t dt ∫ Qdt y t 0 ∫ ll l ll lmv mv mv m mv m yy y y 12 2 2 21 2 1 2 1 12 2 1 12+ = () + () − () + () ωω ll21 12 1 2 1 () = () mv m y ω vvv v 02 10 2 0 2 2 021 1 22 122 1 12 12 2 1 12 −− () +− () = () − () [] + () − () −− () [] + () ll ... ωωω ω =⋅⋅ =⋅⋅ 1 2 1 2 ωω ωωωω In I BG BG I ω BG K G BG =+⋅⋅ 1 2 1 2 2 vIωωωω KM G =+ ++ () 1 2 1 2 2 11...

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... h Imr = () + () − () − () =− () +− +       12 12 12 12 12 22 222 222 23 22 2 2 ˆˆ ωωωω Lmhrh=− − () [] 3 Q a 0 Ω Q O Ω 0593_C10_fm Page 3 42 Monday, May 6, 20 02 2:57 PM 354 Dynamics of Mechanical Systems System ... mx= () = () 12 12 22 ˙ WK k mv= () = () −∆ or 12 12 0 22 δ vx km== ˙ δ Wkd=− () 12 2 Kmv k= () = () 12 12 22 δ W K kd k=− ()...

Ngày tải lên: 10/08/2014, 20:20

... km ωωω 1 2 2 2 3 2 22 2 22 =− () () = () =+ () () km km km,, AAA 1 2 2 2 3 2 1++= 2 20 12 AA−= −+ − =AAA 123 20 −+ =AA 23 20 2 AA A 12 3 12 2 2 12= = =,, 0593_C13_fm Page 453 Monday, May 6, 20 02 3 :21 ... 12 = − () + () + () D xxx ˙˙ ˙˙ ˙˙ ξ 21 3 22 22 = () − () D xx ˙˙ ˙˙ ˙˙ ˙˙ ξ 3 123 12 2 2 12 = − () + () + () D xxx ˙˙ ξ ˙˙ ξ 1 121 23 23 12...

Ngày tải lên: 10/08/2014, 20:20