➢

➢
➢

➢
➢
➢
➢

➢
➢
➢
➢

➢
➢
➢
➢
➢
➢
➢
➢

➢
➢
➢
➢
➢
➢
➢
➢
➢
➢
➢
➢
➢
➢
➢

➢
➢
➢
➢

➢
➢
➢
➢
𝒂𝑛 𝒂𝜏 𝒂
✕ ✕
✕ ✓ 𝒂𝜏
✓ ✕ 𝒂𝑛
✓ ✓ 𝒂𝑛 + 𝒂𝜏
➢

➢
➢

𝑑 𝐫Ԧ𝐀 𝑑𝐕𝐀
𝐕𝐀 = 𝐚𝐀 =
𝑑𝑡 𝑑𝑡
 y(t)=a t a
t=5s

x(t)=2t3-10t2+5t+20 t=4s
 x(t)=a+b sinφ(t), y(t)=0,
z(t)=c+b cos φ(t)

x(t)
ሶ = t 2 , y(t)
ሶ = 2t + 1 , z(t)
ሶ = cos(kt).

x(t=0)=2, y(t=0)=0, z(t=0)=1

 technique.pl

artsweb.bham.ac.uk artsweb.bham.ac.uk
ω
φ ω ω
➢
➢
x = ρcos𝜑
y = ρsin𝜑
z=z
Vρ = ρሶ aρ = ρሷ − ρ𝜑ሶ 2
V𝜑 = ρ ⋅ 𝜑ሶ a𝜑 = ρ𝜑ሷ + 2ρሶ 𝜑ሶ
Vz = zሶ az = zሷ
➢
x = ρsinθcos𝜑
y = ρsinθsin𝜑
z = ρcosθ aρ = ρሷ − ρ𝜑ሶ 2 sin2 θ
Vρ = ρሶ 1 d 2 2 2
a𝜙 = ρ 𝜑ሶ sin θ
V𝜑 = ρ ⋅ 𝜑sinθ
ሶ ρsinθ dt
Vθ = ρθሶ 1d 2 2 1 2 2
aθ = ρ θሶ − ρ 𝜑ሶ sin2θ
ρ dt 2
 ➢
➢ 𝑧=0
➢ 𝜃 = 𝜋/2
➢
2 2
𝑟
𝑑𝑟 𝑟
𝑑 𝑟 𝑑𝜑
𝑉 = 𝑎 = 2−𝑟
𝑑𝑡 𝑑𝑡 𝑑𝑡
➢
𝑑𝜑 2
𝜑 𝜑
𝑑 𝜑 𝑑𝑟 𝑑𝜑
𝑉 =𝑟 𝑎 =𝑟 2 +2
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡

𝑟 = 𝑎𝜑

wikimedia.org

en.citizenium.org wikimedia.org wikimedia.org

 φ

R
➢
➢
➢
➢

➢
𝑑𝑠
𝐕 = 𝑉𝛕 = 𝛕
𝑑𝑡
➢
➢
2
𝜏
𝑑 𝑠 microscopy-uk.org.uk wikimedia.org
𝑎 = 2
𝑑𝑡
➢
2
𝑉
𝑎𝑛 =
𝜌
 |𝐕𝐀 (𝐭)| = 𝟐𝐭
|𝐚𝐀 (𝐭)| = 𝐭 2
➢ O1ξηζ
➢ O1ξηζ

𝐫Ԧ𝐀 (𝑡) = 𝐫Ԧ𝐎𝐎𝟏 (𝑡) + 𝛒(𝑡)

➢
𝑑𝐫Ԧ(𝑡)
𝐕𝐀 (𝑡) = = 𝐕𝐮 (𝑡) + 𝐕𝐰 (𝑡)
𝑑𝑡

➢
ሚ
𝑑𝛒(𝑡)
𝐕𝐰 (𝑡) =
𝑑𝑡
➢
𝑑 𝐫Ԧ𝐎𝐎𝟏 (𝑡)
𝐕𝐮 (𝑡) = + 𝛚(𝑡) × 𝛒(𝑡)
𝑑𝑡
➢
𝑑𝐕𝐀 (𝑡)
𝐚𝐀 (𝑡) = = 𝐚𝐰 (𝑡) + 𝐚𝐮 (𝑡) + 𝐚𝐂 (𝑡)
𝑑𝑡
𝐚𝐀 (𝑡) = 𝐚𝐰 (𝑡) + 𝐚𝐮 (𝑡) + 𝐚𝐂 (𝑡)
➢
ሚ 𝐰 (𝑡)
𝑑𝐕
𝐚𝐰 (𝑡) =
𝑑𝑡
➢
𝑑 2 𝐫Ԧ𝐎𝐎𝟏 (𝑡)
𝐚𝐮 (𝑡) = 2
+ 𝛆(𝑡) × 𝛒(𝑡) + 𝛚(𝑡) × 𝛚(𝑡) × 𝛒(𝑡)
𝑑𝑡
➢

𝐚𝐂 (𝑡) = 2𝛚(𝑡) × 𝐕𝐰 (𝑡)

➢
➢
➢
➢
➢
➢
➢
➢ Neill A.: "Antennae as Gyroscopes"

venus.uvic.ca gazeta.pl wikimedia.org

 ω

α
 ω
ε
 ω
α
➢

➢
➢

➢
➢
➢
➢

przegladsportowy.pl
visionsfantastic.com ezcreditwarehouse.com wspomnienieprl.blogspot.com
➢

➢
➢

➢
➢
➢
➢

techdrives.co.uk dlr.de
➢

➢
➢

𝐕𝐁 = 𝐕𝐀 + 𝐕𝐁/𝐀
𝐕𝐁/𝐀 = 𝛚 × 𝐫Ԧ𝐀𝐁

𝐚𝐁 = 𝐚𝐀 + 𝐚𝐁/𝐀
𝐚𝐁/𝐀 = 𝐚τ𝐁/𝐀 + 𝐚𝐧𝐁/𝐀 = 𝛆 × 𝐫Ԧ𝐀𝐁 + 𝛚 × 𝛚 × 𝐫Ԧ𝐀𝐁
𝐕𝐎 𝐚𝐎
➢

➢
|𝐕𝐀 | = |𝐕𝐁 |

➢
 α
𝐕B
𝛚𝟎
 𝐕𝐀 𝐕B

|𝐕A | > |𝐕𝐁 |

𝛚0 𝛆0
𝛚0 𝛆0
 𝛚0 𝛆0

➢
➢

edmedia.com.au
 𝛚0
𝛆0
➢

➢
θ ψ φ

➢
➢ ζ
𝛚1 = φሶ sin θ sin ψ −φሶ sin θ cos ψ φሶ sin θ
➢
𝛚2 = 0 0 ψሶ
➢
𝛚3 = θሶ cos ψ θሶ sin ψ 0
➢

➢
𝐕𝐴 = 𝛚 × 𝐫Ԧ𝑂𝐴
➢
𝐚𝐴𝑎 = 𝛚 × 𝛚 × 𝐫Ԧ𝑂𝐴
➢
𝐚𝐴𝑟 = 𝛆 × 𝐫Ԧ𝑂𝐴

➢
➢
➢

➢
𝑑𝛚
𝛆= = 𝛚2 × 𝛚 = 𝛚2 × 𝛚1
𝑑𝑡
 α

𝛚0
➢

➢
➢
➢
➢
➢

➢
➢
➢
𝑚𝑎Ԧ = 𝐹Ԧ + 𝑅

➢
➢ Ԧ 𝑟(𝑡)
Ԧ
𝐹(𝑡)

➢
➢
➢
➢
➢

➢
➢
➢
➢
➢

➢
➢

➢
➢
 𝑥 𝜃 𝑞 𝑒

𝑑𝑥 𝑑𝜃 𝑑𝑞 𝑑𝑒
𝑖=
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡

𝑀 𝐼 𝐿 𝐶

1 1
𝐾 𝜇
𝐶 𝐿
1
𝑐 Γ 𝑅
𝑅
𝑑𝑖
𝐹(𝑡) 𝑀(𝑡) 𝑒
𝑑𝑡
𝑞 𝑒ሶ 𝑒 𝑑𝑖
𝑀𝑥ሷ + 𝛾𝑥ሶ + 𝐾𝑥 = 𝐹 𝐼 𝜃ሷ + Γ𝜃ሶ + 𝜇𝜃 = 𝑀 𝐿𝑞ሷ + 𝑅𝑞ሶ + = 𝑒 𝐶 𝑒ሷ + + =
𝐶 𝑅 𝐿 𝑑𝑡
Fn=F0sin(ωt)
F0 ω
➢
𝑚𝑎Ԧ = 𝐹Ԧ + 𝑅
➢
𝑚𝑎Ԧ𝑤 = 𝐹Ԧ + 𝑅 + 𝐵𝑢 + 𝐵𝐶
➢
𝐵𝑢 = −𝑚𝑎Ԧ 𝑢
➢
𝐵𝐶 = −𝑚𝑎Ԧ 𝐶
φ 0.25πt

μ
ω0

φ0
ω
➢
➢
𝐩 = 𝑚𝐯
➢
𝐊 O = 𝐫ԦOA × 𝐩
➢
1
𝑇 = 𝑚𝑣 2
2
➢
𝑛

𝐏u = ෍ 𝑚𝑖 𝐯𝑖 𝑛
1
𝑖=1 𝑇𝑢 = ෍ 𝑚𝑖 𝑣𝑖2
𝑛 2
𝑖=1
𝐊 Ou = ෍ 𝐫Ԧ𝐎𝐀𝐢 × 𝐩𝐢
𝑖=1
β
𝐿𝐴𝐵 = න 𝐅Ԧ ∘ 𝑑 𝐫Ԧ A
𝐴𝐵
➢
➢ B

𝐅Ԧ 𝐫Ԧ = −∇𝑉 𝐫Ԧ
➢
𝑟𝑜𝑡 𝐅Ԧ = ∇ × 𝐅Ԧ = 𝟎

➢
•
𝐿𝐴𝐵 = 𝑉𝐴 − 𝑉𝐵
𝐅Ԧ = 𝑥𝑦 𝑥+𝑦 0
 Δ

μ
β
➢

𝑛 𝑛
𝑑𝐏 (𝑧) 𝑑𝐊 𝐎 (𝑧)
Ԧ
= ෍ 𝐅𝑖 = ෍ 𝐌O 𝑖
𝑑𝑡 𝑑𝑡
𝑖=1 𝑖=1
𝑛
Ԧ (𝑧) Ԧ (𝑤)
𝑇2 − 𝑇1 = ෍ 𝐿 𝐅𝑖 + 𝐿 𝐅𝑖
𝑖=1
➢
𝑛
Ԧ (𝑧)
෍ 𝐅𝑖 = 𝟎 ⇒ 𝐏 𝑡 = 𝐏 𝑡0
𝑖=1
𝑛
(𝑧)
෍ 𝐌O 𝑖 = 𝟎 ⇒ 𝐊 O 𝑡 = 𝐊 O 𝑡0
𝑖=1
α

μ
➢
𝐏 = න 𝐕dm
m
𝐏 = 𝑚𝐕𝐂
➢

𝐊 𝐎 = න 𝐫Ԧ𝐎𝐂 × 𝐕𝑑𝑚
𝑚

𝐊 𝐎 = 𝐫Ԧ𝐎𝐂 × 𝐏 + 𝐊 𝐂
➢
𝐊 𝑙 = 𝐼𝑙 𝛚
➢

1 1
𝑇 = 𝑚𝑉 2 𝑇 = 𝐼𝑙 𝜔2
2 2
 1 1 2
𝑀𝐿2 𝑀𝑅2 𝑀𝑅2
12 2 5

1 2
𝑀𝐿2 𝑀𝑅2 𝑀𝑅2
3 3

➢
𝐼𝑙 = 𝐼𝐶 + 𝑚𝑑 2

➢
1 2 1
𝑇 = 𝑚𝑉𝐶 + 𝐼𝐶 𝜔2
2 2
ω
φ
 𝑛
𝑑𝐏 (𝑧)
Ԧ
= ෍ 𝐅𝑖
𝑑𝑡
𝑖=1
𝑛
𝑑𝐊 𝐎 (𝑧)
= ෍ 𝐌𝐎 𝑖
𝑑𝑡
𝑖=1
𝑛
Ԧ (𝑧) Ԧ (𝑤)
𝑇2 − 𝑇1 = ෍ 𝐿 𝐅𝑖 + 𝐿 𝐅𝑖
𝑖=1
➢
𝑛
Ԧ (𝑧)
෍ 𝐅𝑖 = 𝟎 ⇒ 𝐏 𝑡 = 𝐏 𝑡0
𝑖=1
𝑛
(𝑧)
෍ 𝐌𝐎 𝑖 = 𝟎 ⇒ 𝐊 𝐎 𝑡 = 𝐊 𝐎 𝑡0
𝑖=1
ε
ω
ω
 𝐼𝑥𝑥 −𝐼𝑥𝑦 −𝐼𝑥𝑧
𝐈 = −𝐼𝑥𝑦 𝐼𝑦𝑦 −𝐼𝑦𝑧
−𝐼𝑥𝑧 −𝐼𝑦𝑧 𝐼𝑧𝑧

𝐼𝑥𝑥 = න 𝑦 2 + 𝑧 2 𝑑𝑚 𝐼𝑦𝑦 = න 𝑥 2 + 𝑧 2 𝑑𝑚 𝐼𝑧𝑧 = න 𝑥 2 + 𝑦 2 𝑑𝑚

𝑚 𝑚 𝑚
➢
𝐼𝑥𝑦 = න 𝑥𝑦𝑑𝑚 𝐼𝑥𝑧 = න 𝑥𝑧𝑑𝑚 𝐼𝑦𝑧 = න 𝑦𝑧𝑑𝑚
𝑚 𝑚 𝑚
➢
•
➢
𝐴 𝐶 0 𝑖≠𝑗
𝐼𝑖,𝑗 = 𝐼𝑖,𝑗 + 𝑚 𝛿𝑖𝑗 𝑑2 + 𝑑𝑖 𝑑𝑗 𝛿𝑖𝑗 = ቊ
1 𝑖=𝑗
ω
➢
➢
➢

➢
➢
➢
➢

➢
➢
➢
➢
𝑚𝑎Ԧ𝑤 = 𝐹Ԧ + 𝑅 + 𝐵𝑢 + 𝐵𝐶
➢
𝑛
𝑑𝐏 (𝑧)
Ԧ
= ෍ 𝐅𝑖
𝑑𝑡
𝑖=1
𝑛
𝑑𝐊 𝐎 (𝑧)
= ෍ 𝐌𝐎 𝑖
𝑑𝑡
𝑖=1

𝑑 𝐜Ԧ 𝛿ሚ𝐜Ԧ
= + 𝛀 × 𝐜Ԧ
𝑑𝑡 𝛿𝑡 ሚ
ω

α
 ω

α
ω
 ω

α
 ω

α
ω ε

𝐼𝑥𝑥 −𝐼𝑥𝑦 −𝐼𝑥𝑧

𝐈𝑂 = −𝐼𝑥𝑦 𝐼𝑦𝑦 −𝐼𝑦𝑧
−𝐼𝑥𝑧 −𝐼𝑦𝑧 𝐼𝑧𝑧