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:123“”“”611RRXoxYZ()S33oy3ozq212xyzXCqSYCqSZCqSqVρ=⎫⎪=⎪⎬=⎪⎪=⎭课后答案网ρVSY212yYCVSρ=yCMaαzδ(),,yzCfMaαδ=αzδ0zyyyyCCCCδαzαδ=++0yC00yC=zyyyCCCδαzαδ=+MayCα(1.3)课后答案网δ()202zyyzVYYCCSδαραδ=++0zzYYYYδααδ=++ZYMaβyδβyδzCyzzzCCCδβyβδ=+βzCyδzCzCβyzCδox390oyδzδ(l.4)课后答案网βα=−yzzyCCδδ=−()0iXXX=+0XiX212xXCVSρ=0xxCCCxi=+0xCxiC课后答案网⎪⎩⎪⎨⎧===qSLmMqSLmMqSLmMzzyyxx1111111xm1ym1zm0zzYYYYδααδ=++ααYzzYδδ课后答案网δ=11xoz()00yC=13zM1ozMaHαzδ1ozzω(l)α&zδ&(),,,,,,zazzMfMHzαδωαδ=&&,,,zzαδαδ&&zω0zzzzzzzzzzzzMMMMMMMδωδαzααδωα=+++++&&&&δβxδox1xωαzMααYzαα()()zzgFygFMYxxCqSxxαααααα=−=−课后答案网αααα=()()/zygFygFmCxxLCxxααα=−=−Fxgx0zzωαδ===&&,,zzωαδ&&Vαzδ0zzωαδ===&&0zzzzzmmmmδαzαδ=++00zm=zzzzmmmδαzαδ=+,zαδ1.7()zmfα=0zm=(1–12)zzzbzmmαδδα⎛⎞=−⎜⎟⎝⎠zzzbzmmαδbδα=−课后答案网α=+⎛=−⎜⎟⎝⎠⎞(1–14)zmααzzzmδδ0zzbzzbmmδααδ+=zmα0bzmααα=0bzmααα=0bzmααα==αbα1.8()zmfα=课后答案网()0zδ(1.9)()0zzMδαzδ(1–13)()zzzzzzzyzgrMmqSLCqSxxδδδδδδ==−()zzzygrmCxxδδ=−/rrxxL=zzmδzyCδ1.100zzmδ0zzmδ()zzzzzMmqSLωωω=zzmωzzmωzzmω0zδ≠&课后答案网δ&0α≠&0zδ≠&zmαα&&zzzmδδ&&zmαα&&zzzmδδ&&zmααzzzmδδ14yM1oy1oy(1–10)yyyyyyyyyyymmmmmmδωδβyββδωβ=++++&&&δ&/yyLVωω=/LVββ=&/yyLVδδ=&&,,,,yyyyyyyymmmmmδωββ&&ymδ,,yyβδω,yβδ&&11xoy0ymymβ0ymβ0yymδ0yymδox1xωβ∆(l.12)xtyVωβ∆=tyβ∆oy(1–20)1xyxmωω课后答案网βδωωβ=+++++&&&&δ/yyLVωω=/xyymmωxω=∂∂15()xM()1ox1ox1oy0yyxxxxxxxxyxxxmmmmmmmδδωβyωβδδω=+++++ω0xm,,yxxxxmmmδδβ,yxxxmmωωxm,,,,xyxyβδδωωxmβγ(1.13)YYsinγm0xβ0xmββ0xmβ0xmβ1oxxxxMωω1.161oxyxVzω=−1ox课后答案网ωα∆=1oxxω()xxxxmmωxωω=yxmωyxmω(1.17)1oy1oxyVzω∆=0yωα∆α∆0yω0yxmωyω()yxyxmmωyωω=ox1课后答案网∆Y∆0xmxδ()xxxxxmmδδδ=xxmδxδ0xxmδ11xozyδ1oyyδ()yxyxmmδyδδ=yxmδxmyδm0yxδ16()hhtttMmqSb=hmtqtStbαzδ(1.19)Yt()coshtzMYhαδ=−+zhhhmmmδαzαδ=+课后答案网()hm17()seaaHPmSppµ=+−smeµaSapHpP11xoxyz11100xyzPPPP⎛⎞⎛⎞⎜⎟⎜⎟=⎜⎟⎜⎟⎜⎟⎜⎟⎜⎟⎝⎠⎝⎠PpR()111TpppxyzpMˆpppMRPRP=×=1111110ˆ00ppppppzypRzxyxΛ⎡⎤−⎢⎥=−⎢⎥⎢⎥−⎣⎦pR111111111111111110001111111xxzpyppyppyxpzppppzzypxpMPPyPzzyMzxPPzPyxxMPPxPy⎛⎞⎛⎞⎛−⎡⎤−⎜⎟⎜⎟⎜⎢⎥=−=−⎜⎟⎜⎟⎜⎢⎥⎜⎟⎜⎟⎜⎢⎥⎜⎟⎜⎟⎜−−⎣⎦⎝⎠⎝⎠⎝⎞⎟⎟⎟⎟⎠课后答案网=+G1GeFn1.20eF1G1G1GGmg==()1.21g()202eeRggRH=+0g29.81/mseRH课后答案网()dVmFdt=dHMdt=M课后答案网()()()m(t)m()dVmtFdt=dHMdt=111oxyz333oxyzAxyz222oxyz()AxyzAAxAz2.1AAyo课后答案网()VV2.2222oxyzo2ox333oxyz3ox2oy2ox2ozV()333oxyzOV3ox3oy3ox3oz33xoy(l.1)RXYZ333oxyz()111oxyzO1ox1oy1ox1oz11xoy(l.l)111oxyz()AoAxyz111oxyzAxyzψϑγ2.3(a)课后答案网ϑ'Azγ1oy1ox1ox1oyγ1OxAxyz111oxyz(),,LψϑγAxyzAyψAxyz′′(2.3b)Axyz,,xyz(T)xyzAxyz′′()yxxyLyzzψ′⎛⎞⎛⎞⎜⎟⎜⎟=⎜⎟⎜⎟⎜⎟⎜⎟′⎝⎠⎝⎠()cos0sin010sin0cosyLψψψψψ−⎛⎞⎜⎟=⎜⎜⎟⎝⎠⎟课后答案网′′Az′ϑ1Axyz′′(2.3c)()1zxxyLyzzϑ′⎛⎞⎛⎞⎜⎟⎜⎟′=⎜⎟⎜⎟⎜⎟⎜⎟′′⎝⎠⎝⎠()cossin0sincos000zLϑϑϑϑϑ⎛⎞⎜⎟=−⎜⎜⎟⎝⎠1⎟1Axyz′′1Axγ(2.3d)111oxyz()1111xxxyLyzzγ⎛⎞⎛⎞⎜⎟⎜⎟′=⎜⎟⎜⎟⎜⎟⎜⎟′⎝⎠⎝⎠()1000cossin0sincosxLγγγγγ⎛⎞⎜⎟=⎜⎜⎟−⎝⎠⎟Axyz,,xyz111oxyz()()()111xzyxxyLLLyzzγϑψ⎛⎞⎛⎞⎜⎟⎜⎟=⎜⎟⎜⎟⎜⎟⎜⎟⎝⎠⎝⎠()()()(),,xzyLLLLψϑγγϑψ=()111,,xxyLyzzψϑγ⎛⎞⎛⎞⎜⎟⎜⎟=⎜⎟⎜⎟⎜⎟⎜⎟⎝⎠⎝⎠(),,Lψϑγ(22)(24)(26)(28)课后答案网()coscossincossin,,sincoscossinsincoscossinsincoscossinsincossinsincoscossinsinsinsincoscosLϑψϑϑψψϑγϑψγψγϑγϑψγψγϑψγψγϑγϑψγψγ−⎛⎞⎜⎟=−++⎜⎟⎜⎟+−−+⎝⎠111,,xyz()1111,,xxyLyzzψϑγ−⎛⎞⎛⎞⎜⎟⎜⎟=⎜⎟⎜⎟⎜⎟⎜⎟⎝⎠⎝⎠()(1,,,,TLL)ψϑγψϑγ−=31311,0,ikjkijkkikjijkijijllllijijδδδδ==⎫=⎪⎪⎪⎪=⎬⎪⎪==⎪=≠⎪⎭∑∑ABCABBCABLBCLACACABBCLLL=()2.4Axyz222oxyzθV2oxxAzVθνψVxAzox′AxAy课后答案网′νψAyνψ2Axyz′()cos0sin010sin0cosyLνννννψψψψψ−⎛⎞⎜⎟=⎜⎜⎟⎝⎠⎟2Axyz′2Azθ()cossin0sincos000zLθθθθθ⎛⎞⎜⎟=−⎜⎜⎟⎝⎠1⎟()()(),coscossincossinsincoscossinsinsin0coszyvLLLνννννννψθθψθψθθψθψθθψψψ=−⎛⎞⎜⎟=−⎜⎟⎜⎟⎝⎠Axyz,,xyz222oxyz222,,xyz()222,xxyLyzzνψθ⎛⎞⎛⎜⎟⎜=⎜⎟⎜⎜⎟⎜⎝⎠⎝⎞⎟⎟⎟⎠3()V1oxV()111oxyz33oxyzαβαβ333oxyz3oyβ课后答案网(2.5)31oxyz′()cos0sin010sin0cosyLβββββ−⎛⎞⎜⎟=⎜⎟⎜⎟⎝⎠31oxyz′1ozα111oxyz()cossin0sincos000zLααααα⎛⎞⎜⎟=−⎜⎟⎜⎟⎝⎠1nsin333oxyz111oxyz()()()coscossincossin,sincoscossisin0coszyLLLαβααββααβαβααβββ−⎛⎞⎜⎟==−⎜⎟⎜⎟⎝⎠333,,xyz()13113,3xxyLyzzβα⎛⎞⎛⎞⎜⎟⎜⎟=⎜⎟⎜⎟⎜⎟⎜⎟⎝⎠⎝⎠()V2ox3oxνγνγ11xoyVoyoy3oy2oy3oy23νγ(2.6)2oxνγ()()1000cossin0sincosxLLννννννγγγγγγ⎛⎞⎜⎟==⎜⎟⎜⎟−⎝⎠课后答案网()323322xxyLyzzνγ⎛⎞⎛⎞⎜⎟⎜⎟=⎜⎟⎜⎟⎜⎟⎜⎟⎝⎠⎝⎠()(216)218()()333,vxxyLLyzzνγψθ⎛⎞⎛⎞⎜⎟⎜⎟=⎜⎟⎜⎟⎜⎟⎜⎟⎝⎠⎝⎠()()(),,,vvLLLννψθγγψθ=()(218)217()()12112,v2xxyLLyzzβαγ⎛⎞⎛⎞⎜⎟⎜⎟=⎜⎟⎜⎟⎜⎟⎜⎟⎝⎠⎝⎠()()(),,,vvLLLγβαβαγ=()dVVVdttδδ=+Ω×dVdt课后答案网δδ⎛⎞F+Ω×=⎜⎝⎠⎟222222222222222222xyzzyxyzxxzyzzxyyxdVVVdtFdVmVVdtFFdVVVdt⎛⎞+Ω−Ω⎜⎟⎜⎟⎛⎞⎜⎟⎜⎟+Ω−Ω=⎜⎜⎜⎟⎜⎟⎝⎠⎜⎟+Ω−Ω⎜⎟⎝⎠⎟⎟⎞⎟⎟⎟⎠VV222oxyz2ox22200xyzVVVV⎛⎞⎛⎜⎟⎜=⎜⎟⎜⎜⎟⎜⎝⎠⎝22,νψθ&&222oxyz()22200sin,0c0xyzLννννosψθψθψψθθθΩ⎛⎞⎛⎞⎛⎞⎛⎜⎟⎜⎟⎜⎟⎜Ω=+=⎜⎟⎜⎟⎜⎟⎜⎜⎟⎜⎟⎜⎟⎜Ω⎝⎠⎝⎠⎝⎠⎝&&&&&⎞⎟⎟⎟⎠(223)(224)(222)222cosxyzvdVmdtFdmVFdtFdmVdtθψθ⎛⎞⎜⎟⎛⎞⎜⎟⎜⎟⎜⎟=⎜⎜⎟⎜⎟⎜⎟⎝⎠⎜⎟−⎜⎟⎝⎠⎟dVdt2oxVddtθ()2oycos()vVddtθψ−2oz课后答案网ρ=dsdsdtVdddtddtρθθVθθ====&22yVdaVdtθVθρ===&2cos()zaVddvtθψ=−νψ22πθπ−ddνtψ(225)1.RXYZ(220)24333oxyz222oxyz()()2122cossinsincosx