CH17 - CAI 1 2 3 Lagranges Equation 17-1 ( 29 ( 29 = = =- =...

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Unformatted text preview: CAI 1 2 3 Lagranges Equation 17-1 ( 29 ( 29 = = =- = + n i i i i i n i i g i i r a m F r F F 1 1 . . . ( 29 ( 29 ( 29 [ ] 1 =- +- +- = n i i i i i i i i i i i i i z z m Z y y m Y x x m X --- , A B P C Q Y l l l l x y A B C sin 2 l g P = + + + +- C B A B gB A gA y Q y P y P x F x F cos cos sin sin l x l x l x l x B A B A =- = =- = sin 2 sin cos 2 cos l y l y y l y l y y C B A C B A- =- = = = = = sin 2 2 cos 2 2 2 = -- Ql Pl g l P g Pl Q P cos + = l l l l x y A B C j q j i j i q r q = n s , s n k- = 3 k q q q ,......, , 2 1 17-2 ( 29 = + = = = k j i j j i i k i i t r q q r d t r d v t q q q r r 1 2 1 , ,...., , i i s i j k j s j i s i q t r q q q r q + = = 2 1 2 s q s i s i q q r d t d = ) ( = + = = k j i j j i i t r q q r d t...
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This note was uploaded on 10/31/2011 for the course ME 125004 taught by Professor Qiaolingliu during the Spring '08 term at Tongji.

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CH17 - CAI 1 2 3 Lagranges Equation 17-1 ( 29 ( 29 = = =- =...

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