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CH17 - CAI 1 2 Lagranges Equation 3 17-1 r Fi Fgi i =0 n i=...

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§17-1 动动动动动动动 ( 29 ( 29 = = = - = + n i i i i i n i i gi i r a m F r F F 1 1 0 . . 0 . δ δ ( 29 ( 29 ( 29 [ ] 0 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 δ δ δ 动动动动动动动动动动动动动动动动动动 动动动动动 动动动动动动动 动动动动动动动动 --- 动动动动 动动动动动

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s i j k j s j i s i q t r q q q r q + = = 2 1 2 υ 动动动动动动动动 s q 动动动动动动 动动动 s i s i q q r dt d = υ ) ( 动动动动动动动动动动 = + = = k j i j j i i t r q q dt d v 1 i υ i = + = k j j j s s s i q q q r t q r q r dt d 1 2 2 i i
+ = + j j j i gi i i i i gi i q q r F F r F F δ δ

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CH17 - CAI 1 2 Lagranges Equation 3 17-1 r Fi Fgi i =0 n i=...

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