工程力学第15章运动学基础

1eBook(2)152003-7-1FANQin-Shan’sEducation&TeachingStudio214(dynamics)1.tana2.()3.13l()tr=r22ddddrrvr,artt====&&&rtl⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡=++=kji,,kjir)(zyxzyx⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡=++=kji,,kjiv)(zyxzyx&&&&&&⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡=++=kji,,kjia)(zyxzyx&&&&&&&&&&&&ls()sft=ddddddrrvsstts===&t()ddddvavtt==t=ddddvvtt+tt=2ddnvvtr+t=tnnaa+ttnP,r4(tangentialacceleration)(normalacceleration)tntav=&s&&=22nvsarr==&2lBABArrr+=BAr0dd=tBArBArr&&=BAvv=BAvv&&=BAaa=l5151OxyO151OOAOAOxjjt)(tf=jawjawj=⎫⎬==⎭&&&&jwawajwajwaP422222n2t)()()()(wawaw+=+=+==PPPPPPPPrrraaarvPrOP=22nttanwawaq===PPPPrraa63Ozkwa152kkwa=⎫⎬=⎭waawawPvP=rPPrPPvrrPpPP==×+×&&&awarvPP=×+×aw()rrPP=×+××awwtnaaPP=+taPnaP17t2t3va45867()()(2)eBook15