(L)[+]
      N5o015.         2 

     ⨥ N5o02 - 2 

     21. _ - 騥 ᢥ, ਭ樯 ஥.0.

        樮  ⥬ 樠 樮 ⥬
()  ⢥묨,   㤮⢮ ⠪  -
,  㭨ᠫ쭮,  ⮭, 宧饭
 ⮩稢. 騥  ᯥ稢  ᮪ -
 樨  ࠢ  譮-஢᪨ ⥬.  
1966  뫨 । ॡ   ࠦ᪮ 樨:  ᫥
10 ᮢ   譮    ॢ 2460   
   2370    ⪫    ࠭⨩ -
⭮, ࠢ  20,950.   ᮢ६   ॡ  筮
ᯥ稢. ॡ    筮  ॡ⥫-न஢騪
( ⭮⥫쭮 让  ࠤ ⢨), 室  -
  ⠪ "室",  ࠪਧ 祭 ᨬ-
  ⪫ 2300 7_0 25000 .
      ᫥ த쭮  筮 न,   ।-
 ⠪ 㣫    ࠭ ⥬ न,  
, ७,  ⠭.    ।  ⥬  ७
⪫      ࠭ ⥬ न.   -
ᨬ  ᯮᮡ ஢ (),    ࠧ
 _ଥ.  _ᯫଥ..  ଥ  樮
⥬ न  䨧᪨ -   ਥ樨    ६
 ᯥ樠쭮 ⠡஢  ().    祭
ᥣ ࠡ祣 ६ ࠭    ਥ,    
 ⮢ (⠢) . 稪 ᭮ ଠ樨 (-
஬) ⠭  .  祢,  ᥫ஬ 
ਥ஢   ࠭ ⥬ न.
      ᯫଥ  ᥫ஬  ⠭  ।-
⢥  ,   ୠ ⥬ न  ⥬᪨.
  ᥫ஬    ,   室 뢭
 祭  ᪮७  易   饩 ⥬ -
न    ⥬ न.    
ॡ,  祭 ᪮७, ⥫ ଠ - -
 㣫 ᪮⥩ 饭 .  ᫥ ।    
⥯ ᪮  ७ ठ ᮬ (⠪ 뢠-

                                - 2 -

 ,   뫨 ⪮ ᬮ७  2⥬ 130).  -
⬮  让 ꥬ ᫥ ॡ  魮,  த-
饩  饩 让 ꥬ  .     ⠪    
ᮢ- ⥫      ⠭  -
 ,  ᯫଥ   饥 ६ ᯮ २-
⢥  殮 ७ .
     । ଥ  ᫥ 뤥   ⥩訩  
⨯ - ⠪ 뢠 樠 ᮢ⨪ ().   -⥬
ਬ 饭  ᫥  ࠢ   -
 稪  , ᫥⢨ 祣 ਥ 筮 ⨣-
   । , ७  ⠭. ਬ஬ ⠪  
㦨 ⥬  -1,  ⠭  -27   蠥 砬
  -2,  ⠭  -23.   , 
樮 ,  ⠪ .   ⮬ 砥  -
  ⤥쭮 ⥬,   ᭮ ⠢   ᥩ  ,
ᮤঠ饩 .  ⢥,   ⭠  -⠢ 
   ᮢ襭,   ᫥ -  묨.
 㤥 ᬠਢ ⮫쪮 ଥ .
     ਭ樯 ஥ ୮ ,  ।饩   -
᪨ न ᬮਬ  2. 15.40.

















                 2. 15.4   ਭ樯 ஥ 

                                - 3 -


 㭪 ,    3 ⥯ ᢮.  㧫  
ࠧ饭 稪 ,  ७, ⠭ ( . 15.4 ࠦ 
  ).  த쭠    ᥣ ਥ    ᥢ.
 न   ନ ⥬  ⥣஢ ᨣ-
 ᥫ஬஢,  ᪨ - ⥣஢ ᨣ 㣫-
 ᪮         (  砥  
  ਤ  ⮬ ⭮襭  ᪮   ࠤ
  ந ).  㣫 ᬥ饭  
 室 稪 㣫   饭   易   -
     .
      㦥 뫮 ᪠, 稪 ࢨ筮 ଠ樨   -
 ᥫ஬, ᨣ ண ᯮ  ⢥ ᭮ 
樠쭮 ᫥ न.  ⢥  _魮  樠쭮
_᫥. 砥  ७   ᥫ஬஢  ⠢-
  ᪮७ 業  , ᫮ ࠢ樮묨
ᨫ (,   ᮯ⨢, ꥬ ᨫ),   ᫥-
饬 ⭮  ⥣஢    ⠢  ⮬ 砫
᫮  ᪮७, 맢 ࠢ樥, ᨫ 樨 ਮ 
業஡묨 ᨫ.
      ᬮਬ ਭ樯 ⢨  譮 ᥫ஬.

     22._ ਭ樯 ⢨  ⮤᪨ 譮 ᥫ஬஢.

     稪 ࢨ筮 樠쭮 ଠ樨    ⥫
᪮७ -  ᥫ஬,  ᭮   ᪮ 堭
⮭.
     ⥩訩 ᥢ ᥫ஬ (. 15.5) ⮨  樮
 m,   㦨 ਪ९  ᭮.   -
  ࠢ  X, 뢠  ⢨⥫쭮 ᥫ-
஬,  ᪮७ a50      m  㤥  ਫ  ᨫ  樨
F=m770a50,   १  祣  ⠭ ६ ⭮⥫쭮
誠  ࠢ,  ⨢   ᪮७.    ஭
㦨   㤥 ⢮ ⭠   ᨫ F ᨫ

                            F40 = K47 7 D0X,



                                - 5 -

 K40 - 樥 ⪮ 㦨;
    7D0X  -  稭 ६饭 .
      砭  室    ᨫ F40 ࠢ ᨫ F,
 ⮬ 稭 7D0X 뢠 ய樮쭮 塞  ᪮-
:
                                  m
                           7D0X = 7 70 a50.
                                 K4

       ⥭樮 祭 7D0X     ८ࠧ  
᪨ ᨣ, ய樮 a50.
     ᥫ஬  ⮫쪮 ᪮७,  ᫮ ⢨
ࠢ樮 ᨫ,     ᪮७, 맢 ࠢ樥.
⢨⥫쭮, ᫨ ᭮,    ஬  ⠭  ᥫ஬,
     ᪮७ ᨫ 殮 g (,   a50 = 0),
, ᪮ ᨫ 殮       ᭮,   
 m ᥫ஬,  ६饭  ⭮⥫쭮 㫥 ⬥⪨
誠  㤥.
     ᫨ a50  -  ᪮७,  ᮧ ࠧ ᨫ   
ᮯ⨢,      ᮫⭮   ᪮७   ᭮   㤥
a=a50-(-g).   "-"  ।  g 뢠 ⥫쭮 ࠢ
 g   .  ᥫ஬   ⮫쪮 ᪮७  a50,  
 㤥      ⮤᪠ 譮  ७ 
᮫⭮ ᪮७,  ࠢ ᪮७ ᨫ 殮. ⮬  饬
砥 ᯮ짮  樠  ⥬  ⮫쪮  ⭮
 ࠢ樨.  ᪮७ a50, 塞 ᥫ஬஬,  -
 "騬",  ⮬:

                              a50 = a - g.

      砥  ਧ⠫쭮  ( ﭭ ) ꥬ
ᨫ  ࠢ訢 ᨫ 殮.   ꥬ ᨫ Y  -
쭮 ࠢ  ᮧ ᪮७ a54y0.   ਧ⠫쭮 
⨪쭮 ⠢饩 ᪮७ ,  ⮬ a = a54y0 + g = 0, -
㤠 a54y0  =  -g,  ..   ⮬ 砥 ᥫ஬  ⨪쭮 
⢨⥫쭮 㤥  ᪮७,  ᮧ ꥬ  -
, ᫥  ࠢ,   ⨢   ᪮७ ᨫ -
.   ⮬ ᫥ ᫥   饥  ⢥ত-

                                - 6 -

,  "ᥫ஬ ॠ  ᪮७ ᨫ 殮".
     ஬ ᥢ ᥫ஬஢  樠  ⥬  ਬ
⭨ ᥫ஬,  祬     㣨  襭 -
 ࠡ   ७, ࠭祭 १ᮬ 㦨,
 堭᪮ 㦨 ᯮ ᪠ 㦨.
     ⭨ ᥫ஬  ᪮ 㦨 (. 15.6) -
⠥ ᫥騬 ࠧ.     ࠢ  X ⢨-
⥫쭮 ਡ  ᪮७ a50   ⭨ m,  ९  
 l,  㤥 ਫ ᨫ 樨 F, ᮧ ⭮⥫쭮  Z
 ᨫ 樨 M = m770l770a50,  १ 祣 ⭨ ⠭ -
稢     Z.  7 b0  ⭨   稪
㣫  (⥭樮᪮,  樮  㣮 ⨯) ८-
ࠧ   殮  U70  =  47 7 b 0(7040 - ⨧ ࠪ⨪
稪 㣫),  ஥  ᫥  ᨫ    ᨫ⥫      稭
U40=4770U70 (40  -  樥  ᨫ ᨫ⥫)   稪
 . ᫥ ਪ뢠   Z  ⭨  -
⭮ 裡

                       M40 = 4770U40 = K477b0,

 40 - ⨧ ࠪ⨪ 稪 ;
    K40 = 4770477040 - 樥 । ᪮ 㦨.
 ࠧ,  ⠬ ᪮ 㦨  稪 㣫,
ᨫ⥫  稪 .
      ⠭襬  ०  ⭮ 裡 ࠢ 
ᨫ 樨,  ⠪  㣮  ⭨   殮    室
ᨫ⥫ 뢠 ய樮 ᪮७:
                  m770l                           m770l
            7b0 = 7 70 a50            U40 = 7 70 a50.
                  K40                           K4

       ⭨     㣮7  b0  ୥    
⢨⥫쭮.   ⮬ ᥫ஬ 㤥    ᪮-
 a50,   ⠢ a50' = a5770cos7 b0.
     ஬ ⮣, ᥫ஬ ⠭ ॠ஢    ᪮-
७, ࠢ   Y.  ⥫⢮ ਢ  ⮤-
᪮ 譮,  㬥襭  ன      㬥襭
㣫 7b0,  ⨣ 㢥祭 樥 ᨫ ᨫ⥫.

                                - 7 -

     ᬮ७ ᥫ஬    ⥫  ,
᫮ 稥 㦨 (堭᪮  ᪮).  -
⮬ ⠪ ਡ 뢠 _樮묨..
      ⮣,    訬 ७  ⮢  砥
⥫쭮   m, 祬  砥  㯠⥫쭮 -
,   樠 ⥬ 樨 襥 ਬ  諨
⭨ ᥫ஬.
     ண ⢨⥫쭮 ᮢ६ ᥫ஬஢   -
᪮ 㦨 ⠢ 浪 105-47 _0 105-50 g.
     ᥫ஬  ⠪ ⮤᪨ 譮, ᫮
ᮡ⢥ 饭   ६饭  ⭮⥫쭮 .  
譮 㤮 ஢  ࠢ  ᥫ஬஢    1-
 2- ଥ.
     ࢠ ଠ 뢠 塞 ᪮७  _᮫묨.  -
묨 ᪮ﬨ  ,  _᮫묨.  㣫묨  ᪮ﬨ 饭  
樠쭮 ⥬   ⠢騬  㤥쭮  ࠢ樮
     _
ᨫ g4o0.
      ଠ 塞 ᪮७ 뢠  ⠢騬 _.-
_. ᪮,  _⭮⥫묨. 㣫묨 ᪮ﬨ 饭    -
                                 _
⠢騬 㤥쭮 ᨫ 殮 g40.
       뢮  룫 ࠢ ᥫ஬஢  -
 ଥ.   뫮 ,   ᥫ஬   ᮫-
,  饥 ᪮७:
                    _    _   _          _   _    _
                    a5 0= a - g, 㤠  a = a50 + g.

ਢ ᨬ ᠭ  饬 ,   樠쭮  -
                _   _    _
⥬   a = a50 + g4o0.
     । 砫 祭 ᮫⭮ ᪮७.   ᮮ⢥⢨
 ⥮६  ந    饩 ⥬ न:
                            _     7`0_
                      _    dV     dV    _     _
                      a =  =  +7 w457 &0 V,
                           dt     dt


                                - 8 -




     :
    _
   dV
   - ந ᮫⭮ ᪮  樠쭮 ࠭⢥;
   dt

   7`0_
   dV
   - ந ᮫⭮ ᪮  ⭮⥫쭮 (易 
   dt    ) ⥬ न;

   _
   7w450 - ᮫⭠ 㣫 ᪮ 饭 ;
   _     _
   7w457 &0 V - ୮ ந ᪮⥩.
               _
 ࠧ     ⮬ ࠢ  ந  -
஢:
                   7(0      77
                    a4x0 = V4x0 + 7w54ay770V4z0 - 7w54az770V4y0,
                         77
                   7*0 a4y0 = V4y0 - 7w54ax770V4z0 + 7w54az770V4x0,
                         77
                    a4z0 = V4z0 + 7w54ax770V4y0 - 7w54ay770V4x0.
                   790                              _   _    _   _
, ,    樠쭮  ⥬  न  a  =  a50  +  g4o
(g4o0- 㤥쭮 ࠢ樮 ᨫ), । ⥫쭮 -
⠢騥 ᮫⭮ ᪮, 祭   _ ࠢ -
_஬  1- ଥ.:







                                - 9 -




     7(0                 t
                      7!
        V4x0 = V4x0(t4o0) + 720( a54x0 + g4ox0 - 7w54ay770V4z0 + 7w54az770V4y0 )770dt,
                      71
                      t4o
                      t
                      7!
     7*0   V4y0 = V4y0(t4o0) + 720( a54y0 + g4oy0 + 7w54ax770V4z0 - 7w54az770V4x0 )770dt,
                      71
                      t4o
                      t
                      7!
        V4z0 = V4z0(t4o0) + 720( a54z0 + g4oz0 - 7w54ax770V4y0 - 7w54ay770V4x0 )770dt,
                      71
     790                 t4o

 V4x0(t4o0), V4y0(t4o0), V4z0(t4o0) - 砫 祭 ᮫⭮ ᪮;
    g4ox0, g4oy0, g4oz0 - ⠢騥  㤥쭮 ࠢ樮 ᨫ;
    a54x0, a54y0, a54z0 - ᨣ ᥫ஬஢.

      ࠢ ,   । ᪮ (  ᫥饬
  न) ⥣஢  ⮫쪮  ᨣ  ᥫ-
஢ 筮,  室 뢠 ⠫ 童  ⥣-
ࠫ쭮 ࠦ.   童   _樮.   
  ਢ    ᭮ ⮤᪨ 譮⥩ ᥫ-
஢.  樮 童    ன 冷 
    뢠 ⮫쪮  -⥬.   饭 
᫥騬 㦤ﬨ:

     1) g5max4ox5 7~0 g5max4oy7 ~0 1,5777 70 105-20 /520 - ன 冷 ;
     2) । 祭 ⨪쭮 ᪮ Vz    
      ६ 筮  Vx  Vy, - ᫥⥫쭮
童  Vz ⠪  ७;
     3)  樨 饣 室         ⮫쪮
- 筮 饭  (  7W4770sin 7f0),  童  7w54az0 

                                - 10 -

ᨬ 祭 ᪮⥩  ॢ 3,5 770 105-20 /520;  ᫨ 
  室  -  ,  童  7w54az0  
訩 冷 ;
     4) Vz   ᮡ ⨪쭠 न z  -⥬ 
 ᫥⢨ ᫨⥫쭮 ⮩稢 ⨪쭮 -
;  ⠫  ⠪ - ᫨⥫쭮 ⮩稢 
 ⮫쪮 祭 Vz.
      ࠧ  -⥬  ᫥ ᪮⥩ 룫-
 ⠪:

                   7(0                 t
                                    7!
                      V4x0 = V4x0(t4o0) + 720 a54x0 770 dt,
                                    71
                                    t4o
                   7*0                 t
                                    7!
                      V4y0 = V4y0(t4o0) + 720 a54y0 770 dt,
                                    71
                   790                 t4o

      _ࠢ ᥫ஬஢  2- ଥ.  :

     7(0              t
                   7!
        W4x0 = W4xo0 + 720[ a54x0 - (7w54y0+ 27W4y0)770W4z0 + (7w4z0 + 27W4z0)770W4y0 + g4x0]770dt,
                   71
                   t4o
                   t
                   7!
     7*0   W4y0 = W4yo0 + 720[ a54y0 + (7w54x0+ 27W4x0)770W4z0 - (7w54z0 + 27W4z0)770W4x0 + g4y0]770dt,
                   71
                   t4o
                   t
                   7!
        W4z0 = W4zo0 + 720[ a54z0 - (7w54z0+ 27W4x0)770W4y0 + (7w4y0 + 4 7W4y0)770W4z0 + g4z0]770dt,
                   71
     790              t4o

                                - 11 -


: W - ⥢ ᪮;
     7w54x,y,z0 - 㣫 ᪮ 饭  ⭮⥫쭮 ;
     7W4x,y,z0  - 㣫 ᪮ 饭 ;
     g4x,y,z0 - ⠢騥 㤥쭮 ᨫ 殮.

  ᯮ  1-, ⠪  2-  ࠢ.
     ᭮       .    -  䠪᪨ ,
㤥ন    ᯥ樠묨 ⠡ࠬ.

     23._ 䨪, ਭ樯 ஥  ࠡ0 2⠡஢

     ⠡ () ਬ   筮 . 
 ᯥ稢 ⠡ ன 頤,  ⭮⥫쭮 ன
﫨 㣫 ,  ७  ⠭.    ⠫  ᯮ짮
 ⠡樨  㦨, ⮠⮢  㣨 ன, 
⮬ ᫥   .  ᯮᮡ 㤥ঠ   㣨 ⮢,
_ ࠧ  2 ⨯.:   ᨫ.
     ਭ樯쭠 奬 ᭮_ ୮  .  ࠦ  
2. 15.70:



















                                - 12 -

       譥  M40,  ਬ, - ७  -
       )    㦭 ࠬ ᪮
ᬥ頥     ⠪  ᪮   ࠭  ᢮
ਥ  ,    室 稪 㣫 1  ᨣ
⪫ .   ᨣ ᫥ ᨫ   ⥫ -
樨 .  㯠  ࠡ  頥     ० -
.  ᪨ ࠬ ࠡ  ⠪,    -
  饭    頥  ० ਥ樨  ,
祬    ᥪ㭤.  2. 15.70 ࠦ ⠪:
     - 2 - 㦨  ७ ⠭ (  砥);
     - 1  -  㦨    砫쭮 ਥ஢  ⭮⥫쭮 
(   1 ࠢ饣 ᨣ,  ᪮    -
  );
     - 2 - 室  ⠢   砫쭮   (
ᨣ  2 맮,  祢,  ᪮  饭 -
।⢮  ᥩ  ᫥  ᪮).
      ࠪ᪨  奬  ਬ   ,
騩  ⥯  ᪮.    ࠧ,  ࠪ
ਧ ୮      稥 3-⥯ ᪮.
2⮨⢮0 ୮   ⢨ ᨫ 㧪 -
᪮ (᭮ ᨫ ⠡樨 ࠧ ). 2⮪0 - -
  ᫮ 3-⥯ ᪮  _⥫ ᬥ饭
_.  砫쭮 ⠯ ⠡樨.
     ਭ樯 ⢨ _ᨫ . ᬮਬ  . 15.7:










        2. 15.7. ਭ樯쭠 奬 1-᭮ ᨫ 


                                - 13 -

       40 (ਬ, - ७   ),  -
࠭  ᢮ ਥ.    ⥬,  ଠ
  ⠭   2-⥯ ᪮   ᢮-
⢠ 3-⥯ ᪮. 稥 40 뢠   -
 ,  ଠ    ⢨ ᪮᪮   -
 .    ॣ 稪 㣫 1, ᨣ-
  ண ᫥ ᨫ   ࠧ㧮 ⥫  .
 ,  ᮧ  ,  ⠭  ࠢ  ⨢ 40,
  ४.  砥 祧 40 (४饭 -
権    ..) 40 맮   _ . ஭.   -
᪮ ୥  砫쭮 , ᨣ  室 1 ய
 40 ⠪ ⠭ ࠢ .   ࠪ⨪ ᬥ饭 ᪮ 
ॢ蠥 ᪮쪨 ࠤᮢ,   ⥫쭮 ᨨ -    
  ᥪ㭤.  砫쭮 ⠢   稪  
 ࠢ騩 ᨣ.   १ ந室  -
    .
      奬  ᨫ ,  ⠪   ,  - .
,   ⫨稥    ,    ᨫ   ᯮ 
2-⥯ ᪮.  2⮨⢮0 ᨫ    _
_ਥ樨 .    40  ਬ   2-⥯-
 ᪮.  2⮪0 - ⥫쭠 ᨫ 㧪 ᪮
 砫쭮 ⠯ ⠡樨.
      ᮢ६  諨 ਬ  ⨯ .   ⥬ -1,
ਬ, ᯮ ᨫ ,    ᠬ⮢ -29  -27, -
,  ᭮ ᪮   ७  ठ  ᮬ
().
