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dOO'
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dt

1' 6 6, &6

(O', u ' x , u ' y , u 'z ) / ; (O, u x , u y , u z ) B

R'/ R / )

du x du y du z
)R = R'/R ∧ u 'x B )R = R'/ R ∧ u 'y B )R = R'/ R ∧ u 'z
dt dt dt
 #$ / + *

du'x
= (-sin u x + cos u y ) = u'y
u'x = cos u x + sin u y dt u 'z ∧ u'x = u'y
du'y
u'y = -sin u x + cos u y → = - (-sin u x + cos u y ) = - u x u 'z ∧ u'y = − u'x
dt
u'z = u z du'z u 'z ∧ u'z = 0
=0
dt

du'i
R'/ R = u 'z B / ) = R'/ R ∧ u'i
dt

5' * ,
U' = x'u' x + y'u' y + z ' u z B 5 @ B

( ( ; / / U'

U' = x'u'x + y'u'y + z 'u z

dU' du' du'y du'
)R = (x'u'x + y'u'y + z'u z ) + x' x + y' + z' z
dt dt dt dt
= (x'u'x + y'u'y + z'u z ) + x' R'/R ∧ u'x + y ' R'/R ∧ u'x + z ' R'/ R ∧ u'z
 dU' dU'
2 / / ) )R = )R' + R'/R ∧ U'
dt dt

(' 6

/ / U' )

dU' dU'
)R = )R' + R'/R ∧ U' / / U'
dt dt
)

dU' dU'
)R' = )R + R/R' ∧ U' 5 / )
dt dt

dU' dU' dU' dU'

)R + )R' = )R' + )R + ( R'/ R + R/R' ) ∧ U' 7
dt dt dt dt

( R'/ R + R/ R' )=0 E R'/ R =− R / R'

: B / U'
(

dU' dU'
) R' = )R + R / R' ∧ U' (1)
dt dt E < = < =B @ )
dU' dU'
)R'' = ) R' + R'/ R'' ∧ U' (2)
dt dt

dU' dU' dU'

)R'' = )R + R/ R' ∧ U' + R'/ R'' ∧ U' = )R + ( R / R' + R'/ R'' ) ∧ U'
dt dt dt
dU' dU'
)R'' = )R + R/ R'' ∧ U'
dt dt

8 DB R / R'' = R / R' + R'/ R''

'
/'

7 @ ( ( / @ V :

5 / / V' 8 /

/ ) OM = OO ' + O 'M

&
 dOM dOO ' dO 'M dO 'M
V M/R = )R = )R + )R = VO'/R + )R' + R'/R ∧ O 'M
dt dt dt dt

V M / R = V O'/ R + V M / R' + R'/ R ∧ O'M

7 / / B /
G / /
/ :B ; G / : ;
7 / M ≡ M '; B 1;1
: : 5 / VM/R

V e (M ) = V M '≡ M / R = V O'/ R + V'M '/ R' + R'/ R ∧ O'M ' ( V'M'/ R' = 0 B

V e (M ') = V O '/ R + R'/ R ∧ O'M '

8 / : ) V e (M ) = V O'/ R
+ R'/ R ∧ O'M

/ /, / @ )
/ / /

dO ' M
Vr (M) R ' = )R'
V a (M) R = Vr (M) R ' + V e (M) dt
V e (M) = VO'/R + R'/ R ∧ O ' M

1'
*

d V a (M) R
7 ) γ (M) R = B E / / /
dt
@

dVr (M)R ' d(Vr (M)R ' )

• )R = )R ' + ωR '/R ∧ Vr (M)R ' = γ r (M)R ' + ωR '/R ∧ Vr (M)R '
dt dt
dVO'/R
• )R = γ O' (M)R
dt

.
 d( ∧ O ' M)
R'/ R d( R'/ R ) d(O ' M)
)R = )R ∧ O ' M + R'/ R ∧ )R
dt dt dt
d( R'/ R ∧ O ' M) d( R'/ R ) d(O ' M)
• )R = )R ∧ O ' M + R'/ R ∧ (( )R ' + R'/ R ∧ O ' M)
dt dt dt
d( R'/ R ∧ O ' M) d( R'/ R )
)R = )R ∧ O ' M + R'/ R ∧ ( Vr (M)) R ' + R'/ R ∧ R'/ R ∧ O'M
dt dt

5 / )

d( R'/ R )
(M)R = r (M)R' + O' (M)R + 2 R'/ R ∧ Vr (M)R' + )R ∧ O'M + R'/R ∧ R'/ R ∧ O'M
dt

E ( G
: 5

e (M') R = (M ≡ M') R

d( R'/ R )
e (M')R = r (M')R' + O' (M')R + 2 R'/ R ∧ Vr (M')R' + )R ∧ O'M' + R'/ R ∧ R'/ R ∧ O'M'
dt
d( R'/ R )
e (M')R = O' (M')R + )R ∧ O'M' + R'/ R ∧ R'/ R ∧ O'M'
dt

e (M)R :

5 : 5 @ 5

d( R'/R )
e (M)R ) e (M)R = O' (M)R + )R ∧ O'M + R'/R ∧ R'/R ∧ O'M
dt

7 B c (M)R c (M ) R = 2 R'/ R ∧ V r (M ) R'

: / B

c (M ) R = r (M ) R ' + e (M ) R + c (M ) R
d ( V r (M ) R ' )
r (M ) R' = )R '
dt
d( R '/ R )
e (M ) R = O' (M ) R + ) R ∧ O 'M + R'/ R ∧ R'/ R ∧ O 'M
dt
c (M ) R = 2 R'/ R ∧ V r (M ) R '
5' ,
+ '
/ ) m r (M) = m (M) − m e (M) − m c (M) = m (M) + Fie + Fic

B
(+ / ,
4 /
5 )

Fie = − m e (M) B Fic = − m c (M)

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5' 4 28 <E B ] B ^ B Q =
' <EB ]B ^B Q=B . 8
/

/ ) OM = lu r B

1 / / v = lθ u r B
1 / a = lθ u θ − lθ 2 u r

1' ' B 5 )

1 P = mg

1 Fie = − ma e B a e

d 2 OO '
Fie = −m = mxΩ 2 sin(Ωt)e x B / ' < =
dt 2

d( R'/R )
( )R ∧ O'M + R'/ R ∧ R'/R ∧ O'M) = 0 7 B
dt
+ /

8 @ (u r , u θ ) B 5 )

P = mg = mg(cos θ u r − sin θ u θ )

T = −T u r B

Fie = mx Ω 2 sin(Ω t)e x = mx Ω 2 sin(Ω t)(sin θ u r + cos θ u θ ) e x = sin θ u r + cos θ u θ

5' 4 28 )

mg cos θ − T = mxΩ2 sin(Ωt)sin θ (1) (suivant u r )

Fie + T + P = ma →
−g sin θ + xΩ2 sin(Ωt) cos θ = lθ (2)(suivant uθ )

g x
. E ) θ = − sin θ + Ω 2 sin( Ωt) cos θ < =B @ / θ B cosθ ≈ 1
l l
g
sinθ ≈ θ B E Ω 02 = B @ ' /
l
x 2
@ ) θ +Ω 02 θ = Ω sin(Ωt)
l

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/' OM = r(t)i D V r = r(t)i D V e (M ) = V O'/ R

+ R'/ R ∧ O ' M = ω r(t) j

1' γ r = r(t)i D γ e = R'/ R ∧( R'/ R ∧ O ' M) = −ω 2 r(t)i = −ω 2 OM D γ c = 2ω ∧ Vr (M ) = 2ω r(t) j

5' P = mg = −mgk

' R = Ry j+ Rzk

Fie = − mγ e = m ω 2 r(t)i

Fic = − mγ c = −2mω r(t) j

(' 8 , 28 ) Fie + Fic + P + R = m γ r

mω 2 r = mr r(t) − ω 2 r(t) = 0 (1)

7 $ / 5 −2mω r(t) = R y −2mω r(t) = R y (2)
mg = R z mg = R z (3)

-' ' < = ) r(t) = Aeω t + Be −ω t

-
 r(t = 0) = r0 → r0 = A + B r0
A=B=
r(t = 0) = 0 → Aω = ω B 2

r0 ω t
r(t) = [e + e −ω t ]
2

R y = 2mω 2 r0 sinh(ω t)
R z = mg