x1

θ
θ x0
z2 = z1 = z0
OC = OH + HC θ
H
HC =L.sinθ α

x2
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Exercice 2
Exemple de mouvement simple :Cycloïde
R0(O, X0, Y0, Z0) Uα = cosα X0 - sinα Y0
R1(C, X0, Y0, Z0)
RD(C, Ur, Uα , -Z0 Y0 Ur
Y0 α
OM = OH + HC + CM
M
H X0

C
α
C(xc,R,0)
X0
O R0 I=M I=M

VD/R0(M) = VD/R1(M) + VR1/R0(M)

. .
= R α Uα + xC X0
. Si M = I
VD/R1(M) = Rα Uα VD/R0(I) = V. D/R1(I) + VR1/R0(I)
.
. = (-Rα + x C ) X0
VR1/R0(M) = x C X0
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