1965

. . ,

. .

5 (48)

517.933

,
.
.
,
,
.

,
:
=>
2

= ^-{(

+ m )g sincpj l a \ + sin (<? )] +

+ ^

, <? 2)},
=

(1)

z,

z = { ( + ) g sin < l a [ + sin (< <?i)\z +

h

+ ^ ( ? i , , ? .
2

)),

mi +

s i n ( )

> ? . ) = ( sin F ) cos

2

(< - cpj) [/

+ sin

( 9 1 , .. ?
sin

. )

(cp cpj)
2

/,

(< <Pi)
2

cos (? - ],

(2)

s i n

Ti - ^ i l (?2 - <Pi) {(mi + m ) l y + m l z cos (<p <Pj)],

m

K i + ^2)

2 2

OTj m , <
, , ^ /
, Z ! / ^ ,
, g
, .
(1)
cpj y oz.
2

2*

20

. . , . .

(1)
:
'_

_(

+ / ) g s i n 9, l -

dfi

dz

[m

+ ,_ s i n (

,)] +

1'

(/, 4 - / ) g s i n < l-fi \

3

m sin

(tp <,| z

(3)

(3)
(1 , , , z ) 2 :
0

dy

) g

(w, +

s i n ?!

d<fi

<7J () + Fi + ft.

(4)

dy~

(/,

/ ) g s i n <p, <7 ( ) +
2

Fi *i

(5)

(mi

d_
d<?z

/) s i n 9

dz

i ()

*
l a(m + m )y
l am y

z>0,
z<0;
z>0,
z<0;

(7)

>0,
<0;

l am z
l a(m + m ) z
l a (m + m ) z
l am z

>0,

<0;

(2)

(6)

"'

lianiiy
l a {m + m ) V
x

Qi

( / 1 + . / ) g S i n 9 9 2 ( 2 ) 4 - ^ 2

F + h

? i () +

k = |/ gsln<p F \ + X , V ,
x

k == I (m + m ) g sin <p
V ,
2

(8)

|+ X V ,
2

V = - ^ p -

/ .

1_

( <

+ l ( + m )g(l c o s + m l g(\ c o s <p) / y ^ /

(*o> 3V . o)> % < 0, 7 , < 0,
x

2 2

(9)

X, = -L-

[(m + m ) l + m / +
x

nt\hh
2

w / ) + 2m l {m l + m l ) + m\ ,
2

2 x

x x

\{! + ) ( +

m\lih

i)

+ }/(m + m ) [(/, - / ) m + (l +
x

(10)

2 2

+
2

L ) m \\.
2

(11)

21

(4) (6) ,

[ (, + )

sin ? j 4- F + k ]

am l

x x

[ { + ) g sin

[ (/! + )

< 0

z =

' > 0.
(13)

[ ( O T J + /ra )g-sin 92 + FI+ k ]

2

> ,
(12)

sin < + F' +

? 1

+ F + *]

2 < 0
) h

(mj +

= - ,

=
. (5) (7)
,
1

[ (ffij + )g sin <?! + F k ]

2

[ (w^ + m ) & sin ?! +

2

^i]

F\

y>0,

/j

a (m + m )

(14)

j ; < 0
a/wi*i

[ ( + ) g- sin

? , + F - k, ]
2

(m

Z >

+ m) l

z =
[ (mj + m ) g- sin tp + F' k ]
2

0,
(15)

z < 0

um li
x

a =

a =

(4) (7), [5],

dy_
d<
l

dy_

_rfy_

rf?i

<

d<f

rfz <

>

d<pi

<
<

(16)

dfi

<0

, >
flf<p

dz

__

dz_

,(17)

< .

. <,
, (1)
R{^ , ) . ,
(1)
. /?(?,, <)
(. . ), 2

22

. . , . .

R(yi). R(<?i, <)

<? /?(<2). ,
R('fi) /?(<2) . R
R(<? <) , ; ,
/? . .

,
R(<?i) R(<? ) .
, R,
R(<? ) , .
R, , /?( ). ,
,
R. , (1)
. , ,
: R
.
V, (9), .
R .
V , (1),
2

4^-= - {1

+ 2l l yzcos

( - < ) + 1 ]},

x 2

- dt
z. , V
,
. = 0, 2 = 0. ,
= 0, z = Q
.
, V
. , ,
V R. (1)
F = 0 , . .
,
. , V
R(<?i).
, , R(<?i)
. , , F = 0

. , F = 0 , F = 0,
V R(<?i, < ),
(1)
.

,
t> 0 ^ (t) > 0,
z(t) > 0. (1), (3), (4) (7) ,
,
x

4M?i, , <?2, )> F ~k >L ,

x

(<Pl, ,

?2.

) >

^2

(18)

> Z.

2)

/-! L .
, (18)
2

23

.
F' k . (8),
2

k\,

Fi k = F \m g sin
l

mi 4- m

F k = F
2

F\ X V ,
2

(19)

(20)

T i

\( + m )gsin

(9) (11) ,
lim X.

lim V = 2l m g -

= lim X =

m,->-0

< 0, % < 0, _y = 0, z = 0. (19) (20)

:
0

Fi-K=F,

+
+

l t
/ ^

-F (\-2-q )
2

F -k
2

mi +

+ Pi,

2-%)-F

i +

(21)

m g{ sin
x

4/i \

cpj +

(22)

i + P2,

Pi > 0, p 0 0.
, ,
%
1 1 , ^1 + -- ^ > 0.
2

, F F ,
Fi k y L . (22) , , ,
F' k > Z. .
,
, (5) (7)
.
(4) (6).
1. (5) (7)

(. .
,
" > 0 , ,
z~ > 0),

(1)
.
.
(4) (5) [< , ] , (6) (7)
[ , ] , < < = 2:, < = 2;.
^ <] = = ^,
i5),
=,

(4) (. 1).
|1], .

(1) <PjOV,
(
(16))

< ] < . ,
9 ''',
.

2 . z+,,
(7) (6) [ , ] ,
2

12

22

21

21

12

22

1 2

22

2 1

24

. . , . .

<? oz (1),
' ' ,
z~ z+, ( (17)).

R(<?u <)- ''

,
CD CD'
',
R(<? ).
' , (1),
, '.
,
', .
|
[2].
2.
(5) (7)

( + ) g sin ?! F + k < ,

(23)

(m + m ) g sin cp F' + k < 0,

(24)

(1) .
. (23),
, (14)
], (5) , ,
, (
) [3]. s i n ? , , F k ,
= h > 0 = / > 0, , = h
(5)
( < 0), = h (5)
( > 0) (. 2). , = h
,
=- h
.
(5)
,
,
> 0 <Pi > 0, . . ] ,
,
,
, = 1 , ? ! = ?!,, = h , = h ,

. 2
, <? = .
,
N ' ,
, MN 'N', . .
. , MN
, . . (5) .
(7). ,
1, (1)
. 2 , (5)
(.) ,
( + ) g sin ^ F + k = 0 ( + ) g sin F + k = 0.
x

25

(5) (7)
( , 0.J, ( , 0), (], 0) ( , 0), (CQ, 0), (;, 0). :
2

WT

{{mi + ) g sin tpi + Ai Fj]

) =

4 (mi + m )
2

//()

^ i ^ _
mi

+h F]
2

(1

+ m

+ m)
3

wi 4- m

(Co)

i/l
- 7 ^ -

_ C

[(m + m ) sin

l/

aW

(<p)

m ) g ( - cos C; + cos c ; ) + (k - F' ) (C; - C ) ] ,

[(1 +

i mi
2

Wo (<p)

B
3.

0 < - *i < ( i + )
m

(5) (7)
2

25

(26>

j *

[(

)
2

sin

<P,Z

. 3

(>

.
.

(5)
(,)
^c7(?i)>
, Wo (tpj),
WT (?!), / (<Pi) (. 3).
^ T ( T J ) UT ( ) , 1 [4], . . 7 ( ? i ) < A~(<Pi)
[ , ). ,
^ 7 (<Pi) > WT ( ? j ) ( , ].
(5)
=

ft

0 < F k < (mj + ) g

^~( )>^-( ),

) ]

WT(Q>UT(Q,

(C

cos C + cos ) + (k F' ) (C ) ] .

\(m + m )g(

2>

(;- ) +

mi

\Wu

J .

Ml

(Pi) = 1 / ~ 7 ^ K i + m ) g" ( cos C + cos cpO +

mi

[(, + m ) g - ( - cos d + cos Co) + (ki - FJ (C, - C )],

+ l/^
km

+ 1/

mi + m

<,

a/i

(m,

m)
2

<*p,.

26

. . , . .

1 ?

{W

2 j | [ ( / ! + / ) Sin , + &
2

( -

JL)

+ aa(/re + ) WJ d<? .
x

(/re, + / ) g" sin , + F ( , )

, < ,
2

.
. ,
. ,
[ ^ ( ? ) ] - [ ^ ~ ( ) ] < , . .
2

;<^.
;

[ W> ]

[ WT

( , ) ] = 2 j { [(/re, + ) g sin ,

) + a(m

) ) d<? . ,

+ k - F,J f /
x

+ )

(aW~~

(m + m ) g sin p + A,
x

WQ(I? )
X

< 0 (C , C ),

W 7( Pi)<

< a < ,
mi + m

( ), -

//,

.
,
[
WT ( ? i ) ] > 0, . .
(,)
WT ( ).
2

( , ) ]

>

?1

, WT ( ) > /( ), . .
(25),
0

^( )>^7(.
0

(27)

(27) ,
(5) [1].
(7)
(< )
(2)- ,
() >
(),
. . (7) . ,
1, (1)
.

30 I 1965

1. . . .
, ; = f (x ). . , ., 4, . 248
264, 1958.
2. . . . . , ,., 1947.
3. . .
. , ., 1953.
4. . . . <
dx

+
+ / ( * ) = 0. . , ., 2, . 227
dt*
dt
237, 1958.
5. . . . .
, 2, 1 9 6 J .
s