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a108a105a110a101a97a114a105a122a97a116a105a111a110 a97a115a115a117a109a112a116a105a111a110a115 a111a102 a115a109a97a108a108 a97a110a103a108a101a115 a116a111 a98a114a101a97a107 a100a111a119a110a46 a84a111 a97a99a99a111a117a110a116 a102a111a114 a116a104a101a115a101 a97a110a103a108a101a115 a97a110a100 a97a100a100 a97a100a100a105a116a105a111a110a97a108 a108a101a118a101a108a115 a111a102 a99a111a109a112a108a101a120a105a116a121 a102a111a114 a102a111a114a99a101 a97a110a97a108a121a115a105a115 a105a110a99a108a117a100a105a110a103 a119a101a105a103a104a116 a116a114a97a110a115a102a101a114 a97a110a100 a110a111a110a108a105a110a101a97a114 a116a105a114a101 a109a111a100a101a108a115a44 a116a104a101 a102a111a108a108a111a119a105a110a103 a115a101a99a116a105a111a110 a100a101a116a97a105a108a115 a116a104a101 a100a101a114a105a118a97a116a105a111a110 a111a102 a97 a110a111a110a108a105a110a101a97a114 a52a45a119a104a101a101a108 a118a101a104a105a99a108a101 a109a111a100a101a108a46 a84a104a105a115 a109a111a100a101a108 a119a105a108a108 a98a101 a99a111a109a112a114a105a115a101a100 a111a102 a97 a108a97a116a101a114a97a108 a109a111a100a101a108 a99a111a109a98a105a110a101a100 a119a105a116a104 a97 a114a111a108a108 a97a110a100 a112a105a116a99a104 a109a111a100a101a108a46 a70a105a103a117a114a101 a50a46a52a115a104a111a119a115 a116a104a101 a108a97a116a101a114a97a108 a121a97a119 a100a121a110a97a109a105a99a115 a97a98a111a117a116 a116a104a101 a118a101a104a105a99a108a101 a122a45a97a120a105a115a46 a83a117a109a109a105a110a103 a116a104a101 a102a111a114a99a101a115 a97a110a100 a109a111a109a101a110a116a115 a97a98a111a117a116 a116a104a101 a67a71 a103a105a118a101a115 a116a104a101 a102a111a108a108a111a119a105a110a103 a108a97a116a101a114a97a108 a101a113a117a97a116a105a111a110a115 a111a102 a109a111a116a105a111a110a46 X Fy = m y = (FyFL +FyFR) cos + (FxFL +FxFR) sin + (FyFL +FyRR) a40a50a46a54a41 a49a51 PM CG = Iz = a(FyFL cos +FyFR cos FxFL sin FxFR sin ) tF2 (FyFL sin FyFR sin FxFL cos +FxFR cos ) b(FyRL +FyRR) tR2 (FxRL FxRR) a40a50a46a55a41 a78a111a116a101 a116a104a97a116 a116a104a105a115 a109a111a100a101a108 a97a115a115a117a109a101a115 a116a104a97a116 a116a104a101 a115a116a101a101a114 a97a110a103a108a101 a105a115 a116a104a101 a115a97a109a101 a111a110 a98a111a116a104 a116a104a101 a102a114a111a110a116 a97a110a100 a108a101a102a116 a115a105a100a101a115 a111a102 a116a104a101 a102a114a111a110a116 a97a120a108a101a46 a65a108a115a111 a110a111a116a101 a116a104a97a116 a116a104a101 a100a105a114a101a99a116a105a111a110 a111a102 a115a116a101a101a114 a97a110a103a108a101 a105a115 a100a101a28a110a101a100 a112a111a115a105a116a105a118a101 a116a111 a116a104a101 a114a105a103a104a116a44 a115a117a99a104 a116a104a97a116 a97 a112a111a115a105a116a105a118a101 a115a116a101a101a114 a97a110a103a108a101 a103a101a110a101a114a97a116a101a115 a97 a112a111a115a105a116a105a118a101 a121a97a119 a114a97a116a101a46 a84a104a101 a115a105a100a101a115a108a105a112 a97a110a103a108a101a44 a44 a105a115 a116a104a101 a97a110a103a108a101 a98a101a116a119a101a101a110 a116a104a101 a118a101a104a105a99a108a101a115 a97a99a116a117a97a108 a118a101a108a111a99a105a116a121 a118a101a99a116a111a114a44 Va44 a97a110a100 a116a104a101 a108a111a110a103a105a116a117a100a105a110a97a108 a118a101a108a111a99a105a116a121 a99a111a109a112a111a110a101a110a116a44 Vxa46 a84a104a101 a71a80a83 a100a101a28a110a105a116a105a111a110 a111a102 a115a105a100a101a115a108a105a112 a105a115 a97a108a115a111 a117a115a101a102a117a108 a102a111a114 a116a104a105a115 a97a110a97a108a121a115a105a115a44 a97a110a100 a99a97a110 a98a101 a100a101a28a110a101a100 a97a115 a116a104a101 a71a80a83 a99a111a117a114a115a101 a109a101a97a115a117a114a101a109a101a110a116a44 a44 a109a105a110a117a115 a116a104a101 a71a80a83 a104a101a97a100a105a110a103 a109a101a97a115a117a114a101a109a101a110a116a44 a44 a97a115 a115a104a111a119a110 a105a110 a69a113a117a97a116a105a111a110 a50a46a56a46 = a40a50a46a56a41 a84a104a105a115 a115a108a105a112 a97a110a103a108a101 a119a105a108a108 a98a101 a97 a99a114a105a116a105a99a97a108 a99a111a109a112a111a110a101a110a116 a111a102 a98a111a116a104 a116a104a101 a109a111a100a101a108 a97a110a100 a116a104a101 a101a120a112a101a114a105a109a101a110a116a97a108 a100a97a116a97a46 a85a115a105a110a103 a116a104a101 a115a105a100a101a115a108a105a112a44 a116a104a101 a115a108a105a112 a97a110a103a108a101 a97a116 a101a97a99a104 a111a102 a116a104a101 a119a104a101a101a108a115 a99a97a110 a98a101 a100a101a116a101a114a105a109a105a110a101a100 a117a115a105a110a103 a69a113a117a97a116a105a111a110 a50a46a57a46 fL = tan 1 V sin +ra V cos +rtf2 f fR = tan 1 V sin +ra V cos rtf2 f rL = tan 1 h V sin rb V cos +rtr2 i r rR = tan 1 h V sin rb V cos rtr2 i r a40a50a46a57a41 a76a111a111a107a105a110a103 a97a116 a116a104a101 a111a116a104a101a114 a100a101a103a114a101a101a115 a111a102 a102a114a101a101a100a111a109a44 a116a104a101 a114a111a108a108 a111a102 a116a104a101 a118a101a104a105a99a108a101 a99a97a110 a98a101 a100a101a28a110a101a100 a97a115 a116a104a101 a97a110a103a117a108a97a114 a111a114a105a101a110a116a97a116a105a111a110 a97a98a111a117a116 a116a104a101 a118a101a104a105a99a108a101 a120a45a97a120a105a115a46 a70a105a103a117a114a101 a50a46a53a115a104a111a119a115 a116a104a101 a114a111a108a108 a100a121a110a97a109a105a99 a109a111a100a101a108a46 a84a104a101 a109a97a115a115 a105a115 a116a114a101a97a116a101a100 a97a115 a97a110 a101a108a101a118a97a116a101a100 a109a97a115a115 a116a104a97a116 a114a111a116a97a116a101a115 a97a98a111a117a116 a97 a100a101a28a110a101a100 a112a111a105a110a116 a99a97a108a108a101a100 a116a104a101 a114a111a108a108 a99a101a110a116a101a114a46 a116a104a105a115 a114a111a108a108 a99a101a110a116a101a114 a105a115 a110a111a116 a97 a115a116a97a116a105a111a110a97a114a121 a112a111a105a110a116a44 a97a110a100 a109a117a115a116 a98a101 a99a97a108a99a117a108a97a116a101a100 a98a121 a108a111a111a107a105a110a103 a97a116 a116a104a101 a115a117a115a112a101a110a115a105a111a110 a103a101a111a109a101a116a114a121a46 a65a115 a116a104a101 a115a117a115a112a101a110a115a105a111a110 a103a101a111a109a101a116a114a121 a99a104a97a110a103a101a115a44 a116a104a101 a114a111a108a108 a99a101a110a116a101a114 a108a111a99a97a116a105a111a110 a97a108a115a111 a99a104a97a110a103a101a115a46 a84a104a105a115 a112a111a105a110a116 a105a115 a112a104a121a115a105a99a97a108a108a121 a105a109a112a111a114a116a97a110a116 a98a101a99a97a117a115a101 a105a116 a105a115 a116a104a101 a112a111a105a110a116 a119a104a101a114a101 a102a111a114a99a101a115 a97a116 a116a104a101 a116a105a114a101 a97a99a116 a116a104a114a111a117a103a104 a116a104a101 a98a111a100a121 a105a110 a116a104a101 a114a111a108a108 a99a111a111a114a100a105a110a97a116a101 a102a114a97a109a101a46 a65a108a116a104a111a117a103a104 a116a104a101 a114a111a108a108 a99a101a110a116a101a114 a105a115 a110a111a116 a115a116a97a116a105a111a110a97a114a121a44 a97a115a115a117a109a105a110a103 a105a116 a116a111 a98a101 a105a110 a116a104a101 a99a101a110a116a101a114a108a105a110a101 a111a102 a116a104a101 a118a101a104a105a99a108a101 a97a110a100 a99a111a110a115a116a97a110a116 a115a105a109a112a108a105a28a101a115 a116a104a101 a109a111a100a101a108 a97a110a100 a105a115 a97a115a115a117a109a101a100 a102a111a114 a116a104a105a115 a49a52 a70a105a103a117a114a101 a50a46a53a58 a86a101a104a105a99a108a101 a82a111a108a108 a77a111a100a101a108 a119a111a114a107a46 a78a111a116a101 a116a104a101 a104a101a105a103a104a116 a111a102 a116a104a101 a114a111a108a108 a99a101a110a116a101a114a44 hrca44 a97a110a100 a116a104a101 a104a101a105a103a104a116 a111a102 a116a104a101 a99a101a110a116a101a114 a111a102 a103a114a97a118a105a116a121a44 hcga44 a97a114a101 a110a111a116 a99a111a45a108a111a99a97a116a101a100a46 a83a101a112a97a114a97a116a105a110a103 a116a104a101 a117a110a115a112a114a117a110a103 a109a97a115a115a44 a109a44 a97a110a100 a116a104a101 a115a112a114a117a110a103 a109a97a115a115a44 a77a44 a116a104a101 a102a114a101a101 a98a111a100a121 a100a105a97a103a114a97a109 a105a115 a115a101a101a110 a105a110 a70a105a103a117a114a101 a50a46a54a46 a83a117a109a109a105a110a103 a116a104a101 a109a111a109a101a110a116a115 a111a102 a116a104a101 a115a112a114a117a110a103 a109a97a115a115 a97a98a111a117a116 a116a104a101 a114a111a108a108 a99a101a110a116a101a114 a121a105a101a108a100a115 a116a104a101 a114a111a108a108 a101a113a117a97a116a105a111a110a115 a111a102 a109a111a116a105a111a110a44 a69a113a117a97a116a105a111a110 a50a46a49a48a46 X Mrc = Ix = B _ K m yh1cos +mgh1 sin Marb a40a50a46a49a48a41 a78a111a116a101 a116a104a97a116 a105a110 a116a104a105a115 a109a111a100a101a108a44 a116a104a101 a102a111a114a99a101 a102a114a111a109 a116a104a101 a115a117a115a112a101a110a115a105a111a110 a115a112a114a105a110a103 a97a110a100 a100a97a109a112a101a114a115 a97a114a101 a108a117a109a112a101a100 a105a110a116a111 a97 a115a105a110a103a117a108a97a114 a114a111a108a108 a115a116a105a27a110a101a115a115 a102a111a114 a115a105a109a112a108a105a28a99a97a116a105a111a110a46 a72a111a119a101a118a101a114a44 a116a104a101a115a101 a112a97a114a97a109a101a116a101a114a115B a97a110a100K a97a99a99a111a117a110a116 a102a111a114 a116a104a101 a115a117a115a112a101a110a115a105a111a110 a115a112a114a105a110a103 a97a110a100 a100a97a109a112a105a110a103 a118a97a108a117a101a115a44 a116a105a114a101 a115a112a114a105a110a103 a97a110a100 a100a97a109a112a105a110a103 a118a97a108a117a101a115a44 a97a110a100 a107a105a110a101a109a97a116a105a99 a114a101a108a97a116a105a111a110a115a104a105a112a115 a111a102 a116a104a101 a115a117a115a112a101a110a115a105a111a110 a97a108a108 a105a110 a111a110a101 a116a101a114a109 a46 a65a108a115a111 a110a111a116a101a44 h1a105a115 a116a104a101 a100a105a27a101a114a101a110a99a101 a98a101a116a119a101a101a110 a116a104a101 a99a101a110a116a101a114 a111a102 a103a114a97a118a105a116a121 a104a101a105a103a104a116a44 hcga44 a97a110a100 a116a104a101 a114a111a108a108 a99a101a110a116a101a114 a104a101a105a103a104a116a44 hrca46 a49a53 a70a105a103a117a114a101 a50a46a54a58 a82a111a108a108 a109a111a100a101a108 a102a114a101a101 a98a111a100a121 a100a105a97a103a114a97a109a44 a115a104a111a119a105a110a103 a115a112a114a117a110a103 a109a97a115a115 a40a108a101a102a116a41 a97a110a100 a117a110a115a112a114a117a110a103 a109a97a115a115 a40a114a105a103a104a116a41 a73a110 a108a111a111a107a105a110a103 a97a116 a116a104a101 a114a111a108a108 a109a111a100a101a108a44 a114a101a97a108a116a105a111a110a115a104a105a112a115 a102a111a114 a116a104a101 a108a97a116a101a114a97a108 a119a101a105a103a104a116 a116a114a97a110a115a102a101a114a44 Fza44 a99a97a110 a98a101 a102a111a117a110a100 a98a121 a115a117a109a109a105a110a103 a116a104a101 a102a111a114a99a101a115 a97a98a111a117a116 a116a104a101 a114a111a108a108 a99a101a110a116a101a114 a102a111a114 a116a104a101 a117a110a115a112a114a117a110a103 a109a97a115a115a46 a84a104a105a115 a121a105a101a108a100a115 a116a104a101 a114a101a108a97a116a105a111a110a115a104a105a112 a105a110 a69a113a117a97a116a105a111a110 a50a46a49a49a46 X Mrc = Ix = 0 = t2(FzL FzR) +h(FyL +FyR) +B _ +K +Marb a40a50a46a49a49a41 a83a117a109a109a105a110a103 a116a104a101 a102a111a114a99a101a115 a105a110 a116a104a101 a121a45a100a105a114a101a99a116a105a111a110 a102a111a114 a98a111a116a104 a116a104a101 a115a112a114a117a110a103 a97a110a100 a117a110a115a112a114a117a110a103 a109a97a115a115a101a115 a97a110a100 a101a113a117a97a116a105a110a103 a116a104a101 a114a101a97a99a116a105a111a110 a102a111a114a99a101a115 a97a116 a116a104a101 a114a111a108a108 a99a101a110a116a101a114 a103a105a118a101 a116a104a101 a102a111a108a108a111a119a105a110a103 a114a101a108a97a116a105a111a110a115a104a105a112a46 m y = (FyL +FyR) a40a50a46a49a50a41 a83a117a98a115a116a105a116a117a116a105a110a103 a69a113a117a97a116a105a111a110 a50a46a49a50 a105a110a116a111 a69a113a117a97a116a105a111a110 a50a46a49a49a44 a97a110a100 a115a111a108a118a105a110a103 a102a111a114 a116a104a101 a102a114a111a110a116 a97a110a100 a114a101a97a114 a105a110a100a105a45 a118a105a100a117a97a108a108a121a44 a116a104a101 a102a111a108a108a111a119a105a110a103 a101a113a117a97a116a105a111a110a115 a97a114a101 a111a98a116a97a105a110a101a100 a102a111a114 a116a104a101 a108a97a116a101a114a97a108 a119a101a105a103a104a116 a116a114a97a110a115a102a101a114 a100a117a101 a116a111 a118a101a104a105a99a108a101 a114a111a108a108a46 Fzf = [B f _ +K f +hfm( _Vsin +V _ cos +rVcos )]=tf a40a50a46a49a51a41 a49a54 a70a105a103a117a114a101 a50a46a55a58 a86a101a104a105a99a108a101 a80a105a116a99a104 a77a111a100a101a108 Fzr = [B r _ +K r +hrm( _Vsin +V _ cos +rVcos )]=tr a40a50a46a49a52a41 a70a105a110a97a108a108a121a44 a116a104a101 a109a111a100a101a108 a102a111a114 a116a104a101 a28a110a97a108 a100a101a103a114a101a101 a111a102 a102a114a101a101a100a111a109 a111a102 a116a104a101 a118a101a104a105a99a108a101 a109a111a100a101a108a44 a112a105a116a99a104a44 a105a115 a115a104a111a119a110 a105a110 a70a105a103a117a114a101 a50a46a55a46 a84a104a101 a112a105a116a99a104 a109a111a116a105a111a110 a105a115 a100a101a28a110a101a100 a97a98a111a117a116 a116a104a101 a118a101a104a105a99a108a101 a121a45a97a120a105a115a46 a84a104a101 a112a105a116a99a104 a101a113a117a97a116a105a111a110a115 a111a102 a109a111a116a105a111a110 a97a114a101 a100a101a114a105a118a101a100 a97a110a97a108a111a103a111a117a115 a116a111 a116a104a101 a114a111a108a108 a101a113a117a97a116a105a111a110a115 a111a102 a109a111a116a105a111a110a44 a115a105a109a112a108a121 a99a104a97a110a103a105a110a103 a116a104a101 a115a117a98a115a99a114a105a112a116 a108a97a98a101a108a105a110a103 a116a111 a109a97a116a99a104 a116a104a101 a112a105a116a99a104 a99a111a111a114a100a105a110a97a116a101a115a46 X Mpc = Iy = B _ K m xh1cos +mgh1 sin a40a50a46a49a53a41 a76a105a107a101 a116a104a101 a114a111a108a108 a109a111a100a101a108a44 a116a104a105a115 a109a111a100a101a108 a97a108a115a111 a108a117a109a112a115 a116a104a101 a102a111a114a99a101 a102a114a111a109 a116a104a101 a115a117a115a112a101a110a115a105a111a110 a115a112a114a105a110a103 a97a110a100 a100a97a109a112a101a114a115 a105a110a116a111 a97 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a115a116a97a116a101 a109a97a116a114a105a120 a119a104a101a114a101a58 [x] = 2 66 66 66 64 xs xu zs zu 3 77 77 77 75 a40a50a46a50a48a41 a84a104a101 a115a121a115a116a101a109 a99a97a110 a110a111a119 a98a101 a119a114a105a116a116a101a110 a105a110 a115a116a97a116a101 a115a112a97a99a101 a114a101a112a114a101a115a101a110a116a97a116a105a111a110a46 a83a117a109a109a105a110a103 a116a104a101 a102a111a114a99a101a115 a97a110a100 a109a111a109a101a110a116a115 a102a114a111a109 a116a104a101 a102a114a101a101 a98a111a100a121 a100a105a97a103a114a97a109 a111a102 a70a105a103a117a114a101 a50a46a57a44 a116a104a101 a102a111a108a108a111a119a105a110a103 a101a113a117a97a116a105a111a110a115 a111a102 a109a111a116a105a111a110 a97a114a101 a100a101a114a105a118a101a100a58 a49a57 a70a105a103a117a114a101 a50a46a49a48a58 a72a97a108a102 a67a97a114 a83a117a115a112a101a110a115a105a111a110 a77a111a100a101a108 [ _x] = 2 66 66 66 64 b m b m ks m ks m b m b m ks m (ks+kt) m 1 0 0 0 0 1 0 0 3 77 77 77 75 [x] + 2 66 66 66 64 0 kt m 0 0 3 77 77 77 75 u a40a50a46a50a49a41 a73a110 a100a101a118a101a108a111a112a105a110a103 a116a104a101 a102a114a101a101a45a98a111a100a121 a100a105a97a103a114a97a109 a102a111a114 a116a104a101 a113a117a97a114a116a101a114 a99a97a114 a115a117a115a112a101a110a115a105a111a110a44 a105a116 a105a115 a105a109a112a111a114a116a97a110a116 a116a111 a110a111a116a101 a116a104a101 a114a101a108a97a116a105a118a101 a109a111a116a105a111a110a115 a98a101a116a119a101a101a110 a116a104a101 a103a114a111a117a110a100 a40ua41a44 a116a104a101 a117a110a115a112a114a117a110a103 a109a97a115a115 a40zu)a44 a97a110a100 a116a104a101 a115a112a114a117a110a103 a109a97a115a115 a40zs): a84a104a101a115a101 a114a101a108a97a116a105a118a101 a109a111a116a105a111a110a115 a97a110a100 a116a104a101a105a114 a114a101a115a112a101a99a116a105a118a101 a118a101a108a111a99a105a116a105a101a115 a119a105a108a108 a105a109a112a97a99a116 a116a104a101 a102a111a114a99a101a115 a111a102 a116a104a101 a100a97a109a112a101a114a115 a97a110a100 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