1、 9-1 (a) AB AB A B 9-1 AB 9-1 (b) AB A 1 B 1 A( B) AA 1 BB 1 O(O 1 ) OA(O 1 B) 9-4 OA O 1 B M A B r 9-5 9-5 9-6 O A B A B B 9-6 B a B A a A A s = R A R s a A = = B R a B = B B B A a a a = B B B B B B B Ox x = (t) x = x (t) t d d = t x v d d = 2 2 d d d d t t = = 2 2 d d d d t x t v a = = = t x = vt
2、= 0 + t 2 0 2 1 t t + = 2 2 0 2 + = t v = v 0 + a t 2 0 2 1 t a t v x + =ax t v v 2 2 0 2 + = x v a v = R = v v = R = v 9-8 M M r r i r r = i j i i i i r v + = + = = = t t t t d d d d ) ( d d d d i M v j M v M 2 2 2 2 ) ( + = + = v v v = v M 9-8 9-9 v M= r r M M = 18 (rad/s) O A OA A Oxyz 10 40 80 2
3、0 10 10 M v M mm 9-9 1 OA 2 2 2 80 40 10 + + = = 90 9 8 90 80 cos 9 4 90 40 cos 9 1 90 10 cos = = = = = = ) rad/s ( 16 8 2 9 8 9 4 9 1 18 ) cos cos (cos | | k j i k j i k j i + + = + + = + + = 2 M M r = 20i 10j + 10k M v M= r = (2i+8j + 16k) (20i 10j + 10k) =240 i+300j 180k mm/s v M 424 180 300 240 2 2 2 = + + = M v mm/s n n n / n(r/min) / (rad/s) 30 60 2 n n = =
