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1

I
1

m
1.
kg

0.25

0.5

1.5

s
s
s
s
s
s
s
s
s
s
s

s
t (t ) (t )

0 rad

rad/s2

Nm

0 rad
rad/s2

10

15

20

rad
25

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50

0 rad
rad/s2

0 rad
rad/s2

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rad/s2

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rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

10

15

20

25

30

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40

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50

0 rad
rad/s2

0 rad
rad/s2

2.

rad
s
s
s
s
s
s
s
s
s
s
rad/s2


rad/s2

rad/s2

kg

0 rad

rad/s2

Nm

10

15

rad

20

25

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50

20

25

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50

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

10

15

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

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rad/s2

0 rad
rad/s2

3.

rad

kg

s
s
s
s
s
s
s
s
s
s
rad/s2


rad/s2

rad/s2

0 rad

rad/s2

Nm

0 rad
rad/s2

0 rad
rad/s2

10

15

20

rad
25

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50

0 rad
rad/s2

0 rad
rad/s2

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rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

10

15

20

25

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40

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50

0 rad
rad/s2

m
kg
1.

rad
s
s
s
s
s
s
s
s
s
s
rad/s2


rad/s2

rad/s2

0 rad

rad/s2

Nm

10

15

rad

20

25

30

35

40

45

50

20

25

30

35

40

45

50

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

10

15

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

2.

rad
s

kg

s
s
s
s
s
s
s
s
s
rad/s2


rad/s2

rad/s2

0 rad

rad/s2

Nm

0 rad
rad/s2

0 rad
rad/s2

10

15

20

rad
25

30

35

40

45

50

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

10

15

20

25

30

35

40

45

50

0 rad
rad/s2

3.

kg

rad
s
s
s
s
s
s
s
s
s
s
rad/s2


rad/s2

rad/s2

0 rad

rad/s2

Nm

10

15

rad

20

25

30

35

40

45

50

20

25

30

35

40

45

50

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad

10

15

rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

++kg
m2
kgm2

I
m

kg

kg
22

m
2

kgm

rad
s
s
s
s
s
s
s
s
s
s
rad/s2


rad/s2

rad/s2

0 rad

rad/s2

Nm

10

15

20

rad
25

30

35

40

45

50

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

10

15

20

25

30

35

40

45

50

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

32

kgm2

rad
s
s
s
s
s
s
s
s

s
s
rad/s2


rad/s2

rad/s2

0 rad

rad/s2

Nm

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

10

15

20

rad
25

30

35

40

45

50

0 rad
rad/s2

10

15

20

25

30

35

40

45

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

50

42

kgm2

rad
s
s
s
s
s
s
s
s
s
s
rad/s2


rad/s2

rad/s2

0 rad

rad/s2

Nm

10

15

20

rad
25

30

35

40

45

50

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

10

15

20

25

30

35

40

45

50

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

52

kgm2

rad
s
s
s
s
s
s
s
s

s
s
rad/s2


rad/s2

rad/s2

0 rad

rad/s2

Nm

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

10

15

20

rad
25

30

35

40

45

50

0 rad
rad/s2

10

15

20

25

30

35

40

45

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

50

62 2

kgm2

rad
s
s
s
s
s
s
s
s
s
s
rad/s2


rad/s2

rad/s2

0 rad

rad/s2

Nm

10

15

20

rad
25

30

35

40

45

50

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

10

15

20

25

30

35

40

45

50

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

72 2

m
2

kgm

rad
s
s
s
s
s
s
s
s

s
s
rad/s2


rad/s2

rad/s2

0 rad

rad/s2

Nm

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

10

15

20

rad
25

30

35

40

45

50

0 rad
rad/s2

10

15

20

25

30

35

40

45

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

0 rad
rad/s2

50

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