15

1
,
. ; ,

(. 1. ()
.
.

1: (i) ( )
() . (ii) ()
(), ().

,
; (
). ,
.

( )
.
- (
, k,
1

 ).



, .

2
.
(), ,


. A
rA (t) = rKM (t) + rA (t)

(1)

r KM.
rA , rKM


MrKM = F()

M F()

( )
.
,

.

|rA (t)| =
d(rA )/dt rA ,
d(rA )
= rA
dt

(2)

A .
, (
.)

 .

d(rA )
= A rA
dt
d(rB )
= B rB
(3)
dt
A, B, B = A .
:
)
(
drA
A + B A B
rA
=
+
dt
2
2
)
(
drB
A + B A B
=

rB .
(4)
dt
2
2

d(rA rB )
A + B
A B
(5)
=
(rA rB ) +
(rA + rB ) .
dt
2
2
rA rB ,
|rA rB |, 1 ,
( ) ,
A = B .

(6)

.
, .
||. (
, )
. A
vA = VKM + rA .

(7)

, ,
. O , ,
,
vA = VKM + (rO + rAO ) = vO + rO A ,

(8)

rA rB A = B , rA rB . , ,
,
. , , .
.
1

 rO rAO = rA rO
O .
(
, ).
( , ) . r,
r ( )
.
:
; ,
.
.
rA vA , rA (
(2)). rA vA B, |rB | = |rA |.
B A :
rB =

vA
rA .
|vA |

(9)

rB ,
vA = rA (9)
( rA ) rA
|vA |
rA
|rA |2
=
rA
,
|vA |
|vA |

rB =

, rB rA
B:
vB = rB ,
, rB rA
vA , vB 2 .
2

. , (8.9,8.12)
:
vA vB = vA ( rB )
= (vA rB ) rB (vA )
((
(r(

= 
(vA
rB) rB(
[((
A ) ]
=0.
0 rB rA vA ,
0 .

 2: , .
A, B |rA | = |rB | rA rB rA , rB ( )
vA vB . vA , vB ( rA , rB
(i). rA , rB
(ii). rA (10, 11).

rA , rB , vA , vB .
vA , vB rA , rB
. vA , vB , , .
vA = r sin A

vB = r sin B ,

r = |rA | = |rB | A , B rA , rB ,
rA , rB . rA , rB
sin B = | cos B |,
/2.

vA2 + vB2
2 2
2
2
vA + vB = r =
.
(10)
r
5

 A rA (
rA )
sin A =

vA
vA2

+ vB2

(11)

A .
B . rB
rA vA ( rA vA )
vB vA (11)
( rA rB ), ( rA
rB ). 4
.
,
. ,
. ( 4), ,
.

3
.
()
.

1
1
1
2
2
K=
dm (v) =
dm(r) ( r) =
dm(r) [()2 (r)2 ( r)2 ] .
2 V
2 V
2 V

()2 (r)2 = i j ij rk rk ( r)2 = (i ri )(j rj ):
)
(
1
K=
dm(r) [rk rk ij ri rj ] i j .
(12)
2
V

.

Iij =
dm(r) [rk rk ij ri rj ]
(13)
V

 9 . 3 S
Q
Sij 14.
2 (ij , ri rj ) Iij = Iji . A 9 4 Iij ,

1
K = Iij i j .
2

(14)

1
K = I
2
= (1 , 2 , 3 ) I 3 3 9 Iij .
, , (
).
Iij
. , -
( ).

0 , 2
5 . Iij ,
. Ixx = I1 , Iyy = I2 , Izz = I3 .
( ) Iij ,
. I1 , I2 , I3
2 Iij
. Iij . 3 Iij ,
, 6 Iij ( ) . 3
3
Iij S
Qij , S
Qij
3, Iij .
4
6 . 3
, .
5
, Cij = ri rj , r
(|r|, 0, 0),

|r| 0 0
0 0 0 .
0 0 0

. ( ) ,
I:

Ixx Ixy Ixz

sin K cos K
sin K cos K
Iyx Iyy Iyz sin K sin K = IK sin K sin K
Izx Izy Izz
cos K
cos K
(sin K cos K , sin K sin K , cos K ) eK (K , K ) K
IK .6
Steiner.

4
a = I1 , b = I2 , c = I3 a b c. oy L ( )

)
(
1
1
L 1 = L2 L3

(15)
c b
(
)
L2 = L3 L1 1 1
(16)
a c
)
(
L3 = L1 L2 1 1
(17)
b a

L21 + L22 + L23 = L2 =
L21 L22 L23
+
+
= E =
2a
2b
2c

(18)
(19)

(
) ( L). L
. .
x = 0, y = 0, z = 0
.
6

K
Iij ,
I.

 3: |L|2 I1 = 1, I2 = 1/2 I3 = 1/3. : E = L21 /I1 + L22 /I2 + L23 /I3 . x

z, , ,
y, , .
x z, (0, |L|, 0) (0, |L|, 0) E = |L|2 /I2 .

4
cos = I1 (I2 I3 )/(I2 (I1 I3 )) x.

L b
z, (, ) L.7 L
. = tan1 y/x. T = tan = y/x (
7
L b L , (, ) L
x z.
L .

 4: O W. Pauli H. Bohr 1954 Lund . E. Segre

American Physical Society.

x = L1 , y = L2 , z = L3 ):
x2 x2 T 2
+
+
a
b)
(
L2 z 2 1 T 2

+
+
1 + T2 a
b

x2 + x2 T 2 + z 2 = L2
x2 =
L2
1 + T2

L2 z 2
1 + T2

1 T2
+
a
b

[
2E = z

1
1 + T2

z2
= 2E
c
z2
= 2E
c

1 T2
+
a
b

z() = L3 () = L cos(())
(
)
2
1
b + Tb (1 )
a
(
)
(
)
z = L
1
1
2 1 1

+
T
a
c
b
c

(20)
]
(21)

(22)

= (2Eb)/L2 1 2Eb (
2 L2 .
10


T 2 + 1 = 1/ cos2 :

cos2 (b/a 1) + (1 )
z = L
(23)
cos2 (b/a 1) + (1 b/c)
z = L cos () ()
L:

cos2 + A
cos(()) =
(24)
cos2 + B

A=

1
1 (b/c)
, B=
(b/a) 1
(b/a) 1

(58)
:
(
)
dL3
1 1
= L cos L sin

= ...
d
b a
(
)
1 1

= L
(25)

b a
(cos2 + A)(cos2 + B)
L.

ds

J() =
(26)
(cos2 s + A)(cos2 s + B)
0

(
)
1 1
J() = L

t
b a

(27)

T =

ab J(2)
ba L

(28)

a = b ( b/a 1 = 0)

2b
1

T =
L
(1 )(1 (b/c))
11

 (56,57). = 1, = 0 J()

ds

J() =
(29)
2
0 cos s cos s + B
/2 . = tan s
cot
d

J( = /2 ) =
B + 1 + B 2
0

1
J( = /2 ) = sinh1
B

(30)

tan B + 1

5 Euler
3
, .

.
, , , , ,
Euler
.
.
(r, , ) = r <

= (sin cos , sin sin , cos )
n

. 2
+ ( > 0)
n
.
n
:
, ,

Rn () = Rn () .
.

12

 Euler
, , . n
. z
z.
n
: ()
z. x y z
x xy ( x
y). () x
z z ( z).
y z , z z
( z x ). ()
z (
x y ). x y z ,
123.
Rn(,) () = Rz ()Rx ()Rz ()

cos sin 0
1
0
0
cos sin 0
= sin cos 0 0 cos sin sin cos 0
0
0
1
0 sin cos
0
0
1
= R(, , ) .
(31)

.
Euler R(, , ) R.
, ,
xyz, , 123,
Euler, , , x, y, z. :
r(123) = R(, , )r(xyz) .

(32)

123
,
:
r (123) = 0 .

(33)

(32)
0=

dR(, , )
r(xyz) + R(, , )r(xyz) .
dt
13

(34)


r (xyz) = (xyz) r(xyz) ,

(35)

(xyz)
,
(xyz) .

r. :
r = ijk ei j rk
( r)i = ijk j rk = ik rk = ( r)i

(36)

0 z y
0 x
ik = ijk j = z
y x
0

(37)

, , ,
.
(xyz)
xyz.
(34,35,36)
dR(, , )
r(xyz) + R(, , )(xyz) r (xyz)
( dt
)
dR(, , )
+ R(, , )(xyz) r (xyz) .
=
dt

0 =

(38)

, dR(, , )/dt + R(, , )(xyz) = 0 R1

:
(xyz) = R1

dR
.
dt

(39)

() 123
R 2
:
((123) )ab = Rai Rbj ((xyz) )ij = Rai ((xyz) )ij (R )bj = (R (xyz) R1 )ab .
14

(40)


(123 =

dR 1
R .
dt

(41)

dR/dt Euler:
[
dR((t), (t), (t))
dRz ()
=
Rx ()Rz ()
dt
d
dRx ()
+ Rz ()
Rz ()
d
]
dR
()
z
+ Rz ()Rx ()
.8
(42)
d
R1
Rz (), Rx (), Rz ()
:
R1 = Rz (), Rx (), Rz () .
:
() :
dRz ()
dRz ()
Rx ()Rz ()Rz ()Rx ()Rz () =
Rz ()
d
d

sin cos 0
cos sin 0
= cos sin 0 sin cos 0
0
0
0
0
0
1

0 1 0

1 0 0 .
=
0 0 0
8

(43)

,
y, z, , ,
, .

15

() :
dRx ()
dRx ()
Rz ()Rz ()Rx ()Rz () = Rz ()
Rx ()Rz ()
d
d

1
0
0
1
0
0

0 cos sin
= Rz () 0 sin cos
(44)
0 cos sin
0 sin cos

0 0 0

= Rz () 0 0 1 Rz () = . . .
0 1 0

0
0
sin
0
0
cos
=
(45)
sin cos
0
Rz ()

() :
dRz ()
Rz ()Rx ()Rz ()
d

sin cos 0
cos sin 0
= Rz ()Rx () cos sin 0 sin cos 0 Rx ()Rz ()
0
0
0
0
0
1

0 1 0

= Rz ()Rx () 1 0 0 Rx ()Rz () = . . .
0 0 0

0
cos sin
Rz () = . . .
0
0
= Rz () cos
sin
0
0

0
cos
cos sin
0
sin sin .
= cos
(46)
cos sin sin sin
0

Rz ()Rx ()

16

 (43,45,46) (123) :

0 3 2
0 1 0
0 1 = 1 0 0
(123) = 3
2 1
0
0 0 0

0
0
sin
0
0
cos

sin cos
0

0
cos
cos sin
0
sin sin (47)
cos
.
cos sin sin sin
0
T , .

1 = (cos ) + (sin ) sin
2 = ( sin ) + (cos ) sin
3 = + cos

(48)

Euler,
.
2 : , . .
.
= x x + y y + z z
= 1 1 + 2 2 + 3 3
+ 3 .
= z + N

(49)
(50)
(51)

( ).
( ).
Euler, z- , N -
3- .
.
z N

z = cos 3 + sin M
= sin 1 + cos 2
M
= cos 1 sin 2 ,
N
17

(52)
(53)
(54)

 5: Euler , , xyz
123. N , 12
xy 1 2.
M N 3, N M 3 . , ,
( ).

+ (cos 1 sin 2)
+ 3
= [cos 3 + sin (sin 1 + cos 2)]
= 1 [cos + sin ( sin )] + 2 [ sin + cos ( sin )] + 3 [ + cos ]. (55)

.

18

6
L
K:
1
K = L.
2
K, L , .
, L.
.
(1, 2, 3) I1 = I2 = I,
L ( ) :
(
)
1
1
L 1 L2 L3

= 0,
(56)
I3 I
(
)
L2 L3 L1 1 1
(57)
= 0,
I
I3
L 3 = 0 ,
(58)
, |L|
9 ( 3) , 3

L 3 = L3 (0) ,
(59)

.

.
(
)
L1 L2 L3 1 1
= 1 ,
(60)
I3 I
)
(
L2 L3 L1 1 1
= 2 ,
(61)
I
I3
L 3 = 3 ,
(62)
( )
= 1 1 + 2 2 + 3 3.
(60,61) .
(
)
L3 I3 I
d
(L1 + iL2 ) i
(63)
(L1 + iL2 ) = (1 + i2 ) ,
dt
I3
I
9

I1 = I2 = I
(, )
,

19

 (62)
t
L3 (t) = L3 (0) +
3 (s) ds .

(64)

L3 (t)

dl
+ iw(t)l =
dt
l = L1 + iL2 , = 1 + i2 ,
L3 (t)
w(t) =
I3

I3 I
I

(65)
)
.

(66)

.
1: . , , = 0, L3 = L3 (0)
w(t) =

L3 (0) I3 I
I3 I
=
3 = w0 = .
I3
I
I

(66)
L1 (t) + iL2 (t) =
=

l(t) = l(0)eiw0 t
[L1 (0) cos(w0 t) + L2 (0) sin(w0 t)] +
i [L2 (0) cos(w0 t) L1 (0) sin(w0 t)] .

(67)

. ,
. :
L(t) = L1 (t)1 + L2 (t)2 + L3 (t)3

L1 (t)
= R1 (, , ) L2 (t)
L3 (t)

(68)

R(, , ) 10 (31).
(t), (t), (t)
.
10

123 xyz.

20

 Euler
x y z .

.
3 ( ). z
3 (0) z,
x .
1
x, 3,
x. t = 0. x y z, 1 2 3 , , ,
(0).

6: ,
t = 0 z.

1 2 3 :
= 1 1 + 2 2 + 3 3

(69)

3 = L3 /I3 = 1 + i2 = (L1 + iL2 )/I = (L1 (0) + iL2 (0))eiw0 t /I =

21

(1 (0) + i2 (0))eiw0 t . 1

(t)
1 (t) + i2 (t) = i2 (0)eiw0 t .

(70)

3 z N .11 .
2,
N , M .
1,
1 + i2 ei
(1 + i2 )ei = (1 cos 2 sin ) + i(2 cos + 1 sin )
= N + iM .12
3 z 3
, M
(
)
= 3 M 3 + M z .
3 3 + M M
tan
sin

(71)

(72)

3 z M
7 6.

N
3 z N.

7: 3 M
11

Euler 3 (51)
12
(53,54).

22


3 z N
Euler :
i }
M
{e
{i2 (0)ei(w0 t) }
= 3
= 3 (0)
= 3 (0)
tan
tan
tan
2 (0) cos( w0 t)
= 3 (0)
,
tan
i }
M
{e
{i2 (0)ei(w0 t) }
=
=
=
sin
sin
sin
2 (0) cos( w0 t)
=
,
sin
= N = {i2 (0)ei(w0 t) }
= 2 (0) sin( w0 t) .

(73)

= w0 t! ,
. . (t) = w0 t,

2 (0)
w0 = 3 (0)
tan

23