ng (not.ng (hat bh, * hy = hy © b)
Scostituting Fas. C 43 ta C.48 into Eq. C.53 and integrati
yields;
Up
°
*-¥
by,
Sy
? my, iB
Jay
’,
0? ')
ey,
ey
ma(ipe is
ay,
by
by
* wait) b (“on - =e - “ise ome a
C3.3
(C.34)
Equations of Motion
The Lagrangian form of the differential equation of motion which defines the relation be-
tween the pertinent coargy quantities ts
$a _ PME) PE) aly
a
me 8m
Portorming the deciqnated dilierentiations with reepect to each coordinate yields the fotlowtag pet od equations,
Vor tort (ace:
384 Ele
nf h
te" I
op
= Fro, ¢ writ) b ™~
EY
tian
_ Climb
jm
(C.55)
ag Tee jag Fs
tm h
Timeh
itm,b
M4EI,
36m,h
8 Sy
° h- “age Fret
“440
~
Vac,
ap
bo
h
swit
Yoo,
i7
“4
1tm,h
aT Yeo,
.
3B4El,
67m,n
, smd
ditgh
.
(C.58)
Io
(¢.$7)
TOs
(C.58)
Me ET ows? gg Ph ese Ya~ ~aq"
For rear face:
s4zl,
iSsneh
otk abhsy
ee
ati
“Fao, = alli d- tae ‘wo,’
wet
Sieh
Wong Rt
ite tong MH ae Yew’ — ye oS .sack ”
(C.59) "
to” cates Me otne- thee "
ees ee eee ee
(C.60)
For Moor levels, azcond floor:
(Sa + u.) 1 ne a EE ee, - oul” Tae eq ~Froe!
et,
.
hin
a iyoo, ~ Soom! * UF it! he sane BS. eh + wn. bts
Third Noor:
3idmd,
/4240m4h
Merk
nuae By Bingh
Ws Yeo, - Fangl * “Tee Peo, ~ Jeo)
i
t
t
Ds hea d Meeubedigtetet
}
ole
}&
ecbhtie 4
ee
is
ial
a”4) I: ¢
on hu ‘ (%
t
teh
146
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