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Le rotateur rigide
1 1 1
2 2 2
1 1 2 2
2 2 21 1 2 2
2
1 12 21212
v r d dt rv r d dt r
T m m
m r m r
I
I=moment d’inertie=m1r12+m2r2
2
1 1 1 2 2 2 1 2
1 1 1 2 2 2
2 21 1 2 2
2 2
2
2 2 2
1 21 2
1 2
1ˆ ˆ 22
11 0,1,...
22 2
;
J
I m rv m r v
m r r m r r
m r m r
H J I I
J JE BJ J J
IB I R
m mR r rm m
θr1
r2
x
v1
v2
m1
m2
J JJ
= I w
/ /
2
2
2
2
2
2
2
22
2
0
0
( )
0
0
:( ) cos( ) cos 2
1( )
V x d xx dt
kx d xdt
d x k xdt
k
d x xdtClassiqueX t X tX t X vt
X t X tv