utolev Tutorial

utolev
Copyright c 2005 OnLine Dynamics, Inc.


 

 

F = ma  
 


   
Fr + F*r = 0
!"
# $%$
K= 1
m v2 &'# "(()#**+++ ( 
2

Read InstallAutolevInstructions.txt before installing

Exploring the frontiers of motion analysis
www.autolev.com


               
!    
"  #    $



 
 
 
  ,


- ( .
 .

 ) .
 % /"  
0 .
  ( 
)( 1
%
  ,


- (" )( )((
- )- %
   
.   

. . 2 (
 0
 
0 !0

. % 3( 

.  ,
0 4

   
%  50
 1
 4+(

 !( 
 !
(

% . 
( (  1

% % 3

 (


%  
(  (


%  1 

0 /6

 
  


 
 
  4  
(-(
7 8
( 96(


 . 4  (
7 4

 4
08
( 96(


 % 4  (
7 
 -' 96(


  96(

7 3(

  3(


(
(
.
  ! 
 
  3("(  )'(
9:)
%
 . 3

 3


( 
0 
(  (


 % 
- 4

 96(




   )
-$,
(
0 ' !
0 ; (( 96' .
  1$5 
<- ; 96' 
=-(
..
  )
-$) ' !
0 ; 3(

0 
( ( 1 
.
  1$5 
<- ; 3(

0 
( ( 1 
.
  

7  ( 
- 

(0 !
0 %.
  )
('>(
7  ?
(( %
 " #

 $
  1
(


0 
0

 . (
0$
 
0

 %  1
(


  (
- @ +

0
#  
0 , 1

  7( ((
-
.
  )  '
A
 
 ,
0 4

 (
. B 
  90(
- C
7

 90(
- +("  &
0+
! 
%


  

(7 
- +(" ( 
0 (" )(
- 
( 
7(

!"
   (


3("(   (


3("(  )(

0 ' 1
(


3("(  
0

2 ( 
0 0 
0

3(: 
0

3


('(

0

C
(

0

C
(

0




0

0 
0

)= (

0



 


 


 &
0+
)( 0'  < 
(" (  


 &
0+
)(
( (" 0 ( 
(

- (" = D :E 
0 () 


:  
: )(
( (" 0 ( 
(

- (" = DE 
0 () 
&"
(
((
 (" 7+
- ))( 
0
)0#

( 

$



( /"
D))E D))E 
0 D!!9E  6
( )
0
- 
("

0 
(0 (   
( ()(  
)

 ( 0
(
-
"
'(+

)(

0 ()( 

' ) 0
- ()( 

+(" 
+ A$ B / (" 7+
- :)

    
     
      


 

/)
-  ( 
( ))( 


)"'(  
( 7 
0
( ' 0
)0 
("


/ '(
") 


 (
+("  )(  
0 
(" 
( ()  !
""
"#
1 :) ()  ! $% 7  
7(

$%

    



-  $% 
0 


 (:( = 0
- +(" (" 
(



( ' (0 /+ 7 ("

:

(:
7 (" $% 
0 
$% &'#"#
$% &'#"#
/" =
( 

 
)( 

( '
(0 
&'#"# +"
("
 
0 

'(" 
)(

0 
)

 

( '
(0 
&'#"# /" = &'#"#  '
'
6
( 0(0
+("  (:( 0( 
0 $

0
'0 
("
:(
 (

.

 
  



(0 7 
(
- ( 
0

( ( 
 

  (:( 0( ( (  (:( =
 -  "' (## 
0 ("
: ( (" 
0

"' (## '#

<
- ( 
0 ()
- )*+ "' (## ( 
( 
 ))(
()
-  "' (## ( (" )(
-

( ))( A&
0+

: 
:B
0--
- 
0 0))
- (" = "' (## 
() 7 (" (  
A&
0+
B

 0
(- 7 : (
' 0
- 7  (:( = 
("( 
0
 ' '<

(
() 


( 
)( 
 

( 
(
 ("
. " (
 '( 

7 
(0

-("  ' 
(0 )00 ("( 
)

0 , )) 
(" 
(

$'
< " ( 7
 " '( (" 
( 
)( 
 
7
- ( ("( (" 
0 
(


("
:( 


   

 
  
/ 
< )( 
 &
0+
 "
 0'  < 
(" )(  

0 7+ (" 
$




( (

/" &
0+


7 )(
))(
0- 
0 0)    0-  0( = 
() 7
(" )(  
(
(( )( 
0 0 (" 0( = (
( (" &
0+


7 )( 

' 
<0 ' ()
- 
 7 (" 7+
-

(:
( (" )(
-

( ))(#


 % 




 
  % 

      & 
 


 
 

   % 

      & 
 
" 
 " 


 
 

 
% 

      & 
 
" ' 

 


    




 
   
   


%
  



/"

7
 6
((

(
(( +("  (( /"
((  ' 7+0 ' )"

" (
 
0

A B 1 :) -.  
0     )('


 .  % 
 0
 0(
7 
 ' +(" 
) ( (   0
(0 +(" )
AFB /" )
)) ( (" 
0 7 ("
 
0  " ) )

(

 08
((
  -  // 
("
 
0
0
 0( 7  +(" 
) ( (  ( 
(  " (
 
0
- )
  ' 
0 ( 7
("
 7 
 6
(( 57 
 6
((  ' 
0 




 ( 
( ' ("

0 

   $0# '&'#
 %1'# 2
'
%1'# 2
'
%1'#/ 3"4'15
2  3#1 ' 0 (
  0=
0 ' ))
- 
(" 7($"
0
0 7 
6

-





-

( 1 :)

    6 7# 1# (#
    
 
'4 (# 89# 


    6 7# 1#
#  
#4 '8#
 

   7 6 7# 1# 7
#  
0
' '8#
 
$0# '&'#
!(' 6 7# 1# !('   &9 '

& '"#
   
81'#
%1'# :  6 7# 1# (# 81'# : 

%1'# ;// 6 7# 1# (# 81'# ; ;/ 
;//
%1'# 5<=/ 6 7# 1# (# 81'# 5 5 5 5/ 5/ 
5/
2
'
%1'# 9<= 6 7# 1# (# 4##1'>#
0##
 9 9 
9
2
'
%1'#/ ?/ 6 7# 1# (# 4##1'>#
0##
? 
'  '"#
#1'8 '8# ?/
3"4'15 @ 6 7# 1# @
# (# '"4'15 9"#1 '# :1 
'  0' 6 1# # (# :9 ' 5 ' 
'4 (# 89# 0'
'

 ! "#!  $

#
/ 0
(
-
"

  (
 00
 
0 )0
7  " (" 
 D-( ("
E 

))
00 ( (" 
0 7   (F

 (+  ))
00 ( (" 
0 7  00 F

 
0 ("
( (" 
0 7 ("
 7  (0  "-"$0 )0 /"

7  (
 00
 
0
(" )0

(
(( +("  (( /"
((  ' 7+0 ' )"
 " (




0

A B ( 
(  " (
 
0
-
'
  ' 
0 ( 7 ("
 7 
 ( 00   "-" 0 )0 9:)
7


#
 #
  (

@
( @
( 09 00

" (0  "-" 0 )0

 %
3( 

(( +("  7( ' <( AAB 
0 
0 +("  -"( ' <( ABB 9
(
7  + 
)(0
7  " (" '   +"
+

)(0 '
 

1 :) ACDEB
0
(
(" (:  . % /"
 7  (: 
(
(( +("  (( /"
((  '
  
7+0 ' )"
 " (
 
0

A B ( 
(  " (
 ' 
0 ( 7
("
 7  (:
/"
 7 

( 7  (: 


(
7 ("
 7 (" (: 7+0 '  7( ' <( AAB

:)


("( 
( ( (  )
( 
(-   
(" :)


+" " 

(
( (  )
( 
(- 
0  -"( ' <( ABB 7  (: 

$0


 ("

 
7 ( (

(


"("
0 7
 ("
 7  (: 7+0 '  7( ' <( AAB

:)


("( (

(  )
( 
(- 
0  -"( ' <( ABB 1 :) AB 0
(

(" 
 
( 7 (" (:  -0

7 +"("  
 + (:   
(:

  &
 
 
0 ' 7(

0 ( 0
( (
!' 
 
0 

(
( +(" ("  7 % 
F 
(" >  (
 
(" 
( 00




("+
 0 0 '"4'15  
.)G 

0 7 (" (: 7 :)



+" " 

(
6 ( > ( 7 0
 
6(

7 (
/)  ! H# 7 0(

7!+7+ 
0 *3 3)-  
0 7 ( 
7 :)



+" " 

(
6 ( >
( 7 (


(
( 6(

/)  !
 1' 7 0(

1 ' <+0 )('( %1'# *  %1'# */ 
(0  (
'

. +G 

0 7  (: 7
 6
((
("(  : 00 7 ..


  

' ! ! &( ! $
! $ 
 4+(

7
 7 
( '
0 
(" +#?
' 0 (

0  


( 7 ( 
(
 " (
/"

7 '0
 7
 )( 
 
0 )
(

( )) 


'# I1"#
!1 ' # 
0 !
'  0 (


0  


( 7 ( 
( . " (
/"



(
'-
+("  (( 7+0 ' )"
 " (
A
 
0

B


'#  6 7# 1# (# "'8# 1'4'


5 
6 3 1

9 #
1 (

1" 8#
1    &';#
' 
6 7# 1#  0
' 
( '
' '
# ?' ( / " # #1
I1"#  6 7# 1# (# "# 1#&#1# # &1"# 
6 3 1

9 #
1 (

1" 8#
1    &';#
' 
6 7# 1#  0
' 
( ' &';#

 
+#?
' + 6 7# 1# +   +#?
' '#1 ' 1#&#1# # &1"#
6 3 1

9 #
1 (

1" 8#
1 + + + &';#
' +
6 7# 1#  0
' +
( ' &';#

 +
!1 ' # 7 6 7# 1# (# "'8# 01 ' # 
7
!
'  I 6 7# 1# (# "# 0
'   
I


#
 
/" 
0
 A B
)(
)
(

0* 7
 7

("

7 )
(
 (
  (

 (

 0 (


 ( 
 
-  (
 
-  (

 7 
 (6
 
0

( 00
1 :)#
!JGJK 6 !
' '
 8#
1 &1
" 0
' G
0
' K
%J!J+ 6 %#
' 5
& 0
' ! ' 1#&#1# # &1"# +
J7J  6  ##1 '

& 0
' 7 ' 1#&#1# # &1"#
JJI 6 491 8#
' 5
& 

5  ' 1#&#1# # &1"# I
 IJJ 6 491  ##1 '

& 

5  ' 1#&#1# # &1"# 
I
1 #J! 6 I
1 #  '4
 0
' !


 
1:9#J 6 
1:9#
& 
90#  '4
 

5 
3JJ! 6 3#1 '
5
'
& 

5  &
1 0
' !
J 6 7'1# '

'# " 1'; 1# '4 


4(# 9
(  A'@B 7   

0=
0 
7G' @  '@ 
 

6

 


  
  .
  %

   
.  

.  .
.  % 


%  
%  .
%  %


 % "

 
/" 


7 '0

0 )( 

) =0 ' (" 2 0 (
1 :)#
 

'# 
 !1 ' #
 2 D " " F
  "  F
D 2J  2 6 )# 91 (# "
& 
 E 2J  D
 2J  2 6 )# 91 2  2
 L 2J  D  "
M 
2  2 6 )# 91 2  2  2 
 F 
2  D  "

7(   
0 " '
0 0 

'0
 )( 
 (" 2 0 (

) =
("(  "

 

7 D  "
 

7 " 
0 "

 

7 " +" " F
 (" 

7  '0
 )(  "
'
0 0 (



' 7
0 ' ()
- 2 +"#G&

5G1!1 ' #


  "

 

)
 
(
0 3  ! 0
(
(" 
( 00 7 '0 5 7 )
( ! 
( 00

 ' (0 
(" 7+
- (" +

#
5 :) ( 

-

( / 

-
 00 ( 3  !  () 7 :)

3JJ!  FF  FF  DF
&(" 
 7 (" 
(
7 (" 3#1 ' 0 (
1 :) ()
-
3#1 '  333333

6
( ( ()
-

   3 3 3 3 3 3
3JJ
  3  3  3


  3  3  3
 3  3  3

 
(
 ("( 

(
) =0 

( 6 ( > ' 07(
7 (" 
( 00 7  '0 7  )
( "
'

(0 ( 
=
0 (" 
( 00 7
(" '0 7 
 
0 )
( 7 (" 

7 (" '0 "

'
0 0 
0 )))( )
(

 (
" '

(0 1 :)
 !
'  !
 

'# 
 2 2

   3N
D !J
J!  
 E !JGJ!  
 3JJ!  3  3  N
 L 3JJ!  3  3  N
M 3JJG  3#1 '

 F 3JJG  3  32 O  N2 O


     )

I
1 # ! 
(" 7   (
- 
 )
(  )(  ! 
0 
1:9#  
(" (6 7 (" )  (
-

 7  '0 5 /"  7 +
( 

-

(  I
1 #  
1:9#  (#
I
1 #JK   6 ;0' ' '4"#
8#1?1' # 01#8'
9 89# &
1 I
1 #JK
I
1 #J!  D 6 

 D
(# 89#
& I
1 #J!
I
1 #J!  D 6 $9 1  D &1
" (# 89#
& I
1 #J!
I
1 #!K%  6 :9'8#
I
1 #J!  % 
I
1 #JK  % 


1:9#J   6 ;0' ' '4"#
8#1?1' # 01#8'
9 89# &
1 
1:9#J

1:9#J  %  6 

 % 
(# 89#
& 
1:9#J

1:9#J  %  6 $9 1  %  &1
" (# 89#
& 
1:9#J

1:9#%  6 :9'8#

1:9#J  % 

1:9#J  % 


 
  


 


&
  * "+
,) 
( +(
3('   1(
0 7 ("
  
(-(
7
(
7 08
( 6$
(

/" 08
( 6(


' (" 0
  6(

7 (
-
(0 ' ( 
08
( 6(


(0 0 ( ' (" 
 /" ) 0 7 -
(
- 3('   1(

0

0 (" 
)( =


>0 '+
   '

0 (" 0(

9
( (" 6(

-

- (" "-"
( 0( 7  " '

 309
((
(
(
) 7 (" 
7 

(
(
 (" 
( 
7 '
 
0 

7 
(-(
)(

 " 
I' ' #4$ 0 11 
0 1#11

 G9 09
((
(
(
) 7 (" 6
((
( ' ()(
/)

# G7 I'#"##; A#; 
"  &
1  &B
&"
#; 
 ("
(
0$($ )  0 
I'#"# 
0 

)( = I'#"#'
&"
#; 
&  &
1 ("
(
1(
0 
I'#"##; 
0 

)( = I'#"#'
&"
#; 
" ("
(
0$($
3(' 0 
I'#"#"
6 ;"0#  9"#1' 5 ' #41 # (# &

?'4
'&&#1# ' #:9 '
P
6
;
 ;  5
6
5
 5  ;O
6 ?(#1#  
 1#
   
' '"#

   
%1'# ;/ 5/
;/  ;  5
5/  5  ;O
309   ; 5
309 I'D ' #4$ 0F
G9 09 ;5;/5/


# G7

#;5

/"
(
0$($ )  0 
(" =

#;5 
0 

)( =

#;5' ("( 
0 '
(" : (' )-  - 

#;5#;# /" : (' )- )7

  
(-(
7
(" 08
( 6(

7 ; 
0 5 7 F ( D +(" 
(-(

()
7  



&

  * & 
 & +
,) 
/" ) 0 7 +(
- 3('   1(
0 7 ("
 
(
7
(
7



-' 6(



7+
#
   '

(  (: +"
 
(
)

( ("


 6(



 309
((
(
(
) 7 -


7 (" 
7 (" '
 (" 
7 

(
(


0 
7 
-
 )(

 " 
11 
0 1#11
/)

# +
'#1" 1';+"#81'# I'#"##; A#; 
"  &
1  &B
6 ;"0#  9"#1' 5 
8# (# &

?'4 #:9 '
 &
1 ; 
5P
6 ;O  5O  1  F
6 5  ';  F
%1'# ; 5

    1
#:AB  ;O  5O  1 6 :9 '

&  '1 #
#:AB  5  '; 6 :9 '

&  '9
'

309 F 1F
309 ;FD 5FD


# +
'#1#: ;5 Q 5"
/"
(
(" 0$($
3(' = Q 5" /
 ("


 6(

 
< 3('

0 () Q 5 ( (" 3(' ))( / (  08
( 
( -

7 ;  5  ( 
  08
(
 7    
  (:( 0( ( 0( Q 5"


 &


  * - 
. ,) 
/" ) 0 7 +(
- 3('   1(
0 7 ("
 
(
7
(
7 

6(



7+
#

   '

(  (: +"
 
(
)

( (" 
 6(



 309
((
(
(
) 7 (" (" 
7 

(
(

/)

# 4#1' " 1';+"#81'# I'#"##; A#; 
"  &
1  &B
6 ;"0#  9"#1' 5 
8# (# &

?'4 #:9 '
 &
1 ; 
5P
6 ;  5  
6 ;  5  
%1'# ; 5

   <PP= <P=
#:AB  ;  5  
#:AB  ;  5  
309     D E


# 4#1' #: ;5 # Q5&
1





 
  
 
    
  
 
     !
 "
  
#


/"
(
0$($ ) 1(
0 
(" = # Q5&
1 
0 

)( = # Q5' ("( 

0 ' (" : (' )-  -  # Q5#;# /" : (' )-

(" 
 6(

7 ; 
0 5 7 (" -


7     /
 7 ; 
0 5 +(" 08
( 
7
    
  (:( 0( ( 0( # Q5' 
0 ("
$
# Q5#;#


 ,)  * %  
("-" ( 



( 
 
7(
- 6(

7 (
' 
 ("0 ( 

) 
+
(0 7 
- ( 0
 


+(" C
F
("0 A
 



# /"

0 )
((
+(" ( ' / , C
 
0   


B 9:)
 )

(0 

")(  7 ("
(( /" ) 0 7 -
(
- 6(

7 (
 C
F
("0 

>0 '+
   +#?
' 7
 7
  

'# I1"# !
'  
0 !1 ' #
  -
>0
)0

0 (" ($0(
+("  0 (
7 (" 7
2
'
%1'#/ ?;/ ?5/ ?>/ ;// 5// >//
  -
>0 0
(

0 (" ($0(
+("  0 (
7 (" 7
%1'#/ :;/ :5/ :>/
7
 

 ( <
(  08
( 6(

(
- ($0(
7 -
>0
0
(
( (" (
'
  -  :;/  ?;
:;  ?5':5
1 )
(
 (

0 0 (


 ( 

1 
- 
0 
  (

7
 

 )
 (


(
(
+(" ("
 1' 
0
1 
- 
0 
  (

( 

   7 
- 
0 
  $
(

' 08
((
7 
)
0
- 
- 
0 
  (
1 - )'

 )'
+" " 6 $(
(
 7  (

+(" (" 0  
0 0 $

0

0 (
9
. G+
9
( :)



7 7 

0 (6

1 6(

7 (
' 
(
- .#1
 I1  I1$ 1


 (" H# 
0

 (" 6(

7 (
 
 7
(' 7 (

$
(



 %    

 7
(
7 ("
 1' 
0 
(
 

(
( 6(

7 0)
0
( (
$
'
+"


( 

'G ( ( (


(
(
00(
 7 (" ($0(
7 (

'
 0 0 A   (" 2
'
%1'#/ 0 (
"
'


0B ("
 1' $

0 )0 
:)



7 (" ($0(
7 (" 0)
0
( (
'
1  
7$
(
'( ("
 1' 
0 ()  !
 1' ( (" ( 
 ))( 
0*





# /" 
0 )
((
+(" ( 9:)
 )

(0 
")(
 7 ("
(( 
 7 (" ) 0 7+

  (
'
("( " (> (" (
7 (" 


(
0

(


( (  :)




 " ("(
((
- (" :)



6 ( > )0 
(" (



(
( 6(



-
("
 :)



( (" =
(  
(
7 (" 7#0#
# (:
1 :)
7#0#
# AB  *  *
7#0#
# AB  *  *
/)
 1' 7#0#
# A *' *@B 
+" *' *@   ("

7 ("  0)
0
( (
'

/"
 1' 
0

("  6(



 (0 +(" (" 7#0#
# (: 7 ("

 0)
0
( (
'
 
0 7 (" ($0(
7 (" 0)
0
( (
'

" '
0 0 ("

 1' 
0

7 ("
 

 6 !1
#"P 1'0# 0#
99" ?(
# '0 (  0# '&'#
"
'

 +#?
' + 6 +#?
' 1#&#1# # &1"#
 

'#   6 'Q
& 0#
99"
 !
'  ! 6 7'  #

&
D 2
'
%1'# 9<= 6 R##1'>#
0##

E %1'# : : : 6 4# &
1  

     6 #4 (
&  
L $0# '&'#
8; 85 6 $0# '&'#
"
'

& !
M $'"01
+   :
 F +J  A G$: $3+: FC $3+: G$: FC F F B
 $'"01
+   :
  +J  A G$: $3+: FC $3+: G$: FC F F B
 $'"01
+   : 
  +J  A G$:  $3+:  FC $3+:  G$:  FC F F B
D %J!J+  9  9  9 
 E %J!J+  9  9  9 
 7#0#
# AB  7
 %J!J+ +   8;
 L 7#0#
# AB  8;  $3+:9  $3+:9  $3+: 9
M 7#0#
# AB  7
 %J!J+ +   85
 F 7#0#
# AB   G$:9   G$:9   G$: 9  85

 1' 7#0#
# A99B 
  9  8; G$: 85$3+:  $3+:: 9 $3+:: 
  9  8; G$:85$3+: $3+::9 $3+:: 

.
  


%
.
 ,/

 6 I'#P 9
1 A9
#8P ( 0P???9
#8
"B
 6 !1
#"P ;"0#
& " (#" '  &9 '

 6
 6 2 (#" ' 
# 1 '
P 81'#
  
D %1'# ;/ 5/
E
     

 3"4'15 '
L 6
M 6 1# #  #;01#'
 
(# 1#114# '"0'&5 '
F   ;5O  ;;5 6 1# #  #;01#'

    ;5O  ;;5

 ;0
  P  6 #1 01# (##

    ;  5  ;O  5O  ;5

 I
1  ;  6 I
1
 ;
 D   5  5O  ;DD;D5

E 6
 6 2 (#" ' 
""

L 75  7  5  6 !1 '
#1'8 '8# ?1  5
 M 75    ;  L5

F 7  7    6 

#1'8 '8# ?1 
  7  5/  L55/  5;/  ;5/LD;/

 -  5
1 ; G$5 FP ;F5F 6 29 '81'# 5
1 #1'#
  -  FFFLLLLM;FF5OEF5O5OE

 I  89 #- ; 5FD 6 $5"

' 9"#1'  #89 '

 D I  FLDLD

E !
5  !
5
"' A B ;  6 1# # ;O ; 
  !
5   ;  ;O

%
 L )

  )

 AC C C B  6 )


& ;O;O;  F
 M )

  AEDFEMC FELD  DELEM'C FELD  DELEM'B

F )

  )

 !
5 ;   6 $
"# 5"
' 1


  )

AB  FDO OFD

  )

AB  FDO OFD

 6
 6 1# '4 1
?
1
9" " 1' #
D )
?2 1';  A   B 6 1# #  ; " 1';
 E )
?2 1';  A   B


2 1';  AC C C B 6 1# #  ; " 1';
 L
2 1';  AC C C B

M .#1
AB  ;  5   6 '4 ##"# 
&
9" " 1';
 F .#1
AB    ;  5

 .#1
AB  ; 
5  !'
  .#1
AB  DM  ; 
5

 6
 6 $
8#  #
& '#1 #:9 '

D $
8# .#1
 ; 5 
 E ;  DM

 
  5  DM 
 

L 6
M 6 1# '4 1# 491 " 1' #
DF 2F  A C  FB 6 1# #  ; " 1';
 D 2F  A C  FB

D 2FAB P
6 '4 ##"#

& 1# 491 " 1';
 D 2FAB 

D 2  A2F ACB B 6 #"# 

& " 1' #  # " 1' #
 DD 2  A   C 
  B

DE 6
D 6 2 1';
""

DL 2  2F  2F 6 2 1'; 

' '

 DM 2  A C   
B

EF 2  2F  2F 6 2 1'; "9 '0'  '


 E 2  AO    
C 
  
OB

E 2  10
#2F 6 2 1'; 10
' '

 E 2  A C 
B


 E 2D  382F 6 2 1'; '8#1'

 ED 2DAB 

 
 EE 2DAB  
 
 E 2DAB   
 
 EL 2DAB  
 

EM 2E  7'4"  6 2Q# ; " 1'; ?' (  

4
'4

 F 2E  A F FC F  FC F F B

 2 
 2F   6 )# 91
9" 
& 2F
  2  AC B

 2L  )
? 2F  P 6 )# 91 1
?  
1
?  (1
94( 
& 2F
  2L  A 
C  C 
B

D +  )
? 2F  6 )# 91 (# 9"#1
& 1
? ' 2F
 E +  

 +  7#  2F  6 7# #1"'
&  " 1';
 L +  
 

M 2M  89 # 2F   
 

 LF 2M  A C  B

L "
  '4 2M  6 '4#89#

 L "
  AFLC DLB

L '4 2M '4%9# '4%#  6 '4#89##'4#8#

1
 L '4%9#  AFLC DLB
 LD '4%#  AFLDEL FDEDEDC FDME FMFMEB

LE 6
L 6 )#
1
9
#8 1#0
#



%! % !   

 
B

b1
/" =- ( (" -"(
"+
(" 0
(  
7 q
b3

"
-$ 

 (0 )(

  
0  ,-"($"
00 a1
a2 b2

(
7 ( ))
0  
(  (
  
0
 AH.%B  =:0 

  
0  
) ( C

+(" 
H 
H 
) ( (" "
- 

 (
- O

A


0  /" )(

 ("

0
6 
0 " L
c3
0


H ( 
0 

H. <- !
(

 w


0  < 


7

0  
0 (" 
-  "$ c1
c2

 (>
(" 
((
7  


P
 1
0 (" 0
(
 '(+

  
0 (" 


( 7 ("

( 70 '
  
0 
&' 

(
 H   . I 
AB
I 

AB   
AB
. 1 HÆ =
0
 AH.%B ("

(F

  )
) 
(
7 
( 
0 =
0 (" 
-
'(+


0 (" )
) :


 (0 +(" ("


(F


 
( 7 
(
&'

H

H%
H 
- H  Æ

% ,0
7 -(

 
 7 "+ 7 'G (
 7  
 
0 
0=
0 

+"  
("

(F

( 7 
( '( ("( 
 
0  
(" 

7 ("

(


- )"
  
((
 
(( (" 
7  ("( )0  ("

( 
0 -
( 0

7 -(
7 ("


( '( 
  
0 )0
 

7 "

- ("
 

&'
   Æ
 
 
Æ
A    %ÆB
,

#
!( ("

(F



( 0
(
 7 
 1.1

 
0 ("

(F
0
7 -(
'(
1.05
Radius of gyration and distance (m)


  7     %Æ (
 (" 
$ 0.95

*: 0
(
 
0 0
7 -(

0.9

 
0 

 (0 
7 
0.85
0.8
0.75
(( )(( 0.7 Radius of gyration
* +(, * +(, 0.65
Distance

-   
./
. //0Æ 

.

Æ 0.6

1  
$/ /$Æ

./00
Æ 0.55
0 45 90 135 180 225 270 315 360
q (degrees)


 
 


  
 

      




 
 !" !# $  %


&

 

' ' ( $%' 
'  

 )'    *
 ( (    &

  

 
+  
 ,
%
  

 
(  -! .  


   
 
- -!' - ' (-
/
' 01!' 01!' 012
/ ' 01!' 01!' 012
/ (' 01!' 012' 01!

3 & 
%  
4 5
' ' ' ,6

7( - 8 % 59'!6 9:9 & :


  5
' ' (   6
7)7
; - "<00
!; = "<00
;
7)7; - 0
!; = "<00
; = "<00!;
7)7(; - 0
;  "<00(!;  "<00(9;
7)7; - 0
;  0(9;

(    &
7)7(; - (5)6
*; - >5 7)7; 6 >   



 *
8  -  %5 (5*;' 7)7(; 6 6 8  
 *  (

/ &   :  &     
/74& 7(;; - / 5('
' ' (6
/74& 7( -  :5
' /74& 7(;; 6
%5 
 5/74& 7(' ,-?"0>5%' 66' *  ' %+ 6
%+ - $5 %+' !6 :  %
%+; - +5
' %+6 (%  

%
 %+


 - 5 85 %+;'
;6 6 0 >5 '%6

     & 
 @% )  
/74& 7);; - / 5)6 / &   &  )
/* - 85*;' 85/74& 7);;' *; 66      *
A
-  56    &
3&  - ,5 /*  A
6 $   %&   *

)      %   & ()8  
>4& B%' ' 
) , %' 8  ' 3&  

(  %    


()8

% 56 , %-"'92"'! 

$

 
4  



 
 & 
 ,)  LN N
/" =- ( (" -"(
"+
 )
 7$' NA CN n2
A

<- 


(
- 7 
7 -0 
<

 

0  
0 -
0 
<



 (0 +(" a1
( G
(
( 
0  ( )
(
 
0
 qC c1


) ( 
<  


 (0 +(" ( q AAB b1 C
G
(
( 
0  ( )
(
 
0   
) $ n1 qB
( B
BC
,-"($"
00 ("-
 
(  (
   2   % & 3

0  AH.%B  =:0 

   
0  -   #(   
  

+("  0 (0 7  (
  7
( -   #( 
  
 

   7  (    (  0+
+0 -   #(   

-   #(   


 


7  (   
0  H  H  H  )   ' 

 

( (" :
7 (" ( G
(
("
'
  '  


7 
(" 



"+
( (" -"(   '    

 ( (+ 
=-(


(
( 6(

H +4
", +" " (    
0 
&'
 H   
AB I   
A B    
A B

H  

AB I  

A B   

A B  
. (
 
7  
0  +" "
(
7 (" 
=-(


(
( 6(

+"
H 
 H.   H.   H  
0 H%Æ
&'
 H  Æ  H  ..Æ


6 I'#P 9
1 A9
#8P ( 0P???9
#8
"B
6 !1
#"P $
8'4  #
& 
'#1 #:9 '
 1 'Q4#
6
6 !(5' 
# 1 '
P I1"# 
!
' 
I1"#    +
!
'  +    +
6
6 2 (#" ' 
# 1 '
P 81'#
  
%1'# : : : 6
&'491 '
 81'#

      + 6 #4 (
6
6 R#
"# 15 1# '4 9' 8#
1
$'"01
+   :
$'"01
+   :
$'"01
+   : 
6
6 !
' '
 8#
1
!J+J  
!JJ   
!J +J    
!J+J +  ++
6
6
&'491 '

 1' 

0  !J+J  !JJ   !J J +  !J +J+

&  7


0 + 
&  7


0 + 
6
6 309
   81'# #  &
1 G7
*' $5 #" Q4 "# #1 #
309  "  "  " + "
309 :F
#4
309 :EF
#4 : F
#4 6 R9#
309 11FF 1#11FF 6 11
1
#1 #
6
6 I
1 12 

# 4##1 '
 &
1 9"#1'  
9 '

G7 +
'#1 A&C &B ::  9
1
6
6
""# P +
'#1 #:9 '
 "5 (8# "
1# (
# 
9 '

6 (# 
9 '

#0#

  49# 3&  49#

# 

6 01
8'
#   '&
15 ?#1 15 
(#1 49#
6
6 )#
1
9
#8 1#0
#
$8# 9
1



 0 " .
 $
 1  ,)
.

)
-$
(
0 0' )
0 "
-  -"( N
O


)
- 
0 (+ -"( -0 0


0 
)$
)(
(+ )( 
 
0  
 4+(

7
 n1
n2

7 ,0



 (0 +(" 7 (


$
( G
(
( 
0  ( )
(
 
0  
) $ a2
k, Lo

( ,-"($"
00
(
7 ( ))
0  qA a1 b2

(  (
  
0   
  =:0 

 A b1

0  +("  (  0+
+0  0 (0 7 P
 (   0 (0 7  (  
0  H  H  qB B Q
) ( (" :
7 (" ( G
(

/" 0
(
 7  (  
 
0 (" 0
(
 7  (  
 /" 


7  
0  
0
(0  
0  /"
)
-F

( 
-(" 
 
0 (

)
- 

(
( 
 /" 
-


0  " (> (" 
((
7

0  

0 (" (
'
 J 
0 J
 1 :)



7 ("

(F
-
>0 7 
 
0 

&'

 H 
 I 
I .      
A   B
(( " H 
  
(( "
 H     

A   B      A I B 

A B
 



$ (( "

H     

A   B       

A B



. )(
 # (
 7

(

7  
0  '(+
$Æ 
0 Æ 7 ("


( ( '


(( 6' +"
 H    H .   H  <-  H . <-  H    H .


0  H   

  ("

(


&'
(
  H Æ  H Æ
(
.  H $ .Æ  H % Æ
(
%  H  .Æ  H $% Æ
(
  H Æ  H Æ

.
 
 #


  
 

  4%  
 
  ,
 % 

C ' '  '  
' 
C  C
 
' 
 
 ' D
 )

  

    
'  ' 
+  
 ,
E' ,E ,
E  ,E  %
F 
(  *
' * *% 
' 
(  B' * 4%  '  

%  %
(  % *
%  

 

 
  - ' D- D

3 & 
%  
4 5 C'
' 9' ,
6
4 5 C' ' 9' , 6

 
7)7; - *
0
!;
77D; - *0!;


%
 

7
7C; - ,
E0
9;
77C; - ,E09;

+

7)7C; - ";
5 C'
' )'  6
5 C' ' ' D 6


3 &5 %0C!; 6
*)D -  %5 7)7D; 6 8   )  D
4 - *)D  *) 4  %
>; - 7)7D;  *)D >   )  D
5)D' B040>; 6 4% 

3
F  
G - 56 4  ,
 56 - "
G -  5 G' % 6 4 
& 
%
&

> &  ()8  
>4& B%' '

/  '   
'   ()8
/ *
-! ' *- ' B-""  ' *-!
/ %-?H! 1' -!" B%' D-" B%
/ ,
-9" %' ,-9" % 3
/  -!" "I' 
-!" "I  
 

(  %    


( C
 5G',
',6 #

$

 
4  #

.

  0' -2 1 ,)
.  3 
LN N
/" =- ( (" -"(
"+
 )
 7$' 
<$ NA CN n2
A
- 


(
- 7 
7 -0 
<

  
0 

0 -
0 
<



 (0 +(" ( a1
G
(
( 
0  ( )
(
 
0
 
) $ qC c1

( 
<  


 (0 +(" ( G
(
( q AAB b1 C

0  ( )
(
 
0   
) ( n1 qB
B
,-"($"
00 ("-
 
(  (
   
0 BC
  
  =:0 

   
0  +("  0$
 (0 7  (
  7
(    7 2   % & 3
 (    (  0+
+0 
7  ( -   #(   
  
  
0  H  H  H  ) ( (" :
7 -   #( 
  
 
(" ( G
(
-   #(      
-   #(    
/"  !  

  
J 
0  #  
 
 
(" !  

   J 
0 J  #  
 
("
'

7 
("




"+
 #    
( (" -"( 1 (" 6
(

("( 7+ 
   ' 


H   H.   H.   H    '  


  '    

 ( (+ (


(
( 6(

+" " ( J J  
0 J
&'
. 

A B  J  . 

A B  J 

AB  J H 

AB  J I .  
A B  J  .  
A B  J H 
.  (" (


(
( 6(

7 J 
0 J 
(
7 J
&'

A   B  J

A   B  J
J H $  

A  B J H $  

A
  B
 
 

% 1 ("


(F
-
>0 7   


- 7 (


( G
(
  ">
( 7 
  

))0 (   H <-  H. <-  H. <- 
0   -( 
  


&'


,

 +  ,
+  ,

+

 ,
 4 +
$0

 + ,

 )(
 # (
 

7     +" "
(
7 (" 
=-(


(
(

0 ("

(( 6' 
0(
 H  +"
H. 4   ("

(

&'
(
  H  Æ  H  .Æ  H % %.Æ
(
.  H . .Æ  H  Æ  H  Æ

 

  
 
  
 
     

..
6 I'#P 9
1D
6 !1
#"P I
911 'Q4#  :9''1'9"
&'491 '

6
6 +#?
' 

'# &1"# 01 ' # 0
' 
+#?
' +


'#  
!
'  +    +
6
6 %1'#
   " 
0# '&'#

2
'
%1'# :/ :/ : /

    6 
1'>
  &
1 #
 

      +
2 "F "F " F
6
6 R#
"# 15 1# '4 9' 8#
1
$'"01
+   :
$'"01
+   :
$'"01
+   : 
6
6 !
' '
 8#
1
!J+J  
!JJ   
!J +J    
!J+J +  ++
6
6 491 8#
' '#
JJ+  :/
JJ+  :/
J J+  : / 
6
6 %#
' '#
8JJ+  1
 JJ+ !J+J 
8J J+  1
 J J+ !J +J  
6
6
&'491 '

 1' 

0  !J+J  !JJ   !J J +  !J +J+

&'491 '

 1' AB  7


0 + 

&'491 '

 1' AB  7


0 + 
6
6 2
'

 1' 
7#0#
#  7 
&'491 '

 1' 

 1' 7#0#
# A:/: /B 
6
6 I
1 #  1#0 # 418' 5 &
1 # ?' ( #:9'8# #
4  ML
I
1 #J   24  24 

.%
I
1 #J    24  2 4 
I
1 #J   +
6
6 :9 '

& "
'

.#1
 I1
.#1
AB 
&'491 '

 1' AB
.#1
AB 
&'491 '

 1' AB
6
6 *'  5 #" &
1 G7 '09 
9 09
8#1'

*' $5 #" Q4"# #1#
6
6 309
   81'# #  &
1 G7
309 FF #?

309 :F
#4 :EF
#4 : F
#4 6 R9#
309 11FF 1#11FF 6 11
1
#1 #
6
6 2 

# 4##1 '
 &
1 9"#1'  
9 '

G7 +
'#1 .#1
 :::  9
1D"
6
6 )#
1
9
#8 1#0
#
$8# 9
1D

.

4 0" " .
 $
 1 %       

)
-$0) 0' )
0 "
-  -"( 
$ N

)
-$0) 
0 (+ -"( -0 0


0  O

))(
(+ )( 
 
0  
 4+(

7$ n2

 7 ,0



 (0 +(" 7 (


n1

( G
(
( 
0  ( )
(
 
0  
) $ a2
k, Lo

( ,-"($"
00
(
7 ( ))
0  qA a1 b

(  (
  
0  AH.%B  =:0 

 b2


0  +("  (  0+
+0  0 (0 7 A

P
b1

 (   0 (0 7  (  
0  H  H  qB B Q

) ( (" :
7 (" ( G
(

/" 0
(
 7  (  
 
0 (" 0
(
 7  (  
 /" 


7  
0  
0
(0  
0  /"
)
-F

( 
-(" 
 (

)
- 

(
( 
 
0 (" 0)
-


(
( 
 /" 
-
 
0  " (> (" 
((
7

0  

0 (" (

'
 J 
0 J  0)
- (6 7 $  J 
0 $  J  ( 


0 
 1
0 (" 6(

+" " -
(" (
7 ("


(
&'
 H 
 I 
I .      
A   B
(( " H
  
(( "F $  

A   B  AJ  J B
H
 H

 A IB K I    
A   B K I   

A   B J

   A (( "I (( "FB

A   B I  J I   A I B

A B

 H    
A   B K I  
K    

A   B J

I   A (( "I (( "FB

A   B I  J I   

A B
!(  
0  7     
 +"

 H    H .   H  <-  H . <-
 H    H .
  H 
   H 
 
80

 H   

 
0 ("

( 

0 7 

60

+("  H .Æ 
0  H Æ 27 ("( AHB

40
qA qB (degrees)

. 
0  AHB  0
(  ( 
 7 ("

(

20
qB


)' A   B 1 
  
(-(

0 qA

" <
- 7
(

0 7 ("( ( 



(
(
-20

0
-
  
(-(

-40

&'
-60
0 2 4 6 8 10 12 14 16
Time (seconds)

AHB H $ .Æ  AHB H % Æ

.
/"
( 7 
( ( 7 
:(0 ' 

 

(" ( G
( (  

6
( (  ) 7
(6   I 

(-(" +("  7    I 

I   ))0 (  !(  
0 
7
    
 4(# / =
0  
0 
 07 (" = 9
1E 
7+
#
  : -
>0
)0
+("
2
'
%1'#/ 9/ 9/ 100

"
- ("  ( 7 )
(  
( 50

8JGJ+  9+  9+ 0


( (" 


#

F1 F2 (Newtons)
-50

-100 F2
9;''15AB  7G%JGJ+ + F1
9;''15AB  7G%JGJ+ + -150

 1' 9;''15A99B  -200

"
- (" H# 
0 ( -250

H# I I  -300


( (" 
 -350

0 2 4 6 8 10
Time (seconds)
12 14 16
G9 09 #  I #?
 I #?

6 I'#P 9
1E A9
#8P ( 0P???9
#8
"B
6 !1
#"P $01'4
"0#1

9# 0#
99"  2
'
 

  &
1 #
6
6 +#?
' 

'# &1"# 01 ' # 0
' 
+#?
' +
I1"#  
!1 ' # ! K
!
'  G
6
6 %1'#
   
0# '&'#

62
'
%1'#/ 9/ 9/ 6 9;''15 4##1'>#
0##

2
'
%1'#/ :// :// 6 :/ 
:/ 1# 4##1'>#
0##


     6 #4 (
&  

   Q
6 $01'4
    91 #4 (
& 01'4

   4 6
 418'  '
  ##1 '


    6 7"0'4
  
%1'# I I 6
  &
1 #
$0# '&'#
$ 1# (/ 6 
4 '

& 01'4 @
''4 G 
K
6
6 2
2 !"! K"K
6
6 R#
"# 15 1# '4 9' 8#
1
$'"01
 +   : 
$'"01
 +   : 
6
6 !
' '
 8#
1
!JGJ!  
!J!JK  
6
6 491 8#
' '#
?JJ+  :/
?JJ+  :/

.
6
6 %#
' '#
8JGJ+  F 6  9+  9+ 6 1'4 I 
I '
#8'
# #
80  +  G ! 
80  +  ! K 
6
6 2
'

 1' 
6 9;''15AB  7
 8JGJ+ +  6 7
 8JGJ+ +   F
6 9;''15AB  7
 8JGJ+ +  6 7
 8JGJ+ +   F
6
 1' 9;''15A99B  6 $
8# &
1 99
6
6 I
1 #
R18' 5 4+ 
GK  24 !JGJK  6 7'  # &1
" G
K
$ 1# (  GK 
6 $ 1# (
& 01'4
*8#   !JGJK  GK 6 *' 8#
1 &1
" G
K
$ 1# (/  7
 8JKJ+ *8#   6 '"# 1 #
& (4#
&  1# (
I
1 #GK Q$ 1# ($ 1# (/*8#   6 $01'4
"0#1 &
1 #
I
1 #JG  I+  I+ 6
  &
1 #
  &1
" +  G
6
6 
1:9#

1:9#J   :/

1:9#J   :/
6
6 :9 '

& "
'

.#1
 I1  I1$ 1
.#1
P 114# .#1
  4  6 $'"0'&5 '4( 5
H#
6H#II 6 $
8# &
1 I I
6
6 *'  5 #" &
1 G7 '09 
9 09
8#1'

*' $5 #" Q4"# #1#
6
6 3 #41 '
 01"# #1 
89# &
1
   
81'#
309 I'E ' #4$ 0F 11FF 1#11FF
309  "  " QFF "
 "
309 4ML "# O "!F Q4 "KF Q4
309 FF # " FF "# 1

309 :F
#4 :EF
#4 6 3' ' 89#
309 :/F 1
#  :/F 1
# 6 3' ' 89#
6
6 K9 ' '#
#
9 09 &1
" G7
#145 (# Q  +' (# Q 6 (# Q'4 &9 '

G9 09 #  :
#4 :
#4 #145 (# Q @
9#
6G9 09 #  I #?
 I #?

6
6

# 4##1 '
 &
1 9"#1'  
9 '

G7 G7.#1
://:// 9
1E
6
6 )#
1
9
#8 1#0
#
$8# 9
1E

.

5  0' -2 1 %       
LN N
NA CN n2
A
/" =- ( (" -"(
"+
 )
 7$'

<- 


(
- 7 
7 -0 
<

  a1
qC c1

0  
0 -
0 
<



 (0 q AAB b1 C
+(" ( G
(
( 
0  ( )
(
 n1 qB

0
 
) ( 
<  


 (0 +(" B
BC
( G
(
( 
0  ( )
(
 
0  

) (
2   % & *
,-"($"
00 ("-
 
(  (
   -   #(   

(

0   
  =:0 

   
0  +(" -   #( 
  
(
 0 (0 7  (
  7
(    -   #(     (
7  (    (  0+
+0 
7 -   #(    
(

 (   
0  H  H  H  ) ( ("  #  

 
 #  
 
( G
(
F :
 #    
/" 
0)
0
( (
' 
J 
0 ("   ' 

0)
0
( (
'
 J 
0 J ("   '  

 

'

7 
("




"+
( ("   '  

-"(


- (" 
( 
 H %Æ 
0 J H  )( 80
qA
qB
(" 
-
   
0  7     

60
qC
qA, qB, qC (degrees)

40

4(# /" 

 H  . Æ 
0 20

 H  .. Æ
(
7 (" 
=-(
0



(
( 6(

+"
 H %Æ -20

-40

-60

-80
0 1 2 3 4 5 6 7

/"
( 7 
( ( 7 
:(0 ' 

 

(" ( G
( (  

6
( (  )
Time (seconds)

7 (6    I
 
(-(" +("  7     I
 
I  ))0 (   ("
(
7 
( ( 7 
:(0 ' 
  

(" ( G
( (  

6
( (  ) 7 (6
   I 
 
(-(" +("  7     I 
 
I   ))0 ( 
1 
  
(-(
" <
- 7
(

0 7 ("( ( 



(
( 0
-
$
  
(-(
27 ("( (" 
=-(


(
( 6(

 +" " 

 

 

(-(
" <
- 7
(

 
(
=0 0
-
  
(-(

.
 &'
 (" = 9
1 7 (" ($"
(
7
&'4AB
&'4AB 
0  (# Q
!( (" ( "
(
7   
0 
 7     

4(# / =
0   
0 
  07 (" = 9
1 
7+
#
"
- ("
 

/ ("
 


7#0#
# AB  7
 %J)J+ +  9;''15AB  7
 %J)J+ + 
7#0#
# AB  7
 %J)J+ +  9;''15AB  7
 %J)J+ + 

 1' 7#0#
# A:/: /B 
 1' 9;''15A:/: /B 
H# H# I  I  


( ("
 

I
1 #J)  I +  I +
G9 09  I  I 

!( (" ($"

( 7   7     

4(# / =
0   07 (" = 9
1 
 


( (" 0 (
7 (" :

)0
2
'
%1'#/ 8;/
"
- ("  ( 7 )
( G 
+ ( %JGJ+  8;+


( (" 
 9;''15AB  7
 %JGJ+ + 
"
- ("
 1' 
0 (
 1' 9;''15A:/: /8;B 
"
- (" H+ 
0 ( H# I  I  I 


( (" 
 G9 09  I

100 -40
FA1
-60
0 -80
-100
-100
-120
FC2
FC1 -140
-200
-160
-180
-300
-200

-400 -220
-240
-500 -260
0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7
Time (seconds) Time (seconds)

/$"
(
7   
0 
 /$"
( 7  

.
 
 I


  
 

    *B %    (  

8 
 4%

G )C %  G  

&

8% I 4%  %

C ' '  '  
' 
C  C

' ' (
 C
'
' (' (C

+  
'  '  
+  
E ,
EE' ,EE' ,(EE ,
E' ,E' ,(E  %
F 
+  
 
JK' (JK (  
(  %-?H! 3  

 
(  *
-!' *-' *(-' *C-! *%
G 7C)A - 
!' 
' (!' (

   
 
-
-!"' - -"' (- (-"
/
' "'
0*
1!'
0*
1!
/ ' "' 0*1!' 0*1!
/ (' "' (0*(1!' (0*(1!

3 & 
%  
4 5C'
' 9' ,
6
4 5C' ' 9' ,6
4 5C' (' 9' ,(6

 
7C
7
; - *
0
!;
7
7(; - *0!;
7(C7(; - *(0(!;
7C
7(C; - *C0C;
7C
7
; - "<07C
7
;
7
7; - "<07
7(;
7(C7(; - "<07(C7(;


%
 

.7
7C; - ,
E0
9;
.77C; - ,E09;
.7(7C; - ,(E0(9;

+

+  
E :E
+7C
7C; - :0C!;
+7C
7C; - ";
+5C'
' C
'
6
+5C'
' C
'
6
+5C' '
' 6
+5C' '
' (6
+5C' (' (' (6
+5C' (' (' (C6

  
8! - 85 +7(C7C;' C!; 6 85 +7(C7C;' C!; 6 - "
8 - 85 +7(C7C;' C; 6 85 +7(C7C;' C; 6 - "
( 5 8,E',(E 6 4
  ,E' ,(E

:
 &9 - 85 +7C
7C;' C!; 6 85 +7C
7C;' C!; 6 - "
( 5
:
 &,E',(E': 6 4
  ,E' ,(E' :


%
 
 

*7
7C; - 85 .7
7C;' C 6

%

*77C; - 85 .77C;' C 6

*7(7C; - 85 .7(7C;' C 6




    
     

7C
7C; - ";

5C'
' C
'
6

5C'
' C
'
6

5C' '
' 6

5C' '
' (6

5C' (' (' (6



3 &5 %0C!; 6
7C
; - 
!0C!; = 
0C;
7(C; - (!0C!; = (0C;

,   
G - 56 = 4 56
L 5 6
L 5 (!' (' 
! 6

> &  ()8  
>4& B%' '

/%      
       

/ 
-I' %4-""<'  -!" "I' 
-!" "I
/ ,
-9" %' ,-I##II<!!? %' ,(-#<<#HIH! % /



D      ()8
*)); - 7C
7
; = 7
7(; = 7(7(C; = 7(C7C
;
(%! - 85 *;' C!; 6 4

 & ,
"
(% - 85 *;' C; 6 4

 & ,
"
(B - C(B56 (B% 
) ' ,
%' , %' ,( %
) ' (%!' (%' (B
) ' (! ' ( 
) ' 
! 

   %    


()8 8& 56 I

$

 
4  I

%

6 "# *   #   $


B2>
B B1>

THETA

Bo
L

N2> A
N Ao
N1> O

/"
<( "
"+
 ("

7 0  (( "0 (  (  +" "
0


(" ">
(
)
 =:0 
 4+(

7
 7 + ,-"($"
00
(
7 ( ))
0  
(  (

+' 
0 ' AH.%B  =:0 
+ 
0  

"+
 +(" + (  )+0  ) ( ("

- :
7  
0 + H   ) ( (" :
7 (" 7 (


( G
( +" " G



0  ( )
( 
 (" 


( 7  /" 
-(" 7  

 
0 (" 


7  
0   2 
0
2 
) ( ; 
(" 0
(
 7  )
( G =:0 
+ ( 
 
0 (" 
- (#  " (>

(" 
((
7  
+ 

"+
/" -
>0
)0
 ;/ 
0 (# /
/ 
( (" (  7  I+ 
))0 ( 

(($
)  
( 

0
 ("( I 

) $
=0 
(
7 

(
( 70' < -

 AH.%B 
I  Q;  Q (#   Q*  Q*
1 6(

7 (
7 ("

(
,
(# /" ()( 7 (" H+ 
0 

.)GAB  I  FD 2 G$ (# */  FD 2$3+ (# *O  22*/

.)GAB  FDR 2$3+ (#   FD 2 G$ (# */  FD32 O*/
1  2F 2 RML
"+ ("( ; (# ***/*/F 

(
7 ("
6(

7 (

,
(# /" ()( 7  H  #89 #.)G ;F (# F *F *F */F */F

 H  AFC FB
7( 
(0 
- (" '

;
(# 
* 
0
* 
)('(

7 ; (#  * 
0 *

) ( 
> (" <
(  
0 0
  6(


(" )('(

'( ("



(
; (# ***/*/F !( (" 
>0 6(


(" 7 ;/  ;
+"  
 : Æ 
( (: 
0 ; 
(" :
(( (: A
;C
(# C
*C
*B
&'
  A F F  FC

%.
 F F F C
FFMLQ F  FFMLQ FFMLQ FFMLQC
FDQ EF  FDQ FDQ FDQ B
"+ ("( 7 QQQQF ("
; (# ***/*/F 



('
(

,
(# /" ()( )GG$  3R #89 # QF QF QF QF  

)GG$  AC FC FC B

 
 7 (" -


)
( ("
(



('
"+ ("( 7 Q Q QD QDM ("
; (# ***/*/F 

('

(

,
(# /" ()( 7 )GG$  3R #89 # Q Q QD QDM 


)GG$  AL  'C L  'C F  F'C F  F'B


  7 (" -

"
-(  )(
 ("
(


(' 7 D
E 0
('




- (" 
>0 
0


 6(

7 (

( (" (
7 ("

(
7 Q Q QD QDM
 (" 
( 
;
; " (# 
(# .Æ
*
*F *
*F 
0
( 7 F ( F
 !( ;
; (# 
(#  8 '"#

0 I 8 '"#
,
(#  (" )(

Time Histories of X and dX Time Histories of THETA and dTHETA
1 20
X (M) THETA (DEG)
0.5 DX (M) DTHETA (DEG)
THETA, dTHETA (degrees)

15
0
X, dX (meters)

-0.5 10

-1 5
-1.5
0
-2

-2.5 -5
0 5 10 15 20 0 5 10 15 20
Time (seconds) Time (seconds)
Time History of F
10
0
-10
-20
F (newtons)

-30
-40
-50
-60
-70
-80
-90
0 5 10 15 20
Time (seconds)

%%
 
 H


  
 

  8&   (  ( &%  / 


8 
 4%
8%  4%  %

C ' '  '  
' 
C  C C    

'  ( '  

 )  :  C

+  
'  '  
+  
E :EE'  EE :E   E     

(  * *%  
(  % 3  

 
(  BJ#K (
% 
4  - B!0: = B0 = L90:E = L#0 E

   
 
-
' -
/ ' /-0*1!' "' /

3 & 
%  
4 5C' ' 9'  6

 
7)7
; - :0C!;
7
7; - "<0*0;


%
 

.7
7C; - ";
.77C; -  E09;

+

+7
7C; - 85 7)7
;' C 6
5C' '
' 6


3 &5 %0C; 6
7
; =- 0C!;

,   
G - 56 = 4 56
L 56
G - 
 5 G' *-!' 
-!"' -!' %-?H! 6
00000000000000000000000000000000000000000000000000000000000000000000
()CA$)* 4M4A   4A
/*/AM
C
*M4/4
00000000000000000000000000000000000000000000000000000000000000000000
* F      

+  
 :EE    :' :E' :EE
+  
  EE     '  E'  EE
/ % &  / % &  

(B  :-:E-:EE-"   - E- EE-"  

(B - 
 5 G' :-"' :E-"' :EE-"'  -"'  E-"'  EE-" 6

* F ,      



%
 - A &
5 G' !' :-":' :E-":E' :EE-":EE' N
 -" '  E-" E'  EE-" EE 6
4
5 ' :EE'  EE 6

 :        
O -  : P  P :E P  E   :   
O -  :EP  EP :EEP  EE A     O

 :
   O E -
0 O

- 85 O' A 5O 6 6

4 
&  -"
$! - %5 
 5
' B!-"' B-"' B9-"' B#-"6 6

4 
&   - :  ##0 = <#0:E  <?0 E
$ - %5 
 5
' B!-!' B-##' B9-<#' B#-<?6 6

> &  ()8  
>4& B%' '

/%      
       

/ 
-"' %4-"!'  -!" "H' 
-!" "H
/ B!-!' B-##' B9-<#' B#-<?
/ :-! '  -" %' :E-" '  E-"  
/ :-! '  -" %' :E-" '  E-"  

D      ()8
)  ' : ' : '  %'  %'  

(  %    


8% < 4%  %   

()8 8& 56 H

$

 
4  H

%

7  .
8  *  9# 
/"
<( " ( (" -"(  -
(( R 


(
- 7  
N

0  ("

7 
0  (  
- 
 4+($


7 :(
(
7 ( ))
0  
(
 (
  
   =:0 


0  ) ( 
( A a3
)
) :
7  /" (  "
 
( 
( 7

( 7  '( (

( :
 +" " 
) ( 
/" 
( )
) 
(
7 
( 7  7   
  G
a2
 0
(0  . % 
) ( /" -
>0
)0
B
 AH.%B  ("   
  

'
7 (" 
-$ a1
  ( 7

 
0 (" 

(
( L 
("  


' 7 (" 
-  ( 7  


1 6(

7 (
+" " -

- (

7 ("

(
,
(# /" ()( 7 (" H# 
0 

.#1
AB  ?NG"#433?  3?/
.#1
AB  ?NG"#433?  3?/
.#1
AB  33??  3?/
7( 
(0 
- (" 

(
( ?
"+ ("( ???/?/?/F ?? 

(
7
(" 6(

7 (

,
(# /" ()( 7 (# Q  89 #.#1
 ?F ?/F ?F ?/F ?? ?/F

(# Q  AFC FC FB
7( 
(0 
- (" '

*' 
0
*'/ 
)('(

7 *' 
0 *'/ AH.%B $

) ( 
> (" 6(

7 (

(" )('(

'( ("


(

???/?/?/F ?? !( (" 
 6(


(" 7 ;/  ; +"  
 %:%
Æ 
( (: 
0 ; 
(" %:
(( (: A
?C
?C
?B
,
(#
  A F NG"#433+?3 FC
NG"#433+?3 F FC
F F F B
&(" NFFE 3D 3D 3D ? 0(
 
7 G"#4 +" " 
( 

27 (" -

7  ( ' )
(
,
(# /" ( ()( 
)

 ( (" 
( 
 7 (" = 9
1M 

7  FFFFMEMMMLEMG"#4MDG"#4  27O

/"

"+
("( 27

)
( +"
M S G"#4 S ML &"
("  )( 7
27 
)
( ("

( 

0 ( ' D

('E &"
("  )( 7 27 
 ("


( 

0 ( ' D
(
('E 
 (" - 

(
(' 7 G"#4  ML

0 7 G"#4 S M
%


- ("


 6(

7 (
 
7
  (

(

7 F   F #

 7
(


( NFFE 3D 3D 3D ?F 
0 ?

(" =
(
( G"#4 
0 ?F 
("
 
0
( G"#4 
0 ?F

(" ("0
( G"#4F 
0 ?F 
(" 7("
( G"#4F 
0 ?F
!( (" ($"
( 7  (" 
- '(+
 
0 (" 
( 
- 
( 7  1
 "
(
 " < ("(  (" -
(0 7 (" 
( 
- 
( 7 (" -
((

($

(
,
(#  (" )(
5 :

- ("
(
()( = 9
1M ( 
 ("(  

($

(
1.2 140
w2 = 0.1 rad/sec w2 = 0.1 rad/sec
w2 = 0.2 rad/sec w2 = 0.2 rad/sec
1 120

100
0.8
80
0.6
60
0.4
40

0.2 20

0 0
0 5 10 15 20 0 5 10 15 20
Time (seconds) Time (seconds)

/$"
(
7  +"
LH $ 
 /$"
(
7  +"
LH $. 


%
6 I'#P 9
1M A9
#8P ( 0P???9
#8
"B
6 !1
#"P $0'  '' 5
& 451
 
6
6 +#?
' 

'# &1"# 01 ' # 0
' 
+#?
' + 6 +#?
' 1#&#1# # &1"#


'#  6 11'#1
I1"#  6 )

1
6
6 %1'#
   
0# '&'#

2
'
%1'#/ ?<=/ 6 R##1'>#
0##
C
#1'8 '8#

   G"#4 6 491 0##

&  ' 

   N 6 2
"#
& '#1 '
&  
9 0' ;'
6
6 2 
'#1 '
2 2 6  1'9 # "
& R

3#1 '  3 3 3 6  1'9 # '#1 '
& R

6
6 491 8#
' '#
JJ+  %#
1  ? ? ? 
JJ  G"#4
6
6 491  ##1 '

 IJJ+  7 ?JJ+ + 
 IJJ  7 ?JJ  
6
6  ##1 '

& " # #1
& R ' F
J
J+  F
6
6 :9 '

& "
'

.#1
 I1  I1$ 1  R51
  I1$ 1 - 3+7)N
H#
6
6 491 "
"# 9"
& 451
 
  2
"# 9"491 
  R51
  4"
" - 3+7)N
  24  
6
6 4# # ?## 491 "
"# 9" 8#
1 

!('  
 7
 *' %#   
6
6 *'  5 #" &
1 G7 '09 
9 09
8#1'

*' $5 #" Q4"# #1#
6
6 3 #41 '
 01"# #1 
89# &
1
   
81'#
309 I'F ' #4$ 0F 11FF 1#11FF
309 NFFE 3D 3D 3D
309 G"#4FF ?F ?FF ?
6
6 K9 ' '#
#
9 09 &1
" G7
G9 09 #  !('
#4  Q4"O#

%
6
6

# 4##1 '
 &
1 9"#1'  
9 '

G7 75"'  9
1M
6
6 $3 3- + -$3$
6
6 '#1'> '
P !#1 91 '
 81  
"' 
9 '
 01"# #1
%1'#
?<=/ 6 !#1 91 '

& ? ? ?

   ? 6 +
"' 
9 '
 &
1 ?
6
6 (# Q 
"' 
9 '

(# Q  89 #.#1
 ?F ?/F ?F ?/F ?? ?/F
6
6 '#1'># #:9 '

& "
'
 
9 
"' 
9 '

!#1 91  5
1.#1
  ?FP
? ?/FP
?/ ?FP
? ?/FP
?/ ,
??P
? ?/FP
?/
$
8# !#1 91
?<P=/ 
6
6 I
1" ; ;/ 
(#  " 1'; ' (# #:9 '
 ;/;
"  A
?
?
? B
0  A
?/C
?/C
?/B
"  7 0 " 
6
6 
&'
#'4#89#
& " 5"
' 5 &'
(# 1


& (#
6 #:9 '
 &
9
5 # '4 (#
# #1"'
& "
3  F
%1'# "

7#  7#  "
7'4"   " 
6
6 30# '

& 7# (
? ( "
F '  1

7#  "

6
6 ' ( NFFE 3D 3D 3D ?
6
# #1"'# (# 89#
& G"#4 ?(' ( 1#9 ' "
  F
7# P 89 # 7#  NFFE 3D 3D 3D ? 
6
6 )#
1
9
#8 1#0
#
$8# 9
1M

%
 ! "


4
    
( 
6))0 +("  ("
 
0

)"'(  
( 7 
0
))


("

+"

 ()
 ( 
 ( 
 ))(  M <$,7
 
0   7

0
 
00 ( (" 
0 7 (" (( 
00(
  0(0 0
)(
7  
0
))

("

+"

 ()
 !
""
"# ( 
 ( 
 ))(
3
( 
0
 '

(0 1 :) (" 7G 
0  )) 

-
( 7
("  G$ 
0  -  +R    G$ 7G 

4
0
  


 
0
  -  )+  G$ 
 


6

-
( < 


-

( 



0
 0 
 

 
 <


-

(
+("( 

- 6

-

1
:) (" 6(

  -  
  -  

'
0 ' : (
- (" 7+
- ( 
)( =
 %1'#  -
 .#1
AB      -
  .#1
AB      -
 .#1
AB      -
 D .#1
AB      -
E $G % .#1
 - 
    
 L -  


  (" 
0 $G %.#1
- 


( ' 

-
0 (  
0 - '( (" 
0

0

( 
 (" ()
- 7 
 6

-
 ("
(
0$
 
0
 %0  %0 
0  
0 0

4
 "
 
/" 
0
))+R !+7 ! 3 3 !)$$ I G) 
0 .  0
 



' 
 (" 
' 
0 
(+ +

 
(" -"($"
0
0 7 
6

-
  - 

+-  ! 3 3-  

(
0$
 
0
&"
 0$7
(
))


(

)( 
 
(" 7
79I9 '
+"#  ' J
&J149"#  
+" 79I9 '
+"# 

 7 (" 0 7
(

  
("
 7 
:)



( (" :)

$


(
7 
0 '
& 149"# 
(
0
7 -
(
7 (" 0 7
(
 ("
( 
()(

("

 

 P 79I9 '
+"#  ' J
&J149"#  
 7
(

08 7 (" 
0

("( (" 0
( "
- (" 7
(
 " ( 7 

:)


 '( ( (

))


4
  :  (  ;
 
 


/ 00 ( (F
 ("
 
0
  
(
+ 
0
' (
- 

= ("( 
0

(" (


; 0 ( (" 
( +<
- 0 (   0 ( ("( 

) =0 
(" *G %! 1 :)

))
  +
" ( (  
0 0 $*2 +" "
00
(+ :)




0 (

("
 /"

(: 7 (" $*2 
0 0 ' $*2;5
+" ; 
0 5  :)



/ ( (" 
0 $*2 
  (:( 0( ( )
  =
0
9"1 +(" (" 7+
- 
(
(
#
6$*2)
6
6I9 '
P )# 91 (# 9"
& ?
#;01#'

6
6 $5 ;P $*2;5
6
TT  TT
/" =
 "
  :(


( 
7 ( ("( $*2 (

 
( A  7 
(B /" TT 
0
TT 0
( (" (+ -
(
7 $*2 /" 
(
( (" () 7 (" = 
(
(:( ("( ))


("

+"
 ! $*2 
()0 ( (" ( 
 ))( /)
- ! *$  $*2D 
(


! *$  L
4:(
))
  +
( ( (  
0 +" " <


-

(
1 :) ( ( 

0 0 !G) +" "
6

0 '

:)



0 

-

(" 
(
(
+ '

0
 $K 
0
 * )
  =
0 0
?#1 +(" (" 7+
- 
(
(
#
6!G)
6
6I9 '
P !9 #;0
15 '&
1" '
 
9 !G) (#1#
6
6$5 ;P !G)#;01#'
"#
6
TT$K  TTO
TT *  TTO


/" =
 "
  :(


( 
7 ( ("( !G) <


-

(
A  7 

-

(B
4( (" 
 7 )
("


0 (" TT -
( ' 
 7 )
("


")7 
<
-
'-$7  
0  =
/ )0  Æ 
( 
(
+"
*G. 
G+ 
 (" *G. 
0 +" "

(0 

(0(
'

 7 (" !G) 
0 
0

((0 '+
 !G)
 $K  M
  *  

   
D !G)7
E 7$K  O
 7 *  O
/"  ("
) 
'
("(  ")7 
(
-  
0  =
/"
' T+*2J)R$T
(
( ("
' 7 -
(
)

0 ( ("    
0N T+#?

'T (
( ("

 0 0 
(" 4+(

0 (
N 
0 T7R)$T (
( 4  11 0)
0
- 

(" 
(
((
- 7 9?,99 
00(
 
  
 (" -  '& 
0 ##
((
(
 ("
 G 
0 
0 ("
) 
'
UQ U U0 U ("(  
0 +("  G A()  !  G 7
 
7(
B 1 :)
6$*2)
6
6I9 '
P )# 91 (# 9"
& ?
#;01#'

6
6 $5 ;P $*2;5
6
'& T+*2J)R$T V  
<  GUQUW11
1P ?1
4 9"#1
& 149"# 
(# $*2
""
WU0UC =
##
< TT  TT =

4
 "*

 
/" 

 
+" " ( 
)
0
( 

 
0
 +"
: (
-  '( " = 0)
0


(
D
((
-
E 1 :) (" 7 (
- 7 :)



0)
0

+"(" I G)3+R 
G+
 GII 


' )
- (" (+ (




'+#
 I G)3+R GII  I G)3+R G+

    
   
       O        O
        O      
D -     D -    
 E -      E -  
*G)$ 

(" :) 7 
(((
- *G)$  '
( (   G+  GII &(" *G)$

( (   (" -"($"
0
0 7  6
((
 (( 
'
(((0 7 (" 6
(( &("
*G)$ G+
'
(((

 0 +"
(" -"($"
0
0 7 6
((
 D
)E &(" *G)$
GII

'
(((

 0
 + (
 (" 8 ( 7 *G)$ 
( ) (" =
'+

.
  *G)$ GII  *G)$ G+  *G)$ 

    
    
   
           
              
D     D     D    
 E      E      E    
 7  $3+   7  $3+   7  $3+ 
 L 7  $3+   L 7  $3+   L 7  $3+

&"
 ( 

<0

((
-
 

-
0 07( 


(" = 7I* $
/" 
 
)  (:( 0( ( "
-  " 7 (" 

("
= 1 :) G+ 
'
) 0 +(" GII 
("  

-
0 ( I G)3+R /"  

-
0 ( 
( 7 ("
((
-


(" = 7I* $ 
' "
-0 

 1 :) 7 ("  

-
0 
7I* $ (

*G)$ 
G+ ("

(
- (" 
 *G)$ GII "
-
("
((
- 7 G+ ( GII 
(" 
(
(



 " "
-


' 0 )(0 + "
-


 0
( ( (" =
7I* $

- 
(



 
 
+ (" 



-
0 ( 
((
-
' ()
- 7I* $ (

 
 ))( 1 ") +("  )( 
((
- ()  ! $# '4+"#  -   ! I G)3+R
4(# /  0( ($
 )(
 ( " <
(" 
( 0 ( 7 (" =
7I* $ '7 " <
- (" 0 (

) =0 
(" 


( ' 536!7*38 
(" GG G 0 (  (" 0 (

) =0 
(" 


( ' 38

%
4
4 
#.
 < 
  &   
=
6 
( 0( 
)( 7+
- ("
" ( 
-
0
66 

(
 
( 
3/5   1 ,/,4 0
, 
 
(
(
" ( A( 
)( =

B
/ A)B )
(( 08
((
+(" 
) ( ( 
/" 
(
' 
("
 7   (
/" 
( (+
'

("
 7  00
/" 
( ("
'

("
 7  (0  "-" 0 )0
O P
0 ( 0
(  (:  0
-
( 

( 7  (:
  9



0 

0 (

 )(
-
(
7  7
(

0 
(
7  + 
 (:
C )(
+
7  (:
P 
-
(
 
-  -  #%
 9


("(  :)




0 7
(
-
(

T (
-
(

 
0 , =

W (

(
- (

  )
(
    O 3("(  )(
# 00(

'( (
 () (
 0

 
0 :)

((

 P   

-

( )(
#
 +( 00(
 
0
'( (

  O  

-

( )(
# () (
 0

 
0 :)

((

4
5 , ># *  

 , (  ? ( $
G2 2
8# 91
1
(# #4''4
& '09 '#
+7 2
8# 91
1
(# #

& '09 '#
7 7## # 911# (1 #1 ' '#
 H$!  7## # 01#8'
9 (1 #1 ' '#
)3R ))G 2
8# 91
1
# 0 #
(# 1'4(
I ))G
2
8# 91
1
# 0 #
(# #&
*! ))G  )#
8#1 01#8'
9 '#
3+$) 
44# # ?## '#1 

8#1 1'Q# #
' '4 "

#

 1
 190 5 #1"' # 01
41" #;# 9 '



 #


 



   
  


%    #(     ( (


  %    #(     ( (  )    ((  
 
(*
$ -    #(  '          +
,
(*
$ B -       #'   #(  '      #( +
,   +
,
()CA$)*( 3(  ( )  
(Q) 7 #(    (      )   #     9  &
O/A  D>/A 7   
Q * -  #(      6! -( " % 


Q *    - #(   (("   "  # 
Q * & :   - #(       #(
Q *   - #(   ' (("   "  # 
*/4A - ((    '   +
,
*/4A !"" -  !"  "    
 )$M - ((    #( 

>4 3(  )  
$>C
  )   #     & #     
$>C 
  7)      ((    
 
4
+ 
 

  
 
    
4
+ 
 


  
 

       
.Q
A -   # (("   "  # 
R : ( )         (
R  %    ( ((  #( '   
   


 
 !" I  ( ; #(     !" I      '    
 
  # ' 
   # ( #(        ;    <    (# )

 : 
 9     9      )  ( #     

>A)* +
AQ
       # &     
>A)* +
AQ    (  '  ( 
   &
>A) O (
A +=' 9.97,    &   
% +5)" !),

$Q4 


      #     # >  :  Q * O*/(/A  Q * $Q4
? @ ?("
$Q4     
**      (   Æ  #(

G 
   (     #  (   G!' G' 
A  (     (   Æ  #(" 
G )C
()* O  
  ( (&   #   >   :  ()* O )C        >   
()" '   ()* O ) '    (    >      (  
:  ()* O
>A)     ()* O  )         ( (
8 
>*A4 !     #  # 
8 3$ 4  - ( '   (  # (  #  +" 4/C" ()4" A
C,      
  (  +"
4/C"
()4"
A
C" 
A
C,        
3   # 8 3$ 4  ÒÓØ ;        "
"  A  
:  Q * >4&
8/3/A4 
   ( #    #         & #(
     "
"  A      +

 
0,

(A)$/C3 
    (  #  # )


)+ $.$/A 
  '    > ' >     ' 
? @ 2   (    ' " '  >" '  @4"   '  (  

>4  '"'!'
   ( '  '  
4($
A(Q 8/$ (A)$M
        #    & 4($
A(Q 8/$ (A)$M       &  


(     (   "  ( #   " " # #  )  "      
4/*/M
  (&   #   ( (   )      (  # 
4
(/C3 "'!'
      
4A /C3 7 )   #   &     (

 


-   +( , 
"  
 +(   # ,"   (  
!'
'
9 &) 

   -   #  #( "   "   (   !' ' 9 &)  
C  C -  C    ?'  + , #  #(
 
 ('8 -   +( ,    (  8
 ' -   +(,   8 

(  '=' -
     "   
     
/ % & @ -
 

    "  
 @   ( ("



4  -      & #  #   " (" 9   
+  
 :E -    :    & (     :E

 
 
 


/ '   -         #  B
  -  -                ( #       

  
  



    (     #  "   " (   "  "  )  

   

(   ( (     #  "   " (   "  "  )  
5:6   
5:6 5:6  5:6 3(  # 
5:6 5:6  5:6 8 # 
5:6 5:6  5:6 %  (  # 
 5&':6 3' (    # 

%5:6
%!"5:6 ?   (  
  (
:5:6 7)  # 


,5:6 ,5:6 :>  >  # 
 
5:6 A  #      

5:6 
5:6  C   (   '    
5:6 5:6 3     C   (   
:5:'&6 5:'&6    ()((  ((( # ' (
%5:6   
#   "  # 4" 
#  
$
 


A &
5"'- ':-"6 1   (  3  ) # )  - ':-" 5# # D 
85&':6          # & '    :
85&6          # & '     + (,

 5&' -:'-6    ) # &    '  -:  -

& 
5&':'6    ( ) ' (    Æ   #    


     &
$5
6      #  ( ' Æ        ( )

$5&':'6   

( ) #   # &" ' &   (  :

4
5
':!':6 :  #   :!  :      >      ( )

4
5'
'O6 :    >   ( )
#    ( ) O )  3 "   / 

4
56     " "  " "   # 
A &
5&'"'- ':-"6     "
 "    ( #  3  ) # &  - ':-"
>50 '
06      #   ' ' E(    # E#
  
  


 *     
" ! F   5 
(5 '6      #         
85 '6      #         
85 '6      #        
8& 
     #(  #( + ,      ( ) #  
:5'6 7)   ( #     !' ' 9 &)   + #(, 
 %56    (  # 

 %,56    > #  (  # " #>     
 ? @ 
34D56 4 8)A5'6
A 56      #   
>56          (    
+
      #(  #( + ,       ( ) #   

 


  )  
(
5
6    ( # (  ( )

(
5
'!'9'#6    ( )   # 
 " / "  $
( #  ( )

85
6     ( #  > ( )

8 % 5' ':6   

 ( ) '  :   GH     (  >  D



%5
6    ( ( ) ' (      #

%5
'*
8
'+6     #
  ( ( ) *
8
"      #    ÖÓÛ× # +

 5
''96   I"/J"  (    '  / ( # ( )

/5
6      #  > ( )

 :
    ( ) #(  #  #(    "  "  

& 
5
':6    (  ) ' Æ    (  #  '  ( ( )

$5
6    ( # '  ( )

$5
'!9'<I6    ( )   # 
 /  
0
' #  ( )

A 5
6      +( #  (    GH, #  ( )

A 5
6     # ( )

   



(56        #(     (   #   ( #    9 
/ 5'
'6    ( #      #
  #  
 5
''(6    ( #  ( #
" "  (


 


!5
'','D6 A(
D
  ((      #( #   (     

5
'''D6 A(
D
  ((      #( # '   &)    

%
5
''6 A( . 
"      #  
   '  7 "  ( "  7 ( 
85
''6 A( 
    ( )    '  7 "  ( "  7 ( 
L5
''6 A( (   ;  >  # 7 "  ( "  7 ( 
 
5+  C6    ( ) #      #   C
4 5
''!':6 A( 
    ( )    '   (    # ( : 
!  !
$ 5+  C6       ( #   C
+!5
'','D6 A( + D
  ((      #( #   (     
+5
'''D6 A( + D
  ((      #( # '   &)    


 

3 &530!6         #         
5D'6     #   "     #   D
$


56    ( ) # D    # 
A,5
'6     > 
"     >  
$

 

( 56 :  #   ) D    (    
4 56    ( ) # D   # 
3& 56 A    #(  # ) # $4A
$" L " 
C3) #   
L 56 B < (  >     #(   # (    K
 ( # 9 > ( (    '  ) D 
L 56 A(   
  56 A( */C
$"
C3>*
$"  3 C $
*/G 8 (( (
C(B56 A(  #    (    (     # >  # ( 
A4 5'C6 A(   > #    #( C
  


  %#(      #( 9     (   ( #  ( (
()8 )56 1    "
"  A  ( )  8& " )8 " C
 " 

% 
8% 1   ( #       & #  "
"  A  (
/ O-'M-9      O  /  M #     "
"  A   &
/ O- %' M-9       O  / (   M #     "
"  A   &
/5O6        O
/5O'>4& 6        O (    " '   
   #  #(      O     (   5 : (   
) A'O=M : & A  O=M    >   #  "
"  A  (
) A ' O=M : & A     O=M  (     >   #  "
"  A  (
>4& -     ( #  (    #      %  6  ((


 


 %5&'':6 0     (  & '   #    : + 4 "
"  ,

G5&':6 %#  F  6?"   G 5&':6"    &
(5&':6    Æ  # :   ) # & +& (    :,

5&'"!6    ) #    (  & '   '  "! #    >    
:
5&':6    (  &      : +&  ÒÓØ       :,
: 5&' 6 0 (   " " 5 =60  ( 0 = 0


:
5&':6  &  )  #  # :K " # -:=  &- =" :
5&'6   :=0
 5&':6 0   & #   :
/
5&':6    (  &    : +& (    :,
$
5&'5:6-96   5:6 '  9   ) # &
$Q45&6       # &
G5&6 0    (   Æ  ) # &      (   G!' G' 
G5&':6 0    ( ) # &      G!' G'  '    )     :
+& (    :,

$ 
   
  
        
  %