s s′

θ= =
r r′
𝑑𝑠 𝑑θ
=𝑟 𝑣 = 𝑟𝑤
𝑑𝑡 𝑑𝑡

𝑑𝑣 𝑑𝜔
𝑟 𝑎 = 𝑟α
𝑑𝑡 𝑑𝑡 𝑡
𝑣⃗
∆𝑠 ∆𝑣
=
𝑟 𝑣
∆𝑣 𝑣 ∆𝑠
=
∆𝑡 𝑟 ∆𝑡

∆𝑣 𝑣 ∆𝑠 𝑣 𝑑𝑠
𝑎𝑛 = lim = lim =
∆𝑡→0 ∆𝑡 𝑟 ∆𝑡→0 ∆𝑡 𝑟 𝑑𝑡
𝑣2
𝑎𝑛 = = 𝜔2 𝑟
𝑟
𝜔 = 𝜔0 + 𝑎𝑡
𝑎 = −𝑛 𝑟𝑎𝑑 ⁄𝑠 2
1
𝜃 = 𝜃0 + 𝜔0 𝑡 + 𝛼𝑡 2
2
1
𝜃 = 0 + 4𝜋 ∙ 4 + (−𝜋)42 = 8𝜋 𝑟𝑎𝑑
2

𝑢 𝑉
𝑓𝜃 (𝐼, 𝑥 ) = 𝑑𝐼 (𝑥 + ) − 𝑑𝐼 (𝑥 + )
𝑑𝐼 (𝑥 ) 𝑑𝐼 (𝑥)
 𝑇
1
𝑃(𝑐 ⁄𝐼, 𝑥) = ∑ 𝑃𝑡 (𝑐 ⁄𝐼, 𝑥)
𝑇
𝑇=1

𝑃 = (𝑥, 𝑦) → 𝑃′ = (𝑥 + ℎ, 𝑦 + 𝑘)

𝑃′ = 𝑃 + 𝑇
2.5
𝑇=[ ]
1
2.5
𝑃′ = 𝑃 + [ ]
1
𝑃 = (𝑥, 𝑦) → 𝑃′ = (𝑥 ′ , 𝑦 ′ )
𝑥 ′ = 𝑥 csc 𝜃 − 𝑦 sin 𝜃
𝑦 ′ = 𝑥 sin 𝜃 − 𝑦 cos 𝜃
S = θR
V = ωR
A = αR
𝑥𝑦𝑧 𝑦𝑧𝑥 𝑧𝑥𝑦
𝑥𝑧𝑦 𝑦𝑥𝑧 𝑧𝑦𝑥
𝑥𝑧𝑥 𝑦𝑧𝑦 𝑧𝑥𝑧
y
R = Rx∅ R θ Rzφ
1 0 0 𝑐𝑜𝑠 𝜃 0 −𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜑 𝑠𝑖𝑛 𝜑 0
= [0 𝑐𝑜𝑠 ∅ 𝑠𝑖𝑛 ∅ ] [ 0 1 0 ] [−𝑠𝑖𝑛 𝜑 𝑐𝑜𝑠 𝜑 0]
0 −𝑠𝑖𝑛 ∅ 𝑐𝑜𝑠 ∅ 𝑠𝑖𝑛 𝜃 0 𝑐𝑜𝑠 𝜃 0 0 1
cos ∅ cos 𝜑 − sin ∅ cos 𝜃 sin 𝜑 sin ∅ cos 𝜑 + cos 𝜑 cos ∅ sin 𝜑 sin ∅ sin 𝜑
𝐴=( )
− cos ∅ sin 𝜑 − sin ∅ cos 𝜃 cos 𝜑 − sin ∅ sin 𝜑 + cos 𝜑 cos ∅ cos 𝜑 sin ∅ cos 𝜑
 𝐼1 𝜔1 − 𝜔2 𝜔3 (𝐼2 − 𝐼3 ) = 𝑁1
𝑑𝐿 𝑑𝐿
( ) = ( ) + 𝜔 × 𝐿 ⇒ 𝐼2 𝜔2 − 𝜔3 𝜔1 (𝐼3 − 𝐼1 ) = 𝑁2
𝑑𝑇 𝑎 𝑑𝑇 𝑏
𝐼3 𝜔3 − 𝜔1 𝜔2 (𝐼1 − 𝐼2 ) = 𝑁3
sin ∅ cos 𝜃 cos ∅ cos 𝜃
∅ = −𝜔𝑥𝑎 + 𝜔𝑦𝑎 + 𝜔𝑧𝑎
sin 𝜃 sin 𝜃
𝜃 = 𝜔𝑥𝑎 cos ∅ + 𝜔𝑦𝑎 sin ∅
sin ∅ cos ∅
𝜑 = 𝜔𝑥𝑎 − 𝜔𝑦𝑎
sin 𝜃 𝜃
𝐼2 = 𝐽2 = 𝐾 2 = −1
𝐼𝑗 = 𝑘 = −𝑖𝑗; 𝑗𝑘 = 𝑖 = −𝑘𝑗; 𝑘𝑖 = 𝑗 = −𝑘𝑖

|𝑞 | = √𝑎2 + 𝑏 2 + 𝑐 2 + 𝑑2
𝑟 ′ ≡ −𝑞𝑟𝑞 ∗ = 𝑟 − 2|𝑟| cos 𝜃𝑞

𝑟 → −𝑞𝑟𝑞 ∗

𝑝𝑞 = (𝑃1 𝑖 + 𝑃2 𝑗 + 𝑃3 𝑘)(𝑞1 𝑖 + 𝑞1 𝑗 + 𝑞3 𝑘)
= −(𝑝1 𝑞1 + 𝑝2 𝑞2 + 𝑝3 𝑞3 ) − (𝑞2 𝑝3 − 𝑞3 𝑝2 )𝑖 − (𝑞3 𝑝1 − 𝑞1 𝑝3 )𝑗 − (𝑞1 𝑝2 + 𝑞2 𝑝1 )𝑘
= − cos ∅ − sin ∅ 𝑛
𝑟 → (𝑝𝑞)𝑟(𝑝𝑞)

𝑛 → (𝑝𝑞)𝑛(𝑝𝑞)∗ = (cos ∅ + sin ∅ 𝑛)𝑛(cos ∅ 𝑛) = (cos ∅ 𝑛 − sin ∅) (cos ∅ − cos ∅ 𝑛) = 𝑛

⃗ ∙ 𝐵
𝐴 ⃗⃗
𝑇ℎ = 𝑎𝑟𝑐𝑜𝑠 ( )
|𝐴⃗| |𝐵
⃗⃗|

𝐴⃗ = ⃗⃗⃗⃗ ⃗⃗⃗⃗⃗0 𝑦 𝐵
𝑃1 − 𝑃 ⃗⃗ = 𝑃
⃗⃗⃗⃗⃗2 − 𝑃
⃗⃗⃗⃗⃗0