![](data:image/png;base64,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)
, (3.1)
где,
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAB8AAAAYCAYAAAACqyaBAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAGrSURBVEjH7ZZNTsJAFMefe9wLod15APquQIYu8ADQdEdYEDIuMOmCkCm7JsYLsIKlV1BO4AlcyAngDCr/tgMFShUp0USaTNLMx/vP+72PlobDIf3WoLP4nxFfPhd6ZB7+xp6DxR2m8dLoOxHPXKWKaXtUg2+Wez6wzxDdXq7YfYfrRMbClqqyIyztikG0yLrcUeJNpkmaeBC0CzU2RxD/qceZ4kq5RSHELRPN2PHryTUpuCUED4B8ey0XcSBn121tiwM3C9nqCqN3LPKMhGPVUPLaLtNUowVuwWIgfXmFeeLmJPdSA3JmR63iHosAN+Kvk+1Y5KniIfLYsBbXuDH3FfJD6j4VuTYcChnWC7N93w6CwjaNVGrET67nlQ4W9zy3xGZt1Pa8y0Stz4EbHvU7VSsusbt9HsKGRdZzksy+jrl6iXCiq4Wd7Q2Hk7jXXS8e7IzTG1O0rhM1zpF5dGaTWG4fiVDEsB8RnvASyBWEISYJatqR3MWbbDzobgiK8HyDZtme6rw5iXi107fgoUnmKy6C8sQcYq1L9STi63hHCbob790cOf/J/D/xT3yFLFH36yp3AAAAAElFTkSuQmCC)
- момент от сил движущих,
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABkAAAAYCAYAAAAPtVbGAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAFpSURBVEjH7ZU9TsMwFIAfe9lphbtxgPZdAb1mKCtSE2WLMqDKDEXygConWyTEBTq19+AEnIGegJ4ByAtxiYIT0hAkhkayFPnnffH3/ByI4xj+usER8mtI+pyYVru4wZxKiIewThe/AeDW17pvm6NneJXOeed5guaLVroiD6cAYudIPfoGkM5IAOzqPqIRxEXY2CBJEvYmOFwx5Kcd1EK09vtEdIsAW/SiaXFMEgZEuGRV5bGDIKwKfT8oQ1gTkgzmJBZNVdUkHvVMywvnHJ6MEtZESEsZyTPuB3Q3rY8wq0L09D4veTDWxPkxSW+qygrJVOUBDMRo4r5DVVkhrMoEyAKK8TOi8xAmSa+8u1YQpfwBDierUKnTQq28siau7Puby3F+dO+qKt3Wv3/51MBVnlX6C++mqOnrFsgbeutyMBOjXD+dXYLZris0dgZxUTzarqBOIdmBUWogia7LJ68zSFU+jr/f/wn5AILzYg6gc7LDAAAAAElFTkSuQmCC)
- момент от сил сопротивления,
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABcAAAAXCAYAAADgKtSgAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAEwSURBVEjH7ZUxbsIwFIZfdy7QiteNA8CjY9QlMm/gAmB5QwwIWapAYkCVyZYzdIKtnKFcpENPAGdoa6eKGlVxCOBObaSnbJ9+f++3DEmSwG8N/MNrw+13VZygcEmwttB3Ox/uj2I6C6plKnAGgAfWph3c+ZBgAzTcBHdujLomgDeSq354uOY2Ar5eosQLz3w3eTdO00ZQeJqOG9yE3bkNqYQfU1LWe999OElJWT2Xk7iDAAcgua6ELxbqxrXEKpmXJcmUIW5zeK7QF+ZHquxWfk1JEqMHrR7dPuUV1YJG3S4++/Zz0oK0UpFkNA7mdnPH8qF4krPhToFSOlpJ6iNLI0g8ah1HiLz1VbY23Az4Pp4sO8U2WZXzqsrWA2dA2APyi0tLQo++d4T7i7X8rWfuEzip/dtYkZ6OAAAAAElFTkSuQmCC)
- приведённый момент инерции маховика,
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABcAAAAZCAYAAADaILXQAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAE+SURBVEjHY2hsbGSgFWYYNZxow4GAERlT1fBoY4YFQEP/AfF/EC3rllNM1WDJcZMtZmCQfeORV29I9TCPMmZYyGActZDqYV5fHytpzMBw1zi6wYf6hud5GMoyyN6kJEhwGg4ObxmPPWkdHTxUNbyjI43HQ4ZhD7kpBK/h1AoSrIZTK0gwDC8vj5UCpRJgkJRgy5kwMWQ5bGIYhkMyDThXQrBx9ALM4DI6FVkfaQh0wB1QnMCTrJtbrSwDw2v0eCLaiw15eRJubm75HsbG3WALjKPr4ZlN1mN3Xn2kKkyMZMNBrvSQlV0JylgN0cY+cJfLuc8CxQ9MjDyXI2mONjaujy0vlwKJGUfW+0LiynhXbH29JFmGgw0EaoaG8x1QUHiYMKyFxJHsa2xJl+xkBnYtWhhTxXC463G4eLSCxosBQXVAvFupuTUAAAAASUVORK5CYII=)
- приведённый момент инерции рычажного механизма для расчётного положения,
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABsAAAAsCAYAAACUq8NAAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAHqSURBVFjD7Zc/bsIwFMZfd3oAEGbrAcB07VSBVcEBQsTKUKEsVMrQwbBl6QWYYCsX6AIXqQQngDNA80xcjJU/VmK6NMMTOAn++b33YX+B2WwGfxVQwq5+BHCHoX5Xr1mDTV3aCyc9Qp1tRkFQcSksxBjghJ+kM55YzWzcIRN1UhwDkAPzeNNqZkEwqjBCVurEAwpLoIOllZ6pPeF8WKWN7hxLiPfEGGBH3WmvMAwBYuXYF8LWY+fRUbPgHmsSIN9ZJcyE+f6whqsG6i4uE8NBzUL0KxJLbpjoTR02EiSvdRt0PuS8qj6TpkAj2FnidCcnFpk5tJ+3hKkwXWHvr8+tIiU0gqFABIi0v9qk/el67IU5/En2MyzhW9bOkQmLxLCXKvS48xBOvsXvLiM82jXOofS13PVLmB2YfhDaiDTY0XaUAvlHMBO7ZgWmW7ibZ6ZbuJvB4iycWl6TUue2cNoJvseMf0sdBnV43xiWZeEuTphu0aeIw5awFS4mun7lXxJhJhZON0QIkPeTjJAVC6ffj3NmsbA8Fk6M6eBDNUtxqs1l4XTYVQlxYVEfjWFJFk55mdjic74/uhcl9P2aKhgj6adZOFX2ynMnKfesP3zhzRUrYfK6VBiG5WxBa51UNqswoVxDN1wentbiB594gS5VCViqAAAAAElFTkSuQmCC)
- первая производная от приведённого момента инерции механизма для расчётного положения
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAGEAAAAwCAYAAAAB1BTxAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAQkSURBVHja7Vu9TuNAEN7r4QFAbDroyeZaKmSsE5QUxqLjKKLITZBcRMjQRTrdC1BBBy9wDbzA8QR3EjxBeAZgd+11JsvaWSf+zyKNwI5B6/lmZ775dkDX19fIWLVmnGBAMGZAMCAYWwoE+vWNGfwZ3jNWMAhXLjmkzn5HW/bT+Xi85hJ0y68R+mDfsTUYGseWsBMGFh5CZ7NrhPCb7QW7pS5esfOauBsz/8J4fL5mY/wAHX5C0B0iJ3dlLjzw7F2M8H+4Dh4M0Q5tHQgw5wfB6QbpHNyIF+XXCL0S9+qwzIXLDufBsYWempgOtQDgkc7yPrYfB853B0a9KiKLNpXDq1hHKSD4/ukmi3JE3Nvpi6I3GPVVpIA2paJUEES0CQDEvYMOuTkNgo0qU4BuKmoKdZ5DRcmrcDiPQIcc1TEVjfr7XdU6Ivr8wdJonXdI4gcy4wlftC6pCL1REC5YhMO+pT863iHEDeJnKWnoou4jDKRGgsBelAOAe396uHfvevYP2wn2RL0QzihrwZ5Fzjod9C9qEN9Zugz7FHZNXmZ2LgMM2w91rxPzIm4iWJEXONvU6S/sZ9fGQeyEyBGl7AKJHmdtKlvVMVdlPOI1m0JVU2lAyKMgY/So2xSydJlXPWDpmFje2aLSiszQ5PTdSkEsLtbUlunk43pImdd+f9RNcm4SDY7IzAQKnqCWDisDQbX4usrhMcWVAOVUHdZEhYIcPjMlCozosN8PCc9sDa3qxd4TraQir2vMadC54S6bKsbydVL/xO7ZhPySe68vIOhEaRYrc/css66k+2GfgZ+FM1WNoqqpVanKoL8Zphbm1AhdwPJKR0WuK6biih2olEcoORD9k++fr8vSTpKqTP/WRVJja9KRhjwCA0NEdNJ6w8+7z1/knhSS0Ep2lJ880n0+HvV3oGgZN4y+v54mqxAnOOLnLxwAPLEscikAZTsMAmIcPpfm4omoCcKBYhcIp8opFD4jGBJUIL6ovYsUyFUFRmZKsbOXPNrNHhkNPTjJZ2dQFuT7m5BE8PtL1rHM2s0qj7QoSUUORCKjdqMWxGRdpKyUtRIjL2lTFrI+wnbIjGZD2UHx7KXlIy/zpiymhQlU/+gAJbr/WuSJVutHXnSmLOR2HXLfos+eWz/yssiUhfy5Sk8xqSgDCItMWfBrcvI7iU+bVJQRBJ0pCxmEmVQk6ehlpKKkkZfGg5A0ZRHrJ+zQnz7HlESeimgTAwt1saxIb+SlsSCkTVnAfAue+4BaStEL1h15adI/r+Sip5Q1ka078hKyO/y318P3eWg7tQah7Ak3nZEXwdScwNu2iHXJd3KGWaXGgZCHeJVNNpk/8iKaxn5/f49Yg59sjXVnTa0T2eIjyJoODqwECAIIloqa0ri1EgSWkhadmDMgrKgZJxgQjDH7BKHWKuzJL/sFAAAAAElFTkSuQmCC)
, (3.2)
где,
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABQAAAAXCAYAAAALHW+jAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAD9SURBVEjHY2hsbGSgJmYYNXCkGwgEjMSIEWVgfZ6HoSyD7E2PvHpDmFiOm2wxg4zHnrSODh6SDUTX3NGRxuMhw7BH1i2nmGQXYtOMzcVEG0iud3EaSIx3QZEDw3gNxKa5OsvFCN3F0cYMC4CG/WeQ9diN7Goc3mV4AzSwBGR7Q7SxD5D+B3JxVnWomrFxdD1YXX2spBGD0e7Y+npJvC7MczNOkZNjuAE2BISNoxeAgwDMN74DMwBssazHSvQwRXUd0FZjOfdZhAIeFs7YkhBmZBhHLSRkGDicZWVXYktCaIoYdhtHN/gQMrC8PFYKW/iRVTjAIwmIsVk+AstDAJE5mmH3d1ilAAAAAElFTkSuQmCC)
- масштабный коэффициент по оси
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABcAAAAbCAYAAACX6BTbAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAE/SURBVEjHY2hsbGSgFWYYNXwEGA4EjMiYqoZHGzMsABr6D4j/g2hZt5xiqgZLjptsMQOD7BuPvHpDqod5lDHDQgbjqIVUD/P6+lhJYwaGu8bRDT7UNzzPw1CWQfYmJUGC03BweMt47Enr6OChquEdHWk8HjIMe8hNIXgNp1aQYDWcWkGCYXh5eawUKJUAg6QEW86EiSHLYRPDMBySacC5EoKNoxdgBpfRqcj6SEOgA+6A4gSeZN3camUZGF6jxxPRXmzIy5Nwc3PL9zA27gZbYBxdD89ssh678+ojVWFiJBsOcqWHrOxKUMZqiDb2gbtczn0WKH5gYuS5HElztLFxfWx5uRRIzDiy3hcSV8a7YuvrJckyHGwgUDM0nO+AgsLDhGEtJI5kX2NLumQnM7Br0cKYKobDXY/DxaMVNF4MAFznhkanq1yvAAAAAElFTkSuQmCC)
,
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABUAAAAZCAYAAADe1WXtAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAEaSURBVEjHY2hsbGSgNmYYNXTUUBySDAyMxIgRbWh9noehLIPsTY+8ekOYWI6bbDGDjMeetI4OHrIMRTegoyONx0OGYY+sW04xWS7FZgA2l5NkKCVex2koJV7Haig2A6qzXIyI9TpWQyFeZ3gDNLQElHwaoo19gPQ/kMuzqkPVjI2j60k2NM/NOEVOjuEG2CAQNo5eAA4OMN/4Tmx9vSQsvSJjnIbW18dKGsu5zyIUGeXlsVLGDLInTUxkV0AsjlqI01Cwi9AUYAtzdznjWZH1eapuxm61efWRqugOQY0gWYbdxtENPvgMBYe5rMfKrCwXO2O3nFRQmKOnCpILC5jlyGFOlVIKZDDI67jCnixDQUFg7JaXMlryY8UAcIf5w0pmlnwAAAAASUVORK5CYII=)
- масштабный коэффициент по оси φ,
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABAAAAAPCAYAAADtc08vAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAADYSURBVDjLY2hsbGSgBDPQzAAgYIRhZDGiDKjOcjGSZWB4DdTwj0HGY09aRwdPeXmslDEDw11Zt5xivAbURxr7MjAY34mtr5cE8aOMGRYaRzf4gGgG4+gFeF1Qn+dhKMsge9Mjr94QWczD2LgbaOhdmKE4DYDYErUQ01CGN+hOxzCgvj5WEuRHkHORFeS4yZbAwgG/AWCbjE4hOxMSHgz/0A3FYwDDG+PIepAmRohm2ddubsa1IOeDxICuKUY3jAHNucXgqANjSExADQZHKbZwYBi8SZluBgAAcxJSRwRioEAAAAAASUVORK5CYII=)
- угол между касательной, проведённой к кривой графика
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABcAAAAbCAYAAACX6BTbAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAE/SURBVEjHY2hsbGSgFWYYNXwEGA4EjMiYqoZHGzMsABr6D4j/g2hZt5xiqgZLjptsMQOD7BuPvHpDqod5lDHDQgbjqIVUD/P6+lhJYwaGu8bRDT7UNzzPw1CWQfYmJUGC03BweMt47Enr6OChquEdHWk8HjIMe8hNIXgNp1aQYDWcWkGCYXh5eawUKJUAg6QEW86EiSHLYRPDMBySacC5EoKNoxdgBpfRqcj6SEOgA+6A4gSeZN3camUZGF6jxxPRXmzIy5Nwc3PL9zA27gZbYBxdD89ssh678+ojVWFiJBsOcqWHrOxKUMZqiDb2gbtczn0WKH5gYuS5HElztLFxfWx5uRRIzDiy3hcSV8a7YuvrJckyHGwgUDM0nO+AgsLDhGEtJI5kX2NLumQnM7Br0cKYKobDXY/DxaMVNF4MAFznhkanq1yvAAAAAElFTkSuQmCC)
в расчётном положении и осью φ.
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABcAAAApCAYAAADeWrJ9AAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAEhSURBVEjH7ZY/DoIwFMafuxwAYw8hvYIhHXA1EcJkwmAIi0MHh8LG4iE4BxxFTqBnINJGEmK0/CvRKE2+pCw/Xtrve68QRRGMJfh9eLlmXMrhlHoaWUIGS5J5cTxXBmfM1THApay6UA6v5JvoOMEn+IfhPJk2hkTAKdXGCZEQupKAraau+O/waiAMkQxeDNV3n3nbedoZXE8sMv2jUnhgmluXMZ3/xAAj5ftRrGhjdJb1mUFwh5C9rAX3BocOtrATWsrdwnZ4A9hOmhzTynJ1iJhItdDIqm9+wrWAdIKfDmsDAdwqH/NqmzzdCv4ISd4H1gjnLgDAuSwcveHiwkonPF+sOjivnNIFh4pvRNIu75W38Dj25gRBWrlkyNlPA/ql7oM9Rze5YlqUAAAAAElFTkSuQmCC)
Знак минуса говорит о том, что кривошип ОА замедляется. Направляем
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABAAAAAXCAYAAAAC9s/ZAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAADOSURBVDjLY2hsbGSgBDOMGjCYDQACRmRMkgHl5Wm8HjIMe4Aa/0Hxf1m3nGKiDKivj5U0ZmC4C9MA5d9hMI5eQJwBeR6GsgxGp2LLy6UIOR+rASANDdHGPnDn47AZqwEdHWk8YL/jci4WF6EoyHGTLWaQ8diT1tHBg6wJbrgsw24GBuO7sfX1klgNiDZmWAA2oLycF6QRbCCD7GuPvHpDmCHucsazcBoAD3F49CE0E2UAITzwBoBSKNgAYBohywBwIIPCRtZjNyymhkF5AACkZgxOci34qwAAAABJRU5ErkJggg==)
против направления
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABMAAAAXCAYAAADpwXTaAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAEOSURBVDjLY2hsbGSgFmYYNWwkGAYEjCCMi0+0YeXlsVLGDAx3GBiM78TW10s2RBv7AA36x2ActZAkw+ojjX1BGo2jG3xgLgLRUAP/w8QJGlad5WIkyyB70yOv3hBuANQ1HR1pPB4yDHtk3XKKCRqGrhidX18fKwn0+l2iXFaf52GI7CqQZiMGo92gMEPIG52C8bFFCJwB9pKMx560jg4emJc9IuvtYPJRxgwLGYyjF8BdLcuwGxhBd2GGYxoGkiwvlwLFpoms7DZjt7wUkO1gOVmP3TCLYAa6yxnPwmoYwjZgEgAmicj6PFU4H+oiZIzXMFLx4DWsvDyNF2wYMIwpNizamGEBODyRImaElGcAeCF07WJDucgAAAAASUVORK5CYII=)
и берём значение ускорения по модулю.
Строим план ускорений для расчётного положения.
Скорость точки А определяем по формуле
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAFEAAAAhCAYAAAChrUf3AAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAJgSURBVGje7Vg9TsMwFDY77IAa7tA+joBMkMpIpcTKBh1QFQaQMiBwu1UCDgBTO3IGOAFngBNwByBO/0IaN07sJk7l4UlNlPp773s//mw0GAyQMTkzJBgSDYmGxMocRmhLN7xaEUh9u2mB+1QWkaJ42lYCw0kz6sApAnes2g8ZPG0rgQAahTg/HPtFQEa64GlTCaLWJ9BWTaAsnjaVIN4J5FE3PO0rYeMkTtmVYHSiIbEegruqza32JEYjBbU+HOo0AaFPC/euy9SsG0Fi3/d3McZXNsBDRCQQunaJM1cl1rft02b9K5F6e7ZlvQLpt1mAqypRRbsTQk4YJsZ+Z2PaOU4cAaBeEOynfTccdrePD+DFo3RPFtPHuMNwcrdzfAZUNcDTfIiIC4lh1cFmIrLst+5wuK2CRF7M84MHRx+nLtTD1vVsBmAMd6hhv6c5WuRAnzWkVfmQh0RZvH8PQdDdsRvofcb4NNtfRXbAjGMjN6syPsQTxNaJSJy2IS9xKmL+9+ACGseDY9lkAGyIl9XCMj6kJO43K3EqYk5s5fAVL//by6MW02RFhnORdlbpg0g7q8JLZMQdL5f54l3Sbs/OWjywIu2c14dV+CIkqop5acHJPPH2o50vbAfwvHPHWRaYMlWaFZSID1n4eUiUjZmjzOFzdqxiv5N/ms2NIru2+OmA74MIfvTNweFzdjvLx1wo2B6Gi1AG3KsmUWf8VZgFLwDQ92Su8WfHei8gysXPwsy127LBiwHfsUyE4vSmTBKrwBfFzC2emQhdqHv0U5aGrAJfFNPcTKuoWEOCIVEL+wO6GO/SoCsO8AAAAABJRU5ErkJggg==)
, (3.3)
где,
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABQAAAAYCAYAAAD6S912AAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAEKSURBVEjH7ZQ/CsIwFMY/dz2AYg7RvitI6ODq0JZs2kGKi0IH0ditx7D38ASeoZ7AO6h5SlFSBa0OghY+mj7IL9/7kyJNU3xS+AP/wG8GmqfBKte1gbw5lmJq3gdA7KWkBbreJsqy5svAJIlaXhcbULjmb61Vm4CdkPG0lsOAkJcwVpZFTT6AwlX/ZeAqpD5AO6V1u4zNxz1XwN3exp4GXtwFeTX9a8zWfDBw7cMqQG5KkqiOqV1h1kdSauj72qnAHri3UubOsqjwte9coFTYm8ra3ut+reGNJY3MOC0/AtQTzxHA/pzJnfo+f6XOtY1akuSCXZnhn70FDAlrdsVDfr1JONgz+oO/rxP7mbjKMji92QAAAABJRU5ErkJggg==)
- ускорение точки А,
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABQAAAAYCAYAAAD6S912AAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAFISURBVEjH7ZUxbsIwFIb/7nQvCB8ieVeoLA+sDMHK1maoonSgkgdEnWyRegkYe4Zygp4BTsAdaPOCIiInSIGwtcOTI0vv8//+9+wgyzLcMvAP7JYE3NXXXkCbKE/A/w5s4BGwFTKe9wKmSfIgpXxVRB8llLTtp9CGQyXEJ+l0kmqa9FdYg2giGxoz6gRkw9vMLyHWDlkpewihvqI8H5wFcnIsxbxYD4DYS0lLjNWmntR5bIyJ7tUYG5BeVX4VKnauT52BM8K6gnHkeTTgA7gBFwPZbIB27E+1t3h59Hnm6nudgUd1s3Wz/NOeG4vp1HcPawC5KcaEo7KDwA+F4VMQWK8BO6PeKZk7y0Hb6mrxt5tUedvW/aseh1jSczFO7zcBHh8H7MtKWvy96MniRkmSS1ZVDP9bL6AmrFgVD/npJuHgzugf/Kf8AsqlsGySPxyKAAAAAElFTkSuQmCC)
- нормальное ускорение точки А относительно точки О,
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABQAAAAYCAYAAAD6S912AAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAEqSURBVEjHY2hsbGSgJmYYNXBgDAQCRhim2MCGaGMfoEH/IFj2tUdevSFFBkZHR3vW18dKurnlhVHNy3lubmGx5eVSJHkZOYzQNUYbMywAe9k4egFBA0Gac9xki2Fh5OZmXMsg47EnraODh+RYLi9P4/WQYdgDsxkUVsYMDHdl3XKKyUo2UcYMC5G90dGRxgOywDi6wYdkAyHJwfhubH29JEysOsvFSJbB6BSyGNEGQlwXtRDT+wgxdFwdGmqEbhmGgaBIKS+PlQKG3R0g+79xbGxKZCRq4sXnehw5wPhOZH2kIcRQ4zvommBhiy32yUrYOW7GqcDkVEcVA+vzPAxlGRheQxI2ZviSVMKAIsrN2K0W5Cpg4i+hyEBYdgMlckROYviHnkZHYBUAAKGqrwzD4HX/AAAAAElFTkSuQmCC)
- тангенциальное (касательное) ускорение точки А,
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABUAAAApCAYAAADar2JAAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAGCSURBVEjH7Za9TgJBEMfHHh8A45Q8wN3Q2pHNYrA1WTZUEgpDtqG4wpiF7hrfATp4AovzUeQNeAaiA64SwuIxUCnFv9jL3e/mY+cDRqMRnFpwhp6he14AuGDtei6CDi21Pj9eAuBCO5+E5953qgQwJztsiSz1xiRpCsUmoK9wAEDzjvdVEdRa22wTTALUO53UEV+B2hOR++ymMT5hy1D1B3neqyhSz1aj57MM6kzNOF8LUKeo23DuRiPONmNcChoybrV+6OV5hROG9fqUlOuy+4h65qy+jYF3x5FgzFnfjCNicxp+sLoRZMfnMv1L0HCVJNoHXUp1lPuxViiGfrW8d7ZMXPvbckrdc7tjeAppIW59MbUJXw6q/TIKzeZkUG4qsVEignpDd9z1xYNvW+vZ9HM3Dx58sWoR136W9S71Nbz9ZlFp6NNjI0WARbjcYT6JoWFJOBSyF7qeP/ElQQRdZXdrSTg6Ud/rTJZdMWx1Rl3EKqcUlDcQjVCErEtj+88H3wd4k8oUsFCQeQAAAABJRU5ErkJggg==)
Ускорение
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABUAAAAjCAYAAAB7NEEmAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAFRSURBVEjH7ZU/bsIwFMZfd9gLwodI3hUqywMrQ7C8tRmqKB2o5AFRJ1skLgFjz1BO0DPACbgDbV6QRZQ/LSGZ2kR6cmTJP39+33s2xHEMXQf00B7aQ3vo34Km311+bA01oXAYuJ+e8RwE2DMeLFpDozC855y/CMR1BkZp2is1aiQYe0cZTSOJ026U5kAS0Sitx42gZETRlAxkzIgUU06BiQ8/SQa/QgkQcLZIxxMAO3KOK5iIXdXiq9zX2h+KCewA5cbmMFV0qMvdVdA5wtYCKZLEH9AmZMxNUDIBAA+UMzu3fH5wqS7zc42gZ5XzbTkVl7liLGczt2rDEpSM0lqNM3cBvlCpR88zTgn4wykKxyfHKXBvW5H+iwttruuq4qZbKOD4lJbaW2fQ86UCx+xENfludOWReRz5itSlDfLaGioRNqSOGuHScXCqquF//kZ9A31YMgctLSxxAAAAAElFTkSuQmCC)
найдём по формуле:
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAFAAAAAZCAYAAACmRqkJAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAALmSURBVGje7Zi9btswEMfZPdmbIPSWB7Auc6eAJYoUnVJAFjQ19RAY6pACGoyU9mag6At0SrbmBbo4T+AnaAHnCfIOcXSUaDGU7YiUENWoDBxgwbZ097v/fdBkPB6T1tythfA/A0xer9BagA4mRLgHhMwTgA+UDS62CqDKepPZjxj7GAqxhyA94k3x/VYAFBHvUuLNfOF3UQFNZl9ZD+gPHoluE+Vv/YNRFL1mjH3hAN8lRAhE0wADzj/1J5MdOxGQ+wTgoqoAnHoPp/QGgtHJKICTphWIPqAvLnF4hM5slVtdgRq0AECEcbz/UlPWvBY+vCfQu3YpRYyDHPBbG+VaAdSd1R2U0LLmLacg5dOqTqyyOA730ykLc3yeDDiZuAgMPx8weiGvM7NVYQ/IdR3VsxJc7hy9ZwwuXTKlErDJ1pYXKkuDor6bQVy4lKxuk0l/B9tQ1fItAIzj/i4/ILcEgitt17pzyVQA5EpXSMGyZ5g2PD/2KKF/VXASWqY6GXjiX1XlyCFC+U0dlVOQtR6Ycrhqxq2UoQEyr1VCbfxZpXZZYVlSagOYlgfc6QtpqgZv5rKkupRwul7k6jOXZLWD4uAqMziW60pJUZRpL2sBpurLs5KX8/pMDU9PvXVwXUrYnIyYQO6LN098PPrwi1MyNZNtt754Uz+KunoJ50Mr7f3H50OvTLwFgEhfu9kCwvDM94vNtoo6N64WCCZRGPpwROlvYNEZ+iQ/yyY+quhtB366PFv11Cjg7/xIHKpYOqTz50nfNQbnungN55VCYK6OamqNWNWr6tijitMR1aV8iA6X10YZugJUG4bZZ/WSNofMpnidAh0w+JysN9/qBmgD2hVgmYmsT/7n4nX8M0GeIx/qmmRNAjRhqd6vFPlcvFZTFW/OgF1iFpJS+NoUQPRDAqzhGLlUYBzvYoxqlSsbr/VijL1DP0a91I64csLXdIzUN4b8nF8u3q39R/pfsRZCC7AFuNX2CIJmOCioQb1VAAAAAElFTkSuQmCC)
, (3.4)
где,
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABQAAAAXCAYAAAALHW+jAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAEPSURBVEjHY2hsbGSgJmYYNXAkGwgEjCCMi0+SgeXlsVLGDAx3GBiM78TW10s2RBv7AA37x2ActZBkA+sjjX1Bmo2jG3xgLgPRUEP/w8SJMrA6y8VIlkH2pkdevSHcEKirOjrSeDxkGPbIuuUUE2UgugZ0fn19rCQwGO4S7cL6PA9DZNeBDDBiMNoNCkOEvNEpGB9XJMEZYO/JeOxJ6+jggXnfI7LeDiYfZcywkME4egHc9bIMu4GRdhdmAXYDQQrKy6VAsWwiK7vN2C0vBeQKsJysx26YZTBD3eWMZ+E0EGErMHkAk0tkfZ4qnA91GTImaCCpePAbWF6exgs2EBjmVDEw2phhATh80SJrBJaHAAzvl7KHw6hwAAAAAElFTkSuQmCC)
- угловая скорость кривошипа,
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABUAAAAYCAYAAAAVibZIAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAE7SURBVEjH7ZUxbsIwFIZfdzgAFWbrAWJfAVlWxcoAVsZmQMgLlTyg1mTLMWDkDOUEnKBDb8AdaP3SuhjHQpHikeFJifX05f/f+5NAWZaQuuAOvT4AeMBKBjVKZATgZKHfhC9XyZQakw8okKNQJksG3Ug2gaE4FFXVSwadM9h1sd6AVlXRE4Tsu1iPL4qIfRfrDeiSkxWw+S5ZTmvrQzgwuZlEG//y2ybDQZTox0ypLLSvdf7IAL4s8AxATuPFmoag9XRKc2MGV9A6Sta6kuJ5pszTf/NiTEcw+nTLi0UOewjQYwNaz9Mq8eMUG0m4TNfjP+jmbGJpcI4uYtgL5+y9NTQEaF30feXet+Ls97VTqnUft45vGzC5xWt8AGf8DdXZ0b22hmJJBtvfrV/m7c7w3u0Cyzm4/07SQ38A7JPXeCc7Jc0AAAAASUVORK5CYII=)
- длина звена ОА, м
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABUAAAApCAYAAADar2JAAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAGCSURBVEjH7Za9TgJBEMfHHh8A45Q8wN3Q2pHNYrA1WTZUEgpDtqG4wpiF7hrfATp4AovzUeQNeAaiA64SwuIxUCnFv9jL3e/mY+cDRqMRnFpwhp6he14AuGDtei6CDi21Pj9eAuBCO5+E5953qgQwJztsiSz1xiRpCsUmoK9wAEDzjvdVEdRa22wTTALUO53UEV+B2hOR++ymMT5hy1D1B3neqyhSz1aj57MM6kzNOF8LUKeo23DuRiPONmNcChoybrV+6OV5hROG9fqUlOuy+4h65qy+jYF3x5FgzFnfjCNicxp+sLoRZMfnMv1L0HCVJNoHXUp1lPuxViiGfrW8d7ZMXPvbckrdc7tjeAppIW59MbUJXw6q/TIKzeZkUG4qsVEignpDd9z1xYNvW+vZ9HM3Dx58sWoR136W9S71Nbz9ZlFp6NNjI0WARbjcYT6JoWFJOBSyF7qeP/ElQQRdZXdrSTg6Ud/rTJZdMWx1Rl3EKqcUlDcQjVCErEtj+88H3wd4k8oUsFCQeQAAAABJRU5ErkJggg==)
Ускорение
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABcAAAAjCAYAAAB/wZEbAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAE0SURBVEjH7ZVRasJAEIan7/YAinuIZK5QhhR8VYjLvrV5KCEvFvZB7Jq3HEPv4Qk8QzyBd9DudlkMNWkxieDDBgbCQL6Z/Wf+DeR5DvcK8HAP93AP9/CHhuvnyUWv8DXHiYaebLBjlKmgNzjn/FUpMSTKZneRJSOaCSlHrWWpavobwhE2P7Ig39wEN6CU2MJpSoQrGEe7pCgGnbZFyuQ5GsPOdWS0RYADo3TReRXnCNvqUYsiGZhiyNeTTnC7YngQSg1dbvnxEjII99VcK7jter69luiSq4vldBo2Fb+Cm4FKKUZa61K/n1GItziuN8p/J2twHpaxigNbAMu6j908/tqk1pdSSviu1/Srd7jKooABHK2Rmmdy821oBk1IK9OtNttnb3Bne2Oqi4vh1OQD/5urjW/RU5p56sleSgAAAABJRU5ErkJggg==)
найдём по формуле:
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAEkAAAAZCAYAAAB9/QMrAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAJZSURBVFjD7ZgxbsIwFIbdvT0AqGbrARJfoXLdihWkNMrWMlQoC5UyoDaw5Qyd2pEzwAl6gg70BL0DNHZw4xon4DhEIBnJAxEk733v/f97AKbTKbCn/FgIFpKFZCGdNKT0dcbPSSRYQ6xaH574qJs+cJUd+EPC2DlmQHFIHAjATxrvGuLhqBFIvu/fxnHQwjjsn4pUaLwugJ8mBdX+QohxP4ii9qHlJsra5Fms+y/JYpAk57VDEoMTg/QReGdyQ/77oQBF0eCCXIJFLu3qcrlH4MNEakpIFMgQwxH3HYzRS5VKyJ2gOkXyQAB888Q275dVipIkg3MC4czUO9UV3AQkB6zlX7zjik5B0pnZup9c0iZSY/eCZGYitS1ItDXF4FklUmjIn3SbHNn/puieHaQCyhSB7j9q25OywNB3EMctfm38dO2yqgrXDik3XhQVmFKJ8lGvUWCdoSB1UU49l15xJca9nlsEsIrcWOUl/6NJZN4C5nIRd49+d+6FoSPLLYqCNvO5je9eP43dsty2INGghJusURA8eN628Zl0WamPUUhRdJEPkGxppaBuOuht3+cxZaT5hD6588L4Soy7Azpf3MxVK4KcW8E2jZZe7DkZKLSUA/uTheH+UTDZlqqtXhcSn9Di0FFJUDZ3VW6Vkhli9JiuBq91Q9o1znUg7TvteMeV5Wbye2hVx+RoEpIMhPsu76yi3LSmFb0pRviFEk7b+blJSPTZDFK6Pxl30sbz+MqzKzft5ZBqPN/IwaqpHepvWkIyN5G4OHW5X+3Kzf6pZv+ZtJAspGM6v/uBNmh8wSSyAAAAAElFTkSuQmCC)
, (3.5)
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABUAAAApCAYAAADar2JAAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAGCSURBVEjH7Za9TgJBEMfHHh8A45Q8wN3Q2pHNYrA1WTZUEgpDtqG4wpiF7hrfATp4AovzUeQNeAaiA64SwuIxUCnFv9jL3e/mY+cDRqMRnFpwhp6he14AuGDtei6CDi21Pj9eAuBCO5+E5953qgQwJztsiSz1xiRpCsUmoK9wAEDzjvdVEdRa22wTTALUO53UEV+B2hOR++ymMT5hy1D1B3neqyhSz1aj57MM6kzNOF8LUKeo23DuRiPONmNcChoybrV+6OV5hROG9fqUlOuy+4h65qy+jYF3x5FgzFnfjCNicxp+sLoRZMfnMv1L0HCVJNoHXUp1lPuxViiGfrW8d7ZMXPvbckrdc7tjeAppIW59MbUJXw6q/TIKzeZkUG4qsVEignpDd9z1xYNvW+vZ9HM3Dx58sWoR136W9S71Nbz9ZlFp6NNjI0WARbjcYT6JoWFJOBSyF7qeP/ElQQRdZXdrSTg6Ud/rTJZdMWx1Rl3EKqcUlDcQjVCErEtj+88H3wd4k8oUsFCQeQAAAABJRU5ErkJggg==)
Из произвольно выбранного полюса
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAA8AAAAdCAYAAAB1yDbaAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAADVSURBVDjLY2hsbGQgFzOMah7VPKp50GsGAkZ8GKfm8vI0Xg9Zht1ARf+B+B8UI9jG0Quwau7oSOPxlJVd4ZFXbxhtbFwfW18vCRLzkJVdCRLD6+z6vEjVyLx61fr6WElj4+h6iJiHoaysx8q0jg4eovyc52acArMpyphhoXF0gw9RAQa2Vc59FsgmENuIwWg3yPlEac5xky2G2dQQbezDYBy1kKioqo809mWQ9dgN8x/IybJuOSXl5bFSsDDAqhkUMHIMcjeQQxXkCkgUGd/B5vSRmDEAIxB5Z4UWbWoAAAAASUVORK5CYII=)
откладываем вектор
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABsAAAAXCAYAAAD6FjQuAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAF7SURBVEjH7ZUxTsNAEEWHPhwgyOMuHY09OQJaFimIKoVjWQgRXCDLTSKlQLBJhc9AgUhHzuC0FOQEFHAC7pDgidmwShAoloMoYmnk1dqaN//veAyDwQD+KmAL28L+Nyy7dn6K0mC9XrgrEdIs6SyL6WfMFndqDZeLKgRLkrByhPgoY+X4RCpQqsp7EnEkTsUZArwzkPx+wyhqiiLqrA1TsVfzYlVTKqgS+Srfkw6iHIVJUuF9F9zUU55DgM9cVCSwUwimIxbU5kS8bhEMWQmv+z412MZl1frdtWFzVfbhnamEE2uwZVlPGm6qLgRjW5aV5I0T7BHAm2nZbxZeNZuuLnT1zDw6BpSprpSVZMm6DKrv1+9NFblqnEhfnpOI2yugywMXwZ18C2NLbLBfTP+58rzl6fVEWremirmF3J1GcWZXSwvGYMmx+WwjkyISdCEE3WwctlDMjhgDoFQYTxL+0AWJa1aTHUF3YzCf4EFPk6+zhqnu7O3/rLT4AJtye7KhuAasAAAAAElFTkSuQmCC)
длиной 100 мм. Найдём масштабный коэффициент плана скоростей.
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAEAAAAAwCAYAAAChS3wfAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAM8SURBVGje7Vkxb9pAFH6dSaUslZKIY6M7PnXvEF0PKR0ZHIuplAEhdyCSKyF6sCG1v6BTspW9U8nagQydUyn5BXTr0I3U78wFF1ywwQn2GaQn0A3I77v3vve9z9Dr9SDLkenkdwDsANgBoA8A7ueJ/ztTAAiblwgYV6YwSxTghrBmK1MAdG37gDH2jlP6UYJALZGtChDVQ07IgFrdk65FT7JXAb6kLUpF1XGOtAUASW6e8GTSQhxiJSAHAOHDer+/pxUAmGyTkZb7PQEgY8ZoB/L8MmyiqQbAcepPeR4ugVrnqufdm76N0uupBuCUwoVKHqPfr+8hIEh62gOABAdAb7HH1Vm7cWzg3PefaQuAd/unF4vtMDubj3alYoQFJzUAIAk6TvVIsjzAHa1Wa6YpSgvJR6yOlLQAMj8GvVFyF3/PJ6m4Icp00GqzazL61h2PH2IDIGizirptPe5CBGNZKUv4ITQA3h+Sn9ye9ZkUIjGIj7gFEhIjo6yDz+U+41ksAMwnq/or0qIxla3LYlMALArneOv4XDOlCJOwGiHwMCjZoIoI+3D/DZ+4SZQjtM3yD1M1m8ZKAOIo/3VbYGnFxBRLAQhK1hMX0co/tS0wHSe/XADO8IbuhYhbEY125bnfboqTzBIDgM1orVCAa/8tzdh1pr68qoAxKZc/GWAM41hMtg6A3LMLrz6vIjpvH6ffMGkJToS5m2gAwiaDVaL4QJj0dRzGxNYBkORHYBhGQCjjUZHjcaNtaMMBkdid0BElMIpiQmoBwGNr/YeU0olOXro/bluiAeLTD3f3MeWrTcBIbPLISWVCviDZKt9f8tTB/td9gN/SFXL5ygfSZB0yTiwAwjaLpi2KcuROxZcUaYQPbGEWUXt47hAZIUg4wbQCIGjkoj+o3v9h+f9TGYQMokr1xAPgF2b4WylOBCKfz39XI1tVxjqTKOEeH2mpJNWtB70VWlX+y2zy5N6+qzD9+gJvHRe0TvPFy1yO/lDnXmWQK27xN5TZtYXkV9jkCSVAXipA4XrBkJFjMPfnGW++n9tex0FiLIxNnkr5Gr6FVtvk2iYf1ibXLvGoNrl2AES1ybXmAC2U4A6AB46/cdVcMFkkT3wAAAAASUVORK5CYII=)
, (3.6)
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAACkAAAAsCAYAAAD4rZFFAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAHySURBVFjD7ZcxbsIwFIbNTg9A1TdygMSs3SrLVHStFCymIoYKeWHIUFWGLUvvABucoEN6lHIDzgDFUFcuDcFO45CqQXoSIMf58vv3c340mUxQ2av0gE4gt5/aX4Dc2DyQyUPlruK21iZjheg1MELvcjyQ4ahISGMVOSH3PSEaEtZHfiy/lw5Sry6GF8qFV2pIRunDIIrqziFt/KjXmOEOZuNOIZ7MoqII8B3C3dmpHZ6pRRz5b5M2x+E1QwIjqbyqNDVTl2E/Aax0U3+2jqU+6bGlDsPBBb1CbyYgmZUUQeD5Por1yfcK4KXeMpJUfHq88QGhleqB8rpT/TATJGOs3cVopiAFp14L4FX6KG2pldpZoYwh5Y2CQHhKgSga1Akmz4yCOLz5IeTeKt/VdgPJg2bARVNBcoL7N5xfU4CF7tEkP+4s8VPtWm6QaieqBitVgVZrjgnvy+UGoAvO6K0CTfLjl2/D8FLOtfsNNE5r2FaQDKOpvhP3YO25At7tVMymaZtGWoMCitWu/q03z3YUFgaZ9SgsGtI54P/NOM4h9ZeBc9YpyHUZqvJkBVlBVpAVpGNI05hrE4dzhTSNuTZx2ImSpjHXdJwTSNOYazoud0jTmGsTh/OHNIy5puNyhbSJuTZxOFdI05hrG4erE6eCTKgP4TX9fQSibyQAAAAASUVORK5CYII=)
Определим длину вектора
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABwAAAAXCAYAAAAYyi9XAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAFcSURBVEjHY2hsbGSgJ2YYtXDUwqFpIRAw4sP41JFsYXl5Gq+HLMNuoOb/QPwPihFs4+gFIHUN0cY+GHKyHrvTOjp4iLawoyONx1NWdoVHXr1htLFxfWx9vSRIzENWdiVIDKYObBnQYmxyJPmwPi9SNTKvXrW+PlbS2Di6HiLmYSgr67ES2eVZWVkquOTIisM8N+MUmKujjBkWGkc3+GBTh0+OaAvBvpNznwVyNYhtxGC0GxS02NThkiPJwhw32WKYqyFxFbUQm0Z8cjBcHRpqhO4gVFdHGvsipzRQkMm65ZSUl8dKweIUOThxyYEty3IxkmUwOoXTQlACkGOQu4Gc4kC+hSR54zvoGvHJgVOvDMMeBhmPPegJiialSY6bcaqbm3EdXSwEZxUGhteQQgIzjqlXRgKLNVAp5WbsVgvyFTDIS2hqYbQxwwKQr4AJqRgRvwz/0PPpaH1IdQwAJdGc7gahFrUAAAAASUVORK5CYII=)
:
![](data:image/png;base64,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)
Ускорение точки А определим из следующеё формулы:
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABUAAAApCAYAAADar2JAAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAGCSURBVEjH7Za9TgJBEMfHHh8A45Q8wN3Q2pHNYrA1WTZUEgpDtqG4wpiF7hrfATp4AovzUeQNeAaiA64SwuIxUCnFv9jL3e/mY+cDRqMRnFpwhp6he14AuGDtei6CDi21Pj9eAuBCO5+E5953qgQwJztsiSz1xiRpCsUmoK9wAEDzjvdVEdRa22wTTALUO53UEV+B2hOR++ymMT5hy1D1B3neqyhSz1aj57MM6kzNOF8LUKeo23DuRiPONmNcChoybrV+6OV5hROG9fqUlOuy+4h65qy+jYF3x5FgzFnfjCNicxp+sLoRZMfnMv1L0HCVJNoHXUp1lPuxViiGfrW8d7ZMXPvbckrdc7tjeAppIW59MbUJXw6q/TIKzeZkUG4qsVEignpDd9z1xYNvW+vZ9HM3Dx58sWoR136W9S71Nbz9ZlFp6NNjI0WARbjcYT6JoWFJOBSyF7qeP/ElQQRdZXdrSTg6Ud/rTJZdMWx1Rl3EKqcUlDcQjVCErEtj+88H3wd4k8oUsFCQeQAAAABJRU5ErkJggg==)
Определим ускорение точки B из следующей системы уравнений:
![](data:image/png;base64,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)
, (3.7)
Для определения нормальных ускорений точки В относительно точек А и С
Воспользуемся следующими формулами:
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABUAAAApCAYAAADar2JAAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAGCSURBVEjH7Za9TgJBEMfHHh8A45Q8wN3Q2pHNYrA1WTZUEgpDtqG4wpiF7hrfATp4AovzUeQNeAaiA64SwuIxUCnFv9jL3e/mY+cDRqMRnFpwhp6he14AuGDtei6CDi21Pj9eAuBCO5+E5953qgQwJztsiSz1xiRpCsUmoK9wAEDzjvdVEdRa22wTTALUO53UEV+B2hOR++ymMT5hy1D1B3neqyhSz1aj57MM6kzNOF8LUKeo23DuRiPONmNcChoybrV+6OV5hROG9fqUlOuy+4h65qy+jYF3x5FgzFnfjCNicxp+sLoRZMfnMv1L0HCVJNoHXUp1lPuxViiGfrW8d7ZMXPvbckrdc7tjeAppIW59MbUJXw6q/TIKzeZkUG4qsVEignpDd9z1xYNvW+vZ9HM3Dx58sWoR136W9S71Nbz9ZlFp6NNjI0WARbjcYT6JoWFJOBSyF7qeP/ElQQRdZXdrSTg6Ud/rTJZdMWx1Rl3EKqcUlDcQjVCErEtj+88H3wd4k8oUsFCQeQAAAABJRU5ErkJggg==)
Определим длину векторов
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAACAAAAAXCAYAAABqBU3hAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAGuSURBVEjH7ZU/TgJBFMafvRwAs0NHZ8M+jmDGMcFYUSwTYoxIYcg2kGxhdKByz2BhoJMzQGshJ7DAE3gHcN4sg+O6sTBLtNjihWEg+37f9/4sjEYj+MuAAqAAKAAyLwH2foqdAkRRtyQYzHSitY7VJtbbT2xN0qC5AcRxd/+EsScRqppEVG2lynQnGJvyc37BAN4JAuWw4YCuGO/1cwFQYVANQlVVql1GlCq5EzXGxLQbx/t074M/C1RQQ2AvBNrjrJ8bgI2QY4ceTucWwoQU03kosUElSLtj/5sLgFFfOX5wFVMyC+N53rMFct3JauBfAZClacVJc7YPEODNtTttP313mzerNDfNpm8Ffe+BAE+BiZlVRIr1QwaUvH5Yf3TVJu6whZDiEnnYsU1sS5J2zyS/PvIZ+ItMALKzApVXt54bRVoNLs+Ed+8qMvbTVDjA25JEUcm45/xm4DyYgyfmX0qW51IxSe3ucPZFIgavOMe7nQK4E+Oet25lgOWW3DQpTY+23ywpbbddWBz5LanWJR3sBMCMLsDSWd1aqRxLhLGdhs9+gpV1pngd/wuAD1JVHEAx/IPbAAAAAElFTkSuQmCC)
:
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABsAAAAPCAYAAAAVk7TYAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAADwSURBVDjL7ZSxDcIwEEWPngUormSA5NLSIcsgFjAnKiIqdA01OtJljKSDCSiYhQ2YAYGRLAWJQEJBAVhy4dPz//b5y5BlGXxqwm+ZXUfHz0f1d7hasw3T5AqfAfBkRaNQV531COBIvJm04V7eTJ2L4hgO1Q1LgysAOs5Ue225p2bMPJoSlEFExUYJ4h5oWr7D1Zr5NjinkT8hmuUqzxddQ2bNFtWv23LPzcT1nWg/iIihdCgysIi7u7dpyD00C8lia+eLPO/6AGCSbMlI6tuDaHfCduyFmnK1ZkxQ+HRV+4842gbBW/KIi6bc/wf5DrML8Yg+zoNJ3mIAAAAASUVORK5CYII=)
Ускорение направляющей
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAADAAAAARCAYAAACb8i8UAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAEhSURBVEjHY2hsbGQYynhIO56gB4CAEYaJEafYMWTYh9OwHDfZYqCGf0D8H0QbRzf4IIn/h8jJvvbIqzekhuPJtQ+voQ3Rxj5ATW+QNZWXx0oZMzDckXXLKaZ2ciDHPrwGdnSk8XjIMOyBaS4vT+N1lzOeFVtfL0mL9EyOfcRFrYzHnrT6NEkPWdmV1Eoy1LKPyGgFpUHqpXdq2kfQQGgavAvLVMSWIrgwNe0j6AGIYca7jIwYdjMYRy0kZFi0McMCaEmCHRtHL6CmfXg9ADMMlIEgRZnxXVplXkrsI2gYiF+f52EoyyB7k1Z5gBL7MNJwfaSxL7rvQcUZtHgroWbtSw374Iz6+lhJUIUBS6+wshhdnFqlEbXsG96NuVEP0AEDACSXgeDwlgh1AAAAAElFTkSuQmCC)
равно нулю, т.к. она неподвижна.
Кореолисово ускорение точки В относительно направляющей
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAADAAAAARCAYAAACb8i8UAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAEhSURBVEjHY2hsbGQYynhIO56gB4CAEYaJEafYMWTYh9OwHDfZYqCGf0D8H0QbRzf4IIn/h8jJvvbIqzekhuPJtQ+voQ3Rxj5ATW+QNZWXx0oZMzDckXXLKaZ2ciDHPrwGdnSk8XjIMOyBaS4vT+N1lzOeFVtfL0mL9EyOfcRFrYzHnrT6NEkPWdmV1Eoy1LKPyGgFpUHqpXdq2kfQQGgavAvLVMSWIrgwNe0j6AGIYca7jIwYdjMYRy0kZFi0McMCaEmCHRtHL6CmfXg9ADMMlIEgRZnxXVplXkrsI2gYiF+f52EoyyB7k1Z5gBL7MNJwfaSxL7rvQcUZtHgroWbtSw374Iz6+lhJUIUBS6+wshhdnFqlEbXsG96NuVEP0AEDACSXgeDwlgh1AAAAAElFTkSuQmCC)
рано нулю, т.к. точка В движется только поступательно относительно
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAADAAAAARCAYAAACb8i8UAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAEhSURBVEjHY2hsbGQYynhIO56gB4CAEYaJEafYMWTYh9OwHDfZYqCGf0D8H0QbRzf4IIn/h8jJvvbIqzekhuPJtQ+voQ3Rxj5ATW+QNZWXx0oZMzDckXXLKaZ2ciDHPrwGdnSk8XjIMOyBaS4vT+N1lzOeFVtfL0mL9EyOfcRFrYzHnrT6NEkPWdmV1Eoy1LKPyGgFpUHqpXdq2kfQQGgavAvLVMSWIrgwNe0j6AGIYca7jIwYdjMYRy0kZFi0McMCaEmCHRtHL6CmfXg9ADMMlIEgRZnxXVplXkrsI2gYiF+f52EoyyB7k1Z5gBL7MNJwfaSxL7rvQcUZtHgroWbtSw374Iz6+lhJUIUBS6+wshhdnFqlEbXsG96NuVEP0AEDACSXgeDwlgh1AAAAAElFTkSuQmCC)
.
Ускорение точки В найдём, решив системе (3.7) векторным способом:
Из вершины вектора ускорения точки А (
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABcAAAAhCAYAAAAyCTAQAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAE+SURBVEjHY2hsbGSgFWYYNZwqhgMBI00Mr8/zMJQ1juol1gK8LsSG6yONfRmMoxYSYwFOiWhjhgVAA/7hwP8ZjKMXUD3MG6KNfYgxmMwwj+4ZTeejho8aTkLZQmpJiNdwkEE5brLFkDJE9rWbm3Etg4zHnrSODh6KDC8vT+P1kGHYAys76utjJY0ZGO7KuuUUU+zyKGOGhciFUkdHGg/IMuPoBh+KDAeXdgzGd2Pr6yVhYtVZLkayDEankMXIMhzi6qiFmEGEEMOGq0NDjXBZjmE4KELLy2OlgGF9B1QpGMfGpkRG1htiNZiAz9CCBVbTGN+JrI80hFhgfAebZlh84EtJZGeQHDfjVGAyraO64eAaiYHhNdiXeOKE5DYLKKLdjN1qQa4FZrYSqhkOaxGAMhUiFzP8w5UPRotcrBgAsgZK/+LaXwgAAAAASUVORK5CYII=)
) откладываем вектор
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAACMAAAAgCAYAAACYTcH3AAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAHlSURBVFjD7ZYxTgJBFIafPRwAs0NHZ8M+jmDGMcFYUexuiDEihSHbQEJhdKCSQi9gYaCTM0BrISewwBN4B3Tf4MCwWYwBVjHuJpNsBrLzvf9/789Au92GbVlbA5LA/E+Y4NnZChjpizxD924doJUViFrSwSNAt7cq0EowHkI3OHCyZL0Det1f75mWh8VVQWLoGe82Ge0EJoH5Tqjp9WMwzWY1LRgMVHiZQTYLNLcXho4FptOppg4ZexS+zHuIsixlhvYEY31+wk8ZwBsBodcqGtATxmv1jcNI38k5vsxJWc4genIWZkz0q51OivZtsAeOdPII7Jmga5zVY4HRy+dYoYPo3UXokRLzuHd7YdX0fzcOo1TJHtybStDBGsyyrCcNZ6q2bADWgiHZw0pMG7u8iwCvpiVRFtGe2fxRFl6WSrYucHnP0H2EiYGulJQIPtYgkMJe4cFUYaoaGwlPnCH3K+YQaOvCyiqQi32bgT36EoYkz0L2xfT/s8qgQhwfC+vGrFJZRNNlwC9Y12ymlbLG7wrUgiFYYhi2NpYEVgA6n4xMmhaH55zj9Y/BmNNnvs+UjICMBUY1OU1iYJEKxcASHZAc+RWpEVjfiB1GRQLAeOE+HFxB9X2Z+m3egzDRiiVXiD8H8wFtnU0wddfnGAAAAABJRU5ErkJggg==)
(параллелен звену АВ и направлен от В к А), из вершины вектора
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAACMAAAAgCAYAAACYTcH3AAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAHlSURBVFjD7ZYxTgJBFIafPRwAs0NHZ8M+jmDGMcFYUexuiDEihSHbQEJhdKCSQi9gYaCTM0BrISewwBN4B3Tf4MCwWYwBVjHuJpNsBrLzvf9/789Au92GbVlbA5LA/E+Y4NnZChjpizxD924doJUViFrSwSNAt7cq0EowHkI3OHCyZL0Det1f75mWh8VVQWLoGe82Ge0EJoH5Tqjp9WMwzWY1LRgMVHiZQTYLNLcXho4FptOppg4ZexS+zHuIsixlhvYEY31+wk8ZwBsBodcqGtATxmv1jcNI38k5vsxJWc4genIWZkz0q51OivZtsAeOdPII7Jmga5zVY4HRy+dYoYPo3UXokRLzuHd7YdX0fzcOo1TJHtybStDBGsyyrCcNZ6q2bADWgiHZw0pMG7u8iwCvpiVRFtGe2fxRFl6WSrYucHnP0H2EiYGulJQIPtYgkMJe4cFUYaoaGwlPnCH3K+YQaOvCyiqQi32bgT36EoYkz0L2xfT/s8qgQhwfC+vGrFJZRNNlwC9Y12ymlbLG7wrUgiFYYhi2NpYEVgA6n4xMmhaH55zj9Y/BmNNnvs+UjICMBUY1OU1iYJEKxcASHZAc+RWpEVjfiB1GRQLAeOE+HFxB9X2Z+m3egzDRiiVXiD8H8wFtnU0wddfnGAAAAABJRU5ErkJggg==)
проводим прямую перпендикулярную звену АВ (линия действия
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAACQAAAAgCAYAAAB6kdqOAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAHCSURBVFjD7ZYxbsIwFIZfdzgAFWYqByDvCpXrSnRkIBZbyxChLCBlQK1hy9BeoBNs5Qxwgp6gAzfoHWhtl1ATOVFFEpRKQbJk5Znwvff+92OYz+dQplUqmAqoApKfi9IACZ91CLovWaFOroRtiT7eAbrLLFAnfYkjLOSP7hLWFyBflEJDM47dLDAFaIg/V2NfAVVAfwFKMr5opZ3LHSgIhnVGYK0NzjS7aL/3Ge058Rhh62EY1nIDCsNh7ZaQN+aLDkcUAyEa6hkjZKWexQ3QFsu1QsLvt/u+aAsxaCBycTA8wlZm5p7nXSXFCtGQT/E+ytpFWCKfdW3n0mK5AenqtG5eVdZq74CzVq2znUuKxQWfCWhEyTjK+kcr7jL5j9QeU+8wxU7oaBw/M+31HFsyx1mr+4wxKaol8mWTIBhcRpoy25UUM8Vuq+TUu3YIOO+pQEqgLWh9mBOzz1Rmidv4l9NiB7EHQV1X0khSwzZhA022sQ1DIW5reNQu3tYRxQdK8emsQOb0mXtdOYBPG2hhQFpTakplu7Try/YoILWnSB9VVWS7J2cB0pYBsD26Y0tHj+7gatp+tQc7m4dV149/B/QNl818B6VUWfcAAAAASUVORK5CYII=)
); из полюса
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAA8AAAAdCAYAAAB1yDbaAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAADVSURBVDjLY2hsbGQgFzOMah7VPKp50GsGAkZ8GKfm8vI0Xg9Zht1ARf+B+B8UI9jG0Quwau7oSOPxlJVd4ZFXbxhtbFwfW18vCRLzkJVdCRLD6+z6vEjVyLx61fr6WElj4+h6iJiHoaysx8q0jg4eovyc52acArMpyphhoXF0gw9RAQa2Vc59FsgmENuIwWg3yPlEac5xky2G2dQQbezDYBy1kKioqo809mWQ9dgN8x/IybJuOSXl5bFSsDDAqhkUMHIMcjeQQxXkCkgUGd/B5vSRmDEAIxB5Z4UWbWoAAAAASUVORK5CYII=)
проводим горизонтальную прямую (линия действия
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABUAAAAdCAYAAABFRCf7AAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAFiSURBVEjH7VVBToNAFP3u6wFqHFb0AO33DDgm9QAwYdewatjUhOUvOxb2Aq7KzibeAO/gVpN6A8+g8qFDoAVpzCQuLMlPyMB//783b/5AHMdgOuAE+reg+XNmFJRCORborY4B7uyoLcjFW0Av7QNuXVQI6zzxsyO+ANXamKZLhdM+wF9oqu7/ufm1E4yBJkkwkAIydoBw5guj9D0UKxnS2Ij5OaLIv5jAJPOJhkeDRlFwrik2DK/fbftFn6oufQ80uxHikakpROJuSh3FRtP1EFL0/RkCbIsil/I5SJJBJyiF7sgNaUTkDxEVVaYXcsOJxTrAOwBuuWDxDeAD1XLaq2no4KzR2S6pPKZeWjWxK9ILWvxoXT/ozuqbUi9QsQDxtu+EA9C5IxZtnbXtOhdpGzDNLnleCplp4TkpN/kdA17Z9lN917m41rYTlKlYYL3WqZSJbKUyuTFnfxiBpyvaPOg3461XHX03+vIAAAAASUVORK5CYII=)
); на пересечении линий действия векторов
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAACMAAAAgCAYAAACYTcH3AAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAHASURBVFjD7ZZBTsJAFIafezgAhmElB6DvCmYcE1yyoA07ZdGQbiDpgujArgu9gCvYyRngBJ7ABTfwDui8keJQpsTUohhLMsmkbwrfe+9/PwPj8RiOZR0NSAHzP2HU5+QoYGQgGgzdh+8AZa6Abck2XgG606xAmWA8hIn6wVXKegP0Jr+umZGHzawgB9CMd1+MdgFTwHzF1OK171yuMGHYLQsGc21eppHF+7WPaE9JxpiYd6OolAtMFHVLl4w9iUA2PETZkbJCzwRjM3qWNDdbLLfKyKBdbweyLmWngujJjZkxMTMz9n3/LC2Wu2YCjtdxti7CFL1R03ZuXywXGF2V2sUjZUt7B5w5tct2Li2WVdA7D3qc9eNsP7ThTtP/FHdj9L4pasZ7/eSZYavlWJPYypbuI8ZEUBvUlw3CsHMaa8hskS1mitpWvaF/7jBwnvfCkBhrUHsxJ2OdpcoQl8mX02IbUYdhWVfPSE6DVmEBVbGwiT53FzX8Z5VsY4/jDed492Mw5oSZe10xgFcb5EFgtH5oElWLtJOrlhAM7TnyW6qGau/g4DDaEgCWW/dh5dLxfZmm6lNnsLL5U3GF+BMw7zagS6e3IQIfAAAAAElFTkSuQmCC)
и
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABUAAAAdCAYAAABFRCf7AAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAFiSURBVEjH7VVBToNAFP3u6wFqHFb0AO33DDgm9QAwYdewatjUhOUvOxb2Aq7KzibeAO/gVpN6A8+g8qFDoAVpzCQuLMlPyMB//783b/5AHMdgOuAE+reg+XNmFJRCORborY4B7uyoLcjFW0Av7QNuXVQI6zzxsyO+ANXamKZLhdM+wF9oqu7/ufm1E4yBJkkwkAIydoBw5guj9D0UKxnS2Ij5OaLIv5jAJPOJhkeDRlFwrik2DK/fbftFn6oufQ80uxHikakpROJuSh3FRtP1EFL0/RkCbIsil/I5SJJBJyiF7sgNaUTkDxEVVaYXcsOJxTrAOwBuuWDxDeAD1XLaq2no4KzR2S6pPKZeWjWxK9ILWvxoXT/ozuqbUi9QsQDxtu+EA9C5IxZtnbXtOhdpGzDNLnleCplp4TkpN/kdA17Z9lN917m41rYTlKlYYL3WqZSJbKUyuTFnfxiBpyvaPOg3461XHX03+vIAAAAASUVORK5CYII=)
получим точку b, соединив полученную точку с полюсом, получим вектор ускорения точки В.
Из плана ускорений определяем вектор ускорения точки В и вектор тангенциального ускорения
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABkAAAAYCAYAAAAPtVbGAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAFnSURBVEjH7VVNasJAFH7d6wEUp3dI3hXKNAW3CnGYXZtFkWwUZiF2zC5n6EqXnkFP0DPEE3gH27zEIVNjKUmTRcHAg2Fg3vfm+5lAFEXQdsEN5P+DpN+dqVZAVgKHafNTXuzohdppHEQI8aS17HEejlulK+R8LJXqN0KXzbvdUCCsM7pQrGuDUMMpZzPDO+e4hIG3D+K404i7lAq63gD2ZkriHwEOjE9njVl4grCxaYjjoEOgKFbDRkBye+JBat0ze4vXB5eB+2Hv1cnKxS0mmzJ1xR7VWa9Pk5drVC5GI9cerARC0ykl+6kWCTVDKZ99vwhdRiFjWwoiaeaCu/vt9j+kGRNf+04OhIl9QIeew5i3DZTqZmeYtzPOMxpeurGyiN+GKVGJL6nl3/4MQrQat9nr7IYAx2vglQAyre4f34kqYwwCoTVHvqTpU2PMa4Ocg5kUuuVPi3lmyGXFSwEnO1u332+l+gJpyFcp3abk1wAAAABJRU5ErkJggg==)
:
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABUAAAApCAYAAADar2JAAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAGCSURBVEjH7Za9TgJBEMfHHh8A45Q8wN3Q2pHNYrA1WTZUEgpDtqG4wpiF7hrfATp4AovzUeQNeAaiA64SwuIxUCnFv9jL3e/mY+cDRqMRnFpwhp6he14AuGDtei6CDi21Pj9eAuBCO5+E5953qgQwJztsiSz1xiRpCsUmoK9wAEDzjvdVEdRa22wTTALUO53UEV+B2hOR++ymMT5hy1D1B3neqyhSz1aj57MM6kzNOF8LUKeo23DuRiPONmNcChoybrV+6OV5hROG9fqUlOuy+4h65qy+jYF3x5FgzFnfjCNicxp+sLoRZMfnMv1L0HCVJNoHXUp1lPuxViiGfrW8d7ZMXPvbckrdc7tjeAppIW59MbUJXw6q/TIKzeZkUG4qsVEignpDd9z1xYNvW+vZ9HM3Dx58sWoR136W9S71Nbz9ZlFp6NNjI0WARbjcYT6JoWFJOBSyF7qeP/ElQQRdZXdrSTg6Ud/rTJZdMWx1Rl3EKqcUlDcQjVCErEtj+88H3wd4k8oUsFCQeQAAAABJRU5ErkJggg==)
Ускорение сочки С определяем аналогично ускорению точки B.
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABUAAAApCAYAAADar2JAAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAGCSURBVEjH7Za9TgJBEMfHHh8A45Q8wN3Q2pHNYrA1WTZUEgpDtqG4wpiF7hrfATp4AovzUeQNeAaiA64SwuIxUCnFv9jL3e/mY+cDRqMRnFpwhp6he14AuGDtei6CDi21Pj9eAuBCO5+E5953qgQwJztsiSz1xiRpCsUmoK9wAEDzjvdVEdRa22wTTALUO53UEV+B2hOR++ymMT5hy1D1B3neqyhSz1aj57MM6kzNOF8LUKeo23DuRiPONmNcChoybrV+6OV5hROG9fqUlOuy+4h65qy+jYF3x5FgzFnfjCNicxp+sLoRZMfnMv1L0HCVJNoHXUp1lPuxViiGfrW8d7ZMXPvbckrdc7tjeAppIW59MbUJXw6q/TIKzeZkUG4qsVEignpDd9z1xYNvW+vZ9HM3Dx58sWoR136W9S71Nbz9ZlFp6NNjI0WARbjcYT6JoWFJOBSyF7qeP/ElQQRdZXdrSTg6Ud/rTJZdMWx1Rl3EKqcUlDcQjVCErEtj+88H3wd4k8oUsFCQeQAAAABJRU5ErkJggg==)
Определим длину векторов
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAACAAAAAYCAYAAACbU/80AAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAGuSURBVEjH7ZWxTgJBEIbHHh8AcktHZ8MNtZVZl4ixolguxBiQwlyugeQKoguV9wwWJnSS+AbQWsgTWOgT+A7gzR17Wc4LhTlic8WEY2CZ7/9nZoHpdAr/GVAAFAAFQGYS4GhfHBTA9wfHgsEiLLQJY72NTfKKnVkaNDeAIBiUmoy9CE/VHUTVVapMOcHYnF/zGwbwTRDoTFoG6Jpxd5gLgPJkTXqqplS3jOioOCfqjIn5IAhKlLfBXkgl6wjsnUBdzoa5AejwOPbpx+m5gzAjxfQ8cbBFLUi7o7+bC0Ckvnr+ZCqmYhrGsqw3DWS689e5+JUgS9OK4+HsVhDgy7Q7bT+9j4aViYUr+UXamXG7bWsx2TMg8ZIOa0WkOCwwouKNk8azqTZ2h62EI3rIvX5UfHs2cgbslVlsfHdmp3M7AHSoCtUPkzpRBPh5JaxHU21cJNyKsKinZM1sFYUjRE/DRrNiwRIssTTbldtNaLYqK1yOt5zjw8EA9q1i4hQ5mQGZC0DSc9+v0AZQv4VUp3RZceT3pDqEHB0MYHde4i1oNuBV35LmZ3rDir/jAkDHD3nbT+M9lgG1AAAAAElFTkSuQmCC)
:
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABsAAAAPCAYAAAAVk7TYAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAADwSURBVDjL7ZSxDcIwEEWPngUormSA5NLSIcsgFjAnKiIqdA01OtJljKSDCSiYhQ2YAYGRLAWJQEJBAVhy4dPz//b5y5BlGXxqwm+ZXUfHz0f1d7hasw3T5AqfAfBkRaNQV531COBIvJm04V7eTJ2L4hgO1Q1LgysAOs5Ue225p2bMPJoSlEFExUYJ4h5oWr7D1Zr5NjinkT8hmuUqzxddQ2bNFtWv23LPzcT1nWg/iIihdCgysIi7u7dpyD00C8lia+eLPO/6AGCSbMlI6tuDaHfCduyFmnK1ZkxQ+HRV+4842gbBW/KIi6bc/wf5DrML8Yg+zoNJ3mIAAAAASUVORK5CYII=)
Из полученных тангенциальных ускорений найдём угловые ускорения 2-го и 3-го звеньев:
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABcAAAApCAYAAADeWrJ9AAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAEhSURBVEjH7ZY/DoIwFMafuxwAYw8hvYIhHXA1EcJkwmAIi0MHh8LG4iE4BxxFTqBnINJGEmK0/CvRKE2+pCw/Xtrve68QRRGMJfh9eLlmXMrhlHoaWUIGS5J5cTxXBmfM1THApay6UA6v5JvoOMEn+IfhPJk2hkTAKdXGCZEQupKAraau+O/waiAMkQxeDNV3n3nbedoZXE8sMv2jUnhgmluXMZ3/xAAj5ftRrGhjdJb1mUFwh5C9rAX3BocOtrATWsrdwnZ4A9hOmhzTynJ1iJhItdDIqm9+wrWAdIKfDmsDAdwqH/NqmzzdCv4ISd4H1gjnLgDAuSwcveHiwkonPF+sOjivnNIFh4pvRNIu75W38Dj25gRBWrlkyNlPA/ql7oM9Rze5YlqUAAAAAElFTkSuQmCC)
Определим ускорения центров масс звеньев:
Ускорение центра масс 2-го звена
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABcAAAAZCAYAAADaILXQAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAFGSURBVEjH7ZUxboNAEEUnvXMAR95DwPSu0GoKX2C92soOBbJI4YLCitZ0NLmDfQ77AskZ8Al8hyQMaGVkJxEYIkWKkUYsK/Rm9s8fgDRN4bcCbvAb/I/Di+uOw617gTNoIcWyuL8DiKOU+Awj2odZNugET5LwnkawB9QbfrbWDBHgIORi2bnyKcLWgTmyLBxwMtTrSSf4WuMEAA/G2qHbW0WBL8B/q++d96MRvKp6ur2U6LRXShWTJwCOIGgXRcGYlB03hnNFSWIeCq3zYv2BxsyVst7pPfFCsfWqJPh6fqofZGGHcGCurPKqBJjXAewkbnArWdpEadWaXN8lunr6OAG7yPXgK0e1AsYS50G08t2gMVATzXjANKK9cFVTMHteSvlEAnZlXwq3uKkt54H0rPcPV3UKfOQT9Q7XCBvnsKtl+V8/i08NUz8PQF/4AQAAAABJRU5ErkJggg==)
найдём из соотношения (3.10)
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAGAAAAAwCAYAAADuFn/PAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAQISURBVHja7VrNTttAEN7e4V4Q7q0PkKx6LCfkbis4UtVYPvFziJB7oJIPiBpuObQv0BPcyisUXqC8QaXkCegzhHp3M8k4tWOceH8c7WEkZAd7PN/ON7OzH7m6uiLOzJkLggPAAeDMAVDTaUJecHMAGLA0Zh2PkMcMgCfPPz1zAJgAIY02usR7YHHaaXumthKAy5Duki12f9Lvr9nqY5KcrLMtcl/lZysBOKDkxmb64RlKCRlkq3+0cgD0+ydrzPNubacfbqe+d7Y0AJjHMJ/Bdd3diCjCHru1mX4aAYAHVjyApxHxHn2fXsDDxik2lPfISCcdCJ/owU0bsnVhACYFhIbXiNOGEGgcBF4QaXi5q41+Mr/qvM/knmFhAHiRg+AXfbjsxbsPUZJs6m8/u3dBHHfKPup8f78bpelGbs/gsbteb2ebBem29QCIFo/QIXyE+KjeTlcEHF0ragVVrzbxzizz4pB9COL09X/Bn/HzgHrfebGWQNDf2H9rAZCrf8qxUzqS10LGDuGBuB3ErZeqmgA1qej5kKX4g/nv+W9bRUEAAHc6SaLNcVCfaBQdRVH8VlBRkO7x+5iqYt//yFcY0IT+1UaPs0bh6+wHzxZtXWBM4sP9SZL1mhQku5uMigZBGnQkCPjv6f2iQEPqG5gPjYo6JA4Cr1/wO9VNQ24jNu4iy+KhxAFMU6pXGadIn/oX/H1ZoL8AALFPj3Z6511op3nQwa+Q0lR3hmrbCetsS0NKrqEmTPcsZPQmjD/5vv+ZeeROXMu6IFgQolaw8NCWvUKzqRfQPagfNm6MZDbQY54ZKwcAXoHc5mUBHmOUmcqMKatdJvw0gvo0ECWGNoEmTYeftRFfxJqiD5XWJM3Vec/sP49UWBOprcq3Mh9V+ekoyGYKcrYC+wBnmgEwOW+3WR/03AK/1Evk+azYbWrX6NisD0JDTLknCtI9pRSke/iGh1626YPkII7+go2e3KDmz1caBcDU+BnmTrbpgy7j+CX2p2qRLMS3mNfglMqESsJ2fdCEKmn4bWEKmqeOgCDww5rnCpGasjbog8QRKZfQ1DmQyReT+eqIqTxFDrfGhfGvjnG07fqg/HBywRpQpY4A+skXIDLUAUBb9EFjIEo7tfkFrkIdIegHBVtmgPdHNS0sow/SvW8AX2sDUKWOKOp+ZjNGbfv5fH0QrEITSr6ihVoLgCJ1RBCkndnuZ9zvDnS0o3X1Qbhg62ibcbbJQvz+Z9lCqaCgYnUEOJ+bFmqcYNbVB00KdtaNiO9CZ8RKFgeemFa8a+WGW0X6oFxQLCvcKxX8Mn0Q5uB5fOwAWIJzy/RBon69eveD0w80Eg6Ahq1MH5TboVt22rayNaB12euC4ABwADgzZ/8ADD/AXUlvqvoAAAAASUVORK5CYII=)
(3.8)
Из плана ускорений
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAEEAAAAVCAYAAAAZ6IOkAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAI8SURBVFjD7Vc7bsJAEN30cACi7CHw9kkTISPBAYzlLqKIEA2RXETRQkeR3AG63AFOkBtEghOQM4R49mPGZtfYDm7Alqbxemdm37w3syaz2Yxcu109AKVAiJ4bsEqTUjFsscrmYNtTyMl8Pmy4lKwiZ3vaGU2qAICP3TYl5AdiCGODJV4fdegkev8Lxjzez+3XY31y566H83njLHIYMPrhjnm7ChDwIcVB/WlPr0191iOEbQLOW5wHLUbIBq9bAZDfbs8GAjh0iLOCRM7OAvDtDKYm2goW3pH1ESiWg2HzGePdLn0vDALWHU5KBI4omqXZsiYrLWUAVMe+pUzoN2ag6Z3JJwAnGJYXBAh8oCTddTrsDW8eMLJkQfAEVBTf2BynmpvJLP1GSyHRD5QUtpiBmuY2SYh15vNYZnlACMNhEyhHmL/AQXQTjLWldamamCkJn5EF1vaRqRinGrD2XQYEkIH+PjcIUGWcXFqHWgp5k/ivyXxkPCMIGUWANdfjD5p1EQgvAoQwbFpBMAV5fX50KHG+9DshBRQwS5NF5WDtEQqEoj3BwsR9euIkQMCoJ6WhkjBMhTRzziWHdFOzTYcsihtH7yk5aBCgQmEY3KrGt4cm6Hm8nZ4KsnnK3lDFTVGwkHY/cdLxSIworXPEoGQxLBcIajypSrGNx722BOJw0ER1c1SyxE1xF/un7sqUcOLGeCRN2G8ujNhn8XlZP0IRC7jn3he9zV4MAPoaXYah9a90DUINQg1CDULK/gAxTn2nZItoYgAAAABJRU5ErkJggg==)
мм
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAMAAAAAsCAYAAAAzWrf+AAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAUBSURBVHja7Vy9btswEGb3ZG+KKO8Qs2vbpXBlIFkL2IKmFhmKwEsCaCgK2ZuH9AHaKdnaV2jyBHmDAvETpM8QV6REiaIo6if6IaUbDggkR5Y/3nf33Z1EtF6vERjYWA1AAAMCgIEBAYb0oxB6QQwWOItJHjZ1MTMd58EttOed7duH6A4d2ndnm80eOP8a+Uv72ELoX+CsO2p4ccOfP59aF8HxJ2J47p+Wvu4cn5qO87AW2ncPMEIPdDGBAFIHp07urE7YuZWDTxDCD67vHzD8+PMFWG+BALouOBAgdtTJZLGSSZXN5myPZMsMIUpg52Dsz2bW1agIwOtEHlCVtgQC9GthhA+lD5E3/BqF0sj6ay/9Y9Ux2TUJaYaAc2nHT9Ko9Tid4m/sh8epMEqv1vT8Agigh9EIb6FbTv6k9H8kf7ZE/ojSJk8G0fPY8YeCc/miEjvXPEDM0SkIEagsMgABtCbDjq1RHQIQ6cM+PwoCLDC6Yc4v041hypzcu573CmoA/S1czyRgZQgQdYxkBCDn7Ln/jsndAOdLirPn7Q+SADKAvn55P6EOzx3LK5z6qguAAAVrGhGgag3gYHTNd5NiWSV0lgZDAD5apOVQeMyx7U/Mychnef3PtyS7rguAAGoCMGeVdYGqYDd4CcQIQKK457mvIofeYdf97LrLNxS8qLMgSqXldPqR9ZYnaHLLZ4xWfxC7F8NTc5N4MKPZ25r94h02zt4BVmyNeUKosnibBCirHoo+VzgBL5ZALNXhh7k/Pw5JwP+dnM9z8gW2vqvaak1ZahAWday6+F5dLdLzjzEeln0rc9bUJJhz/uT/5WtL/y/nms+xMtP8dGdSfn9xMGS/PwrmlYrgJoyXSiZG0LFnEH9uv+0qkJSZ5keZaqsKurGC4a4hSvpOCKBLa7Q2eYPCT4fZRi8ZhDkjJ237ruNi5y+4J1bf8Gsna9a0CyB5WEqSdnTUx3nG0nEA5GUd/arzxFxnyyNAKGnwlrTdVVjGcw+uFiTXFINZuz8g5wGs5zplU5lJ0tJTGgGvqOBqa2LeFS59BJmyBIiHsLPZVVLrhWRQ1kBBECaZ4/WR/SPTqtdRcigdsYd0nJYDaQ2ZKdxampjriktb9y0jAHuuiXSyiPZnMkecVckDnZwoldnatPUZZep2J2TRW8eJuanrqSZA2tkZKWQBhazXhyP8k+teZkggAvbUtTXhzHW+p6qDqIqvLibmbeGi43pWIYDq2SVxOEuzUZdFsM4SqGINsFPp9i4m5iCBOGfn3lrLe3RDRgzZUBY6DiVlj0qzmzgx19lU0/ywyZB0gUQ8WVYRu0DkGA16wuAOnLyBOYBpE3Odrcw0P5VVOOcXJ9eZ9yEkU2twcp3IZvDEXKfsUWVyXbroyjtf5wa76nyYtHA6TMxNH9TVmVzLL2ToNhqc/q58b70unAYTc1Oxezbpcytww7bRCK+P/6Re11MMSHSxuhNzwK4lApi6jcZquXwptswmyLofe1EJ2FUkwFC20aD3hZ0rcHDArjQBhrKNRvjmk/0b3ggD7GrVAAIZjNpGI62px6FjAbsWCMDM1G00osXcjfVlFsCuIQKYuo2G7I0gMMCuFgFM3UaDZC+TX8fs08aCXfaAodtolLl3MMBOSQBTt9FI6hNOarX0PUO0MWPXSiTpchsNMDBtCNDnNhpgYFpkADAwIAAYGBAADAwIAAamtf0H7cFhQxqMlkcAAAAASUVORK5CYII=)
мм
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAEwAAAAXCAYAAACh3qkfAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAKNSURBVFjD7VgxbtswFP2ZmxwgQaghgA9gs3OmQmGBZC2gCJ4aeAgCLQmgwQPjzUsO0EzJ1pzBOUFP0MHZiiy9Q1t9mlQYShRJJ06MgsOHJT2aenx8/5MUTCYTiOEfUYQoWBQsChZEEGBDj1C8q/1S+LqLdUzhtvr9I4Ie3+oDceFmlOVwhwLMVXua8aMQfO0FE2LssvvRdLpZ31ei+OJ6TKejzYOEXg8538b7s5ScV6L8pfnloQ/eKZhp81Dbv0bgANgu3JP07Fw9u8zpoRLIhZv98Yzts4L3zf6VwC7cKlhZjrYYgRmqW1tdv5a2X7VwgjDyQAHKckvNuhLIhXs72OJIG94g+ZmQ76h0TilHey6IkTt8xvlwu8rxByVeCDmXa9smgBesTwB+I2msLx8T9k13jwv3cbCZci7cIJj1soL3hDA05zUpwu6QiMhrqTja3/aytsgp3GiObQbNb9r+J9JMtKEPw7LcCcVtoY8rBG/trEjpicpntKUSZjGjgx8hxF4SWB6wEGc86y9Wr+eiuPDudCRXes3yxZvKoruSg2tUFq8HMJiplcNWWH1q2jIpiZOlp71wqbEqduG2wEzpyo4uvLOxEEemYJamJ21EZV2bu2paaEqqeqkT1yfQhVtTMaNHFc8LNUnj008DlvF9X7zRGRA2M4S5GI/ZHvkAv3AjV28W5QCLNP2iBuAi+5JVEt8rJlDyc+FtzhfjW6z4WlRpLDm78GeCYX1KIPmp563cvFUO6D32AB6fHEHnbcK46sLSoqn3amK48HoFlVyfxtLubBe+kp1+zthX32X9rY5W5oZ0bQ7foduMVUddWy3blXcVTOS+4+AbP+806pw84a+Ry+IHxChYFOy/j3/ZgJwF5WpCjQAAAABJRU5ErkJggg==)
мм
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABUAAAApCAYAAADar2JAAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAGCSURBVEjH7Za9TgJBEMfHHh8A45Q8wN3Q2pHNYrA1WTZUEgpDtqG4wpiF7hrfATp4AovzUeQNeAaiA64SwuIxUCnFv9jL3e/mY+cDRqMRnFpwhp6he14AuGDtei6CDi21Pj9eAuBCO5+E5953qgQwJztsiSz1xiRpCsUmoK9wAEDzjvdVEdRa22wTTALUO53UEV+B2hOR++ymMT5hy1D1B3neqyhSz1aj57MM6kzNOF8LUKeo23DuRiPONmNcChoybrV+6OV5hROG9fqUlOuy+4h65qy+jYF3x5FgzFnfjCNicxp+sLoRZMfnMv1L0HCVJNoHXUp1lPuxViiGfrW8d7ZMXPvbckrdc7tjeAppIW59MbUJXw6q/TIKzeZkUG4qsVEignpDd9z1xYNvW+vZ9HM3Dx58sWoR136W9S71Nbz9ZlFp6NNjI0WARbjcYT6JoWFJOBSyF7qeP/ElQQRdZXdrSTg6Ud/rTJZdMWx1Rl3EKqcUlDcQjVCErEtj+88H3wd4k8oUsFCQeQAAAABJRU5ErkJggg==)
Ускорение центра масс 4-го звена
![](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABgAAAAZCAYAAAArK+5dAAAAAXNSR0ICQMB9xQAAAAlwSFlzAAAOxAAADsQBlSsOGwAAABl0RVh0U29mdHdhcmUATWljcm9zb2Z0IE9mZmljZX/tNXEAAAFBSURBVEjH7ZWxboMwEIave/IAqeKHwLdnQpaHvABYnpoyoIgOGRiiyrCx9B2S50heoH0G8gR5h7Y+IysRrdQS6FAJpBPmhO6z7/47Q1mW8JcGI2AE/GOAfe7I/HowAAVbC7ax73cAdhYCn2Euj0lVTXoD8jyZyjkcAdWOvo3RMwQ4MbHeDHKCGGHvg5NVVTIhIKpi2RtQKFwC4EkbM/O+bRpyBvzt2teuz68Bze7j/dd0XXwubZkMGMAZmDykabiQkVl0AtDO8lzf29zXdv2BWq+iyASX/9iLzEzQgPC1fbofUkTKIcM6MlHQQLC+DkIKo6J3TlEXczJupW7wTiaIV5erl1QPvQGZwFWYbrlvRg9oC+QmAPWEEOJJMji4OlkVUXdT7VCpR87jYvBh5xrRA0lx3zTkIBPTjRRUZrxwbrJPtYRnj+UmfYQAAAAASUVORK5CYII=)
найдём из соотношения (3.11)