The Elementary Part of a Treatise On the Dynamics of a System of Rigid Bodies B
The Elementary Part of a Treatise On the Dynamics of a System of Rigid Bodies B
Edward John Routh
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The equation (13) can be solved by separating the variables. We get L I (S 9 cos - pP) p = (#o sin - qQ)*, where a is an arbitrary constant. At the beginning of the motion ART. 324. ] IMPACT OF ROUGH ELASTIC ELLIPSOIDS. 261 P and Q are zero, hence we have sin - \ ( S cos I \ S sin which may also be written fS0$ = /8jm6\j }> or This equation gives the relation between the direction and the velocity of sliding. 322. If the direction of sliding does not change during the impact, must be constant a...nd equal to . We see from (16) that, if p = q, then = ; and that conversely if 0=0 > & is constant unless p = q. Also, if sin or cos # be zero, S must be zero or infinite unless 6 = B . The necessary and sufficient condition that the direction of friction should not change during the impact is therefore p = q or sin 20 = 0. The former of these two conditions, by (12), leads to If this condition holds, we have by (13) P = Qcot6 and therefore by (14) P = //jftcos0, Q = /AJRsin0 (19). It follows from these equations that, when the friction is limiting, the representative point T moves along a straight line making an angle tan" 1 //, with the axis of R, in such a direction as to meet the straight line of no sliding.
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