.

-
2005


1. ................................................................... 3
1. ......................................................................................................................3
2. ( ).....................................................6
3. . .
'................................................................................................................................7
2. ..........................................................................................................................10
1. ..........................................................................................................10
2. -.
.........................................................................................................12
3. -.
.........................................................................13
4. , ......................................................................15
5. .
...............................................................................................16
6. . .............................................20
7. ...........................................................21
8. . ...............................................................................22
3. ......................................................................................................................25
1. . (
)...........................................................................................25
2. . .....
26
3. . ..............................................27
4. ....................................................................................................................28
5. . . .....29
6. ............................................................................................................32
7. .
......................................................................................37
8. -................................................................38
9. ...............................................................................................................41
4. ............................................................................................................................. 44
1. . ............44
2. . .....................44
3. . ..............................50
4. ( )........53
5. .................................................................................................................... 55
1. . ..........................55
2. .................................................................................................................58
3. . .................................................................................................60
6. ...................................................................................................................63
1. . ....................................................................................63
2. . .......................64
3. ................................................................................................................................66

1. .
, .

1. .
.

- r
. ,
( ):
r {q1 , q2 , q3 }{x , y , z }
.
, . , ( ) . , ,
q1 , q2 , q3
:
0 .
x , y , z

x
z

, q i =C .
.
e3

e2

e 3 (.
e1 , e 2 ,
e1 . , )
.
, .

x
z

{q 1 , q 2 , q 3 } -

.
, , , .
- :
r ={r 1 ,r 2 r 3 }={q1 , q2 , q3 }

d r
1 ,V 2 ,V 3 }
V = =V
q 1 , q 2 , q 3 , q1 , q2 , q3 { V
dt
. .

{ H a }, a=1..s , s :
r
=e q , q , q H a q 1 , q 2 , q 3=ea r Ha r
q a a 1 2 3
3

d r =
a =1

r
d qa = H ad q a
ea ,
q a
a=1

, d r a =H ad q a

d r
V = =H 1 q1 e1 H2 q2 e2 H 3 q3 e3
dt

r = r a
ea
a =1

a=

dV
dt

d
H q e
dt 1 1 1
d H 1 3 H1
=
q
d t k=1 q k k
d q1

=q1
dt
d ea d 1 r
=

d t d t H a q a

d r
d r V

=
=
d t q a q a d t qa

d
d
, . .
= q
d t q
d t k k q k

:
ei
r 1
=

q a q a qa H i

ea 1

2 ea

d ea
dt

=0

d ea
dt

ea

d e1
=a 2
e2 a 3
e3
dt
d e1
e
a 2 =e2
=e1 2
e1 e2 0
dt
dt
d e1
d e2
e2
e1
=0
dt
dt

r
(*)
qa

= Ha .

x ex y ey z ez
q a

= Ha

x
H =
q a
2
a

y
z

qa
qa

.
:

x , y , zr , ,
x =rsincos
y=rsinsin
z=rcos

H =r H =r
H =rsin

e rsin
e
V =1 rerr
r =rer

.
d er
dt

d cosez sincos ex sinsiney

dt

ez cos

=sin
cos sinsin
excos
sinsincos
ey

ex =sincos
er cos cos e sin e
ey =sinsiner cos sin ecos e
ez =cos ersin e

, :
2

a =r rrsin
2

er

x
H =
r
2
r

a=r2
rrsincos
2

a=rsin2
rsin2
r cos

 :
z

x , y , z , , z
r =ze z e
e
V = ze
e

a z =z

a =

1
d

2
a=

dt

2. ( ).

ma 1 = F 1
...

: 6 ( ).
( ) .
:
, (. . )
t () S.
d
r d r d S
= V =eVV =eV
d t d S st

:
d
e

dV d
e V 2
= Ve =V e Ve =V
dt dt
dS
d e
dt

d e d S
d e
=V
dS dt
dS

e S 1

e S 2

dS

d S 0,

d e
dS

. .
d e

1
=en ;
dS
R

en .
d
r
V2
=Ve
e
dt
R n
, ()
R.
. e3 =een .

, 2-
:
m V = F r , r , S

.
V2
= F n r , r , S
R

, , .

3. .
. '.
{q 1 , q 2 , q 3 } - . .
r - , . r .
r
m
a=F
':

r =0, r ( r ).
' m
aF
:
r
r = r q 1 , q 2 , q 3=
qi
q i
i
:

eiH i

d V
F
dt

r
q =0, qi - q i .
q i i

r q ,
m

d V r
F =0, i =1..s
dt
q i

r
V
r Qi , Qi -
=F
d t q i
q i

U
F =
,
( ),
r
U q 1, q2, q 3
U r
U
Qi =
=
=
.
r q i
q i
q i

2
V
r

2
dV
V = d V r V d r = d V V V V = d V
V
V
d t q i
q i d t
q i
d t q i d t
q i
q i d t
q i
qi

-. ,

r V
=
.
q i q i

r
d q
V r
q

=
q q

V =
d q
q

d r =

...

r d
dV
V
V
d
=
V
=
2
d t q i d t
q i 2 d t
q i
2

d mV

d t q i 2

mV

qi
2

2
V
2

=Q i=

2
V

q i 2

U
q i

[Q ]
F

2
2
d
m V m V U =0
d t q i 2
qi 2

U
=0
d mV2
mV2
V

U
U =0
d t q i
2
q i 2
U
=0
q i

mV
LT U =
U
2
d L L

=0, i=1..3 II- . , . . d t q i q i

.
d L L

=Qi , i=1..3 (*); Qi - ( ,

d t q i q i
, )
a
F H iei =0 , , , , (*) m

.
.
:
e rsin
e
V =rerr

m
2 r 2cdot sin 2
L = r 2 r 2
2

U
r , ,

, U r

d
U

mr 2 sin2 =
- , ( ).
dt

: mr 2 sin2 =const

. .
p i=

L
d q i

: ,
2
]=[ [ r p] ]=
. , [ p ]=[mr 2 sin2 ]=[ M
z
z

: ?
d T T

=Qi
d t q i q i

e
F = [V
B]
:
c
, : , d L L e

= [V B ]

d t V r c
B=rot
A ( ).
e
e e e
d mV
A ] ]= e
V

m r = [ V
[
A V
A = VA V A =
2
c
c
c
c r
c
r
d t V

d mV2 e e
V
A
VA =0 . , , 2
d t V
c r
c r
.
r , t

dA
A V
V
d
A A

A
A=

.
dt
t
r
r
d t t

A
0 , .
t

= 1 A .
, ... E
c t
B,

d mV
e
e


AV V
A =0

d t V 2
c
c r

d mV
e
e
mV c


AV V
A
=0
d t V 2
c
c r
2e
2
mV
e
L=
V
ATU
2
c
, , , , .
, (
U
d U
F =

U ).
r d t V

 2. .
1. .
( ).
y(x) 1- .
b

J [ y x ]= F x , y x , y ' x d x - ,
a

: l = 1y ' 2 x d x
a

x, (, ).
y x =y 1 x y 2 x
d y=y ' d x
d y=d y - .
b

J =J [ y x y x ]= F x , y x y x , y ' x y ' x dx =J J
a

J =
a

F
F
F
F
y
y ' dx=
y
y' dx =
y
y'
y
y'
a

F
y' a

F d F

dx
y d x y'

0, . . .

dy=y ' dx=0 . . . ,

d F y x dx
.
y d x y'

d L L

=0 II- .
d t q i q i

.
( ).
x

y
a

t= dt=

1y ' 2 dx

d l = 0
V

2 gy

= F y , y ' , xdx
0

d 1 y'
1y '

=0
d x y' y
y y

10

2 gy .

d
dx

y'

y 1 y '

1y '
2 y

3 /2

=0

y'

y 1 y ' 2

, .
d 1
y'2
y'

=0
2
d x 2 y1 y ' 2 y2
d
y'2
d 1

=0
2
d x y1y ' d x y
y'2
1
y'2
1

=C

1 =C y
=C y
2
2
y 1y ' y
1y '
1y ' 2

1
=C y ; y0 C0
1y ' 2

, , C0, C y 0
1 y ' 2 =

1
1
y ' =
1 ; ( (. . 11)), y '0
Cy
C yy

d y 1 Cy
=
dx
Cy
d x=

C d y x y= C

1C
1C
y

dyC1
y

y
x y=

1
Cy

2
2
yy
y2d y
yR R

2
dy=
dy=
=2
d y=2 R y
2
2
2
R yy
R y
R y
y

x y=C1 2 R arcsin

R2 2 d
=

R2 1
2

=sin

arcsin

y1
R

sin2 arcsin
2
R

Rcos Rcos d
R2

y R2 y
R

y =sin z .

1cos2 d = 2

x y=C1 R arcsin

y R2

y
R

y=R sin2z
x =C1 R2 zR2cdot sinzcos z
2

R
x = 1cos 2z
2
2

1
R2
sin2 =
arcsin sin2 arcsin
2
2
R 2
R

x =C1

R
R
2z sin2z
2
2

y =r 1cos
x =r sin: C1 =0
y a=b ' r '

11

dy2

R d y
2

y=r 1cost
x =rt rsint

d L L
d F F

=0

=0
d t q i q i
d x y' y
() ( ).

, ,

2. -.
.
:
, ,
q t ( ) q t Lt , q , q .
t2

, S L ... = L dt (. . t1

). , .
, Lq , q , t
, .
t , q :
q

t2

S= L dt
t1

t1
t2

S =

t1

t2

t2

L
L
L d L
L
d L
q
dt=

q dt S=0

0,
q
q
q d t q
q dd t q

t
1

( , . ( )
).
.
2

S =

t2

t1

, =1

( ).
t2

S =
2

t1

L
L
L
q q
q q 2
q q dt
q q
q q
q q

2 L 2 2 L 2 2 L d
2
q 2 q
q dt
2
q q d t
q
q

12

 , ,
. .
, , , . : ( ) .

, .

3. .
.
t2

S= L t , q t , qt
dt
t1

(
).
:
a r =r
, . .
a
L
=0
:
r
, . . , :
L
=0
dt
LV

, . . : LV
:
. ,

.
, , , .

: -, ?
: , :

Lq , q , t
d F q , q ,t
L q , q , t= Lq , q , t
dt

:
d L L

=0 .

d t q q
L
d L d F L 2 F
d L
2 F

q 2 =0

d t q q d t q d t q q t q
q
2
= L
L
v

L v
L v 2
2

L
d
2
v

=
F r

2
dt

13

L
2

d r
L

2 =const L=constv 2 (
)
dt
v

d r 2
v =v V ,
v 2=
v 2 2 V
V
:
dt

V
d
2 V r V 2 t
dt

2
.
dF
: , (
),
dt
; , ; ,
.
, (, ).
:
, L=cv 2 ; c

mv
L=
F r ,
r , t
2
2

mv
L=G1 r , r , t
G2 r , r , t
2
:
:

L=

mv
U r
2

:
2

L=

mv e
A r , t
v e r , t
2
c

:
mr r
U r
2
2

L=

. .
(, ).
(-, ) II .

4. , .
, , - .
( ) .
() ,

f 1 q1 .. qs , t=0
...
f i q 1 .. q s , t=0 , n , s
...
f n q1 ..q s , t=0

14

y
x , y , , .
=const . , .
,
R tcos t= x

R tsin
t= y
, =const . .
.
( ). :
. , :

a i 0 a i q =0
=1

ai0=

ai =

fi
t
fi
q

, .

a i

a i 0
q

:
2

=a i ,
=

a i
t

x
y
x x y y =3 =3 tc
2 3
, . ,
, .
2

15

5.
. .
i=1..n
s

a i 0 a i q =0
=1

Lq 1 .. q s , q1 .. q s , t
t2

S= L dt
t1

, q=q q , q t=t t =0 ;
1,

t2

S =

t1

t2

L
L
L d L
q
q dt=

q
q
q d t q
t
1

dt

, q

a i 0 dt a i =0 ; , q dt=0 .
=1

(. . q ).
s

a i q =0
=1

i =1

ai q =0

t
i

=1

, ; .
t2

t1

L d L

a t q dt =0
q d t q i=1 i i

.. n { q1 .. q s } , - sn .
q i , q i ( ) i t .
i .
s

Q = a i i t=
i =1

L d L

.
q d t q

s+n ( =1..s n ) s+n ( q i ). . .

sn s 2- n , . .
2sn . 2s . , n
it=0
: , : F i q , q , t , i =1..n ?
t2

t1

L d L

q dt
q d t q

F i q q , q q , t =0

16

i t q i q q i q
i =1

=0

.
0 .
n

L = L i t F i
t2

t1

i=1

t
n
n
Fi
Fi
L
L
L
L
q
q i t
q i t
q dt=
q
q dt
q
q
q
q
q
q
t
i=1
i =1
2

. .

d L L

= ta i
d t q q i=1 i
ai 0 a i q=0

: f i q1 .. qs , t =0 ( q )
:
fi
fi

q =0
t
q

ai 0

n
f
d L L

= i t i
d t q q i =1

q
ai

f i q1 .. q s , t=0

L = L i t f i ,
i=1

d L L

=0
d t q q
f i q1 .. q s , t=0

: , ,
.
:
y
g

m 2
2

x y m g y
2
y y x =0

y x

L=

17

L=

m 2
'
x y x x 2 m g y x =L x , x , t
2

L=

m 2
2
x 1y ' x m g y x
2

m x =m 1y ' 2 x
2

m x x
U x , . . 2
,
L x , y , x , y , t=Lt
y y x

L=

0 .

m y =m t
m x = t

dy

dx

d y x
dx

y=y x

m y

dy
dy
m x =m y
dx
dx
y =y' x x
'

''

y =y x x y x x

m y' y ' x y' ' x 2 m x =m g y '

2

, L=

m x x
U x
2

d
x m1y ' 2 = x m y ' 2 2 x m y' y' ' x =m g y'm x 2 y' y' '
dt

f x , y=0

f x , y
y
f x , y
m x = t
x
f x , y=0
m y =m gt

y
x

d f f
f
=
x
0 . , :
dt y
x

m 2
2

x y =m g y E
2
f x , y=0
x = y

f
f

y
x

18

m 2
f
f
y 1

2
y
x

m g y= E

f x , y=0

.
:
: {x , y , , }

x :
a i 0 a i q =0 , a =0 ;
i0

x =R cos t
y =R sint

a 1 x =1, a1 y=0, a 1 =0, a1 =R cos

a 2 x =0, a 2 y =1, a 2 =0, a 2 =Rsin

( ).
I 2 I 2
m 2
2
L= x y

2
2
2
n

d L L
=
t a i
d t q q i=1 i

m x =1 t a1 x 2 ta
=1= F x
2 x

m y =1 t a
2 ta2 y= 2 = F y
1 y

I =0

I =R
cos1 t R sin 2 t=K
x = R cos t
y =R sin t

(3): t = 0 t 0

I =R
cos m x Rsin m y =K ,
x
y
K = m x m y
I =

I 2
2

m 2 m 2
x y E
2
2

19

1
2
3
4
5
6

x = R cos
y =R sin
2
I
m
x 2 y 2 = E
2
2

x 2 y2 = R2 2

m R2 2

= E
2
t= t0

x =R cos t 0
y =R sin t 0

x t =x 0 R
y t =y 0 R

sin t 0
cos t 0
2

: x x 0 y y 0 =R

2
2

6. . .
Lq , q , t .
: a i 0 a i q =0 i=1..n

d L L L
L
=

q
q
d t t q
q
d L L

= t q i
d t q q i i

dL L
d L
L L
d
L
=
q
i t a i q
=
q i t a i
q
d t t
d t q i=1
q t
dt
q
i=1

d
L
L
L
q
L =
q i ta i =
a ta i 0
dt
q
t
t i 0 i =1 i
i=1

L=

m r 2
U r
2

L
m r
2
U r
r L=m r
r
2
E= q

dE
L
=
ta i 0
dt
t i=1 i

20

L
L
q

L
=0
( ,
t
ai 0=0 i )

, , ,

L
i ta i 0 0 ,
t
i

7. .
1. . ,
.
2. , . ,
. .
3.

:
L
E=q
L=const .
q
L
L
=0 , p =
=const .

q
q
:
?
n

d L L

= t a i ,
4.
d t q q i=1 i

=1..s

, .
5. q t , C1 .. Cs
6. q t=0 , qt =0 C1 .. Cs
: .

8. . .
: ( ) () ?
, , : L d t= L d t d F
t2

S= L dt
t1

( , ):
q =q q 1 .. q s , t
t =t X q1 ..q s , t

L= L q ,
= L q ,
L

d q
dt
d q
d t

,t

, t

S =0 , S =0 , .

21

L dt= L q ,

d q
d t X

L dt= L

d t X

d t X d F

d q1 .. q s , t
dt
dX
1
dt

=q q X

L
L
L

q X
X d t d X d F

q
q
t

L dt= L dt

d q

L
L
L
dt q X
X
dt L d X d F
q
q
t

L
L
L

q X
X
L X F=0
q
q
t

1
F
f =

L
L
L
q X
X
L X f =0
q
q
t

, , .

d
L
L
L d f

X q
L X

=0
dt
q
q
t d t
E=q

L
L
q

dE
L
= i ta i 0
dt
t
i

d
L
d
df

X E
=0
dt
q
dt
dt
.

,
( , ):
L
q E X f =const

p
E X f =const

q q q ,t
t =t X q , t

dt dt
L dt= L

, . . ,
p E X f =const

: , , .
. .

x =x
,
t =t

22

p x=0

x =x
t =t

L L .

E =const ,

x =x V t
t =t

m v2
L=
2

m d x
L =
2 d t

=L m x V

...

= L

d
mV x
dt

d
m V x
dt

L= L

X 0
. . x=V t
f =m V x
p xV t m V x=const
p x t m x=const

, , m x p x t =m x 0
.

x c t
E=E

x =x
; x c t =x c t .
t =t=
c

m v2 e

v A x c t e x c t
2
c
L= L ;
L=

x=1
1
x=
c

p x c E=const , .

: , .
Lt , z , , , , z , L t , z , , , , z , . . . .

z =z

=2

h .
h

h
h
=z

2
2

h
2

23

 p =const :

p z p

2
=const p z h2 M z =const
h

. L x 2 y 2 , y2 x 2 , .
: ?
:
s : {q 1 .. q s }

q t ,q 0 , v 0
q t ,q 0 , v 0

{}

q }t =0 =q 0
q

t =0

=v 0

q 0 q , q ,t =C
. 2 s ( ,
v q , q , t =C
0

).
,

q t ,q 0 , v 0 , t 0
q t ,q 0 , v 0 , t 0

t 0 =const 2 s 1 ( t , 0

) , .

24

 3. .
1. .
( ).
. . s .
2 s - s s - () .

Lq , q , t H q , p =
d L=

L
,t
q

L
L
L
d q
d q
dt
q

q
t

d H=

H
H
H
d q
d p
dt
q
p
t

p d q =d p q q d p

d
p q L =q d p
H

L
L
d q
dt
q
t

H
=q
p
H
L
=
= p
q
q
H
L
=
.
t
t

( , ).

H
p =
q
H
q =
p

p t , p 0 , q 0 , q t , p0 , q 0

s 2s . , : , .

2. .
.
:
1. s 2s
Q1 .. Q 2s HQ i , t

25

t2

2. , S=
t1

.
:

t2

S =0 = p d q p d q
t1

H
H
q
p d t
q
p

q t=t = qt=t =0
1

d q =

pt=t = pt =t =0

S = ...=

p d q H p , q td t

t2

t1

p d q

H
dt
p

H
d p =
dt
q

H
H
d t q d p
d t =0
p
q

q =

H
p

p =

H
q

, (.. p p ).
: , ?
H=p q L
:
H p , r , t

H p , r

H p

H p

H=

p
2m

H p , q , t
q
H p , q , t
q =
p
p =

d L Lq , q , t

=0
d t q
q

, : , .
...

p = f p , q , t
{q=g
p , q , t

f g
=
.
p q
, .
: .
=

p= k =
c
=pc
:

26

H=pc

H
=0
p =
r
H
p
p
=c
=c
r =
p
p
p
.
H
L= q p H=
p H

p
L= p

pc
pc=0 ...
p

. , .

3. . .
d f f f
f
f H f f H
=

q
p =

d t t q
p
t p q p q
. .

h g p q {h , g }p , q =

h g
h g

p q q p

d f q , p , t f
=
{H , f }
dt
t

p={H , p}=

H p H p

p q
q p
0

H q H q
q={H
, q}=

p q
q p
1

.
f

f
df
=0 ,
=0 { H , f }=0
t
dt

.
.
:
q 0qt
, , 2- .
f x a= f x f ' x a

f ''x
2!

d
dx

a ...=e f x
2

Ta

p 0t 2
p t= p0 p 0 t
... , : 2

27

 ?!!
p t = p0 p 0 t ...= p0{ H , p t }t =0 t
2

H=

p m q
2m
2

{H , { H , p t }}t=0 t 2
2

p 0= p0
p20
m 2 q 20
;
q 0=q 0 Ht=0= 2 m
2

{ H , p }t =0 =

2
m 2 2
{q , p }t=0 = m 2q 0 1 =m 2 q 0
2
2

p
2
,m q
2m

t =0

2
2 p0 1= p0
2

2 p0 2 m 2 q 0 2 t 3 4 p0t 4
t

...=p 0 cos t m q 0 sint

2!
3!
4!
p t= p0 {H , p }t=0 ...=T t p0
T :
p t= p0 m 2 q 0t

T t p 0

=e
H
t
p

t=0

t=0

H
q

p
t=0

t {H , ... }t=0

t=0

p0

: T =e
t

p0
2
m q0
m q t=0
p

t=0

4. .
:
1. { f , g }={ g , f }
2. { f , const }=0
3. { f , g1 g 2 }={ f , g1 }{ f , g 2 }
4. { f , gh }=h{ f , g }g{ f , h }
5.
{ f , {g , h }}{ g ,{h , f }}{h , { f , g }}=0

6. .
( , ).
:

df
=0
dt
f (q, p, t) g (q, p, t) , . .
h = {f, g},
dg
=0
dt

{ }{ }

d h =h {H , h }= { f , g }{ H , { f , g }}= f , g f , g { f , {g , H }} { g , {H , f }}=
d t t
t
t
t

= f,

}{ }

}{

g
f
g
f
{g , H }
, g {h , { f , g }}= f ,
{g , H }
{ H , f } , g =0.
t
t

t
t

28

dg
=0
dt

d f
=0
dt

5. . .
.

(. . . ).

,
.

dp
(
dq
dp 0
= .
, ). ,
dq 0
d p 0 d p dt
H /q
= =
=
dq 0 dt dq
H / p

H p ,q ,t
=0
q
*
*
H p ,q ,t
=0
p

H
q
:
H
p
H p , q=E
H p* , q* =E *

H
1 H
*
H p , q=H p , q
p p
p p= p
2 p2

1 H
2 q 2

q=q

0
* 2

qq
*

H
p q

p= p

p= p , q=q

p= p , q=q

=0
=0

* 2

p p
*

p= p , q=q

p p qq =E

P= p p* , Q=qq* :

2 P Q EE * = P2 Q 2 P Q=a P 2 b Q
.
2
2
a b ( b . . a
, ):
1) a>0, b>0. EE * .

29

2) a>0, b<0.
.
1. E=E

P=

P
2. EE
*

a
Q
m

3. EE * -

: , ?
, ;
.
, , .
: . .
H=p2 m g l 1cos = E

H
=0, p*=0
p
H
=0, * =n , n
p

l
m

30

n 2
2
2
p
p
2

m
g
l
2
=E
m g l
=E
2 ml
2
2 ml
2

, .

.
, :

H
p = f p ,q , t
q
.
q =g p , q , t

6. .
, (p, q, t):
P= P p , q ,t , P , Q 0
p ,q
Q=Q p , q , t

P=
Q
P , Q, t :
: , . . H
?
H

Q=
P
, , P Q ;
, , .
: dF

.
dt
S= L d t
d S= L d t

31

d F q , t
dt
L d t=L d t d F
L= p qH

L= P Q
H

d t= p d q H d t d F q , Q, t
Pd Q H
L = L

}{

F q , Q , t
=p q , Q , t
q
P=P q , p , t
F q , Q , t
Q=Qq , p , t
P=
=Pq , Q , t
Q
p=

H=H
t

P=
Q

Q=
P

d t= pd q H d t d
Qd P H

F PQ

F q , p , t

F
p ; H
=H F
t
F
P=
q

Q=

:
= P QF
G=P Q p q

{
{

G
P
G
q=
p
Q=

K= p q

K p , Q , t
p
K
P=
Q

q=

32

, , F , .
, .

F
q
F
P = P q ,Q=
Q
p= pq ,Q=

p= p P , Q
q=q P , Q
= H F
H
t

, :
2

2
m t q
p
H p , q , t=

2m
2

p
=m t q
2
q
t q =0
p
q
=
m

( ) . , .
1
F q , Q ,t = m q 2ctg Q
2

rp

F
=m q ctg Q
q
F 1
q
P=
= m q 2
Q 2
sin2 Q
p=

m 2 q 2 1
m 2 q 2 1
1
2
2
2
2
2
2

H=
m q ctg Q
m t
m q
ctg Q
q ctg Q=

2
2m
2
2
2 sin Q 2

H=

1
P sin2 Q
:
m q2 =
2

m 2 q 2

2 sin Q

ctg Q sin2 Q

P t

H=
P
sin2 Q
2 t

t
1

Q=t

sin2 Q
t 2
t

P=P
cos 2 Q
t

, .

33

t . ,

. T .

Qt= t d t
ln P=

*
*
cos t d t d t

. . ( ), /...
.

( ).

(p, q) (P, Q), :

q1 .. q s , p1 .. ps
d Q 1 .. d Q s d P1 .. d P s= d Q1 .. d Q s d P1 .. d P s
d q1 .. d q s d p1 .. d ps =
Q1 .. Q s , P1 .. P s

'
'

.
x , y
1
=
1) u , v u , v
x , y
2)
3)

x , y x
=
u , y u

x , y x , y
x , y u , y x , y u , y
=
1 =
=
u , v u , v
u , v u , y u , y u , v

.
q 1 .. q s , p1 .. ps q 1 .. q s , P1 .. Ps q1 .. q s p1 .. p s p1 .. p s
Q1 .. Qs

=
=

Q1 .. Qs , P1 .. P s q 1 .. q s , P1 .. Ps Q1 .. Qs P1 .. Ps P1 .. Ps
q1 .. q s
p1 .. p s , P1 .. P s , t F q 1 .. q s , Q1 .. Q s , t

34

 p1 .. ps
P1 .. P s

p1
P1

p1
P1

...

...
...
ps

...
...

...
...

...

...

P1

Q1 .. Q s
q1 .. q s

Q1
q1

Q1
q 2

...

...
...
Qs

...
...

...
...

...

...

q1

p1 .. ps

P1 .. P s

p1
Ps

P1 q1

P 2 q1

...

... =
...
ps

...
...
2
P1 q s

...
...

...
...

...

...

Ps

Q1
qs
...
...
Q s
qs

Q1 .. Qs
q1 .. qs

2
q 1 P1
...
=
...
2
q1 P s

2
q 2 P1
...
...
...

...
...
...
...

Ps q 1
...
...
2
P s q s

2
q s P1
...
,
...
2
q s Ps

, . 2
0
:
q p

: q , P=q 2 P2
2

=0
q P

=2 q
q

Q=
=2 P
P
p=

p ,q P , Q
1) ?
2) ?
3) ?

{ f q , p , t , g q , p , t}p , q ={ f Q , P , t , g Q , P , t }Q , P
,
.

7.
. .

H=H

q , p , t
t

35


H=0
.

P=
0
P , Q=const
Q

Q0

, (p, q) .

P=
, Q=
.
q
p
0 =H
q , p , t .

q , p ,t
, p ,t
p
t

-.

. : H=

2
m 2 q 2
p
.

2m
2

2 2
m q t
1 q

=0 = H
- : 2 m q
2

q , t =q q t t , q t . C=P .

t t= Pt

q q=

m q
2 m P
2

d q , P0

2 2
. . q , P , t =P t 2 m P m q d q
2

2 m d q
Q=
=const=t
P
m 2 q2 , q t , P , Q . P=E
2 2 m P
2
dq
,
, tt 0 =
Q=t 0
m 2 q 2
2
E
m
2

. q , P , t
t

: S t= L q t, q t , t d t
t1

S t = p q Hd t
t1

d S= p d q H d t
S
S
dS
=p ,
=H ,
= L , , q , P , tS q , t , P .
q
t
dt

36

8. -.
2

H=

p
U
r , r ={q1 ,q 2 , q3 }
2m

v = H1 q 1 H 2 q 2 H3 q 3

v =H 1 q1 e1 H2 q2 e2 H 3 q3 e3

L=

m H2i q 2i

H=

2 m H

1
1
2 m H 2

U q1 , q 2 , q 3

U q1 , q 2 , q 3

S
q

U q1 ,q 2 , q3

S q1 , q 2 ,q 3 ,t
t

=0

: H r =1 , H =r , H =r sin

1 S
2 m r

1
2 mr

2
2
2 m r sin
1

U r , ,

S
=0
t

I , .
H p , q H

S 0 :
S 0 =S E t (. . S=E t S 0 E , q )

I E =

1
pd q
2

S0

= pq , I
q
S
= 0 = q , I
I
p=

t const )
, {I , } ( =
, ,

. . H p , q , t H p , q , t , .

.
{T , } .

H p , q=

2
I 0
m 2 q 2
p
, H I = I ,

=
2m
2

tconst .
2
m 2 t q 2
p
H p , q , t =

2m
2

37

 S 0 q , E :
1)
q

m 2 q 2
m 2 q 2
S 0 q , E= pd q= 2 m E
d q= 2 m I
d q=S 0 q , I
2
2
0
0
(
).
q

2) S q , I ,t = 2 m I t m t q d q . : -
0
2
0
- . .
3) S 0 q , I ,t .
S0

H=H
t

p=

S0

m t q
p= 2 m I t
2

t
q
;
m 2 t q 2
q
S0
= t 2 m I t
d q=arcsin
=
2
2 I
I
0
m t

:
4) H
=
H

m t q
2m
I t
2m
2
q

=I t
0

2
2
S0
m tq S 0

=I t
=
2
t
t

2 m I t
m q 2 t t

dq
2

2 m I t

m t q
2

38

5) q .
q

H=I
t t

0

m I m 2 2 tq 2

2 m I t m2 2 t q2
q

d q=
q

dq

t
=I t
t 2 m I t m2 2 t q 2 d q
m I t
=
2
2
2

t
0
0
2 m I m t q
=I t

=I t

q
q
t
t


2
2
2
2
m
I
t
m

tq
d
q
I

t 0
t 0

dq

=
2 I
2
q
m t

q
t
t
t

2 m I tm 2 2 t q 2 d q
I =

t t 0
t

t
t
2 I
2I
2 I


=I t

sin2
cos d
I =

t 0 m t m t
m t
t

mt t
t
2 I

=I t
cos 2 d
I =

m
t
0

=I t

2 I t
sin2
t

I =
t 2
4
t

=I t

I t

sin2
2 t

t 1
I , , t = t sin2
H
t 2

6) .

I t
H
I =
I =
cos 2

t
;
.

t
H

=
=t

sin2
2 t
I

1 , .

2

.
const

I 0 =0
, .
0
=t

T
t
I t
1
1 I

I = 1
cos 2 t ' d t' d t
cos2 d =0
T 0
t
2 0
0
, I, .
.

39

9. .
s ( ) .

H p1 .. p s , q1 .. q s , t
1 (, =const ,

).
S=E I 1 .. I s , t t S 0 q 1 .. q s , I 1 .. I s , t

H=H
I 1 .. I s , t

S 0 q 1 .. q s , I 1 .. I s , t

H
I =
; S 0 , . . .

I =
=
S q .. s ..q s 1 .. s , I 1 .. I s , t

0 1 1

: q 1 .. s , q (
q )?
: , S 0 s

S 0 = S 0 i q i , I 1 .. I s , .
i =1

S 0 i q i , I 1 .. I s ,

S 0 i=1
=
=
I

q1 .. q s q s 1 .. s

I =
=
S q .. s ..q s 1 .. s , I 1 .. I s ,

0 1 1

I 2

S q .. .. q .. , I .. I ,
s
s
1
s
1
s
0 1 1

I 1 .. I s , q 1 .. s :

I 2

n 1 .. n s=

i n n

.. n s

I 1 .. I s ,ei n

1 n 2 2 .. ns s

=0

, (t) ( t ):
1
2

in

d = 0, n0
1, n=0 - n

:
1
E t
I =
p d q =
const

2
t

40

:
eH
=
mc
v
r =

t
H
H:
H t
2

mv
1
1
I =
p d =
m v r 2 =

2
2

E=

m v2

I =

m v 2
2

m v 2
t

H v v t 0 : v=0

, , ,
( , ), . , ,
, .

, :

l0

px

I x=

1
pl
p x d x=

1 .
l t
x .
I x =const E t

, :

41

 ( :

U r= 0, r R
, r R
I =

I r=

1
p d = p
2

1
p d
2

E=

p2r
2m

r [r , R]
r
= *
r

p 2
2 mr

*
, r =

I 2
, 2mE

I
1
I r=
2 m E
d r=

2r
2 m r2
*

1
=

1
=

R 2 m E /I

R 2 m E /I

2 m E 2 2
I

I 22 m E

d
, 2
E R2 =const E t R2 t =const .
1

42

 4. .
1. .
.
U q1 .. q s q 1 0 .. q s 0 .
( , U q1 0 .. q s 0 =0 :
U q1 .. qs q =q =
0

1
2

1
U

2 ! , q q

q =q 0 , q=q 0

K q q 0 q q 0 0
,

q q 0 q q 0=

(. . K K )

,
0: 0: q q 0 ;q
- .

, .
...

2. .
.
:
L=T U
1
U = K q q 0q q 0
2
T=

1
2

m q1 .. qs q q 2sum m q1 0 .. q s 0 q q

:
m =ms m a

ma q q = ma q q = ma q q = ma q q =0
,

, ,
m =m .

:
1
L=T U = m q q K q q 0q q 0
2
x =q q 0
:
1
L= m x x K x x
2
, . .

43

d L L
=
d t x i x i
m i k xk K i k x k =0, i
k

x k t = ak ei t , :
s

mi k 2 K i k a k 0 ,

i=1 .. s

k=1

, :

m 1 1 2 K1 1
...
2
m s 1 K s 1

... m 1 s 2 K 1 s
=0
...
...
2
... m s s K s s

, .
s

x k = a k e i t a *i , a i =a ' i ja '' i j .
i=1

Ki k a

*
i

i,k

ak

m i k a*i a k

i ,k

i , k Ki k a ' i j a '' i a ' i j a '' i

i , k m i k a 'i j a '' ia 'i j a '' i

= j
Kik
a ' k a '' i a'' k a ' i =0
2

i ,k

, 2i 0 .
2i .

A=

a1 1
a2 1

a1 2
a2 2

...

...

a s1 1 a s 1 2
a s1
as 2
21

22

...
...

a1 s
a2 s

...
... .
... a s1 s
... a s s
; ... 2s
.

,
a i k a i s .
s

x k = a k e

i t

=1

= ak e
=1

i k i t

= a k cos t k
=1

s 2 s , .
, x k , .
:

m
k

44

m 2 2 k x 1 k x 2 x 1
m
L=
x 1 x 2

k x 22 = x 21 x 22 k x 21 k x 22 k x 1 x 2
2
2
2
2

M=

m 0
2 k k
; K=
0 m
k 2 k

m x1 =2 k x 1 k x 2
m x2 =2 k x 2 k x 1

x i=a i ei t .

m 2 k a1 k a 2 =0
2

k a 1 m 2 k a 2 =0

m 2 k
k
k
m 2 2 k

a1
=0
a2

k
k
, 1 =
m
m
3 k
2
2 =
, 2 = 31
m
2

1 =

i 1 t

x 1 =a1 1 e

a1 2 e

i 2 t

x 2 =a 2 1 ei ta 2 2 ei
1

, . , - . ( 1 , 2 ) .
,

a 1 1 =a 2 1
, . .
a 1 2 =a2 2

x 1 =a 2 1cos 1 t 2 1 a2 2cos 2 t 2 2
x 2 =a 2 1cos1 t 2 1 a2 2cos 2 t 2 2

, , 2
(, a 1 2 0 a 2 2 0 ).

, .
,
. .

45

{
{
s

k=1
s

k=1

M i k K i k a k n =0 , i =1 .. s a i l
2
n

i=1
s

l M i k K i k a k l=0 , i=1 .. s ai n
2

i=1

k , i=1

2n m i k a k n a i l Ki k a k n a i l =0

k , i=1

l m ki a i l a k n Kk i a i l a k n =0
s

2l 2n

mi k a k n a i l =0

k , i=1

l n

mi k a k n a i l =0,

l n

k ,i

mi k a k n al i =0
k ,i

c1 0
A M A= 0 c2
... ...
0 0

... 0
... 0
... ...
... cs

a i j , , A M A= E .

k , i=1

al i mi k a k n = l n

A K A .

2n m i k K i k a k n =0
k

K i k a k n = K Ai n
2n m i k a kn = 2n M Ai n
k

k l = k l 2l :

21

...

2
2

... 0

...
0

...
0

... ...
... 2s

l n l M A i n K Ai n =0

)
A(
i t

x =a e

2 m K =0

46

a1 1 ... a 1 s
... ... ... = A
a s 1 ... a s s 2s
21

... 2s
2

M A k K A k =0

2k M A k a i K A k a i =0

2k
AT M Ai k A K Ai k =0
i k

21
2
...
A K Ai k =k i k =
...
0

0
...
...
...

... 0
... ...
... ...
0 2s

{AA KM A=A=AE
s

X = a k Ck ei k t
k=1

A .
() .

Q t ,
.
: x = a k Qk , Q = a1
x .
k k
k

m x K x =0 L=

1
1
m x x K x x . 2
2

m a k K a k k =0 L=

1
1
m a k k a i i K ai k i
2
2

a n , :

k n k k n k =0
2
n

n =0
n

. . L=

1
2

2i 2 2i 2i
i

47

k
1 =

i 1 t

3k
k
, 2 =
.
m
m

x 1 =a1 1 e i t a 2 2 e i
x 2 =a 1 1 e

i 2 t

a 2 2 e

a1 1 a 2 2
=A
a1 1 a2 2

A M A=E

a 1 1 a 2 2 ,

A K A=

a1 1 a1 1 m 0 a1 1 a 2 2
1 0
=
0 1
a 2 2 a 2 2 0 m a1 1 a2 2

a1 1 a 1 1 a 1 1 a2 2
1 0
=
0 1
a2 2 a 2 2 a 1 1 a 2 2

1
m
a 1 1 a 2 2 a1 1 a 2 2 =0
a 21 1 a12 1 =

a 2 2 a1 1 a 2 2 a 1 1 =0

a 22 2 a 22 2 =

1
m

1
1

2m
2 m
A=
1
1
2 m 2 m

1
2m
A1 =
1

2 m

x1 =
x1 =

c1

2 m
c1

2 m

1
2 m
1
2 m

cos1 t 1
cos1 t 1

c1

2 m
c1

2 m

cos2 t 2
cos 2 t 2

48

m
x x =c1 cos1 t 1
2 1 2
m
2 t=
x 1x 2=c 2 cos 2 t 2
2
1 t=

:
L=

2
1

1 1
2

2
2

1 2
2

3. . .
N , .
m

k1

k2

k1

k2

k1

: x 0 =x N 1=0
( x i=x N i ):

, .
m x, M y.

m xn =k 1 x n y n k 2 x n y n 1
, n=2..N 1
M yn =k 1 y n x n k 2 yn X n 1

, .
( ).
.
, , , , k x , k y .
(
).

i qn ax i t

x n =a e
y n =b e

i qn ax i t

. ,

, a
b.

m a=k 1 ab k 2 a b e

M 2 b=k 1 ba k 2 ba e i q a
2

i q a x
x

49

i q a x

a m k 1 k 2 b k 1 k 2 e
a k 1 k 2 e

i q ax

bM

k 1 k 2 e

k 1 k 2 =0

k 1 k 2 ei q a

m 2 k 1 k 2
iqax

=0

a
0
=
b
0

M k 1 k 2

k 1 k 2 M k 1 k 2 k 1 k 2 e

2
1, 2 =

i q a x

k 2 e

i q ax

=0

M mk 1 k 2 k 1 k 22 M m2 16 M m k 1 k 2 sin2

q ax
2

.
2 Mm
q, .

x n =a ei q a
y n =be i q a

n it

n i t

2 i n
e i q a n =ei q a n e
=ei q a n .
x

2
2

. , q=q
.
ax
ax

:
1 q

q=0 , 12
q

a
M ( )
=
b
m

M mk 1k 2
Mm

ax

M m k 1k 2 k 1 k 2 2 M m2 16 M m k 1 k 2
, 2 =
1
ax
2 Mm
i q ax

a k 1 k 2 e
M
=

2 q0
b k k m
m
1

/ / . ,
.

0 =1

q 0

16 M m k 1 k 2

k 1k 22 M m2

50

2
1, 2

2
2

20
2

20
2

1 1 sin

2 c sq , c s=

q ax

1 1 sin2

a x 0
2

q ax
2

20
2

2 2
q ax
2 4

:
2

ax

i q a x

m k 1 k 2 ak 1 k 2 e

b=0

a
1
b q0
x n =x n N , yn =y n N .
x n =a ei q a

n i t

e i q a N =1
, , ,
x

q a x N=2 Z ,

N
N
,
2 2right
Z

51

4. (
).
N , N a x=l , a x 0
m

m
z

ax
m xn =k x n x n 1 k x n x n 1 , n=2..N 1 N , 1 ???

x i t x t ,ia x :
m x t , n ax =k x t ,n ax x t ,n1a x k x t ,n ax x t ,n1a x

a x 0 , n , a x n z
m

2
t

x t , z=k z x
2

2 x t , z
=
t 2

m
ax

x 1 2 x 2
x 1 2 2 x

a
k
a
a
x
z 2 z 2 x
z 2 x z2

k
ax

2 x t , z
z2

2 x t , z

1 2 x t , z
E
=0, cs =
2
2
cs

z
z
x z , t= f 1 zc s t f 2 zcs t , f 1 f 2
.

L=

m x 2n
2

=
n

k
2
x n x n 1 =

n
x t , n a x
2 t

x t , n a x
k

ax
2
z

x
E x
ax
a x
2 t
2 z

=
n

x
E
z

x
E x
ax

2 t
2 z
l

dz

. . L.
2
2
x
E x
L=

2 t
2 z

L=L x t , z ,

x x
,
,t ,z
t z

52

t2 V 2

S= L x ,
t1 V 1

x x
,
,V ,t d V d t
t V

, , , .
:
t2

S=
t1 0

x
2 t

E x

2 z

dzdt .

x t , z=x t , z x t , z
S =S [ x ]S [ x ] =0
t2

t1

S =

L
L
L
x
x
x

x
x
t
x
z

t
z

t2

t1

L
L

x
t
x
z
x

t
z

d z d t =0

d zd t=

II :

L L L

=0
x t t z x
.

53

 5.
.
.

1. .
.
, .

m
K
i k l
ikl
L=
x x
x x
x i xk xl
x x x
2
2
3
2 i k l
,

L=

2
2 2
Q
2 2

i k l

Qi Q k Ql

i k l

Q i Qk Ql

3
2

L 0

Q 22 Q = f Q i , Q i , Q i
2
Q t =Q0 t Q1
t Q t ... , -

.
Q0 t =Q0 cos t .

d L
L

=0
d t Q Q
d L
f = L
Q
d t Q
Q1 t Y i Q 0 Q0 icos i t i . , -

Q2 t .
2 22 Q3 =...cos t ,
Q

, .
( ).
2
2
3
m x
kx
2

x x x
2
2
3
2
2 d
2
m x k x = x x x x
2
dt

2
2
x 0 x = x x x
2

L=

x t=x 0 t x1 t ...
x 0 t =x 0 cos 0 t
2

x 0 x x 0 x ...= x x ...
1

2
0 1
0
1
0
1

x x ... x x ... x x ...

2

54

x 1 20 x1 = x 0
2

x 0 x =2 x
x 0 x = x
3

0 2

x x 0 x 1 x 0 x1
2

x x x x x x x

2
0

x x =
x 20

x t =

2 0

x 20
2

2 x x ...

x 11 20 x1 = x 20 cos2 0 t
1

2 2 2
x 0 0 sin 0 t x 20 20 cos2 0 t
2

x 20
1
1
2
0
20 20 cos2 0 t2
2
2
2
2
0

x 20 3
1
2
2
0
0 cos2 0 t 2
2
3 2 2

, , ,
.

x 2 cos 0 t

cos 0 t cos0 t t sin 0 t -

( x 2 , x1 x 0 )
( ).
m x2 k x 2 3
L=

x x x 2
2
2
3
2
2
d
2
m x =k x x x x x
2
dt
:
.
=0 1 ...

x = 20 x x 2

2
x x x
2

1 = 1

x 1

20

=0 x x

0
2

2
x x x
2

20
2
x = x x x x x 1 2 x
2
2

2
0

x =x 0 cos 0 t

,
20
2

20

2 x 0 x 0 x 0 1 20 x 0

x =0 x x
1

1 2

55

 , (. . 1 0 ), 1 =0 .
x 1 20 x1 = x 0 cos2 0 t

2 2 2
x sin 0 t 20 x 20 cos2 0 t
2 0 0

2
0

x0

x 0 x 0 0 x0
2 2 2 2
x x =
0 x 0 0 x 0 0

2
4
2
2
4
2
1

x t =
=

x0
2
0

x 20
2

2 0

x0
4
x 20
4

1
2
0

x0
2

6 0

x0
2
x 20
4

cos 2 0 t 2

3
2
2
0 x 0 cos2 0 t2 =
4

cos2 0 t 2

:
2

x 2 = 20 x2 2 x 0 x1 x 0 x 1 x1 x 0 x 0 x 1 2

20

0
0 1 2

x 0 x 1 x 2 2

0 1

1 0

2
0

x 0 x =2 x x x x 2

x0

x0

1
=2

2
4
2
2 0

2
0

2
0

x 0

x =
3

x0
2
0

x0
4

cos0 t...2

2
0

20 x 0 cos 0 t

2 , , cos 0 t ( )
.
x 2 t cos 0 2 t

2 , x 2 .
:
x t=x 0 cos 0 t
:
1

x t =x 0 cos 0 t x t

x t=x 0 cos 0 2 t x1 t

x 2 t

a cos 2 0 t 3

, 2 2 x 20

, .

2. .
.

56

, , ( ) .
q t

t
.
t
, .
E=

q2
Li 2

2C 2

q2
q2

2 C1 2 C 2

C t
C1
C2

C 2 C1 E 2 E 1

t
C1 / C2 ,
, C1 / C2 .

U c t

...
2

x t x =0

x 20 1 cos 2 t x=0 , 0 , .
x t =at cos tbt sint
a b
, ~
a b
, , . .
a b .
a cos t 2 a sint 2 b cost 20 1 cos2 t a cos t b sin t=0

. ,
, .

57

 2 a cos t2 a sin t2 b sint 2 b cos t

a
b
2
0 a cos t
cost b sin t sin t =0
2
2

a2 b a
2

2
0

20 a
2

2
0

cost 2 a bb

20 b
2

sint=0

2 a2 b a 20 1 =0
2

2
2
b2 a b 0 1 =0
2

2 20 1

st

a t =a 0 e

s t

b t =b0 e

2 s

a0

2 20 1

2 s

2
0

20
2

2
0

20
2

b0

0phantom

0phantom

4 s 2 =0

4 2
0
2
2
2
s= 1
0 .
2
4

2
0

2
0

2 0 0

s , ; .
0

0
0 0 .
4
4
, , .
0
smax =s=
4
0

, a 0 =b0

a t =a 0 es

max

b t =a 0 es

t
max

a 0 . , a 0 0 .

, .
2 a cos t 2 a sin t 2 b sin t2 b cos t =
a
b
= 20 a cos t 20 b sint 20
cos t cos3 t 20

sin3 t sint
2
2

58

x t =at cost bt sin tctcos3 t d t sin3 t

, , 3 t , 5 t . c t =c0 e s t , s1 smax .
1

3. . .
F

m x =k x
F x
F

'
F'
=0

v x

'
V =0 ,
V , F'
.
x v
x
F , :
v
m x =k x F v x

x 3 '' x 3 '''
m x k x =F V
x F F
F
2
6

'

k x

( ,
)...
F V
F' 1
F' ''
2
x 0 x =
x
x
m
m 3
2m

t : =t

. . : ,
.... , ,
x=

59

.
( ):

F
3

=
0
m 0
3

...
F
= y
m 0

y y=

y 3
y
0
0 3

y y= y

3
y
3

1) .

= y

=y

=0 , =y
, y = .

2) . , 0 ,
.

y= Acos
=A sin

, , , A .

A sin A cos1=
Acos A sin

3
A sin3
3

A cos A sin1=A
sin

...
A

3 4
A sin
3

=
sincos A2 sin3 cos
3

A=
A sin2

.
... , , A

=0
1 A 1 A3
A=
2
8

60

A=

A2
A 1
2
4

dA

d
2

a
b
c

; A , 2 ( b c) A 1 A/2 1A /2
A /4

A 1

A
4

a2
4
.

A 1

A =

A0 e 2
1

1 2
A e 1
4 0

A0

61

1
0

 6. .
. ,
.

1. . .
.
, .
, . , , (. ).
.
:
, .
r

r '

r ]
r '=r [
r ]
r =[

r
va =
v
v a =V
a
d
R
dt

:
T = T a =
a

m a v 2a
2

V
2

m r a [
r ]
m a V [
a a
a
]
2
a
a
a

r ] =

r r a
2
a

2

V
T=

ma r 2a r a r a

2
2
,
a

I
V

2
2

T=

1) I =I
2) T 0 I I .
3) ( ), I
. .

62

I1 1

I= 0
0

I2 2
0

0
I3 3

I 1 1 , I 2 2 I 3 3 ; -

I a a I b b I cc
, I 1 1 =I 2 2 =I 3 3 ( ).
, I 1 1 =I 2 2 I 3 3 .
,
.

I 1 1 I 2 2 I 3 3 I 1 1 ,

.
= m [
M
a v a ]=
a
a

]
r ] =
= [
R V ] m [r [
]
r r
r
= [
R V ] m
r ] =
r V [
= m a R
a
a
a

2
a

, M = [ RV ] I

2. .
.
.

: z.
z

x3

x 2

x1
x 1

: x 1 .
x 3

x3

x 2

63

x2

x 2

x 1

x 3 .
: [ 0 , 2 , [ 0, , [ 0 , 2
...

1
x

{
{

cos
x=
sin sin
sin
y=
sin cos

z=
cos
1 = cos sinsin
2 = sin sin cos
3 =

:
L=T U =
2
2
2
1
1
2
2
cossin

= x y z I 1
sin I 2 sin
sin cos
2
2
2
2
1
I 3

cos U x , y , z , , ,
2
U =0 . L=T =const . ,
.
cos cos
p =I 1 sin2 I 3

p =I 3
cos

E=

I1 1

2 2 sin2 I 3 3 cos

2
p p cos
2

I 1 1 sin

64

t =

E=

d
2
E U
I1 1

I 1 1

p p cos p

2 I
2 I sin

33

22

t ,
t t .

x3

x2

y
x1
x
E, p p , , :

1. p = p
2. p = p =0
3. p 0 , p =0
:
M =I t=const , , ,
M t =I t const .

3. .

d V
=F
dt

dM
= K
dt

d
A
dt

d
A
dt

[
A] .

d V
[ V ] = F
dt

dM
M
]= K

[
dt

65

M 1 =I 1 1 1
M 2 =I 2 2 2
M 3 =I 3 3 3

{
{

d M1
dt
d M2
dt
d M3
dt
I1 1
I2 2
I3 3

2 M 3 3 M 2 =K 1
3 M 1 1 M 3 =K 2
1 M 2 2 M 1 =K 3

d 1
dt
d 2
dt
d 3
dt

2 3 I 3 3 I 2 2 = K1
3 1 I 1 1 I 3 3 = K2
1 2 I 2 2 I 1 1 = K3

d L L

=0 . d t
cos
; 1 , 2 , 3 , 3 =
. , , .
, : ?

=I
, M

I1 1

d 2
dt
d 1

2 3 I 3 3 I 1 1 =0

3 1 I 1 1 I 3 3 =0
dt
3 =const
I1 1

1
I1 1
1
I1 1

3=const
I
2 =0 cos a 3 t
, =1 3 3
I1 1
2
1 =
=0 sin a 3 t
a 3

3 =
cos

0 cos a 3 t = sin sin cos

0 sina 3 t =cos
sinsin

3 =

cos

66

 2 sin2
20 =

=const M
z
, M
M 3 =I 3 3 3 =const= M z cos =const=0

0 =sin
=const=
0

0
sin0

=const

, z x 3 .
z , ( ).
M

67