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2006
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1. : .................................................................. 3
2. : ......................................... 5
3. : ............ 6
4. : ............................................................................ 7
5. :
................................................................................................ 8
6. :
. ............ 9
7. : ..................... 10
8. : . .................. 11
9. :
r=r(t), j = j(t), z=z(t)............................ 12
10. :
r = r(t), j = j(t), q = q(t) .................................................................................. 13
11. : j =
j(t), q = q(t), r = r(t)......................................................................................... 14
12. : ........................................................................ 15
13. : . .......................................................... 19
14. : .................................... 20

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3
 XIX
1.
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2. :
X, Y,
Z. -
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, .

q1 , q2 , q3 .
, ,
.



q1 = q1 (t ), q2 = q2 (t ), q3 = q3 (t )
r
- r ()
q1 , q2 , q3 .
r r
r = r (q1, q2 , q3 )

,
,
. i , j , k , -
r r r
r = xr + yj + zk ,

x = x(q1 , q2 , q3 )

y = y (q1 , q2 , q3 )

z = z (q1 , q2 , q3 )

, ,
.

5
3. :
,
.

, ..
,
q1 ,
r,
r r
r = r (q1 , q 20 , q30 ) .

(q2 ) (q3 ) .

(q 2 ) : r = r (q10 , q 2 , q30 )
(q3 ) : r = r (q10 , q 20 , q3 )
,
r (q1 , q2 , q3 ) ,

.
(qi ), i = 1,2,3 M 0 ,

q10 , q 20 , q30 (. .).

, M 0 ,

[qi ] .

,

.

, .
[qi ]
r
ei (i = 1 , 3) .

, , .

6
4. : 2

r = r (q1 , q 20 , q30 ), r = r (q10 , q 2 , q30 ), r = r (q10 , q 20 , q3 ) . e1 , e2 ,e3

r = r (q1 , q 2 , q3 ) , .

= H i eri , i = 1, 2,3 ,
r

q i
r
ei - , ,

, qi ,

H i > 0

.
q1 , q 2 , q3 ,

r
H i = .
q i

r x r y r z r
, = i + j+ k,
q i qi q i q i
2 2 2
x y z
H i = + +
qi qi q i

2
(1795-1870) , ( 1843), .-
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(1859) , . (1840)

x + y = z . (1865).
7 7 7

(1852) .
.
7
5. :

.
,

0 i j
r r
ei e j =
1 i= j

r r r
, = H i ei ,
qi q i
r
ei - , ,

H i - .

eri =
1 r
, i = 1, 2,3 ,
H i qi
2 2 2
x y z
H i = + +
qi qi q i

x x y y z z
+ + = H i H j d ij
q i q j qi q j q i q j

d ij 3

0, i j
d ij =
1, i= j

3
(1823-1891) , ( 1861), -.
( 1872). ,
, . , ,
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- . -
.. , .

. (1866) d ij -
i j. .
8
6. :
.
ar

r r r r
a = a1e1 + a2e2 + a3e3
r r r
eJ em 0, J m , (e1 , e2 , e3 ) 0

a (a1 , a2 , a3 )

.
a .
a [qi ] , .. ,

aq1 = a e1 , aq 2 = a e2 , aq 3 = a e3

a (a1 , a2 , a3 )


r r r r
ai = a1e1i + a2e2i + a3e3i
r r r r
aj = a1e1 j + a2e2 j + a3e3 j
r r r r
ak = a1e1k + a2e2k + a3e3k

eri =
1 r
, i = 1 , 3
H i qi

a1 x a2 x a x
ax = + + 3
H1 q1 H 2 q2 H 3 q3
a1 y a2 y a y
ay = + + 3
H1 q1 H 2 q2 H 3 q3
a1 z a2 z a z
az = + + 3
H1 q1 H 2 q2 H 3 q3

ax , a y , a z a

x = x(q1 , q 2 , q3 ), y = y (q1 , q 2 , q 3 ), z = z (q1 , q 2 , q 3 ) ,

a1 , a2 , a3

a .

9
 ,
. ,
, (e1 , e2 , e3 ) 0 .

7. :

q1 , q 2 , q3 ,

. -
, , ..
r = r (q1 (t ), q 2 (t ), q 3 (t )).

r
v = .
t
. -
,
r 3
r
v= = q& i
t i =1 qi

q1 q q
q&1 = , q& 2 = 2 , q& 3 = 3 .
t t t
r
, = H i ei ,
qi

r 3
v= = H i q&i ei = H1q&1e1 + H 2 q&2 e2 + H 3q&3e3
t i =1
r
V
. e1, e2 , e3

.
v1 , v2 , v3 , v1 = H1q&1 , v2 = H 2 q&2 , v3 = H 3 q&3
r
V

e1, e2 , e3 ,

vq1 = v e1 = H1q&1 + H 2q&2e2 e1 + H 3q&3e3 e1

vq 2 = v e2 = H1q&1e1 e2 + H 2 q&2 + H 3 q&3e3 e2
vq 3 = v e3 = H1q&1e1 e3 + H 2 q&2 e2 e3 + H 3 q&3

, vq i , ,

vi . e1 , e2 , e3

ei e j = 1, ei e j = 0, i j vi = Vq i .

10

.

. V 2 .
3 3
v 2 = v v = H i H j q&i q& j ei e j
i =1 j -1

v 2 = H 21q&1 + H 2 q&2 + H 3q&3

2 2 2

,
v 2 , ,

3 3
v 2 = vi v , vi = H i q&i , vq i = H j q& j e j ei
i =1 qi j =1

,
,
.
,
.

8. : .
,
W
, , ,
.
wq i e1 , e2 , e3 ,

,
q1 , q 2 , q3 , wq i = w ei = v& ei .

1 r
ei = ,
H i qi

v& r 1 d r d r
wq i = = (v )-v ( )
H i qi H i dt qi dt qi

11
v r d r v
= , ( )=
q& i qi dt qi qi
:

dr r r r
v= = q&1 + q& 2 + q& 3 q& i .
dt q1 q 2 q3
v d r
= ( ).
q& i dt qi
,
.
,

1 d v2 v2
wq i = ( ) - ( ) , i=1, 2, 3.
H i dt q& i 2 q i 2

.
, W
:
1. ;
2. ;
3 3
v 2 = v v = H i H j q& i q& j ei e j ,
i =1 j =1

v 2 = H 1 q&1 + H 2 q& 2 + H 3 q& 3 .

2 2 2 2 2 2

3. , Wq i .

9. :
r=r(t), j = j(t), z=z(t)

x = r cos j , y = r sin j .
q1=r, q2=j, q3=z.
. dS1=H1dq1, dS2=H2dq2, dS3=H3dq3, , ,
dS1=dr, dS2=rd j , dS3=dz, H1=1, H2=r, H3=1.

. Vq1=Vr= q&1 H 1 = r& ,

12
 Vq2=V j = q& 2 H 2 = rj& ,

Vq3=Vz= q& 3 H 3 = z&

V = (q&1H1 ) 2 + (q&2 H 2 )2 + (q&3 H 3 )2 = r& 2 + r 2j& 2 + z& 2

.
1 2 1 2
T= V + (r& + r 2j& 2 + z& 2 ) ,
2 2
T T T
= r& , = r 2j& , = z&
r& j& z
T T T
= r j& 2 , =0 , =0
r j z
1 d T T
W q i = ( - ), j=1,2,3
Hj dt q& j q j

Wz = &r& - rj& 2 , Wj = rj&& + 2r&j& , Wz = &z& .

10. :
r = r(t), j = j(t), q = q(t)

x, y, z

x = r sin q cos j ,
y = r sin q sin j ,
z = r cosq ,
0 r <,
0 j < 2p ,
0 q p

q1 = r , q2 = j , q3 = q .

.
dS1 = H1dq1 = H r dr , dS 2 = H 2 dq2 = H j dj , dS3 = H 3dq

, , dS1 = dr , dS 2 = r sin qdj , dS3 = rdq ,

13
 H1 = H r = 1, H 2 = H j = r sin q , H 3 = H q = r

. v 1 q1 = v r = q&1 H 1 = rH r = r& ,

v 2 q 2 = vj = q& 2 H 2 = j&H j = rj& sin q ,

v 3 q 3 =v q = q&H 3 = q&H q = rq&

,
v 2 = r& 2 + r 2j& 2 sin 2 q + r 2q& 2 .

11. :
j = j(t), q = q(t), r = r(t)

x = r sin q cosj ,
y = r sin q sin j ,
z = r cosq ,


(q ), (j ), ( r ) .


dS
2 2 2 2 2 2
dS 2 = H1 dq1 + H 2 dq2 + H 3 dq3


2 2 2
dS 2 = Hq dq 2 + H j dj 2 + H r dr 2

, :
d1S = H1dq1 , d 2 S = H 2 dq2 , d 3 S = H 3dq3 ,

Hq dq = dq S = rdq , Hj dj = dj S = r sin qdj , H r dr = d r S = dr

:
Hq = r , H j = r sin q , H r = 1 .

14

:
n 2 = r 2q& 2 + r 2j& 2 sin 2 q + r& 2


n2 n2
( ), ( )
qi 2 q&i 2
i,
n2 n2
( ) = r 2j& 2 sin 2 q cosq , ( ) = r 2q&
q 2 q& 2
n2 n2
( ) = 0, ( ) = r 2j& sin 2 q
j 2 j& 2

n2 n2
( ) = r (q& 2 + j& 2 sin 2 q ), ( ) = r&
r 2 r& 2
W q i

[qi]

1 d n2 n2
Wq i= ( ) - ( ) ,
H qi dt q&i 2 qi 2

:
1 d
dt ( r q ) - r j& sin q cosq
2 2 2
Wq =
r
1 d 2
Wj = ( r j& sin 2 q )
r sin q dt

Wr = r&& - r (q& 2 + j& 2 sin 2 q )

2 2 2
W 2 = Wq + Wj + Wr

12. :
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15
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21