5.转动刚体上各点的运动 S=RP M Ry ga 点M的运动方程 V=S=Ro=RO v= Ro dv rs Re a- +.= rato R R a =arct arct Ro Ra α 5．转动刚体上各点的运动 s = Rϕ ——点M的运动方程 v = s  = Rϕ = Rω v = Rω ε τ R dt dv a = = 2 2 2 ω ρ R R v v an = = = ε aτ = R 2 2 Rω R v an = =   = = = + = + 2 2 2 2 4 ω ε α ε ω τ τ arctg a a arctg a a a R n n