2-4刚体的定点运动 例题3 1=+0=0i+c o=0×OQ=(01+y)×(-li- =(0-OR)k=0 01=+ay R R§2-4 刚体的定点运动 例题3 i j      t = + = + ( ) ( ) t v OQ i j li Rj Q      =  =  +  − − ⎯→    = ( l − R)k = 0      R l  = i j R  l   t =  +