4-2力矩转动定律转动惯量 第四章刚体的转动 Fm =maa mag-F2 mga mc F RF -RFT -Mr Ja me B a=Ra meg-M/R a= ma +mg +mc /2 Fn= mA(mBg-Mr /R) ma +mg +mc/2 okm +me/2)g+MR ma +me +mc/24 – 2 力矩 转动定律 转动惯量 第四章 刚体的转动 / 2 ( / ) A B C A B f T1 m m m m m g M R F + + − =   2 ( 2) A B C B A C f T2 m m m m m m g M R F + + + + = / 2 A B C B f m m m m g M R a + + − = A B C mA mB mC FT1  FT2   RFT2 − RFT1 − Mf = J FT1 = mA a mB g − FT2 = mB a a = R