as dD v=×F =(O×P dt dt do d dt dt OLR d o P F+O×(O×F) d t 或 a=Roe,+Roe =a,+, 2006-3-152006-3-15 7 t v a d d v v ∴ = ( ) d d r r t v v v v v = × + ω × ω × ω t n a R e R e v v 2 v = α + ω t r r t d d d d v v v v = × + ω × ω ( ) d d r t v v = ω × t t n n a e a e v v = + a n v a t v v r v v v = ω × O α r v R v O ' v v P ω v 或