设t=0时,q=q0,q=则可求得: A=12+0 a= arc ctg 或 g=C@, t+C sin@, t 1,C2由初始条件决定为C1=q -g0 ∴q=q0c0s0n1+smnn1t9 0 0 2 2 2 0 0 , arctg q q q A q n n = + = 设 t = 0 时, q = q0 , q = q 0 则可求得: 或: q C t C t n n = 1 cos + 2 sin C1,C2由初始条件决定为 q n C1 =q0 , C2 = 0 / t q q q t n n n cos sin 0 0 = +