U-CoS0=U cos0 i-a coso x-xo(t) ao r() sIn Usin e 06 2 I=a r=√R2+x-x( (uu=a=(uR +uo)==U COS 0+U sin 6 ap U at 222 CoS+U-3 U a' d cos0 2 (x-x0)-x0) -U 0 R +(x-x d coso d(x-x 0x-x cOS3 3 cos cos r a r a a U U r r    = =    = =          sin 2 1 sin 2 1 3 3 U r U a r r a r a =          =        = =    2 2 2 2 2 2 sin 4 1 (u u) r=a = (uR + u ) r=a = U cos + U   dt d r U a r r a U r U a t     cos 2 cos cos 2 2 3 3 3 2 3 = − + −     cos ( ) ( )( ) 2 0 2 0 0 U R x x x x x r = − + − − − =   U r r U r r x x r U r x x dt d dt d   2 2 cos 0 0 cos = − + −  = − −      − =   cos 2 2 3 r U a = − ( ) ( ) cos 0 r t x − x t  =   2 0 2 r = R + x − x (t)