y F F=ma=mra Ti=m,,, a;=mro M=∑M()=∑M()+∑M(F) m r: a cosb z ∑( mro2'sin 0=)i i  t i i t Ii F = m a = m r 2 i i  n i i n Ii F = m a = m r ( ) ( ) ( ) t n M M F M F M F Ix x Ii x Ii x Ii = = +    = cos +(− sin ) 2 i i i i i i i i m r  z m r  z