20.2.12.Friction transmission comprises wheels 1, 2, 3. wheels 1 and 3 are applied with a force couple moments M1 = 15 Nm and M3 = 5 Nm. Selecting as the generalized coordinates of the angle of rotation of the wheel 1 corresponding to it to determine the generalized force if the radii R1 = 0,3 m and R3 = 0,5 m.
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(DYNAMICS, Chapter 20 - Lagrange equation of the second kind, paragraph - 20.2: Generalized power systems with one degree of freedom) of Reshebnik to the collection of short tasks on the theoretical mechanics Kep OE, JA Viba, OP Grapis, JA Svetinysh et al. Publishing Moscow / Graduate School / 1989, 2009, 2012.
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