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+Jyz1·wx1·wy1-
-Jxy1·wz1·wy1+
+(Jx1-Jz1)·wx1·wz1 -
-Jxy1·wx1'-
-Jyz1·wz1'+
+Jy1·wy1'
Ïîñëå ïîäñòàíîâêè â ïîëó÷åííûå
âûðàæåíèÿ äëÿ èíåðöèîííûõ ìîìåíòîâ Ìy1èí, Mz2èí
êèíåìàòè÷åñêèõ óðàâíåíèé (4), (4'), (5), (5') è
ïðåîáðàçîâàíèÿ, ïîëó÷èì ñëåäóþùèé
âèä âûðàæåíèé äëÿ Ìy1èí, Mz2èí:
MZ2ÈÍ={cos(2·b)-2}·cos(a)2·tg(b)2·Jxy2(·wx02+wz02)+
+{2·tg(b)2·sin(b)2-2·cos(b)2+4}·sin(a)·cos(a)·Jxy2·wx0·wz0+
+{(Jy2-Jx2)/cos(b)-2·Jxy2·sin(b)(1+tg(b)2)}·cos(a)·wx0·wy2+
+Jyz2·wz0·wz2·(sin(a)-cos(a))/cos(b)-
-Jxz2·wx0'·cos(a)/cos(b)+
+{2·Jxy2·(sin(b)·tg(b)2+sin(b))·sin(a)+(Jx2-Jy2)·sin(a)/cos(b)}·wy2·wz0+
+Jxz2·wz0'·sin(a)/cos(b)+
+{Jxz2-Jyz2}·wy2·wz2·tg(b)+
+{(Jy2-Jx2)·tg(b)+Jxy2·(1-tg(b)2)}·wy22-
-{Jxz2·tg(b)+Jyz2}·wy2'+
+Jz2·wz2'
(9)
My1èí={[Jxz2·(tg(b)4+2/cos(b)2-1)·cos(b)3+Jyz1·tg(b)+Jxz1]·cos(a)2+
+[[(Jx1-Jz1)-Jxy1·tg(b)]·cos(a)-Jxz1·sin(a)]·sin(a)}·wx02+
+{[[Jxy1·tg(b)+(Jz1-Jx1)]·sin(a)-Jxz1·cos(a)]·cos(a)+
+[Jxz2·cos(b)3·[2/cos(b)2+tg(b)4-1]+Jyz1·tg(b)+Jxz1]·sin(a)2}·wz02+
+{(Jx1-Jz1)·cos(2·a)+[1-tg(b)4-2/cos(b)2]·Jxz2·cos(b)3·sin(2·a)-
-[Jyz1·tg(b)+2·Jxz1]·2·sin(a)·cos(a)-
-Jxy1·tg(b)·cos(2·a)}·wx0·wz0+
+{[Jxy2·sin(b)·cos(b)(tg(b)2+1)+(Jx2-Jz2)]·cos(a)}·wx0·wz2+
+{[Jxz2·sin(b)·cos(b)+Jxz2·sin(b)3/cos(b)+Jyz2]·cos(a)+
+[Jyz1·cos(a)-Jxy1·sin(a)]/cos(b)}·wx0·wy2-
-{[Jxz2·sin(b)·cos(b)·(1+tg(b)2)+Jyz2]·sin(a)+
+[Jyz1·sin(a)+Jxy1·cos(a)]/cos(b)}·wz0·wy2+
+{-[tg(b)2+1]·sin(b)·cos(b)·Jxy2+(Jz2-Jx2)]·sin(a)}·wz0·wz2+
+{[Jx2·sin(b)·cos(b)·(1+tg(b)2)+Jy1·tg(b)-(Jxy1+
+Jxy2)]·cos(a)-Jyz1·sin(a)}·wx0'+
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