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1、CornerstonesSeriesEditorsCharlesL.Epstein,UniversityofPennsylvania,PhiladelphiaStevenG.Krantz,WashingtonUniversity,St.LouisAdvisoryBoardAnthonyW.Knapp,StateUniversityofNewYorkatStonyBrook,EmeritusEmmanueleDiBenedettoClassicalMechanicsTheoryandMathematicalModelingEmmanueleDiBenedettoDepartmentofMathe
2、maticsVanderbiltUniversityNashville,TN37240USAem.diben@vanderbilt.eduISBN978-0-8176-4526-7e-ISBN978-0-8176-4648-6DOI10.1007/978-0-8176-4648-6SpringerNewYorkDordrechtHeidelbergLondonLibraryofCongressControlNumber:2010936443MathematicsSubjectClassification(2010):34B25,34C75,37J05,37J10,37K05,37K10,37N0
3、5,37N10,70A05,70B05,70B10,70E05,70E15,70E17,70E18,70H03,70H05,70H14,70H15,70H25,70J10,70J25,70J30,70J35,76A02,36D05,70G75cSpringerScience+BusinessMedia,LLC2011Allrightsreserved.Thisworkmaynotbetranslatedorcopiedinwholeorinpartwithoutthewrittenpermissionofthepublisher(SpringerScience+BusinessMedia,L
4、LC,233SpringStreet,NewYork,NY10013,USA),exceptforbriefexcerptsinconnectionwithreviewsorscholarlyanalysis.Useinconnectionwithanyformofinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodologynowknownorhereafterdevelopedisforbidden.Theuseinthispublicationo
5、ftradenames,trademarks,servicemarks,andsimilarterms,eveniftheyarenotidentifiedassuch,isnottobetakenasanexpressionofopinionastowhetherornottheyaresubjecttoproprietaryrights.Printedonacid-freepaperwww.birkhauser-science.comContentsPreface........................................................xvii1GEOM
6、ETRYOFMOTION...............................11TrajectoriesinR3andIntrinsicTriads.....................12AreolarVelocityandCentralMotions......................33GeometryofRigidMotions...............................54TheEulerAngles........................................65RotationMatricesandAngularVeloc
7、ity....................76VelocityandAcceleration.................................106.1Translations......................................106.2Precessions.......................................106.3Roto
