{"id":477457,"date":"2026-04-26T12:09:45","date_gmt":"2026-04-26T12:09:45","guid":{"rendered":"https:\/\/savepearlharbor.com\/?p=477457"},"modified":"-0001-11-30T00:00:00","modified_gmt":"-0001-11-29T21:00:00","slug":"","status":"publish","type":"post","link":"https:\/\/savepearlharbor.com\/?p=477457","title":{"rendered":"\u0424\u0438\u0437\u0438\u043a\u0430, \u0437\u0430\u0434\u0430\u0447\u0430 1.5.9 \u0438\u0437 \u0421\u0430\u0432\u0447\u0435\u043d\u043a\u043e: \u0447\u0442\u043e \u0441 \u043d\u0435\u0439 \u043d\u0435 \u0442\u0430\u043a?"},"content":{"rendered":"<div xmlns=\"http:\/\/www.w3.org\/1999\/xhtml\">\n<p>\u0412\u043e\u0442 \u044d\u0442\u0430 \u0437\u0430\u0434\u0430\u0447\u0430:<\/p>\n<figure class=\"full-width \"><img decoding=\"async\" src=\"https:\/\/habrastorage.org\/r\/w1560\/getpro\/habr\/upload_files\/801\/85b\/993\/80185b993d47b129be1c9ff54b8e88e3.png\" width=\"1581\" height=\"594\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/r\/w780\/getpro\/habr\/upload_files\/801\/85b\/993\/80185b993d47b129be1c9ff54b8e88e3.png 780w,&#10;       https:\/\/habrastorage.org\/r\/w1560\/getpro\/habr\/upload_files\/801\/85b\/993\/80185b993d47b129be1c9ff54b8e88e3.png 781w\" loading=\"lazy\" decode=\"async\"\/><\/figure>\n<p>\u0412 \u044d\u0442\u043e\u0439 \u0441\u0442\u0430\u0442\u044c\u0435 \u043e\u0431\u0441\u0443\u0436\u0434\u0430\u0435\u0442\u0441\u044f \u043d\u0435 \u043c\u0435\u0442\u043e\u0434\u0438\u043a\u0430 \u043f\u0440\u0435\u043f\u043e\u0434\u0430\u0432\u0430\u043d\u0438\u044f \u0434\u0430\u043d\u043d\u043e\u0439 \u0437\u0430\u0434\u0430\u0447\u0438 \u0432 \u0441\u0440\u0435\u0434\u043d\u0435\u0439 \u0448\u043a\u043e\u043b\u0435, \u0430 \u043c\u0435\u0442\u043e\u0434\u0438\u043a\u0430 \u0438\u0441\u0441\u043b\u0435\u0434\u043e\u0432\u0430\u043d\u0438\u044f \u0437\u0430\u0434\u0430\u0447\u0438 \u043c\u0435\u0445\u0430\u043d\u0438\u043a\u0438 \u043a\u0430\u043a \u0442\u0430\u043a\u043e\u0432\u0430\u044f.<\/p>\n<p>\u0412 \u0447\u0430\u0441\u0442\u043d\u043e\u0441\u0442\u0438, \u043c\u044b \u0441\u043e\u0431\u0438\u0440\u0430\u0435\u043c\u0441\u044f \u043e\u0431\u043e\u0441\u043d\u043e\u0432\u0430\u0442\u044c \u0441\u043b\u0435\u0434\u0443\u044e\u0449\u0438\u0439 \u0442\u0435\u0437\u0438\u0441: \u043f\u0440\u0435\u0434\u043f\u043e\u043b\u043e\u0436\u0435\u043d\u0438\u0435, \u043f\u043e\u0434\u0447\u0451\u0440\u043a\u043d\u0443\u0442\u043e\u0435 \u043a\u0440\u0430\u0441\u043d\u044b\u043c, \u0438\u0437\u0431\u044b\u0442\u043e\u0447\u043d\u043e \u2014 \u0437\u0430\u0434\u0430\u0447\u0430 \u043f\u0440\u0435\u043a\u0440\u0430\u0441\u043d\u043e \u0440\u0435\u0448\u0430\u0435\u0442\u0441\u044f \u0438 \u0431\u0435\u0437 \u043d\u0435\u0433\u043e.<\/p>\n<p>\u041e\u0442\u043c\u0435\u0442\u0438\u043c \u0442\u0430\u043a\u0436\u0435 (\u0441\u043c. \u043a\u043e\u043d\u0435\u0446 \u0441\u0442\u0430\u0442\u044c\u0438), \u0447\u0442\u043e \u0438\u0441\u0441\u043b\u0435\u0434\u043e\u0432\u0430\u043d\u0438\u0435 \u0437\u0430\u043a\u043e\u043d\u0430 \u0434\u0432\u0438\u0436\u0435\u043d\u0438\u044f \u043a\u0430\u0442\u0443\u0448\u043a\u0438 \u043c\u043e\u0436\u0435\u0442 \u043e\u043a\u0430\u0437\u0430\u0442\u044c\u0441\u044f \u0438\u043d\u0442\u0435\u0440\u0435\u0441\u043d\u043e\u0439 \u0437\u0430\u0434\u0430\u0447\u0435\u0439 \u0442\u0435\u043e\u0440\u0438\u0438 \u043e\u0431\u044b\u043a\u043d\u043e\u0432\u0435\u043d\u043d\u044b\u0445 \u0434\u0438\u0444\u0444\u0435\u0440\u0435\u043d\u0446\u0438\u0430\u043b\u044c\u043d\u044b\u0445 \u0443\u0440\u0430\u0432\u043d\u0435\u043d\u0438\u0439.<\/p>\n<p>\u041f\u0435\u0440\u0435\u0439\u0434\u0435\u043c \u043a \u0438\u0437\u0443\u0447\u0435\u043d\u0438\u044e \u0441\u0438\u0441\u0442\u0435\u043c\u044b.<\/p>\n<figure class=\"\"><img decoding=\"async\" src=\"https:\/\/habrastorage.org\/r\/w1560\/getpro\/habr\/upload_files\/11b\/64d\/9a9\/11b64d9a9627f7eaafcbbc2b3fac4959.png\" width=\"444\" height=\"433\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/r\/w780\/getpro\/habr\/upload_files\/11b\/64d\/9a9\/11b64d9a9627f7eaafcbbc2b3fac4959.png 780w,&#10;       https:\/\/habrastorage.org\/r\/w1560\/getpro\/habr\/upload_files\/11b\/64d\/9a9\/11b64d9a9627f7eaafcbbc2b3fac4959.png 781w\" loading=\"lazy\" decode=\"async\"\/><\/figure>\n<p>\u041e\u0431\u043e\u0437\u043d\u0430\u0447\u0438\u043c \u0447\u0435\u0440\u0435\u0437 <img decoding=\"async\" class=\"formula inline\" source=\"O\" alt=\"O\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/f\/f1\/f18\/f186217753c37b9b9f958d906208506e.svg\" width=\"12\" height=\"12\" data-width=\"1.726\" data-height=\"1.643\" data-vertical-align=\"-0.05\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/f\/f1\/f18\/f186217753c37b9b9f958d906208506e.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/f\/f1\/f18\/f186217753c37b9b9f958d906208506e.svg 781w\" loading=\"lazy\" decode=\"async\"\/> \u0446\u0435\u043d\u0442\u0440 \u043a\u0430\u0442\u0443\u0448\u043a\u0438, \u0447\u0435\u0440\u0435\u0437 <img decoding=\"async\" class=\"formula inline\" source=\"B\" alt=\"B\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/9\/9d\/9d5\/9d5ed678fe57bcca610140957afab571.svg\" width=\"12\" height=\"12\" data-width=\"1.717\" data-height=\"1.545\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/9\/9d\/9d5\/9d5ed678fe57bcca610140957afab571.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/9\/9d\/9d5\/9d5ed678fe57bcca610140957afab571.svg 781w\" loading=\"lazy\" decode=\"async\"\/> \u2014 \u043a\u043e\u043d\u0435\u0446 \u043d\u0438\u0442\u0438, \u0447\u0435\u0440\u0435\u0437 <img decoding=\"async\" class=\"formula inline\" source=\"C\" alt=\"C\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/0\/0d\/0d6\/0d61f8370cad1d412f80b84d143e1257.svg\" width=\"12\" height=\"12\" data-width=\"1.719\" data-height=\"1.645\" data-vertical-align=\"-0.05\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/0\/0d\/0d6\/0d61f8370cad1d412f80b84d143e1257.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/0\/0d\/0d6\/0d61f8370cad1d412f80b84d143e1257.svg 781w\" loading=\"lazy\" decode=\"async\"\/> \u2014 \u0442\u043e\u0447\u043a\u0443 \u043a\u043e\u043d\u0442\u0430\u043a\u0442\u0430 \u043a\u0430\u0442\u0443\u0448\u043a\u0438 \u0441 \u043f\u043b\u043e\u0441\u043a\u043e\u0441\u0442\u044c\u044e, \u0430 \u0447\u0435\u0440\u0435\u0437 <img decoding=\"async\" class=\"formula inline\" source=\"A\" alt=\"A\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/7\/7f\/7fc\/7fc56270e7a70fa81a5935b72eacbe29.svg\" width=\"12\" height=\"12\" data-width=\"1.697\" data-height=\"1.62\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/7\/7f\/7fc\/7fc56270e7a70fa81a5935b72eacbe29.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/7\/7f\/7fc\/7fc56270e7a70fa81a5935b72eacbe29.svg 781w\" loading=\"lazy\" decode=\"async\"\/> \u2014 \u0442\u043e\u0447\u043a\u0443 \u043e\u0442\u0440\u044b\u0432\u0430 \u043d\u0438\u0442\u0438 \u043e\u0442 \u043a\u0430\u0442\u0443\u0448\u043a\u0438.<\/p>\n<p>\u041d\u0430\u0447\u0430\u043b\u043e \u043f\u043e\u0434\u0432\u0438\u0436\u043d\u043e\u0439 \u0441\u0438\u0441\u0442\u0435\u043c\u044b \u043a\u043e\u043e\u0440\u0434\u0438\u043d\u0430\u0442 <img decoding=\"async\" class=\"formula inline\" source=\"Oxyz\" alt=\"Oxyz\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/3\/37\/374\/3748261e2c24c39c868d668ff9901e1d.svg\" width=\"40\" height=\"16\" data-width=\"5.181\" data-height=\"2.057\" data-vertical-align=\"-0.464\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/3\/37\/374\/3748261e2c24c39c868d668ff9901e1d.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/3\/37\/374\/3748261e2c24c39c868d668ff9901e1d.svg 781w\" loading=\"lazy\" decode=\"async\"\/> \u0441\u043e\u0432\u043f\u0430\u0434\u0430\u0435\u0442 \u0441 \u0446\u0435\u043d\u0442\u0440\u043e\u043c \u043a\u0430\u0442\u0443\u0448\u043a\u0438, \u043e\u0441\u044c <img decoding=\"async\" class=\"formula inline\" source=\"Oy\" alt=\"Oy\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/8\/8b\/8b6\/8b644cd5134d4a2c95f112c84649b4dd.svg\" width=\"16\" height=\"16\" data-width=\"2.835\" data-height=\"2.057\" data-vertical-align=\"-0.464\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/8\/8b\/8b6\/8b644cd5134d4a2c95f112c84649b4dd.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/8\/8b\/8b6\/8b644cd5134d4a2c95f112c84649b4dd.svg 781w\" loading=\"lazy\" decode=\"async\"\/> \u043d\u0430\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0430 \u0432\u0434\u043e\u043b\u044c \u0441\u0432\u043e\u0431\u043e\u0434\u043d\u043e\u0433\u043e \u043a\u043e\u043d\u0446\u0430 \u043d\u0438\u0442\u0438, \u0430 \u043e\u0441\u044c <img decoding=\"async\" class=\"formula inline\" source=\"Ox\" alt=\"Ox\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/0\/09\/091\/091fecdb12323ff7cfcbf10225acebd9.svg\" width=\"24\" height=\"12\" data-width=\"3.02\" data-height=\"1.643\" data-vertical-align=\"-0.05\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/0\/09\/091\/091fecdb12323ff7cfcbf10225acebd9.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/0\/09\/091\/091fecdb12323ff7cfcbf10225acebd9.svg 781w\" loading=\"lazy\" decode=\"async\"\/> \u043f\u0440\u043e\u0445\u043e\u0434\u0438\u0442 \u0447\u0435\u0440\u0435\u0437 \u0442\u043e\u0447\u043a\u0443 <img decoding=\"async\" class=\"formula inline\" source=\"A\" alt=\"A\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/7\/7f\/7fc\/7fc56270e7a70fa81a5935b72eacbe29.svg\" width=\"12\" height=\"12\" data-width=\"1.697\" data-height=\"1.62\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/7\/7f\/7fc\/7fc56270e7a70fa81a5935b72eacbe29.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/7\/7f\/7fc\/7fc56270e7a70fa81a5935b72eacbe29.svg 781w\" loading=\"lazy\" decode=\"async\"\/>. \u041e\u0441\u044c <img decoding=\"async\" class=\"formula inline\" source=\"Oz\" alt=\"Oz\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/0\/0a\/0ad\/0adaeee8e8df29fe501cf3e675ebde70.svg\" width=\"16\" height=\"12\" data-width=\"2.778\" data-height=\"1.643\" data-vertical-align=\"-0.05\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/0\/0a\/0ad\/0adaeee8e8df29fe501cf3e675ebde70.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/0\/0a\/0ad\/0adaeee8e8df29fe501cf3e675ebde70.svg 781w\" loading=\"lazy\" decode=\"async\"\/> \u043d\u0430\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0430 \u043f\u0435\u0440\u043f\u0435\u043d\u0434\u0438\u043a\u0443\u043b\u044f\u0440\u043d\u043e \u043f\u043b\u043e\u0441\u043a\u043e\u0441\u0442\u0438 \u0440\u0438\u0441\u0443\u043d\u043a\u0430 \u2014 \u043d\u0430 \u0437\u0440\u0438\u0442\u0435\u043b\u044f.<\/p>\n<p>\u0421\u043a\u043e\u0440\u043e\u0441\u0442\u044c \u0442\u043e\u0447\u043a\u0438 <img decoding=\"async\" class=\"formula inline\" source=\"B\" alt=\"B\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/9\/9d\/9d5\/9d5ed678fe57bcca610140957afab571.svg\" width=\"12\" height=\"12\" data-width=\"1.717\" data-height=\"1.545\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/9\/9d\/9d5\/9d5ed678fe57bcca610140957afab571.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/9\/9d\/9d5\/9d5ed678fe57bcca610140957afab571.svg 781w\" loading=\"lazy\" decode=\"async\"\/> \u0437\u0430\u0434\u0430\u043d\u0430: <\/p>\n<p><img decoding=\"async\" class=\"formula\" source=\"\\boldsymbol{v}_B = v \\boldsymbol{e}_y,\\quad v&gt;0.\\qquad(1)\" alt=\"\\boldsymbol{v}_B = v \\boldsymbol{e}_y,\\quad v&gt;0.\\qquad(1)\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/4\/4d\/4d4\/4d49797fafda1b53dbc56ab3d4527add.svg\" width=\"200\" height=\"16\" data-width=\"25.584\" data-height=\"2.364\" data-vertical-align=\"-0.616\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/4\/4d\/4d4\/4d49797fafda1b53dbc56ab3d4527add.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/4\/4d\/4d4\/4d49797fafda1b53dbc56ab3d4527add.svg 781w\" loading=\"lazy\" decode=\"async\"\/><\/p>\n<p>\u0427\u0435\u0440\u0435\u0437 <img decoding=\"async\" class=\"formula inline\" source=\"\\boldsymbol{\\omega}\" alt=\"\\boldsymbol{\\omega}\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/b\/be\/be3\/be30567e7c74bce181624bbbc08f5bc2.svg\" width=\"12\" height=\"16\" data-width=\"1.624\" data-height=\"2.262\" data-vertical-align=\"-0.566\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/b\/be\/be3\/be30567e7c74bce181624bbbc08f5bc2.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/b\/be\/be3\/be30567e7c74bce181624bbbc08f5bc2.svg 781w\" loading=\"lazy\" decode=\"async\"\/> \u043e\u0431\u043e\u0437\u043d\u0430\u0447\u0438\u043c \u0443\u0433\u043b\u043e\u0432\u0443\u044e \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u044c \u043a\u0430\u0442\u0443\u0448\u043a\u0438: <img decoding=\"async\" class=\"formula inline\" source=\"\\boldsymbol{\\omega} = \\omega \\boldsymbol{e}_z\" alt=\"\\boldsymbol{\\omega} = \\omega \\boldsymbol{e}_z\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/7\/7d\/7dd\/7dd06553d0e31f6982ed71bf46fcd9b2.svg\" width=\"64\" height=\"16\" data-width=\"8.234\" data-height=\"2.262\" data-vertical-align=\"-0.566\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/7\/7d\/7dd\/7dd06553d0e31f6982ed71bf46fcd9b2.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/7\/7d\/7dd\/7dd06553d0e31f6982ed71bf46fcd9b2.svg 781w\" loading=\"lazy\" decode=\"async\"\/>.<\/p>\n<p>\u042d\u0442\u0430 \u0443\u0433\u043b\u043e\u0432\u0430\u044f \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u044c \u0441\u043b\u0430\u0433\u0430\u0435\u0442\u0441\u044f \u0438\u0437 \u0443\u0433\u043b\u043e\u0432\u043e\u0439 \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u0438 \u0441\u0438\u0441\u0442\u0435\u043c\u044b <img decoding=\"async\" class=\"formula inline\" source=\"Oxyz\" alt=\"Oxyz\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/3\/37\/374\/3748261e2c24c39c868d668ff9901e1d.svg\" width=\"40\" height=\"16\" data-width=\"5.181\" data-height=\"2.057\" data-vertical-align=\"-0.464\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/3\/37\/374\/3748261e2c24c39c868d668ff9901e1d.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/3\/37\/374\/3748261e2c24c39c868d668ff9901e1d.svg 781w\" loading=\"lazy\" decode=\"async\"\/><\/p>\n<p><img decoding=\"async\" class=\"formula\" source=\"\\boldsymbol{\\omega}^e = \\dot{\\alpha} \\boldsymbol{e}_z\" alt=\"\\boldsymbol{\\omega}^e = \\dot{\\alpha} \\boldsymbol{e}_z\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/1\/11\/11d\/11da0f561685eec10320f6a1b41a2cc9.svg\" width=\"72\" height=\"16\" data-width=\"9.208\" data-height=\"2.301\" data-vertical-align=\"-0.585\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/1\/11\/11d\/11da0f561685eec10320f6a1b41a2cc9.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/1\/11\/11d\/11da0f561685eec10320f6a1b41a2cc9.svg 781w\" loading=\"lazy\" decode=\"async\"\/><\/p>\n<p>\u0438 \u0443\u0433\u043b\u043e\u0432\u043e\u0439 \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u0438 \u043a\u0430\u0442\u0443\u0448\u043a\u0438 \u043e\u0442\u043d\u043e\u0441\u0438\u0442\u0435\u043b\u044c\u043d\u043e \u0441\u0438\u0441\u0442\u0435\u043c\u044b <img decoding=\"async\" class=\"formula inline\" source=\"Oxyz\" alt=\"Oxyz\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/3\/37\/374\/3748261e2c24c39c868d668ff9901e1d.svg\" width=\"40\" height=\"16\" data-width=\"5.181\" data-height=\"2.057\" data-vertical-align=\"-0.464\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/3\/37\/374\/3748261e2c24c39c868d668ff9901e1d.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/3\/37\/374\/3748261e2c24c39c868d668ff9901e1d.svg 781w\" loading=\"lazy\" decode=\"async\"\/><\/p>\n<p><img decoding=\"async\" class=\"formula\" source=\"\\boldsymbol{\\omega}^r = \\omega^r \\boldsymbol{e}_z,\\quad \\omega=\\omega^r+\\dot\\alpha.\" alt=\"\\boldsymbol{\\omega}^r = \\omega^r \\boldsymbol{e}_z,\\quad \\omega=\\omega^r+\\dot\\alpha.\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/d\/d4\/d41\/d410e1c689c39832ba6aeb4e26cd0e65.svg\" width=\"192\" height=\"16\" data-width=\"24.904\" data-height=\"2.301\" data-vertical-align=\"-0.585\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/d\/d4\/d41\/d410e1c689c39832ba6aeb4e26cd0e65.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/d\/d4\/d41\/d410e1c689c39832ba6aeb4e26cd0e65.svg 781w\" loading=\"lazy\" decode=\"async\"\/><\/p>\n<p>\u0418\u043d\u0434\u0435\u043a\u0441\u0430\u043c\u0438 <img decoding=\"async\" class=\"formula inline\" source=\"r\" alt=\"r\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/4\/4b\/4b4\/4b43b0aee35624cd95b910189b3dc231.svg\" width=\"12\" height=\"12\" data-width=\"1.02\" data-height=\"1.025\" data-vertical-align=\"-0.025\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/4\/4b\/4b4\/4b43b0aee35624cd95b910189b3dc231.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/4\/4b\/4b4\/4b43b0aee35624cd95b910189b3dc231.svg 781w\" loading=\"lazy\" decode=\"async\"\/> \u0438 <img decoding=\"async\" class=\"formula inline\" source=\"e\" alt=\"e\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/e\/e1\/e16\/e1671797c52e15f763380b45e841ec32.svg\" width=\"12\" height=\"12\" data-width=\"1.054\" data-height=\"1.025\" data-vertical-align=\"-0.025\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/e\/e1\/e16\/e1671797c52e15f763380b45e841ec32.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/e\/e1\/e16\/e1671797c52e15f763380b45e841ec32.svg 781w\" loading=\"lazy\" decode=\"async\"\/> \u043c\u044b, \u043a\u0430\u043a \u043e\u0431\u044b\u0447\u043d\u043e, \u043f\u043e\u043c\u0435\u0447\u0430\u0435\u043c \u043e\u0442\u043d\u043e\u0441\u0438\u0442\u0435\u043b\u044c\u043d\u044b\u0435 \u0438 \u043f\u0435\u0440\u0435\u043d\u043e\u0441\u043d\u044b\u0435 \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u0438 \u0441\u043e\u043e\u0442\u0432\u0435\u0442\u0441\u0442\u0432\u0435\u043d\u043d\u043e.<\/p>\n<p>\u041e\u0442\u043c\u0435\u0442\u0438\u043c \u0441\u043b\u0435\u0434\u0443\u044e\u0449\u0438\u0435 \u0440\u0430\u0432\u0435\u043d\u0441\u0442\u0432\u0430:<\/p>\n<p><img decoding=\"async\" class=\"formula\" source=\"\\boldsymbol{v}_O = -\\omega R \\boldsymbol{e},\" alt=\"\\boldsymbol{v}_O = -\\omega R \\boldsymbol{e},\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/1\/1a\/1aa\/1aa4c50d9bdcbc2e93f7ca6e0794f3f7.svg\" width=\"96\" height=\"16\" data-width=\"12.475\" data-height=\"2.262\" data-vertical-align=\"-0.566\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/1\/1a\/1aa\/1aa4c50d9bdcbc2e93f7ca6e0794f3f7.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/1\/1a\/1aa\/1aa4c50d9bdcbc2e93f7ca6e0794f3f7.svg 781w\" loading=\"lazy\" decode=\"async\"\/><\/p>\n<p>\u0433\u0434\u0435 \u0435\u0434\u0438\u043d\u0438\u0447\u043d\u044b\u0439 \u0432\u0435\u043a\u0442\u043e\u0440<\/p>\n<p><img decoding=\"async\" class=\"formula\" source=\"\\boldsymbol{e} = \\cos\\alpha \\boldsymbol{e}_y + \\sin\\alpha \\boldsymbol{e}_x\" alt=\"\\boldsymbol{e} = \\cos\\alpha \\boldsymbol{e}_y + \\sin\\alpha \\boldsymbol{e}_x\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/7\/77\/77c\/77c694fa1954f6c3872d650c77f4b6a3.svg\" width=\"168\" height=\"16\" data-width=\"21.073\" data-height=\"2.364\" data-vertical-align=\"-0.616\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/7\/77\/77c\/77c694fa1954f6c3872d650c77f4b6a3.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/7\/77\/77c\/77c694fa1954f6c3872d650c77f4b6a3.svg 781w\" loading=\"lazy\" decode=\"async\"\/><\/p>\n<p>\u043d\u0430\u043f\u0440\u0430\u0432\u043b\u0435\u043d \u0433\u043e\u0440\u0438\u0437\u043e\u043d\u0442\u0430\u043b\u044c\u043d\u043e \u0432\u043f\u0440\u0430\u0432\u043e;<\/p>\n<p><img decoding=\"async\" class=\"formula\" source=\"\\boldsymbol{OB} = r \\boldsymbol{e}_x + y \\boldsymbol{e}_y.\" alt=\"\\boldsymbol{OB} = r \\boldsymbol{e}_x + y \\boldsymbol{e}_y.\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/f\/f5\/f56\/f56a46d0370bc696ea0718d8df95542c.svg\" width=\"128\" height=\"16\" data-width=\"16.975\" data-height=\"2.364\" data-vertical-align=\"-0.616\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/f\/f5\/f56\/f56a46d0370bc696ea0718d8df95542c.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/f\/f5\/f56\/f56a46d0370bc696ea0718d8df95542c.svg 781w\" loading=\"lazy\" decode=\"async\"\/><\/p>\n<p>\u0417\u0434\u0435\u0441\u044c <img decoding=\"async\" class=\"formula inline\" source=\"y\" alt=\"y\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/4\/41\/415\/415290769594460e2e485922904f345d.svg\" width=\"12\" height=\"12\" data-width=\"1.109\" data-height=\"1.464\" data-vertical-align=\"-0.464\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/4\/41\/415\/415290769594460e2e485922904f345d.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/4\/41\/415\/415290769594460e2e485922904f345d.svg 781w\" loading=\"lazy\" decode=\"async\"\/> \u2014 \u043a\u043e\u043e\u0440\u0434\u0438\u043d\u0430\u0442\u0430 \u0442\u043e\u0447\u043a\u0438 <img decoding=\"async\" class=\"formula inline\" source=\"B\" alt=\"B\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/9\/9d\/9d5\/9d5ed678fe57bcca610140957afab571.svg\" width=\"12\" height=\"12\" data-width=\"1.717\" data-height=\"1.545\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/9\/9d\/9d5\/9d5ed678fe57bcca610140957afab571.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/9\/9d\/9d5\/9d5ed678fe57bcca610140957afab571.svg 781w\" loading=\"lazy\" decode=\"async\"\/> \u043f\u043e \u043e\u0441\u0438 <img decoding=\"async\" class=\"formula inline\" source=\"y\" alt=\"y\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/4\/41\/415\/415290769594460e2e485922904f345d.svg\" width=\"12\" height=\"12\" data-width=\"1.109\" data-height=\"1.464\" data-vertical-align=\"-0.464\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/4\/41\/415\/415290769594460e2e485922904f345d.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/4\/41\/415\/415290769594460e2e485922904f345d.svg 781w\" loading=\"lazy\" decode=\"async\"\/>.<\/p>\n<p>\u0421\u043a\u043e\u0440\u043e\u0441\u0442\u044c \u0442\u043e\u0447\u043a\u0438 <img decoding=\"async\" class=\"formula inline\" source=\"B\" alt=\"B\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/9\/9d\/9d5\/9d5ed678fe57bcca610140957afab571.svg\" width=\"12\" height=\"12\" data-width=\"1.717\" data-height=\"1.545\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/9\/9d\/9d5\/9d5ed678fe57bcca610140957afab571.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/9\/9d\/9d5\/9d5ed678fe57bcca610140957afab571.svg 781w\" loading=\"lazy\" decode=\"async\"\/> \u043e\u0442\u043d\u043e\u0441\u0438\u0442\u0435\u043b\u044c\u043d\u043e \u0441\u0438\u0441\u0442\u0435\u043c\u044b <img decoding=\"async\" class=\"formula inline\" source=\"Oxyz\" alt=\"Oxyz\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/3\/37\/374\/3748261e2c24c39c868d668ff9901e1d.svg\" width=\"40\" height=\"16\" data-width=\"5.181\" data-height=\"2.057\" data-vertical-align=\"-0.464\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/3\/37\/374\/3748261e2c24c39c868d668ff9901e1d.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/3\/37\/374\/3748261e2c24c39c868d668ff9901e1d.svg 781w\" loading=\"lazy\" decode=\"async\"\/> \u0432\u044b\u0447\u0438\u0441\u043b\u044f\u0435\u0442\u0441\u044f \u043f\u043e \u0444\u043e\u0440\u043c\u0443\u043b\u0435<\/p>\n<p><img decoding=\"async\" class=\"formula\" source=\"\\boldsymbol{v}_B^r = r \\omega^r \\boldsymbol{e}_y, \\quad \\dot{y} = r \\omega^r.\" alt=\"\\boldsymbol{v}_B^r = r \\omega^r \\boldsymbol{e}_y, \\quad \\dot{y} = r \\omega^r.\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/8\/82\/82c\/82c5b1be4d904f21d323d5634d95052f.svg\" width=\"176\" height=\"16\" data-width=\"22.624\" data-height=\"2.403\" data-vertical-align=\"-0.636\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/8\/82\/82c\/82c5b1be4d904f21d323d5634d95052f.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/8\/82\/82c\/82c5b1be4d904f21d323d5634d95052f.svg 781w\" loading=\"lazy\" decode=\"async\"\/><\/p>\n<p>\u0418\u043c\u0435\u0435\u043c:<\/p>\n<p><img decoding=\"async\" class=\"formula\" source=\"\\boldsymbol{v}_B = \\boldsymbol{v}_B^r + \\boldsymbol{v}_B^e,\" alt=\"\\boldsymbol{v}_B = \\boldsymbol{v}_B^r + \\boldsymbol{v}_B^e,\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/6\/65\/65b\/65b8a60e047d1f1600cec08fe4273602.svg\" width=\"112\" height=\"16\" data-width=\"14.466\" data-height=\"2.28\" data-vertical-align=\"-0.574\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/6\/65\/65b\/65b8a60e047d1f1600cec08fe4273602.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/6\/65\/65b\/65b8a60e047d1f1600cec08fe4273602.svg 781w\" loading=\"lazy\" decode=\"async\"\/><\/p>\n<p>\u0433\u0434\u0435<\/p>\n<p><img decoding=\"async\" class=\"formula\" source=\"\\boldsymbol{v}_B^e = \\boldsymbol{v}_O + [\\boldsymbol{\\omega}^e, \\boldsymbol{OB}].\" alt=\"\\boldsymbol{v}_B^e = \\boldsymbol{v}_O + [\\boldsymbol{\\omega}^e, \\boldsymbol{OB}].\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/e\/e9\/e9c\/e9c0c718ae99c6a226c2328e6605d1f7.svg\" width=\"160\" height=\"16\" data-width=\"20.462\" data-height=\"2.28\" data-vertical-align=\"-0.574\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/e\/e9\/e9c\/e9c0c718ae99c6a226c2328e6605d1f7.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/e\/e9\/e9c\/e9c0c718ae99c6a226c2328e6605d1f7.svg 781w\" loading=\"lazy\" decode=\"async\"\/><\/p>\n<p>\u0418\u0442\u043e\u0433\u043e:<\/p>\n<p><img decoding=\"async\" class=\"formula\" source=\"\\boldsymbol{v}_B^e = -(\\dot{\\alpha} y + \\omega R \\sin\\alpha) \\boldsymbol{e}_x + (\\dot{\\alpha} r - \\omega R \\cos\\alpha) \\boldsymbol{e}_y,\" alt=\"\\boldsymbol{v}_B^e = -(\\dot{\\alpha} y + \\omega R \\sin\\alpha) \\boldsymbol{e}_x + (\\dot{\\alpha} r - \\omega R \\cos\\alpha) \\boldsymbol{e}_y,\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/3\/38\/383\/383e4da4c800057bc0f6f8fe76caff26.svg\" width=\"360\" height=\"16\" data-width=\"45.973\" data-height=\"2.403\" data-vertical-align=\"-0.636\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/3\/38\/383\/383e4da4c800057bc0f6f8fe76caff26.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/3\/38\/383\/383e4da4c800057bc0f6f8fe76caff26.svg 781w\" loading=\"lazy\" decode=\"async\"\/><img decoding=\"async\" class=\"formula\" source=\"\\boldsymbol{v}_B = -(\\dot{\\alpha} y + \\omega R \\sin\\alpha) \\boldsymbol{e}_x + (\\dot{\\alpha} r - \\omega R \\cos\\alpha + r \\omega^r) \\boldsymbol{e}_y.\" alt=\"\\boldsymbol{v}_B = -(\\dot{\\alpha} y + \\omega R \\sin\\alpha) \\boldsymbol{e}_x + (\\dot{\\alpha} r - \\omega R \\cos\\alpha + r \\omega^r) \\boldsymbol{e}_y.\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/9\/9d\/9d6\/9d6a72a39a52c3cb61350226be314ed4.svg\" width=\"416\" height=\"16\" data-width=\"52.076\" data-height=\"2.403\" data-vertical-align=\"-0.636\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/9\/9d\/9d6\/9d6a72a39a52c3cb61350226be314ed4.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/9\/9d\/9d6\/9d6a72a39a52c3cb61350226be314ed4.svg 781w\" loading=\"lazy\" decode=\"async\"\/><\/p>\n<p>\u0421\u0440\u0430\u0432\u043d\u0438\u0432\u0430\u044f \u043f\u043e\u0441\u043b\u0435\u0434\u043d\u0435\u0435 \u0440\u0430\u0432\u0435\u043d\u0441\u0442\u0432\u043e \u0441 \u0440\u0430\u0432\u0435\u043d\u0441\u0442\u0432\u043e\u043c (1), \u043f\u043e\u043b\u0443\u0447\u0430\u0435\u043c \u0441\u0438\u0441\u0442\u0435\u043c\u0443:<\/p>\n<p><img decoding=\"async\" class=\"formula\" source=\"\\dot{\\alpha} y + \\omega R \\sin\\alpha = 0, \\qquad (2)\" alt=\"\\dot{\\alpha} y + \\omega R \\sin\\alpha = 0, \\qquad (2)\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/9\/97\/973\/973e4e9a07b97a9a3ab167753996445a.svg\" width=\"200\" height=\"16\" data-width=\"25.998\" data-height=\"2.301\" data-vertical-align=\"-0.585\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/9\/97\/973\/973e4e9a07b97a9a3ab167753996445a.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/9\/97\/973\/973e4e9a07b97a9a3ab167753996445a.svg 781w\" loading=\"lazy\" decode=\"async\"\/><img decoding=\"async\" class=\"formula\" source=\"\\dot{\\alpha} r - \\omega R \\cos\\alpha + r \\omega^r = v. \\qquad (3)\" alt=\"\\dot{\\alpha} r - \\omega R \\cos\\alpha + r \\omega^r = v. \\qquad (3)\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/5\/51\/51f\/51f75b6b17dc0eb5b2e5cfda96a3696c.svg\" width=\"256\" height=\"16\" data-width=\"32.227\" data-height=\"2.301\" data-vertical-align=\"-0.585\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/5\/51\/51f\/51f75b6b17dc0eb5b2e5cfda96a3696c.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/5\/51\/51f\/51f75b6b17dc0eb5b2e5cfda96a3696c.svg 781w\" loading=\"lazy\" decode=\"async\"\/><\/p>\n<p>\u042d\u0442\u0443 \u0441\u0438\u0441\u0442\u0435\u043c\u0443 \u0441\u043b\u0435\u0434\u0443\u0435\u0442 \u0434\u043e\u043f\u043e\u043b\u043d\u0438\u0442\u044c \u0443\u0440\u0430\u0432\u043d\u0435\u043d\u0438\u044f\u043c\u0438, \u043a\u043e\u0442\u043e\u0440\u044b\u0435 \u0443\u0436\u0435 \u043e\u0442\u043c\u0435\u0447\u0430\u043b\u0438\u0441\u044c \u0440\u0430\u043d\u0435\u0435:<\/p>\n<p><img decoding=\"async\" class=\"formula\" source=\"\\dot{y} = r \\omega^r, \\quad \\omega = \\omega^r + \\dot{\\alpha}. \\qquad (4)\" alt=\"\\dot{y} = r \\omega^r, \\quad \\omega = \\omega^r + \\dot{\\alpha}. \\qquad (4)\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/0\/02\/02d\/02d0270963d3c2e21029910f1c7f7b21.svg\" width=\"240\" height=\"16\" data-width=\"30.108\" data-height=\"2.301\" data-vertical-align=\"-0.585\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/0\/02\/02d\/02d0270963d3c2e21029910f1c7f7b21.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/0\/02\/02d\/02d0270963d3c2e21029910f1c7f7b21.svg 781w\" loading=\"lazy\" decode=\"async\"\/><\/p>\n<p>\u0412\u044b\u0440\u0430\u0436\u0430\u044f <img decoding=\"async\" class=\"formula inline\" source=\"\\omega^r\" alt=\"\\omega^r\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/5\/5f\/5f5\/5f586fb06190f4d97f7e8bf2da9c8f7f.svg\" width=\"16\" height=\"16\" data-width=\"2.317\" data-height=\"2.262\" data-vertical-align=\"-0.566\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/5\/5f\/5f5\/5f586fb06190f4d97f7e8bf2da9c8f7f.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/5\/5f\/5f5\/5f586fb06190f4d97f7e8bf2da9c8f7f.svg 781w\" loading=\"lazy\" decode=\"async\"\/> \u0438\u0437 (3) \u0438 \u043f\u043e\u0434\u0441\u0442\u0430\u0432\u043b\u044f\u044f \u0432\u043e \u0432\u0442\u043e\u0440\u043e\u0435 \u0443\u0440\u0430\u0432\u043d\u0435\u043d\u0438\u0435 \u0441\u0438\u0441\u0442\u0435\u043c\u044b (4), \u043c\u044b \u043f\u043e\u043b\u0443\u0447\u0430\u0435\u043c \u043e\u0442\u0432\u0435\u0442 \u0437\u0430\u0434\u0430\u0447\u0438:<\/p>\n<p><img decoding=\"async\" class=\"formula\" source=\"\\omega = \\frac{v}{r- R\\cos\\alpha}.\" alt=\"\\omega = \\frac{v}{r- R\\cos\\alpha}.\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/1\/16\/165\/1651132a10b7282c57c85d53f689f22c.svg\" width=\"128\" height=\"32\" data-width=\"16.781\" data-height=\"4.269\" data-vertical-align=\"-1.569\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/1\/16\/165\/1651132a10b7282c57c85d53f689f22c.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/1\/16\/165\/1651132a10b7282c57c85d53f689f22c.svg 781w\" loading=\"lazy\" decode=\"async\"\/><\/p>\n<p>\u041e\u0434\u043d\u0430\u043a\u043e \u043c\u043e\u0436\u043d\u043e \u043f\u0440\u043e\u0434\u0432\u0438\u043d\u0443\u0442\u044c\u0441\u044f \u0438 \u0434\u0430\u043b\u044c\u0448\u0435. \u0418\u0441\u043a\u043b\u044e\u0447\u0438\u043c <img decoding=\"async\" class=\"formula inline\" source=\"\\omega^r\" alt=\"\\omega^r\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/5\/5f\/5f5\/5f586fb06190f4d97f7e8bf2da9c8f7f.svg\" width=\"16\" height=\"16\" data-width=\"2.317\" data-height=\"2.262\" data-vertical-align=\"-0.566\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/5\/5f\/5f5\/5f586fb06190f4d97f7e8bf2da9c8f7f.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/5\/5f\/5f5\/5f586fb06190f4d97f7e8bf2da9c8f7f.svg 781w\" loading=\"lazy\" decode=\"async\"\/> \u0438 <img decoding=\"async\" class=\"formula inline\" source=\"\\omega\" alt=\"\\omega\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/2\/26\/260\/260b57b4fdee8c5a001c09b555ccd28d.svg\" width=\"12\" height=\"16\" data-width=\"1.407\" data-height=\"2.262\" data-vertical-align=\"-0.566\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/2\/26\/260\/260b57b4fdee8c5a001c09b555ccd28d.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/2\/26\/260\/260b57b4fdee8c5a001c09b555ccd28d.svg 781w\" loading=\"lazy\" decode=\"async\"\/> \u0438\u0437 \u0441\u0438\u0441\u0442\u0435\u043c\u044b (2),(3),(4):<\/p>\n<p><img decoding=\"async\" class=\"formula\" source=\"\\dot\\alpha(y+R\\sin\\alpha)+\\dot y\\frac{R}{r}\\sin\\alpha=0,\" alt=\"\\dot\\alpha(y+R\\sin\\alpha)+\\dot y\\frac{R}{r}\\sin\\alpha=0,\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/9\/9a\/9a4\/9a4ee422ef2a7b4068047cb120d5c366.svg\" width=\"232\" height=\"32\" data-width=\"29.748\" data-height=\"4.652\" data-vertical-align=\"-1.76\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/9\/9a\/9a4\/9a4ee422ef2a7b4068047cb120d5c366.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/9\/9a\/9a4\/9a4ee422ef2a7b4068047cb120d5c366.svg 781w\" loading=\"lazy\" decode=\"async\"\/><img decoding=\"async\" class=\"formula\" source=\"\\dot\\alpha r+\\dot y=\\frac{vr}{r - R \\cos \\alpha}.\" alt=\"\\dot\\alpha r+\\dot y=\\frac{vr}{r - R \\cos \\alpha}.\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/e\/e8\/e88\/e880c5318c7d6e0d1f3a901469038fb2.svg\" width=\"168\" height=\"32\" data-width=\"21.717\" data-height=\"4.269\" data-vertical-align=\"-1.569\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/e\/e8\/e88\/e880c5318c7d6e0d1f3a901469038fb2.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/e\/e8\/e88\/e880c5318c7d6e0d1f3a901469038fb2.svg 781w\" loading=\"lazy\" decode=\"async\"\/><\/p>\n<p>\u041f\u0440\u0438<\/p>\n<p><img decoding=\"async\" class=\"formula\" source=\"y &gt; 0, \\quad r - R \\cos \\alpha \\neq 0\" alt=\"y &gt; 0, \\quad r - R \\cos \\alpha \\neq 0\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/1\/1a\/1a5\/1a5b963205936b632c4835e4261e2836.svg\" width=\"184\" height=\"16\" data-width=\"23.406\" data-height=\"2.262\" data-vertical-align=\"-0.566\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/1\/1a\/1a5\/1a5b963205936b632c4835e4261e2836.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/1\/1a\/1a5\/1a5b963205936b632c4835e4261e2836.svg 781w\" loading=\"lazy\" decode=\"async\"\/><\/p>\n<p>\u043f\u043e\u043b\u0443\u0447\u0435\u043d\u043d\u0430\u044f \u0441\u0438\u0441\u0442\u0435\u043c\u0430 \u0434\u0438\u0444\u0444\u0435\u0440\u0435\u043d\u0446\u0438\u0430\u043b\u044c\u043d\u044b\u0445 \u0443\u0440\u0430\u0432\u043d\u0435\u043d\u0438\u0439 \u043f\u0440\u0435\u0434\u0441\u0442\u0430\u0432\u0438\u043c\u0430 \u0432 \u043d\u043e\u0440\u043c\u0430\u043b\u044c\u043d\u043e\u0439 \u0444\u043e\u0440\u043c\u0435 \u041a\u043e\u0448\u0438 \u0438, \u0441\u043b\u0435\u0434\u043e\u0432\u0430\u0442\u0435\u043b\u044c\u043d\u043e (\u043f\u043e \u043a\u0440\u0430\u0439\u043d\u0435\u0439 \u043c\u0435\u0440\u0435 \u043f\u0440\u0438 \u043c\u0430\u043b\u044b\u0445 <img decoding=\"async\" class=\"formula inline\" source=\"t &gt; 0\" alt=\"t &gt; 0\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/2\/23\/230\/230aab57abce22285fb273b1b2f1b0a4.svg\" width=\"32\" height=\"12\" data-width=\"4.965\" data-height=\"1.597\" data-vertical-align=\"-0.09\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/2\/23\/230\/230aab57abce22285fb273b1b2f1b0a4.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/2\/23\/230\/230aab57abce22285fb273b1b2f1b0a4.svg 781w\" loading=\"lazy\" decode=\"async\"\/>), \u0438\u043c\u0435\u0435\u0442 \u0440\u0435\u0448\u0435\u043d\u0438\u0435, \u0438 \u043f\u0440\u0438\u0442\u043e\u043c \u0435\u0434\u0438\u043d\u0441\u0442\u0432\u0435\u043d\u043d\u043e\u0435, \u043f\u0440\u0438 \u0437\u0430\u0434\u0430\u043d\u043d\u044b\u0445 \u043d\u0430\u0447\u0430\u043b\u044c\u043d\u044b\u0445 \u0443\u0441\u043b\u043e\u0432\u0438\u044f\u0445:<\/p>\n<p><img decoding=\"async\" class=\"formula\" source=\"\\alpha\\big|_{t=0}, \\quad y\\big|_{t=0}.\" alt=\"\\alpha\\big|_{t=0}, \\quad y\\big|_{t=0}.\" src=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/f\/f2\/f29\/f290b88a0f1d8f137c5560cde7ff858d.svg\" width=\"104\" height=\"16\" data-width=\"13.58\" data-height=\"2.926\" data-vertical-align=\"-0.897\" sizes=\"auto, (max-width: 780px) 100vw, 50vw\" srcset=\"https:\/\/habrastorage.org\/getpro\/habr\/formulas\/f\/f2\/f29\/f290b88a0f1d8f137c5560cde7ff858d.svg 780w,&#10;       https:\/\/habrastorage.org\/getpro\/habr\/formulas\/f\/f2\/f29\/f290b88a0f1d8f137c5560cde7ff858d.svg 781w\" loading=\"lazy\" decode=\"async\"\/><\/p>\n<p>\u0418\u0441\u0441\u043b\u0435\u0434\u043e\u0432\u0430\u043d\u0438\u0435 \u0434\u0430\u043d\u043d\u043e\u0439 \u0441\u0438\u0441\u0442\u0435\u043c\u044b \u041e\u0414\u0423 \u043c\u043e\u0436\u0435\u0442 \u043e\u043a\u0430\u0437\u0430\u0442\u044c\u0441\u044f \u0438\u043d\u0442\u0435\u0440\u0435\u0441\u043d\u043e\u0439 \u0437\u0430\u0434\u0430\u0447\u0435\u0439.<\/p>\n<\/div>\n<p>\u0441\u0441\u044b\u043b\u043a\u0430 \u043d\u0430 \u043e\u0440\u0438\u0433\u0438\u043d\u0430\u043b \u0441\u0442\u0430\u0442\u044c\u0438 <a href=\"https:\/\/habr.com\/ru\/articles\/1028098\/\">https:\/\/habr.com\/ru\/articles\/1028098\/<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u0412\u043e\u0442 \u044d\u0442\u0430 \u0437\u0430\u0434\u0430\u0447\u0430:\u0412 \u044d\u0442\u043e\u0439 \u0441\u0442\u0430\u0442\u044c\u0435 \u043e\u0431\u0441\u0443\u0436\u0434\u0430\u0435\u0442\u0441\u044f \u043d\u0435 \u043c\u0435\u0442\u043e\u0434\u0438\u043a\u0430 \u043f\u0440\u0435\u043f\u043e\u0434\u0430\u0432\u0430\u043d\u0438\u044f \u0434\u0430\u043d\u043d\u043e\u0439 \u0437\u0430\u0434\u0430\u0447\u0438 \u0432 \u0441\u0440\u0435\u0434\u043d\u0435\u0439 \u0448\u043a\u043e\u043b\u0435, \u0430 \u043c\u0435\u0442\u043e\u0434\u0438\u043a\u0430 \u0438\u0441\u0441\u043b\u0435\u0434\u043e\u0432\u0430\u043d\u0438\u044f \u0437\u0430\u0434\u0430\u0447\u0438 \u043c\u0435\u0445\u0430\u043d\u0438\u043a\u0438 \u043a\u0430\u043a \u0442\u0430\u043a\u043e\u0432\u0430\u044f.\u0412 \u0447\u0430\u0441\u0442\u043d\u043e\u0441\u0442\u0438, \u043c\u044b \u0441\u043e\u0431\u0438\u0440\u0430\u0435\u043c\u0441\u044f \u043e\u0431\u043e\u0441\u043d\u043e\u0432\u0430\u0442\u044c \u0441\u043b\u0435\u0434\u0443\u044e\u0449\u0438\u0439 \u0442\u0435\u0437\u0438\u0441: \u043f\u0440\u0435\u0434\u043f\u043e\u043b\u043e\u0436\u0435\u043d\u0438\u0435, \u043f\u043e\u0434\u0447\u0451\u0440\u043a\u043d\u0443\u0442\u043e\u0435 \u043a\u0440\u0430\u0441\u043d\u044b\u043c, \u0438\u0437\u0431\u044b\u0442\u043e\u0447\u043d\u043e \u2014 \u0437\u0430\u0434\u0430\u0447\u0430 \u043f\u0440\u0435\u043a\u0440\u0430\u0441\u043d\u043e \u0440\u0435\u0448\u0430\u0435\u0442\u0441\u044f \u0438 \u0431\u0435\u0437 \u043d\u0435\u0433\u043e.\u041e\u0442\u043c\u0435\u0442\u0438\u043c \u0442\u0430\u043a\u0436\u0435 (\u0441\u043c. \u043a\u043e\u043d\u0435\u0446 \u0441\u0442\u0430\u0442\u044c\u0438), \u0447\u0442\u043e \u0438\u0441\u0441\u043b\u0435\u0434\u043e\u0432\u0430\u043d\u0438\u0435 \u0437\u0430\u043a\u043e\u043d\u0430 \u0434\u0432\u0438\u0436\u0435\u043d\u0438\u044f \u043a\u0430\u0442\u0443\u0448\u043a\u0438 \u043c\u043e\u0436\u0435\u0442 \u043e\u043a\u0430\u0437\u0430\u0442\u044c\u0441\u044f \u0438\u043d\u0442\u0435\u0440\u0435\u0441\u043d\u043e\u0439 \u0437\u0430\u0434\u0430\u0447\u0435\u0439 \u0442\u0435\u043e\u0440\u0438\u0438 \u043e\u0431\u044b\u043a\u043d\u043e\u0432\u0435\u043d\u043d\u044b\u0445 \u0434\u0438\u0444\u0444\u0435\u0440\u0435\u043d\u0446\u0438\u0430\u043b\u044c\u043d\u044b\u0445 \u0443\u0440\u0430\u0432\u043d\u0435\u043d\u0438\u0439.\u041f\u0435\u0440\u0435\u0439\u0434\u0435\u043c \u043a \u0438\u0437\u0443\u0447\u0435\u043d\u0438\u044e \u0441\u0438\u0441\u0442\u0435\u043c\u044b.\u041e\u0431\u043e\u0437\u043d\u0430\u0447\u0438\u043c \u0447\u0435\u0440\u0435\u0437  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