rotate in the hinge, and the force of friction may cause a larger momentum than the momentum to return it. If the following inequality is satisfied Then the socket begins to rotate in the spherical hinge, and in addition to reaction arises (Figure 3.20). Here is the lateral force on the pin; is the force holding the spring; is the coefficient of friction, is the diameter of the spherical part of the socket; and are the components of forces and relative to the axis of the socket. Figure 3.20. Schematic of the jamming of the rod in the rotating socket, a. schematic of jamming; b. modified pin of the Apollo APDA in the socket of the Soyuz; c. pin of the Soyuz APDA in the modified socket of the Apollo APDA. The sum of momenta acting on the rotating part of the socket is equal to where is the diameter of the pin, h2 is the component of F2 relative to the axis of rotation of the socket. When Mr < 0, the pin begins to jam in the socket.
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