And that is how changes in the velocities of the bodies due to impact are found. Between impacts the bodies move due to the effect of forces and and momenta and created by the control system. The relative motion of the center of mass of body 2 in system of coordinates 2 is described by the equation The angular velocities are defined by Euler's equations The relative angular velocity of body 2 relative to body I in system of coordinates 2 is equal to and the angular Euler velocities, 9 are found from (4.3) using matrix The angles determined by integrating the system of equations (4.7) and (4.3). Integration of (4.5) and (4.6) gives the velocity and the radius vector. The forces and momenta from the control system are calculated in accordance with the given control algorithms. Tn the process of numerical integration of the equations on a computer, equation (4.4) is simultaneously solved to determine the following point of interaction, which appears when parameter w is turned to zero. Usually it is assumed that linkage has occurred when the following conditions are met: 1) the rod reaches the vertex of the cone, that is, (where is some small value); 2) the relative velocity of approach of the centers of mass at
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