The method of determining the point of interaction is in principle the same as the earlier method; vector equations are constructed and solved analogous to equation (4.4), When w = 0 an interaction begins, and equation (4.9) is converted into a constraint equation. The force on the rod is equal to where is its modulus; n is a unit normal to the surface of the cone whose components in system of coordinates 2 are defined by the parameters u and v (see Figure 4.2). The force creates momentum relative to the point of rotation of the rod = . Ihc longitudinal component of force and the components of momentum acting on the rod and are functions from , and their derivatives and are defined by the characteristics of the shock absorbers Due to the smallness of angles and it is assumed that the rod rotates relative to axes parallel to . Since the shock absorbers usually have staged characteristics, the problem is solved in several stages. For example, the characteristics of the longitudinal shock absorber of the Soyuz docking mechanism is described by the equations where is the rigidity of the spring; is the coefficient of damping; is the preliminary compression of the spring; is the force created by the friction brake on the forward course: is the force created by the friction brake on the
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