4.3.4. Modeling the Process After Linkage After linkage it is expedient to divide the process of shock absorption into two parts, before and after the support of the rotation limiter. Tn the first part the process is described by the same equations as before linkage; however, the motion of the bodies unambiguously defines the displacement of the rod, that is, there is a constraint equation The direction of the reaction is unknown, and is defined by components which in system of coordinates 1 are defined by the characteristics of the shock absorbers, that is, where is the length of the undeformed rod. Due to the smallness of angles and the momenta may be calculated relative to the axes parallel to axes and . The equations of motion are similar to (4.11) and (4.12). After support of the rotation limiter the character of the interaction and constraints change. The limiter touches the cone, if the angle between vectors and is equal to where is the angle of conicity and is the angle of the position of the supports. The momentum relative to the point of linkage can be defined by some elastic deformation with rigidity : Angle is defined by the formula where and arc unit vectors of axes and . The scalar derivatives of and are defined by multiplying the appropriate elements of the matrices of the transformation of
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