For are the norms to the planes of the mobile and immobile rings. The total force and momentum acting on the active ring are equal to: The forces and momenta displace the ring, the displacement is defined by the vector and its rotation is defined by the angles . Knowing the coordinates of the ring and its derivatives, one can calculate the components of force and momentum. There are two methods of determining the force of the shock absorbers. In the first method, the components of vectors are defined by the coordinates of the deviations of the ring and its derivatives: Due to the smallness of the angles of rotation of the ring the components of momentum can be calculated relative to the axes parallel to axes . Six equations (4.17) and 3k constraint equations (4.16) are used to determine unknowns: In the second method, one first defines the coordinates of the mobile hinges on the ring and the lengths of all shock absorbers in the coordinates of the ring using formulas and their derivatives These values make it possible to calculate the moduli of the force of the shock absorbers The vector of the forces of each shock absorber is defined by their unit vectors and vectors are in the coordinates of the mobile and immobile hinges. Afterwards, the total force is calculated as well as the momenta relative to the center of the ring and the centers of mass of both bodies.
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