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本文由密歇尔斯基方程出发,应用Kane方法引入准速度,再考虑系统作复合运动从而建立变质量非线性非完整力学系统受匀速转动约束的Kane方程。
Based on the Milsky equation, the Kane method is used to introduce the quasi-velocity, and then the system is considered as a compound motion to establish a Kane equation constrained by uniform rotation of the variable mass nonlinear nonholonomic mechanical system.