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17.10: Вода
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\[ \begin{align} \dot{x}_{1} &=\ \dot{q}_{1}-\dot{q}_{3}\sin\theta \\[5pt] \dot{y}_{1} &= \dot{q}_{2}-\dot{q}_{3}\cos\theta \label{17.10.2a,b} \\[5pt] \dot{x}_{2} &= \frac{2m\dot{q}_{3}\sin\theta}{M} ... $\begin{align} \dot{x}_{1} &=\ \dot{q}_{1}-\dot{q}_{3}\sin\theta \\[5pt] \dot{y}_{1} &= \dot{q}_{2}-\dot{q}_{3}\cos\theta \label{17.10.2a,b} \\[5pt] \dot{x}_{2} &= \frac{2m\dot{q}_{3}\sin\theta}{M} \\[5pt] \dot{y}_{2} &= -\frac{2m\dot{q}_{2}}{M} \label{17.10.3a,b} \\[5pt] \dot{x}_{3} &= -\dot{q}_{1} - \dot{q}_{3}\sin\theta \\[5pt] \dot{y}_{3} &= \dot{q}_{2}\ +\ \dot{q}_{3}\cos\theta \label{17.10.4a,b} \end{align}$