4.

1: a) For the magnitude of the sum to be the sum of the magnitudes, the forces must
be parallel, and the angle between them is zero. b) The forces form the sides of a right
isosceles triangle, and the angle between them is 90 . Alternatively, the law of cosines
may be used as
( ) , cos 2 2
2
2
2 2
F F F F = +
from which cos 0 = , and the forces are perpendicular. c) For the sum to have 0
magnitude, the forces must be antiparallel, and the angle between them is 180 .


4.2: In the new coordinates, the 120-N force acts at an angle of 53 from the x -axis,
or 233 from the x + -axis, and the 50-N force acts at an angle of 323 from the x + -
axis.

a) The components of the net force are
N 32 323 cos ) N 50 ( 233 cos ) N 120 ( = + =
x
R
. N 124 323 sin ) N 50 ( 233 sin ) N 120 ( ) N 250 ( = + + =
y
R
b) , N 128
2 2
= + =
y x
R R R ( ) =

104 arctan
32
124
. The results have the same magnitude,
and the angle has been changed by the amount ) 37 ( that the coordinates have been
rotated.


4.3: The horizontal component of the force is N 1 . 7 45 cos ) N 10 ( = to the right and the
vertical component is N 1 . 7 45 sin ) N 10 ( = down.


4.4: a) , cos F F
x
= where is the angle that the rope makes with the ramp ( = 30 in
this problem), so . N 3 . 69
30 cos
N 0 . 60
cos
= = = =

x
F
F F

b) N. 6 . 34 tan sin = = = F F F
x y



4.5: Of the many ways to do this problem, two are presented here.
Geometric: From the law of cosines, the magnitude of the resultant is
. N 494 60 cos ) N 300 )( N 270 ( 2 ) N 300 ( ) N 270 (
2 2
= + + = R
The angle between the resultant and dog As rope (the angle opposite the side
corresponding to the 250-N force in a vector diagram) is then

( )
. 7 . 31
N 494
) N 300 ( 120 sin
arcsin =
|
|
.
|

\
|

Components: Taking the x + -direction to be along dog As rope, the components of the
resultant are
N 420 60 cos ) N 300 ( ) N 270 ( = + =
x
R
, N 8 . 259 60 sin ) N 300 ( = =
y
R
so ( ) . 7 . 31 arctan , N 494 ) N 8 . 259 ( ) N 420 (
420
8 . 259
2 2
= = = + = R

4.6: a) N 10 . 8 ) 9 . 126 ( cos ) N 00 . 6 ( 120 cos ) N 00 . 9 (
2 1
= + = +
x x
F F
N. 00 . 3 ) 9 . 126 ( sin ) N 00 . 6 ( 120 sin ) N 00 . 9 (
2 1
+ = + = +
y y
F F
b) N. 8.64 N) (3.00 N) 10 . 8 (
2 2 2 2
= + = + =
y x
R R R

4.7:
2
s / m 2.2 kg) (60 N) 132 ( / = = = / m F a (to two places).


4.8: . N 189 ) m/s kg)(1.40 135 (
2
= = = ma F


4.9: kg. 16.00 ) m/s N)/(3.00 0 . 48 ( /
2
= = = a F m


4.10: a) The acceleration is
2
s) (5.00
) m 0 . 11 ( 2
2
s / m 88 . 0
2 2
= = =
t
x
a . The mass is then
kg. 9 . 90
2
m/s 0.88
N 0 . 80
= = =
a
F
m
b) The speed at the end of the first 5.00 seconds is m/s 4 . 4 = at , and the block on the
frictionless surface will continue to move at this speed, so it will move another
m 0 . 22 = vt in the next 5.00 s.


4.11: a) During the first 2.00 s, the acceleration of the puck is
2
m/s 563 . 1 / = m F
(keeping an extra figure). At s 00 . 2 = t , the speed is m/s 13 . 3 = at and the position is
m 13 . 3 2 / 2 /
2
= = vt at . b) The acceleration during this period is also
2
m/s 563 . 1 , and the
speed at 7.00 s is m/s 6.26 s) 00 . 2 )( m/s (1.563 m/s 13 . 3
2
= + . The position at s 00 . 5 = t is
m 125 s) 2.00 s m/s)(5.00 (3.13 m 13 . 3 = + = x , and at s 00 . 7 = t is
m, 21.89 s) )(2.00 m/s 3 (1/2)(1.56 s) m/s)(2.00 (3.13 m 12.5
2 2
= + +
or 21.9 m to three places.


4.12: a) . m/s 31 . 4 kg 5 . 32 / N 140 /
2
= = = m F a
x

b) With m 215 , 0
2
2
1
0
= = = at x v
x
.
c) With m/s 0 . 43 / 2 , 0
0
= = = = t x t a v v
x x x
.


4.13: a) 0 = F

b), c), d)


4.14: a) With 0
0
=
x
v ,
. m/s 10 50 . 2
) m 10 80 . 1 ( 2
) m/s 10 00 . 3 (
2
2 14
2
2 6 2
=

= =

x
v
a
x
x

b) s 10 20 . 1
8
s / m 10 50 . 2
s / m 10 00 . 3
2 14
6

= = =
x
x
a
v
t . Note that this time is also the distance divided by
the average speed.
c) N. 10 28 . 2 ) m/s 10 50 . 2 )( kg 10 11 . 9 (
16 2 14 31
= = = ma F


4.15: . N 10 94 . 2 ) m/s 80 . 9 )( m/s 12 )( N 2400 ( ) / (
3 2 2
= = = = g a w ma F


4.16: . m/s 0 . 22 ) m/s 80 . 9 (
2 . 71
160
/
2 2
=
|
.
|

\
|
= = = = g
w
F
g w
F
m
F
a


4.17: a) kg 49 . 4 ) m/s 80 . 9 /( ) N 0 . 44 ( /
2
= = = g w m b) The mass is the same, 4.49 kg, and
the weight is . N 13 . 8 ) m/s 81 . 1 )( kg 49 . 4 (
2
=


4.18: a) From Eq. (4.9), kg. 327 . 0 ) s / m 80 . 9 /( ) N 20 . 3 ( /
2
= = = g w m
b) N. 137 ) s / m 80 . 9 )( kg 0 . 14 (
2
= = = mg w


4.19: N. 825 ) s / m 15 )( kg 55 (
2
= = = ma F The net forward force on the sprinter is
exerted by the blocks. (The sprinter exerts a backward force on the blocks.)


4.20: a) the earth (gravity) b) 4 N, the book c) no d) 4 N, the earth, the book, up e) 4 N,
the hand, the book, down f) second g) third h) no i) no j) yes k) yes l) one (gravity) m) no


4.21: a) When air resistance is not neglected, the net force on the bottle is the weight of
the bottle plus the force of air resistance. b) The bottle exerts an upward force on the
earth, and a downward force on the air.


4.22: The reaction to the upward normal force on the passenger is the downward normal
force, also of magnitude 620 N, that the passenger exerts on the floor. The reaction to the
passengers weight is the gravitational force that the passenger exerts on the earth,
upward and also of magnitude 650 N. . m/s 452 . 0
2
m/s /9.80 N 650
N 650 N 620
2
= =

m
F
The passengers
acceleration is
2
s / m 452 . 0 , downward.


4.23: . s / m 10 4 . 7
) kg 10 0 . 6 (
) s / m 80 . 9 )( kg 45 (
2 23
24
2
E E
E

= = =
m
mg
m
F
a

4.24: (a) Each crate can be considered a single particle:

AB
F (the force on
A
m due to
B
m ) and
BA
F (the force on
B
m due to
A
m ) form an
action-reaction pair.
(b) Since there is no horizontal force opposing F, any value of F, no matter how
small, will cause the crates to accelerate to the right. The weight of the two crates acts at
a right angle to the horizontal, and is in any case balanced by the upward force of the
surface on them.


4.25: The ball must accelerate eastward with the same acceleration as the train. There
must be an eastward component of the tension to provide this acceleration, so the ball
hangs at an angle relative to the vertical. The net force on the ball is not zero.


4.26: The box can be considered a single particle.

For the truck:

The boxs friction force on the truck bed and the truck beds friction force on the box
form an action-reaction pair. There would also be some small air-resistance force action
to the left, presumably negligible at this speed.


4.27: a)




b) For the chair, 0 =
y
a so
y y
ma F =

gives
0 37 sin = F mg n
N 142 = n


4.28: a)



b)
sin mg T =
N 279 0 . 26 sin ) s / m 80 . 9 )( kg 0 . 65 (
2
= =


4.29: tricycle and Frank


T is the force exerted by the rope and
g
f is the force the ground exerts on the tricycle.
spot and the wagon

T' is the force exerted by the rope. T and T' form a third-law action-reaction pair,
. T T ' =




4.30: a) The stopping time is . s 10 43 . 7
4
s / m 350
) m 130 . 0 ( 2
) 2 / (
0

= = =
v
x
v
x
ave

b) . N 848 ) kg 10 80 . 1 (
s) 10 (7.43
) s / m 350 ( 3
4 -
= = =

ma F (Using x v a 2 /
2
0
= gives the same
result.)


4.31: Take the x + -direction to be along
1
F

and the y + -direction to be along R

. Then
N 1300
2
=
x
F and N 1300
2
=
y
F , so N 1838
2
= F , at an angle of 135 from
1
F

.


4.32: Get g on X:
2
2
1
gt y =

2
) s 2 . 2 (
2
1
m 0 . 10 g =

2
s / m 13 . 4 = g
N 41 . 0 ) s / m 03 . 4 )( kg 100 . 0 (
2
X X
= = = mg w


4.33: a) The resultant must have no y-component, and so the child must push with a force
with y-component N. 6 . 16 60 sin N) 100 ( 30 sin ) N 140 ( = For the child to exert the
smallest possible force, that force will have no x-component, so the smallest possible
force has magnitude 16.6 N and is at an angle of 270 , or 90 clockwise from the
x + -direction.

b) . N 840 ) s / m 80 . 9 )( kg 6 . 85 ( . kg 6 . 85
2
s / m 0 . 2
30 cos N 140 60 cos N 100
2
= = = = =

=
+
mg w m
a
F
.


4.34: The ship would go a distance
m, 25 . 506
) N 10 0 . 8 ( 2
) s / m 5 . 1 )( kg 10 6 . 3 (
2 ) / ( 2 2
4
2 7 2
0
2
0
2
0
=

= = =
F
mv
m F
v
a
v

so the ship would hit the reef. The speed when the tanker hits the reef is also found from
m/s, 17 . 0
) kg 10 6 . 3 (
) m 500 )( N 10 0 . 8 ( 2
m/s) 5 . 1 ( ) / 2 (
7
4
2 2
0
=

= = m Fx v v
so the oil should be safe.


4.35: a) Motion after he leaves the floor: ). ( 2
0
2
0
2
y y a v v
y y y
+ =
0 =
y
v at the maximum height,
2
0
m/s 80 . 9 , m 2 . 1 = =
y
a y y , so
m/s. 85 . 4
0
=
y
v
b) . m/s 2 . 16 ) s 300 . 0 /( ) s / m 85 . 4 ( /
2
av
= = A A = t v a
c)


av av
ma w F =
) s / m 2 . 16 )( s / m 80 . 9 / N 890 ( N 890
2 2
av av
+ = + = ma w F
N 10 36 . 2
3
av
= F


4.36:
N. 10 7 . 3
) m 10 8 . 1 ( 2
) s / m 5 . 12 (
kg) 850 (
2
6
2
2 2
0
=

= = =

x
v
m ma F




4.37: a)

(upward)
net
mg F F =

b) When the upward force has its maximum magnitude
max
F (the breaking strength),
the net upward force will be
max
F mg and the upward acceleration will be
. s / m 83 . 5 s / m 80 . 9
kg 80 . 4
N 0 . 75
2 2 max max
= = =

= g
m
F
m
mg F
a

4.38: a) N 539 = = mg w
b)

Downward velocity is decreasing so a

is upward and the net force should be upward.

mg F >
air
, so the net force is upward.



c) Taking the upward direction as positive, the acceleration is
. s / m 47 . 1 s / m 80 . 9
kg 0 . 55
N 620
s / m 80 . 9
2 2 2 air air
= = =

= =
m
F
m
mg F
m
F
a

4.39: a) Both crates moves together, so
2
s / m 50 . 2 = a
b)
N 0 . 10 ) s / m 50 . 2 )( kg 00 . 4 (
2
1
= = = a m T
c)
T F > and the net force is to the right, in the direction of

a .
d) a m T F
2
=
N 0 . 25 ) s / m 50 . 2 )( kg 00 . 6 ( N 0 . 10
2
2
= + = + = a m T F


4.40: a) The force the astronaut exerts on the rope and the force that the rope exerts on
the astronaut are an action-reaction pair, so the rope exerts a force of 80.0 N on the
astronaut. b) The cable is under tension. c)
2
kg 105.0
N 0 . 80
s / m 762 . 0 = = =
m
F
a . d) There is no
net force on the massless rope, so the force that the shuttle exerts on the rope must be
80.0 N (this is not an action-reaction pair). Thus, the force that the rope exerts on the
shuttle must be 80.0 N. e)
2 4
kg 10 9.05
N 0 . 80
s / m 10 84 . 8
4

= = =
m
F
a .

4.41: a) m. 4 . 4 ) s 025 . 0 )( s / m 10 0 . 8 ( ) s 025 . 0 )( s / m 10 0 . 9 ( ) s 025 . 0 (
3 3 4 2 2 3
= = x
b) Differentiating, the velocity as a function of time is
so , ) s / m 10 40 . 2 ( ) s / m 10 80 . 1 ( ) (
2 3 5 2 4
t t t v =

2 3 5 2 4
) s 025 . 0 )( s / m 10 40 . 2 ( ) s 025 . 0 )( s / m 10 80 . 1 ( ) s 025 . 0 ( = v
s. / m 10 0 . 3
2
=

c) The acceleration as a function of time is
, ) s / m 10 80 . 4 ( s / m 10 80 . 1 ) (
3 5 2 4
t t a =

so (i) at , s / m 10 8 . 1 , 0
2 4
= = a t and (ii) , s / m 10 6.0 s) 025 . 0 (
2 3
= a and the forces are
(i) N 10 7 . 2
4
= ma and (ii) N. 10 0 . 9
3
= ma


4.42: a) The velocity of the spacecraft is downward. When it is slowing down, the
acceleration is upward. When it is speeding up, the acceleration is downward.



b)
speeding up: F w > and the net force is downward
slowing down: F w < and the net force is upward
c) Denote the y-component of the acceleration when the thrust is
1
F by
1
a and the y-
component of the acceleration when the thrust is
2
F by
2
a . The forces and accelerations
are then related by
. ,
2 2 1 1
ma w F ma w F = =
Dividing the first of these by the second to eliminate the mass gives
,
2
1
2
1
a
a
w F
w F
=

and solving for the weight w gives
.
2 1
1 2 2 1
a a
F a F a
w

=
In this form, it does not matter which thrust and acceleration are denoted by 1 and which
by 2, and the acceleration due to gravity at the surface of Mercury need not be found.
Substituting the given numbers, with y + upward, gives

N. 10 0 . 16
) s / m 80 . 0 ( s / m 20 . 1
) N 10 0 . 25 )( s / m 80 . 0 ( ) N 10 0 . 10 )( s / m 20 . 1 (
3
2 2
3 2 3 2
=


= w

In the above, note that the upward direction is taken to be positive, so that
2
a is negative.
Also note that although
2
a is known to two places, the sums in both numerator and
denominator are known to three places.


4.43:



a) The engine is pulling four cars, and so the force that the engine exerts on the first car
is a

m 4 . b), c), d): Similarly, the forces the cars exert on the car behind are
a a

m m 2 , 3 and a

m . e) The direction of the acceleration, and hence the direction of

the forces, would change but the magnitudes would not; the answers are the same.


4.44: a) If the gymnast climbs at a constant rate, there is no net force on the gymnast, so
the tension must equal the weight; mg T = .
b) No motion is no acceleration, so the tension is again the gymnasts weight.
c) a

m ma mg T w T = = = (the acceleration is upward, the same direction as the

tension), so ) ( a

+ = g m T .
d) a

m ma mg T w T = = = (the acceleration is downward, the same opposite as

the tension), so ) ( a

= g m T .


4.45: a)

The maximum acceleration would occur when the tension in the cables is a maximum,

. s / m 93 . 2 s / m 80 . 9
kg 2200
N 000 , 28
2 2 net
= = =

= = g
m
T
m
mg T
m
F
a

b) . s / m 1 . 11 s / m 62 . 1
kg 2200
N 000 , 28
2 2
=


4.46: a) His speed as he touches the ground is

s. / m 80 . 7 ) m 10 . 3 )( s / m 80 . 9 ( 2 2
2
= = = gh v

b) The acceleration while the knees are bending is
. s / m 6 . 50
) m 60 . 0 ( 2
) s / m 80 . 7 (
2
2
2 2
= = =
y
v
a


c)


The net force that the feet exert on the ground is the force that the ground exerts on the
feet (an action-reaction pair). This force is related to the weight and acceleration by
, ma mg F w F = = so N 4532 ) s / m 80 . 9 s / m 6 . 50 )( kg 0 . 75 ( ) (
2 2
= + = + = g a m F . As
a fraction of his weight, this force is ( ) 16 . 6 1 = + =
g
a
mg
F
(keeping an extra figure in the
intermediate calculation of a). Note that this result is the same algebraically as ( ) 1
m 0.60
m 10 . 3
+ .


4.47: a)


b) The acceleration of the hammer head will be the same as the nail,
2 3 2 2
0
s / m 10 138 . 1 ) cm 45 . 0 ( 2 / ) s / m 2 . 3 ( 2 / = = = x v a . The mass of the hammer head is
its weight divided by kg 50 . 0 s / m 80 . 9 / N 9 . 4 ,
2
= g , and so the net force on the hammer
head is N. 570 ) s / m 10 138 . 1 )( kg 50 . 0 (
2 3
= This is the sum of the forces on the hammer
head; the upward force that the nail exerts, the downward weight and the downward 15-N
force. The force that the nail exerts is then 590 N, and this must be the magnitude of the
force that the hammer head exerts on the nail. c) The distance the nail moves is .12 m, so
the acceleration will be
2
s / m 4267 , and the net force on the hammer head will be 2133
N. The magnitude of the force that the nail exerts on the hammer head, and hence the
magnitude of the force that the hammer head exerts on the nail, is 2153 N, or about 2200
N.


4.48:

a) The net force on a point of the cable at the top is zero; the tension in the cable must
be equal to the weight w.
b) The net force on the cable must be zero; the difference between the tensions at the
top and bottom must be equal to the weight w, and with the result of part (a), there is no
tension at the bottom.
c) The net force on the bottom half of the cable must be zero, and so the tension in the
cable at the middle must be half the weight, 2 / w . Equivalently, the net force on the
upper half of the cable must be zero. From part (a) the tension at the top is w, the weight
of the top half is 2 / w and so the tension in the cable at the middle must be
2 / 2 / w w w = .
d) A graph of T vs. distance will be a negatively sloped line.





4.49: a)

b) The net force on the system is N 0 . 53 ) s / m 80 . 9 )( kg 00 . 15 ( N 200
2
= (keeping
three figures), and so the acceleration is , s / m 53 . 3 ) kg 0 . 15 /( ) N 0 . 53 (
2
= up. c) The net
force on the 6-kg block is N 2 . 21 ) s / m 53 . 3 )( kg 00 . 6 (
2
= , so the tension is found from
N 2 . 21 = mg T F , or N 120 N 2 . 21 ) s / m 80 . 9 )( kg 00 . 6 ( ) N 200 (
2
= = T .
Equivalently, the tension at the top of the rope causes the upward acceleration of the rope
and the bottom block, so a g T ) kg 00 . 9 ( ) kg 00 . 9 ( = , which also gives N 120 = T . d)
The same analysis of part (c) is applicable, but using kg 00 . 2 kg 00 . 6 + instead of the
mass of the top block, or 7.00 kg instead of the mass of the bottom block. Either way
gives N 3 . 93 = T .


4.50: a)


b) The athletes weight is N 882 ) s / m 80 . 9 )( kg 0 . 90 (
2
= = mg . The acceleration of the
barbell is found from s / m 375 . 0 s 6 . 1 / m 60 . 0
av
= = v . Its final velocity is thus
(2)(0 375m s) 0 750m s . / = . / , and its acceleration is

2 0
s / m 469 . 0
65 . 1
s / m 750 . 0
= =

=
t
v v
a
The force needed to lift the barbell is given by:
ma w F F = =
barbell lift net

The barbells mass is
2
(490 N) (9 80m s ) 50 0kg / . / = . , so

N 513 N 23 N 490
) s / m 469 . 0 )( kg 0 . 50 ( N 490
2
barbell lift
= + =
+ = + = ma w F

The athlete is not accelerating, so:
0
athlete lift floor net
= = w F F F
N 1395 N 882 N 513
athlete lift floor
= + = + = w F F
4.51: a)

L is the lift force


b)
y y
ma F =

3 / 2
) 3 / (
Mg L
g M L Mg
=
=


c) ) 2 / (g m mg L = , where m is the mass remaining.
3 / 2Mg L = , so 9 / 4M m = . Mass 9 / 5M must be dropped overboard.


4.52: a) = m mass of one link






The downward forces of magnitude 2ma and ma for the top and middle links are the
reaction forces to the upward force needed to accelerate the links below.
b) (i) The weight of each link is N 94 . 2 ) s / m 80 . 9 )( kg 300 . 0 (
2
= = mg . Using the free-
body diagram for the whole chain:

2 2 net
s / m 5 . 3 or s / m 53 . 3
kg 900 . 0
N 18 . 3
kg 900 . 0
) N 94 . 2 ( 3 N 12
3
= =

= =
m
F
a
(ii) The second link also accelerates at
2
s / m 53 . 3 , so:

ma mg ma F F = = 2
top net

) N 94 . 2 ( 2 ) s / m 53 . 3 )( kg 300 . 0 ( 2 2 2
2
top
+ = + = mg ma F
N 0 . 8 N 88 . 5 N 12 . 2 = + =





4.53: Differentiating twice, the acceleration of the helicopter as a function of time is
,

) s / m 12 . 0 (

) s / m 120 . 0 (
2 3
k i a = t

and at 5 0s t = . , the acceleration is
.

) s / m 12 . 0 (

) s / m 60 . 0 (
2 2
k i a =

The force is then

| | k i a a

) s / m 12 . 0 (

) s / m 60 . 0 (
) s / m 80 . 9 (
N) 10 75 . 2 (
2 2
2
5

= = =

g
w
m F
.

) N 10 4 . 3 (

N) 10 7 . 1 (
3 4
k i =



4.54: The velocity as a function of time is
2
3 ) ( Bt A t v = and the acceleration as a
function of time is Bt t a 6 ) ( = , and so the Force as a function of time is
mBt t ma t F 6 ) ( ) ( = = .


4.55:

} |
|
.
|

\
|
+ = =
t
t
k
t k
m
dt
m
t
0
4
2
1

1 1
) ( j i a v

.


4.56: a) The equation of motion,
dt
dv
m Cv =
2
cannot be integrated with respect to time,
as the unknown function ) (t v is part of the integrand. The equation must be separated
before integration; that is,

,
1 1
0
2
v v m
Ct
v
dv
dt
m
C
+ =
=

where
0
v is the constant of integration that gives
0
v v = at 0 t = . Note that this form
shows that if
0
0 v = , there is no motion. This expression may be rewritten as
,
1
1
0

|
|
.
|

\
|
+ = =
m
Ct
v dt
dx
v
which may be integrated to obtain
. 1 ln
0
0
(

+ =
m
Ctv
C
m
x x
To obtain x as a function of v, the time t must be eliminated in favor of v; from the
expression obtained after the first integration, 1
0 0
=
v
v
m
Ctv
, so
. ln
0
0
|
.
|

\
|
=
v
v
C
m
x x
b) By the chain rule,
, v
dx
dv
dt
dv
dx
dv
dt
dv
= =
and using the given expression for the net force,


m
dx
dv
v Cv |
.
|

\
|
=
2


v
dv
dx
m
C
=

|
|
.
|

\
|
=
0
0
ln ) (
v
v
x x
m
C

. ln
0
0
|
.
|

\
|
=
v
v
C
m
x x


4.57: In this situation, the x-component of force depends explicitly on the y-component of
position. As the y-component of force is given as an explicit function of time,
y
v and y
can be found as functions of time. Specifically, t m k a
y
) / (
3
= , so
2
3
) 2 / ( t m k v
y
= and
3
3
) 6 / ( t m k y = , where the initial conditions 0 , 0
0 0
= = y v
y
have been used. Then, the
expressions for
x x
v a , and x are obtained as functions of time:

.
120 2
24
6
5
2
3 2 2 1
4
2
3 2 1
3
2
3 2 1
t
m
k k
t
m
k
x
t
m
k k
t
m
k
v
t
m
k k
m
k
a
x
x
+ =
+ =
+ =

In vector form,

.

24

120 2
2 3 4
2
3 2 1
3 3 5
2
3 2 2 1
j i v
j i r
|
.
|

\
|
+ |
.
|

\
|
+ =
|
.
|

\
|
+ |
.
|

\
|
+ =
t
m
k
t
m
k k
t
m
k
t
m
k
t
m
k k
t
m
k