MP = r × F, C = Fd F = 0, ∑ ri × Fi + ∑ Ci = 0

 P F
MP = r × F ,
MP = F d
C
C = Fd
F = 0,
F = 0,
M P = 0,
MP =
M P = 0
ri × F i +
Ci
F2
F
-
F1
F
•
•
•
•
•
|F | ≤ µs N
•
•
•
! "
•
#
rg dm
rG =
rg
m
,
$ ! % &
n
rG =
rGi mi
i=1
n
,
mi
i=1