... The kinetic energy is given by m .2 m -2 I .2 I .2 2 2 2 2 The virtual work done by the impact force at A is T = -XI + -x2 + -e, + -e2 6W = F(-dr, + ado,) and the ... - o,o,z] + 2m(w,i - or$) -efv = m[(q + o,)y - o,.o,z - o,o,x] + 2m(o$ - oj) or Similarly 2 2 2 2 2 -efz = m[(o, + O,)Z - O,O,X - O,O,,y] + 2m(ox9 - a$) For ... find the conditions so that t2 r= L 61, t r=O -f [: (g )2- L (2) 2] 2 ax dxdt=O Carrying out the variation t2 +=L s,,.Lo[ p‘(&)6($) -T($)6($)pd2=O (3.15) (3.16) (3.17) (3.18)...