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s
[
1
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.
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co
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[
2
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[
3
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[
4
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f
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Hu
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[
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p
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[
6
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p
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ased
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6
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[
7
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t
h
er
e
is
al
w
a
y
s
s
o
m
e
en
g
i
n
ee
r
in
g
ap
p
r
o
x
im
atio
n
t
h
a
t
co
m
e
s
i
n
to
co
n
s
id
er
atio
n
.
At
s
o
m
e
p
o
in
ts
,
we
ig
n
o
r
e
d
y
n
a
m
ics
an
d
h
i
g
h
-
f
r
eq
u
e
n
c
y
m
o
d
es
(
as
t
h
e
y
h
a
v
e
a
li
m
ited
r
o
le
in
d
eter
m
in
in
g
ess
e
n
tial
m
o
d
el
ch
ar
ac
ter
is
t
ic
s
th
a
n
lo
w
-
f
r
eq
u
en
c
y
m
o
d
es
)
to
g
et
a
r
e
d
u
ce
d
s
y
s
te
m
t
h
at
m
i
g
h
t
r
esu
lt
in
r
ed
u
ce
d
s
tab
ilit
y
an
d
u
n
ce
r
tai
n
ti
es.
A
ll
s
u
ch
ap
p
r
o
x
i
m
atio
n
tech
n
iq
u
es
h
a
v
e
s
o
m
e
p
r
o
s
an
d
co
n
s
th
at
e
n
ab
led
us
to
w
o
r
k
w
it
h
a
co
m
p
lex
s
y
s
te
m
in
co
n
s
tr
ai
n
ed
s
p
ac
e.
In
th
i
s
p
r
o
j
ec
t,
a
PD
an
d
P
b
a
s
ed
p
ar
allel
co
n
tr
o
l
s
ch
e
m
e
is
p
r
o
p
o
s
ed
to
o
b
tain
s
i
m
u
lta
n
e
o
u
s
l
y
b
o
t
h
th
e
p
o
s
itio
n
co
n
tr
o
l
an
d
t
h
e
v
ib
r
atio
n
r
ed
u
ctio
n
.
T
h
e
co
m
p
o
s
itio
n
of
t
h
is
r
ep
o
r
t
is
as
f
o
llo
w
s
:
S
ec
tio
n
2
d
escr
ib
es
p
r
o
j
ec
t
m
et
h
o
d
o
lo
g
y
3
-
D
m
o
d
elli
n
g
,
B
ea
m
an
al
y
s
i
s
,
s
en
s
o
r
,
ac
tu
ato
r
,
an
d
co
n
tr
o
ller
.
S
ec
tio
n
3
d
em
o
n
s
tr
ate
s
a
b
r
ief
d
escr
ip
ti
o
n
of
th
e
e
x
p
er
i
m
e
n
tal
s
etu
p
,
an
d
d
ev
elo
p
m
en
t
of
t
h
e
co
n
t
r
o
l
la
w
.
S
ec
tio
n
4
d
is
cu
s
s
es t
h
e
r
es
u
lts
. F
i
n
all
y
,
t
h
e
co
n
cl
u
s
io
n
is
d
er
iv
ed
f
r
o
m
ex
p
er
i
m
e
n
tatio
n
w
it
h
d
is
cu
s
s
i
o
n
on
p
r
o
s
p
ec
ts
.
2.
M
E
T
H
O
DO
L
O
G
Y
T
h
is
s
ec
tio
n
i
n
cl
u
d
es
t
h
e
p
r
o
p
o
s
ed
m
et
h
o
d
o
lo
g
y
u
s
ed
to
co
n
tr
o
l
an
d
ac
tu
ate
th
e
s
y
s
te
m
.
T
h
e
d
y
n
a
m
ic
an
al
y
s
is
of
a
f
le
x
ib
l
e
b
ea
m
is
b
r
ief
l
y
d
i
s
cu
s
s
ed
alo
n
g
w
it
h
th
e
f
in
ite
ele
m
e
n
t
an
al
y
s
is
.
T
h
e
b
lo
ck
d
iag
r
a
m
r
ep
r
esen
tat
io
n
is
d
is
c
u
s
s
ed
to
illu
s
tr
ate
t
h
e
w
o
r
k
i
n
g
en
v
ir
o
n
m
e
n
t
f
o
r
th
e
p
r
o
g
r
a
m
m
i
n
g
a
n
d
co
n
tr
o
l.
2
.
1
.
B
ea
m
m
o
del
a
na
ly
s
is
Fo
r
th
e
d
y
n
a
m
ic
v
ib
r
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al
y
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i
s
of
th
e
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,
T
im
o
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e
n
k
o
b
ea
m
m
o
d
el
r
ep
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tat
i
o
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u
s
ed
w
it
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is
cr
etiza
t
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p
ar
a
m
eter
s
[
8
]
.
(
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2
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(
,
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=
[
(
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2
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1
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1
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ea
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ra
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A
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o
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h
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len
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m
ater
ial
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ea
m
of
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g
th
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a
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th
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m
m
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d
t
h
ick
n
e
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.
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s
ed
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h
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e
x
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t
w
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h
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ater
ial
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o
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ties
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en
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it
y
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.
9
2
g
/c
m
3
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Yo
u
n
g
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s
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o
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u
l
u
s
:
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.
1
e
-
0
.
3
GP
a,
an
d
b
u
lk
’
s
m
o
d
u
lu
s
:
1
.
7
GP
a.
T
h
is
b
ea
m
is
f
ix
ed
on
o
n
e
en
d
w
i
th
th
e
ca
r
t
th
a
t
r
ed
u
ce
s
it
is
w
o
r
k
ab
le
len
g
th
by
40
mm.
B
ea
m
s
p
ec
i
f
icatio
n
s
ar
e
s
h
o
w
n
in
T
ab
le
1.
T
ab
le
1.
B
ea
m
s
p
ec
if
icat
io
n
s
M
a
t
e
r
i
a
l
l
o
w
-
d
e
n
si
t
y
P
o
l
y
e
t
h
y
l
e
n
e
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i
me
n
si
o
n
s
3
0
0
*
3
5
*
2
.
5
mm
D
e
n
si
t
y
0
.
9
2
g
/
c
m
3
Y
o
u
n
g
’
s
mo
d
u
l
u
s
0
.
1
e
-
0
.
3
G
P
a
B
u
l
k
’
s
mo
d
u
l
u
s
1
.
7
G
P
a
2
.
1
.
2
.
ANSYS
s
i
m
u
la
t
io
n
f
o
r
cr
it
ica
l
a
na
ly
s
is
We
s
i
m
u
lated
d
if
f
er
en
t
t
y
p
es
of
b
ea
m
s
to
o
b
s
er
v
e
if
th
e
y
m
et
o
u
r
p
r
o
j
ec
t
s
p
ec
if
icatio
n
s
.
D
u
e
to
tr
an
s
latio
n
,
a
lo
w
f
o
r
ce
is
g
o
in
g
to
be
ap
p
lied
to
th
e
b
ea
m
.
Gi
v
e
n
s
e
n
s
o
r
l
i
m
i
tatio
n
s
,
we
n
ee
d
r
ea
s
o
n
ab
le
d
ef
lectio
n
s
/v
ib
r
atio
n
t
h
at
can
be
d
etec
ted
an
d
tr
an
s
m
itted
f
o
r
an
al
y
s
is
.
F
ir
s
tl
y
,
we
u
s
ed
an
alu
m
in
iu
m
b
ea
m
of
len
g
th
300
mm,
w
id
th
20
m
m
,
an
d
th
ic
k
n
e
s
s
of
1
.
2
mm.
Fi
x
in
g
o
n
e
s
id
e
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h
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p
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on
th
e
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e,
ap
p
ly
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n
g
0
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0
7
5
N
f
o
r
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in
n
eg
ativ
e
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ir
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tio
n
p
r
o
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mm
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atio
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as
s
h
o
w
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in
Fi
g
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r
e
1.
T
h
en
r
ec
o
n
s
id
er
in
g
o
p
tio
n
s
,
we
o
p
ted
f
o
r
a
lo
w
-
d
en
s
it
y
p
o
l
y
eth
y
len
e
m
ater
ial
-
b
ased
p
last
i
c
b
ea
m
of
len
g
th
300
mm,
t
h
e
w
id
t
h
of
35
mm,
a
n
d
th
ic
k
n
ess
of
3
.
5
m
m
.
A
p
p
l
y
i
n
g
th
e
s
a
m
e
f
o
r
c
e
r
esu
lted
in
b
etter
d
ef
o
r
m
atio
n
s
ar
o
u
n
d
25
m
m
.
We
s
elec
ted
th
is
b
ea
m
f
o
r
f
u
r
th
er
an
a
l
y
s
is
as
o
u
r
a
n
ticip
atio
n
f
o
r
th
e
ac
t
u
al
m
o
d
el
w
a
s
to
g
et
20
-
30
mm
d
ef
lectio
n
in
r
esp
o
n
s
e
to
ap
p
lied
f
o
r
ce
as
s
h
o
w
n
in
Fi
g
u
r
e
2.
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u
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A
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al
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in
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3D
M
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To
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ase
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el
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as
s
h
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in
F
i
g
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r
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3.
An
ex
p
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m
e
n
tal
p
r
o
to
t
y
p
e
w
a
s
f
ab
r
icate
d
th
r
o
u
g
h
laser
cu
t
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g
tech
n
o
lo
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p
lex
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la
s
s
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ater
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To
m
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u
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T
h
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o
tio
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p
r
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v
id
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by
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DC
m
o
to
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co
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n
ec
ted
th
r
o
u
g
h
a
b
elt
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p
u
lle
y
d
r
iv
e.
T
h
e
b
elt
is
f
ix
ed
at
b
o
th
en
d
s
of
th
e
ca
r
t
to
p
r
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v
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e
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ec
t
m
o
tio
n
an
d
r
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n
s
t
h
r
o
u
g
h
a
f
r
ee
p
u
lle
y
at
t
h
e
o
th
e
r
en
d
.
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h
e
b
ea
m
is
attac
h
ed
to
th
e
ca
r
t
u
s
in
g
a
n
u
t
an
d
b
o
lt.
Th
e
s
y
s
te
m
s
c
h
e
m
at
ic
is
s
h
o
w
n
in
F
i
g
u
r
e
4
p
r
o
p
o
s
es
th
e
s
u
b
s
y
s
te
m
s
:
2
.
3
.
1
.
Sens
o
rs
T
w
o
s
e
n
s
o
r
s
ar
e
u
s
ed
i
n
t
h
i
s
s
et
u
p
.
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o
ac
h
iev
e
p
o
s
itio
n
f
ee
d
b
ac
k
,
co
n
tr
o
l
a
h
all
s
e
n
s
o
r
-
b
ased
en
co
d
er
is
attac
h
ed
to
t
h
e
m
o
to
r
an
d
u
s
ed
to
m
ea
s
u
r
e
t
h
e
p
o
s
itio
n
in
ter
m
s
o
f
p
u
l
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e
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in
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p
ts
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en
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o
r
th
at
m
ea
s
u
r
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9
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u
ls
es/c
m
.
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o
m
ea
s
u
r
e
th
e
d
ef
le
c
tio
n
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v
ib
r
atio
n
o
f
t
h
e
b
ea
m
a
n
ac
ce
ler
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m
eter
is
attac
h
ed
at
t
h
e
t
ip
o
f
t
h
e
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ea
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w
h
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m
ax
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m
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m
d
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at
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is
o
b
s
er
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s
h
o
w
n
w
i
t
h
t
h
e
f
i
n
ite
ele
m
e
n
t
an
al
y
s
is
to
o
l
in
th
e
p
r
ev
io
u
s
s
ec
tio
n
.
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h
e
ac
ce
ler
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L
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SI
S
In
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ated
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3
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g
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s
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F
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5
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s
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o
r
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ce
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k
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s
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Nich
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n
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n
g
m
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s
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m
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tr
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in
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u
l
s
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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153
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u
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5.
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m
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1
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1
Dif
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6.
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tr
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.
R
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4
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Fig
u
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6.
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m
u
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k
b
lo
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m
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(
x
,
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3
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2
.
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t
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tr
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h
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m
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k
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tr
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a
s
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ev
elo
p
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s
h
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in
F
i
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u
r
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7.
T
h
e
m
ea
s
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b
ea
m
d
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lectio
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in
ter
m
s
of
a
cc
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is
u
s
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to
co
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te
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r
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a
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co
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ased
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ee
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p
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2586
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0
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No
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2
,
J
u
n
e
2
0
2
1
:
149
–
1
60
154
Fig
u
r
e
7.
Si
m
u
li
n
k
b
lo
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d
ia
g
r
a
m
f
o
r
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r
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n
(
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ce
ler
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(
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)
f
ee
d
b
ac
k
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n
tr
o
l
3
.
3
.
P
a
ra
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To
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h
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ig
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as
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h
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w
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in
Fig
u
r
e
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co
n
tr
o
l
in
p
u
t
s
can
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co
n
f
ig
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ed
to
th
e
s
y
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te
m
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v
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ce
tr
ac
k
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an
d
d
is
tu
r
b
an
ce
r
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.
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h
e
PD
-
g
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o
m
p
u
ted
f
r
o
m
t
h
e
p
o
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itio
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ac
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P
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ted
f
r
o
m
t
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ee
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ac
k
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h
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eth
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d
o
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r
o
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f
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ti
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o
w
n
by
r
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lt
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in
t
h
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s
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n
.
Fig
u
r
e
8.
Si
m
u
li
n
k
b
lo
ck
d
ia
g
r
a
m
f
o
r
p
ar
allel
co
n
tr
o
l
w
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p
o
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itio
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d
v
ib
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f
ee
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b
ac
k
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ain
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3
.
3
.
1
Dis
t
urba
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re
j
ec
t
io
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Dis
t
u
r
b
an
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ej
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tio
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as
o
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ar
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tr
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ly
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p
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200
as
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w
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in
Fig
u
r
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T
h
is
ap
p
lies
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e
d
i
s
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u
r
b
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ce
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th
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ca
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t
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n
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p
ass
in
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p
o
s
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t
in
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o
th
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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ce
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1
.
P
o
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lo
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def
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m
re
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po
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e
a
n
d
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ent
inp
ut
w
a
v
es
Fig
u
r
e
10
s
h
o
w
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th
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r
esp
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o
r
th
e
p
o
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itio
n
co
n
tr
o
l
f
ee
d
b
ac
k
.
Fig
u
r
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10
(
a)
illu
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ates
th
e
r
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er
en
ce
tr
ac
k
i
n
g
ac
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ie
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Fi
g
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10
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Fi
g
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10
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h
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ated
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Fig
u
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10.
Po
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f
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d
b
ac
k
c
o
n
tr
o
l
:
(
a)
r
ef
er
en
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tr
ac
k
,
(
b
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tep
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(
c)
co
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tr
o
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p
u
t f
o
r
r
ef
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tr
ac
k
in
g
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
:
2
7
2
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z
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tr
o
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ib
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m
a
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to
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late
co
n
t
r
o
ller
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ain
f
o
r
th
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ac
tu
ato
r
in
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u
t.
(
a)
(
b
)
(
c)
Fig
u
r
e
11.
Op
en
-
lo
o
p
b
ea
m
d
e
f
lectio
n
(
x
,
y,
z)
r
esp
o
n
s
e
in
te
r
m
s
of
ac
ce
ler
atio
n
:
(
a)
w
it
h
t
h
e
g
r
a
v
it
y
e
f
f
ec
t
an
d
(
b
)
w
ith
o
u
t
th
e
g
r
av
it
y
e
f
f
ec
t
in
ter
m
s
of
ac
ce
ler
atio
n
,
a
n
d
(
c)
th
e
zo
o
m
ed
v
ie
w
4
.
1
.
1
.
Sine
w
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v
e
Fig
u
r
e
12
s
h
o
w
s
t
h
e
s
y
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te
m
r
esp
o
n
s
e
w
h
e
n
a
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i
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e
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v
e
is
s
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h
e
i
n
p
u
t
s
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g
n
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l
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o
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ac
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g
.
Fi
g
u
r
e
12
(
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s
h
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w
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k
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e
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Fig
u
r
e
12
(
b
)
d
em
o
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tr
ates
th
e
m
ea
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r
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ac
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it
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er
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lo
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en
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r
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e
n
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n
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m
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Fig
u
r
e
12
(
c)
s
h
o
w
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t
h
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co
n
tr
o
l
in
p
u
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g
e
n
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ated
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tr
o
ller
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e
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to
tr
ac
k
th
e
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e
w
a
v
e,
it
can
be
co
n
clu
d
ed
th
at
th
e
co
n
tr
o
l
in
p
u
t
r
eq
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is
m
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r
e
f
o
r
less
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r
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en
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a
n
th
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eq
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en
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y
f
o
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th
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a
m
e
a
m
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lit
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e.
(
a)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
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2586
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a
r
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co
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(
c)
Fig
u
r
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12.
Sin
e
w
av
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(
a)
r
ef
er
en
ce
tr
ac
k
i
n
g
an
d
(
b
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s
in
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w
av
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d
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e,
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(
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tr
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l
in
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u
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4
.
1
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2
.
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ua
re
w
a
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e
Fig
u
r
e
13
d
em
o
n
s
tr
ate
s
th
e
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en
d
of
r
ef
er
en
ce
tr
ac
k
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a)
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lectio
n
of
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m
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-
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n
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e
alo
n
g
t
h
e
z
-
a
x
is
(
b
)
,
an
d
(
c)
t
h
e
co
n
tr
o
l
in
p
u
t
f
o
r
th
e
s
q
u
ar
e
w
a
v
e.
T
h
e
tr
en
d
o
b
s
er
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is
of
h
i
g
h
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a
m
p
li
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e
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h
e
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n
e
o
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s
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h
a
s
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e
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t
h
i
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s
e
th
e
m
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t
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a
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th
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f
o
r
m
er
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(
a)
(
b
)
(
c)
Fig
u
r
e
13.
Sq
u
ar
e
w
a
v
e
:
(
a)
r
ef
er
en
ce
tr
ac
k
in
g
a
n
d
(
b
)
s
q
u
ar
e
w
a
v
e
d
ef
lectio
n
(
z)
r
esp
o
n
s
e,
an
d
(
c)
th
e
co
n
tr
o
l
in
p
u
t
4
.
1
.
3
.
T
ria
ng
le
w
a
v
e
Fig
u
r
e
14
d
e
m
o
n
s
tr
ates
(
a)
t
h
e
tr
e
n
d
of
r
e
f
er
en
ce
tr
ac
k
i
n
g
,
(
b
)
th
e
d
e
f
lectio
n
at
tip
o
p
en
-
lo
o
p
r
esp
o
n
s
e
alo
n
g
t
h
e
z
-
a
x
i
s
,
an
d
(c
)
th
e
co
n
tr
o
l
in
p
u
t
f
o
r
th
e
tr
ian
g
le
w
a
v
e.
T
h
e
tr
en
d
o
b
s
er
v
ed
is
of
h
i
g
h
er
a
m
p
lit
u
d
e
an
d
w
it
h
co
n
ti
n
u
o
u
s
v
ar
iatio
n
th
a
n
t
h
e
o
n
e
o
b
s
er
v
ed
w
ith
th
e
s
in
e
a
n
d
s
q
u
ar
e
w
a
v
e,
th
is
is
b
ec
au
s
e
th
e
m
o
tio
n
in
h
er
it
s
s
tatio
n
ar
y
p
o
in
ts
w
h
ich
i
n
d
u
ce
m
o
r
e
v
ib
r
atio
n
.
(
a)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2586
I
A
E
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
1
0
,
No
.
2
,
J
u
n
e
2
0
2
1
:
149
–
1
60
158
(
b
)
(
c)
Fig
u
r
e
14.
T
r
ian
g
le
w
av
e
:
(
a)
r
ef
er
en
ce
tr
ac
k
i
n
g
an
d
(
b
)
d
ef
lectio
n
(
z)
r
esp
o
n
s
e,
an
d
(
c)
th
e
co
n
tr
o
l in
p
u
t
4
.
2
.
Vibra
t
io
n
P
a
nd
PD
co
nt
ro
l
Af
ter
o
b
s
er
v
i
n
g
t
h
e
o
p
en
-
lo
o
p
d
ef
lectio
n
r
e
s
p
o
n
s
e
s
f
r
o
m
v
ar
io
u
s
i
n
p
u
t
s
i
g
n
als,
t
h
e
Z
ie
g
l
er
Nich
o
ls
tu
n
in
g
m
et
h
o
d
w
as
ad
o
p
ted
to
iter
ate
f
o
r
th
e
b
es
t
g
ain
v
al
u
e
s
.
First
P
-
g
a
in
w
as
s
elec
ted
to
ch
ec
k
th
e
r
esp
o
n
s
e
an
d
th
e
n
later
th
e
PD
-
g
a
in
.
T
h
e
d
if
f
er
en
ce
in
v
ib
r
atio
n
/d
e
f
l
ec
tio
n
tr
en
d
is
s
h
o
w
n
in
Fi
g
u
r
e
15
(
a)
f
o
r
o
p
en
-
lo
o
p
w
it
h
4
s
of
s
ett
lin
g
t
i
m
e,
P
clo
s
ed
-
lo
o
p
w
it
h
2
s
of
s
ettli
n
g
ti
m
e,
an
d
PD
clo
s
ed
-
lo
o
p
w
it
h
1
.
6
s
of
s
ettli
n
g
ti
m
e.
Fig
u
r
e
15
(
b
)
s
h
o
w
s
t
h
e
co
n
tr
o
l
in
p
u
t
f
o
r
P
a
n
d
PD
c
o
n
tr
o
ller
s
.
It
can
be
s
ee
n
th
at
th
e
co
n
tr
o
l
in
p
u
t
r
eq
u
ir
ed
f
o
r
th
e
PD
co
n
tr
o
ller
is
m
o
r
e
th
a
n
th
e
P
co
n
tr
o
ller
.
T
h
er
ef
o
r
e,
to
c
o
n
s
id
er
th
e
s
ettli
n
g
ti
m
e
an
d
co
n
tr
o
l
in
p
u
t
P
co
n
tr
o
ller
w
a
s
ad
o
p
ted
to
d
esig
n
an
e
f
f
icie
n
t
co
n
tr
o
ller
.
(
a)
(
b
)
Fig
u
r
e
15.
Vib
r
atio
n
co
n
tr
o
l
th
r
o
u
g
h
ac
ce
ler
atio
n
f
ee
d
b
ac
k
in
z
(
alo
n
g
w
i
th
t
h
e
m
o
tio
n
)
:
(
a)
ac
ce
ler
atio
n
(
z)
clo
s
ed
lo
o
p
r
esp
o
n
s
e,
(
b
)
co
n
tr
ol
in
p
u
t
4
.
3
.
P
a
ra
llel
Co
ntr
o
l
Fig
u
r
e
16
s
h
o
w
s
th
e
r
esp
o
n
s
es
f
o
r
p
o
s
itio
n
an
d
v
ib
r
atio
n
co
n
tr
o
l
lo
o
p
u
s
in
g
P
an
d
PD
g
ain
s
r
esp
ec
tiv
el
y
,
in
te
g
r
ated
u
s
i
n
g
a
p
ar
allel
co
n
tr
o
l
lo
o
p
.
Fig
u
r
e
16
(
a)
d
em
o
n
s
tr
ates
t
h
e
r
ef
er
en
ce
tr
ac
k
in
g
.
Fig
u
r
e
1
6
(
b
)
illu
s
tr
ates
th
e
s
te
p
r
esp
o
n
s
e
of
th
e
s
y
s
te
m
w
i
th
a
s
tead
y
-
s
tate
er
r
o
r
of
0
.
1
4
%,
o
v
er
s
h
o
o
t
of
6
.
4
%,
an
d
th
e
s
ettl
in
g
t
i
m
e
of
1
.
7
s.
T
h
e
o
v
er
s
h
o
o
t
is
g
r
ea
ter
t
h
an
th
e
r
esp
o
n
s
e
w
it
h
no
ac
ce
ler
atio
n
f
ee
d
b
ac
k
,
h
o
w
ev
er
,
th
e
o
t
h
er
p
ar
a
m
eter
s
ar
e
less
er
.
T
h
e
o
v
er
s
h
o
o
t
s
ig
n
if
ies
th
e
i
n
cr
ea
s
ed
in
s
tab
ilit
y
r
eq
u
ir
ed
to
s
tab
ilize
th
e
s
y
s
te
m
at
t
h
e
en
d
of
t
h
e
m
o
tio
n
.
F
ig
u
r
e
16
(
c)
s
h
o
w
s
t
h
e
d
ef
lec
tio
n
at
th
e
tip
of
b
ea
m
r
esp
o
n
s
es
w
i
th
o
u
t
an
d
w
it
h
f
ee
d
b
ac
k
.
Fi
g
u
r
e
16
(
d
)
d
em
o
n
s
tr
ates
th
e
co
n
tr
o
l
i
n
p
u
t
n
ee
d
ed
to
s
tab
il
ize
t
h
e
s
y
s
te
m
;
it
ca
n
be
s
ee
n
th
at
t
h
e
co
n
tr
o
l
in
p
u
t
f
o
r
p
ar
allel
lo
o
p
r
eq
u
ir
es
co
n
s
tan
t
i
n
p
u
t
to
m
in
i
m
ize
t
h
e
v
ib
r
atio
n
d
u
r
in
g
t
h
e
m
o
tio
n
.
(
a)
(
b
)
Evaluation Warning : The document was created with Spire.PDF for Python.