1

5. CAMS
A Cam is an irregular-shaped mechanical member used for
transmitting a desired motion to another element, known as follower, by
direct contact
The cam and follower have line contact and constitute a higher pair.
A cam may:
stationary
translate, or
rotate
while the follower:
translate ,or
rotate
usually rotate at a constant angular speed
Provide a means of achieving any desired
follower motion
are used in many machines
Inlet and exhaust valves of internal combustion engines
Machine tools, mechanical computers, instruments, etc

2
5.1. Classification of Followers
Followers may be classified based on the following:
1. Construction of the surface of contact
2. Types of follower motion
3. Location of line of motion with respect to center of cam
5.1.1 Classification of Followers Based on Surface of Contact
a. A knife-edge follower:
a sharp, knife-edge is in contact with the cam
Produce excessive cam wear
They are of little practical use
b. A roller follower:
A cylindrical roller is in contact with the cam
At low speeds pure rolling contact is possible but at high speeds some
sliding can occur
Reduce wear of the cam surface at high peripheral speeds

3
c. A flat-faced follower:
Flat face is in contact with the cam
Cause high surface stress
To reduce the surface stress the flat face is modified to a spherical
surface with a large radius





4
5.1.2 . Classification of followers based on types of follower
motion
a) Translatory followers : as the cam rotates the follower
reciprocates in guides.
b) Oscillatory follower : for a uniform rotary motion of the cam,
the follower oscillates through a certain angle.









5
5.1.3. Classification of followers based on follower line of
motion
a) Radial follower : translate along an axis passing through the
cam center of rotation
b) Off-set follower : the axis of follower movement is displaced
from the cam center of rotation
c) Oscillating follower : oscillate about the axis of the follower
through a certain angle.
5.2. CLASSIFICATION OF CAMS
Cams are classified based on:
a) Cam shape : as disc cams, translation cams, cylindrical cams,
globoid cams, etc.
b) Follower motion : eg. Dwell-rise-dwell-return, dwell-rise-return,
etc.
c) Cam constraint : as spring or pre-loaded cams and positive
return cams.
In pre-loaded cams the follower is held in contact by an external
force provided by spring, gravity, etc.
In positive return cams no external force is required to keep the
cam and the follower in contact.

6
5.3. GRAPHICAL DESIGN OF CAM CURVES
5.3.1 Disc cam with a flat-faced radial follower:
The cam rotates at a constant angular velocity
The follower moves upwards a distance of a specified rise.
The return motion is assumed to be through the same
displacement
To determine the cam contour graphically, the mechanism is
inverted by holding the cam stationary and making the follower
move around it (relative motion is not affected).

Procedures of construction
i. Rotate the follower about the cam center in opposite direction to
cam rotation
ii. Move the follower radially outward (or inward in case of return
motion) the correct amount for each division of cam rotation.
iii. Draw the cam surface tangent to the polygon that is formed by the
various position of the follower.

7
8
5.3.2 . Disc cam with a radial roller follower
The center of the roller moves with a prescribed motion.
Same procedure of construction as for a cam with a flat-faced
follower, with the exception that the cam contour is drawn tangent
to the various positions of the roller of the follower





9
5.3.3. Disc cam with oscillating follower
The follower is rotated about the cam center and at the same time
it rotates about its center through the required displacement angle
for each position.
Procedure of construction
The centers of the follower rotation are indicated by 0, 1, 2,, 11
With this points as centers and radius 00 arcs are drawn to
intersect with other curves drawn with O as center and the
required follower displacement
The intersection of this arcs give points 0, 1, 2, , 11.
Drawing tangent lines through these points to the circles drawn
with centers 0, 1, 2, , 11, determines the polygon which
circumscribes the cam
From the polygon the cam profile can be drawn by passing a
curve tangent to the sides of the polygon. See figure below.
10

11
5.3.4. Positive Return Cams
No external force is required to keep the cam and follower in
contact.
The displacement for the rise and return motions must be the
same and in opposite directions.
As can be noted from the figure below, the width b is equal to
the diameter of the base plus the total rise of the follower.
Points 1, 2, .., 12 are located on the flat face in such a way
that lines formed by diametrically opposite points are of equal
length,
i.e. 17 = 28 = = 612 = b.
this condition provides a return motion which is the same as the
outward motion.
Construction of a positive-return cam follows the same
procedure as cam construction for disc cams with flat-faced
radial followers.

12
13
5.4. NOMENCLATURE
Base Circle :
is the smallest circle that can be drawn about the center of cam
rotation and through the cam surface.
Its size determines the size of the cam.
Trace Point :
A theoretical point on the cam follower which corresponds to the
point of a knife-edge follower
It is used to generate the pitch curve.
In a roller follower, the center of the roller represents the trace
point.
Pressure Angle :
Is the angle b/n the direction of follower motion & a normal to the
pitch curve.
Indicates that the force existing b/n the cam and follower are not in
the direction of the follower motion
In which case, if the pressure angle is too large, the translating
follower may jam in its bearings.

14
Important factor in determining the size of the cam.
a small cam has a higher pressure angle and is steeper than a
large cam with a smaller pressure angle.
large cam is undesirable b/c it uses more space and may produce
unbalance
For good performance of the cam, the pressure angle should not
exceed 30
o
.
For a given displacement of the follower, the pressure angle can be
reduced by the following methods:
increase the size of the base circle
Increase the cam angle for a given follower displacement
Change amount of follower offset.
Pitch point : is a point on the pitch curve which designates the
location of maximum pressure angle.
Pitch Circle : The circle about the center of cam rotation and through
the pitch point.
Prime Circle : is the smallest circle about the center of cam rotation
and through the pitch curve.
Lift or Rise : is the maximum travel of the follower from the lowest to
the top most position.
15
16
5.5. Displacement Diagram
Has an abscissa of the cam rotation angle, and the ordinate is the
follower travel.
The displacement diagram identifies the following motion
characteristics.
The rise : motion of the follower away from the cam center,
The dwell : those periods during which the follower is at rest, and
The return : motion of the follower toward the cam center.

5.6. TYPES OF FOLLOWER MOTION
The first step in the design of a cam curve consists in constructing
the associated displacement diagram.
Some of the follower standard motions are
Uniform, modified motion, simple harmonic, parabolic and
cycloidal.
The cams rises, dwells and returns must suitably be distributed
around the periphery of the cam.
The periods of these cams motions occupy the time of one
rotation of the cam.
17
5.6.1 . Uniform Motion
A follower has uniform motion when its velocity is constant.
The follower moves through the same distance for each equal
interval of time or cam rotation angle.
Simplest possible cam motion, but shock results from the changes
in velocity from zero to some finite value or vise-versa.
Infinite accelerations and decelerations occur at the beginning and
end of the rise and return motions.



18
Uniform motion can be represented by a simple equation like:


Where y = follower displacement corresponding to the cam angle u;
c = constant to be determined from the boundary conditions.

If d = the total distance through which the follower is to rise
| = the angle in radians through which the cam is to rotate to
produce the required rise.
Then




the equation that represents the follower displacement is:



this is an equation of a straight line or uniform motion.

) 1 . 5 ( u c y =
) 3 . 5 (
) 2 . 5 (
|
|
d
c
or
c d
=
=
) 4 . 5 ( u
|
d
y =
19
The velocity and acceleration are obtained by differentiation.





Due to the infinite acceleration b/n the dwell and rise periods, the
force transmitted are very large and shock and other secondary
effects result.
) 6 . 5 ( 0
) 5 . 5 (
2
2
= = =
= = =
dt
d d
dt
y d
a
d
dt
d d
dt
dy
v
e
|
e
|
u
|
20
5.6.2 . Modified Uniform Motion
The uniform-motion curve is modified to reduce the shock at the
beginning and end of the motion.
This is done by using circular arcs at the beginning and end of
the motion which are tangent to the dwell and rise lines.












Poor acceleration characteristics limits the use of this motion to low
cam speeds.
21
5.6.3. Parabolic Motion:
It is a constant acceleration motion.
For a given cam speed and follower rise, parabolic motion has the
lowest or maximum acceleration.
It is recommended for low or moderate speeds.
To construct the displacement diagram:
Use even number of time divisions with least number of division equal
to six.
Through the origin of the displacement diagram, construct any line at
any angle to the y-axis or displacement axis.
Divide this line into parts proportional to:
1, 3, 5, 5, 3, 1 for six divisions
1, 3, 5, 7, 7, 5, 3, 1 for eight divisions, and so on.
Connect the last division with the point marked on the displacement
axis corresponding to the rise.
Through the other divisions draw lines parallel to this line to obtain the
follower displacement for each division of cam rotation.
22
23
The parabolic motion of the follower can be represented by the
equation:

This equation is valid only up to the inflation point where the follower
rise is d/2 and the cam angle is |/2.






The velocity and the acceleration of the follower is respectively:



) 7 . 5 (
2
u c y =
) 9 . 5 ( 2
) 8 . 5 (
2
2
2
|
|
.
|

\
|
=
=
|
u
|
d y
and
d
c
) 11 . 5 (
4
) 10 . 5 (
4 4
2
2
2
2
2 2
|
e
u
|
e u
u
|
d
dt
y d
a
d
dt
d d
dt
dy
v
= =
= = =
24
The velocity is maximum for u=|/2 and is given by



For the second half of the motion the displacement equation can
be given as:


Where c
1
, c
2
, and c
3
are constants to be evaluated from the boundary
conditions:
The boundary conditions are:
when u = |, y = d which yields


when u = |, v= 0 which yields



) 12 . 5 (
2
2
4
2
max
|
e |
|
e d d
v = =
) 13 . 5 (
2
3 2 1
u u c c c y + + =
) 14 . 5 (
2
3 2 1
d c c c = + + | |
) 15 . 5 ( 0 2
3 2
= + e| e c c
25
and, when u = |/2, v=v
max


solving equation (14), (15), and (16) for the unknowns
simultaneously,





Substituting for the constants, the displacement equation becomes

) 16 . 5 (
2
2
2
3 2
|
e |
e e
d
c c = +
2
3
2
1
2
4
|
|
d
c
d
c
d c
=
=
=
) 18 . 5 ( 1 2 1
,
) 18 . 5 (
2 4
2
2
2
b d y
or
a
d d
d y
(
(

|
|
.
|

\
|
=
+ =
|
u
u
|
u
|
26
The velocity and acceleration equations, respectively, are given by






Here we note that jerk, which is proportional to the rate of change
of force (acceleration), is infinite at the beginning and end of rise
and at the inflation point.

) 20 . 5 (
4
) 19 . 5 ( 1
4
2
2
2
2
|
e
|
u
|
e
d
dt
y d
a
d
dt
dy
v
= =
|
|
.
|

\
|
= =
27
5.6.4. Simple Harmonic Motion
Obtained graphically as shown in the figure below.
28
The simple harmonic motion of follower can be represented by the
equation:

The constants C
1
and C
2
can be obtained from the boundary
conditions:
y = 0 for | = 0 and
y = d for | = t.
Applying this conditions. We get



Solving for the constants




) 21 . 5 ( cos
2 1
| C C y =
) 23 . 5 ( cos
) 22 . 5 ( 0 0 cos
2 1
2 1
d C C
C C
=
=
t
2
2 1
d
C C = =
29
the equation of the follower displacement is given by



where the angular velocity of the rotational radius, e
r
is taken to be
constant.
To relate the angular velocity of the rotational radius e
r
to the cam
angular velocity e
,
N.B. when | = t, the corresponding cam rotation is |


Which yields:

( ) ( ) ) 24 . 5 ( cos 1
2
cos 1
2
t
d d
y
r
e | = =
e
|
e
t
= = t or t
r
,
) 26 . 5 (
) 25 . 5 (
e
|
t
e
e
|
e
t
=
=
r
r
and
30
Substituting for e
r
, the displacement equation is



But the cam angle u = et. Hence the displacement equation
becomes



The velocity and acceleration are given by time derivatives of
displacement.

) 27 . 5 ( cos 1
2
|
|
.
|

\
|
= t
d
y e
|
t
) 28 . 5 ( cos 1
2
|
|
.
|

\
|
= u
|
t d
y
) 30 . 5 ( cos
2
) 29 . 5 ( sin
2
2
|
tu
|
te
|
tu
|
e
t
|
|
.
|

\
|
=
=
d
a
d
v
31
5.6.5. Cycloidal Motion
Often employed to avoid infinite jerk between rise, return and dwell
motions.
Motion which has a zero acceleration at the beginning and end of
the rise.
its displacement diagram is obtained from cycloid, which is defined
as the locus of a point on a circle that rolls on a straight line.
for cam rotation angle |, the displacement of the cycloidal motion
is the rise d, which must be equal to the circumference of the
rolling circle.


From which the radius of the rolling circle is obtained to be




) 31 . 5 ( 2 d r = t
) 32 . 5 (
2t
d
r =
32
The construction of the displacement diagram for the cycloidal
motion is as shown in the figure (a) below.

33
It can be shown that the ordinate of a point P on the displacement
diagram is:

Since the rolling circle makes one revolution for the rise (return) d
of the follower, the displacement of the rotational radius can be
related to the cam angular displacement:


The displacement y of the follower with cycloidal motion is then
given by



Substituting for r,

( ) ) 33 . 5 ( sin| | = r y
) 34 . 5 ( 2
|
u
t | =
) 35 . 5 ( ) 2 sin( 2
|
|
.
|

\
|
=
|
u
t
|
u
t r y
) 36 . 5 ( ) 2 sin(
2
1
|
|
.
|

\
|
=
|
u
t
t |
u
d y
34
The velocity and acceleration of the cycloidal motion are then:

) 38 . 5 ( )
2
sin( 2
) 37 . 5 ( )
2
cos( 1
2
u
|
t
|
e
t
u
|
t
|
e
|
|
.
|

\
|
=
|
|
.
|

\
|
=
d a
d
v
35
5.6.6. Advanced CAM Curves
for high-speed cams the selection of the motion of the cam follower
must not be based only on the displacement but also on forces
acting on the system as a result of the motion selected.
Dynamic loading produces impact loads, which may cause:
Structural damage
Undesirable vibrations
Jerk is an indication of the impact characteristics of the loading;
Impact might have jerk equal to infinity
This may be improved by using:
Cycloidal motion, or
Combining portions of several basic curves, which can give low
peak acceleration (force).
When basic curves are combined, the displacement curve must be
tangent at the junction and acceleration should be equal.
By so selecting the acceleration at the junction, infinite jerk is
avoided.
At junctions the velocity also must match.

36
Another method of eliminating the deficiencies of basic curves is
to use a polynomial curve. The polynomial equation is:


where y is the follower rise, u is the cam angle as before, and C
0
, C
1
,
C
2
, , C
n
are constants, which depend on the boundary
conditions.

As an example lets select the following boundary conditions.
for




) 39 . 5 ( ...
3
3
2
2 1 0
n
n
C C C C C y u u u u + + + + + =
0 , 0 ,
0 , 0 , 0 0
= = = =
= = = =
y y d y
y y y


| u
u
37
For this particular case, the polynomial equation to be used is:


The first and second derivatives are:


) (
5
5
4
4
3
3
2
2 1 0
a C C C C C C y u u u u u + + + + + =
) ( 20 12 6 2
) ( 5 4 3 2
2
3
5
2
2
4
2
3
2
2
4
5
3
4
2
3 2 1
c
dt
d
C
dt
d
C
dt
d
C
dt
d
C y
b
dt
d
C
dt
d
C
dt
d
C
dt
d
C
dt
d
C y
|
.
|

\
|
+
|
.
|

\
|
+
|
.
|

\
|
+
|
.
|

\
|
=
+ + + + =
u
u
u
u
u
u
u
u
u
u
u
u
u
u
u
u

) ( 20 12 6 2
) ( 5 4 3 2
3 2
5
2 2
4
2
3
2
2
4
5
3
4
2
3 2 1
e C C C C y
d C C C C C y
or
u e u e u e e
eu eu eu eu e
+ + + =
+ + + + =

38
Substituting the boundary conditions in equations (a), (d) and (e)
and solving for the constants, we obtain




The equations of motion are obtained by substituting for the
constants.

5
5
4
4
3
3
2 1 0
6
,
15
,
10
, 0 , 0 , 0
| | |
d
C
d
C
d
C
C C C
= = =
= = =
) (
120 180 60
) (
30 60 30
) (
6 15 10
3
5
2
2
4
2
3
2
4
5
3
4
2
3
5
5
4
4
3
3
h
d d d
y
g
d d d
y
f
d d d
y
u
|
e
u
|
e
u
|
e
u
|
e
u
|
e
u
|
e
u
|
u
|
u
|
+ =
+ =
+ =

39
This is called 3-4-5 polynomial, because of the remaining terms in
the follower displacement equation.
This type of cam will begin and end its motion slower than other
types.
40
5.6.7. Nonstandard Cam Curves
Motion characteristics other than the simple dwell-rise-return can
be obtained by combining various curves like the following analytic
functions. (see figures given separately).

a. Harmonic and half harmonic
b. Cycloidal and half cycloidal, and
c. Eighth-power polynomial

These can be used to generate the required motion of the follower
and are developed for cam design to avoid infinite jerk.

It should be noted that in using these functions,
the rise or return cam angle | should start at the position where the
cam rotation angle u = 0, and
matching of angles should be carefully handled.
41
By observing the velocity characteristics of the above mentioned
functions the following remarks can be made.
i. Harmonic motion characteristics can be applied with or without any
dwell after the rise or return motion.
ii. Cycloidal motion characteristics can also be applied in similar manner
to harmonic motion characteristics.
iii. The eighth-power polynomial motion is good for rise-dwell-return
motion with a dwell after the rise motion because it provides zero
velocity condition after the rise and avoid infinite jerk.









42
5.7. ANALYTICAL CAM DESIGN
Graphical method of cam design is limited to slow-speed
applications
The analytical design approach is adapted for high speed cams.

5.7.1. Disc Cam with Radial Flat-Faced Follower
In analytical method of cam design, three valuable characteristics of
the cam are determined.
i. Parametric equation of the cam contour,
ii. Minimum radius of the cam to avoid cusps or sharp points, and
iii. Location of point of contact which gives the length of the follower face.
Consider a cam with flat-faced radial follower, in which the cam
rotates with a constant angular velocity.
The point of contact b/n the follower and the cam is at (x, y), which
is at a distance of l from the radial center-line of follower.
Then the displacement of the follower from the origin is given by


where C = minimum radius of the cam, and
f(u) = the desired motion of the follower, which is a function
of the angular displacement of the cam angle.

) 40 . 5 ( ) (u f C r + =
43










44
From geometry of the cam and follower arrangement, the radial
displacement is


And the length of the contact is given to be


The right side of equation (5.42) is the derivative with respect to u
of equation (5.41).


And substituting for r,


The cam contour is determined by solving equation (5.41) and
(5.42) simultaneously from which we obtain
) 43 . 5 (
u d
dr
l =
) 44 . 5 ( ) ( )) ( ( u u
u
f f c
d
d
l
'
= + =
( )
( )
) 45 . 5 (
cos ) ( sin ) (
sin ) ( cos ) (
)
`

'
+ + =
'
+ =
u u u u
u u u u
f f C y
f f C x
) 41 . 5 ( cos sin u u x y r + =
) 42 . 5 ( sin cos u u x y l =
45
Minimum Radius c to Avoid Cusps
A cusp occurs when both dx/du and dy/du are equal to zero.
a point is formed on the cam as can be seen in the figure below.
At this point, for the follower rotation by du, the point of contact (x,
y) does not change; i.e.


Differentiating equation (5.45)




Equation (5.47) can become zero simultaneously if


( )
( )
) 47 . 5 (
cos ) ( ) (
sin ) ( ) (

' '
+ + =
' '
+ + =
u u u
u
u u u
u
f f C
d
dy
f f C
d
dx
) 48 . 5 ( 0 ) ( ) ( =
' '
+ + u u f f C
) 46 . 5 ( 0 = =
u u d
dy
d
dx
46













47

to avoid cusps, the condition that must be satisfied is





If the sum is positive, C becomes negative and does
not have any physical significance.
In this case the minimum diameter of the cam is determined from
the hub of the cam.

5.7.2. Disc Cam with Radial Roller Follower
The displacement of the center of the follower from the cam center
is given by


where R
o
= minimum radius of the pitch circle of the cam;
f(u) = radial motion of the follower as a function of the cam angle.
Let = radius of curvature of the pitch surface

c
= radius of curvature of the cam surface
R
r
= radius of the roller.
) 51 . 5 ( ) (u f R r
o
+ =
( ) ) ( ) ( u u f f ' ' +
( ) ) 50 . 5 ( ) ( ) ( u u f f C
or
' '
+ >
) 49 . 5 ( 0 ) ( ) ( >
' '
+ + u u f f C
48
49
Keeping constant, if R
r
is increased,
c
decreases.
If R
r
is increased until R
r
= ,
c
equals zero and the cam
becomes pointed.
So to prevent pointed cams, R
r
must be less than
min
where
min

is the minimum value of over a particular segment of profile being
considered.
The radius of curvature at a point, expressed in polar coordinates
(r,u), is given by:




where r(u) and the first two derivatives are continuous.
From equation (5.52)
min
can be determined that prevent pointed
cam surface (but complex to solve)

min
is determined from curves developed for the ratio
min
/R
o
for
various L/R
o
values, where L is follower rise.
) 52 . 5 (
2
2
2
2
2
2
3
2
2
|
|
.
|

\
|

|
.
|

\
|
+
|
.
|

\
|
+
=
u u
u

d
r d
r
d
dr
r
d
dr
r
50
Harmonic motion
51
Harmonic motion
52
Cycloidal motion
53
Cycloidal motion
54
Eighth-power polynomial
55
Eighth-power polynomial
56
5.7.3 Maximum Pressure Angle

Determination of the
maximum pressure angle is
often difficult because of the
algebraic manipulations
involved.
Kloomok and Maffley have
developed a monogram, for
determining the maximum
pressure angle as a function
of the cam angle and L/R
o

ratio for harmonic, cycloidal
and eighth-power motions.
(see the figure above)

57
5.8.Tangent Cam with
Reciprocating Roller Follower

A cam in which the flanks are
straight and tangential to the
base and nose circles is
known as a tangential Cam.
This type of cams are used in
engine cam shafts to operate
the inlet and exhaust valves.
58
5.8.1. Velocity and Acceleration Analysis of Tangent Cams
a) When the Roller is in Contact with the Straight Flanks.
The figure on the slid above shows the roller having contact with
the straight flank.
In its lowest position, the roller center lies at B.
When the cam has rotated through the angle u, the center of the
roller moves to C.
i.e. for the cam angle u, the follower rise from its lowest position is
given by BC.
From the figure it can be observed that OB = OG.



) 55 . 5 ( 1
cos
1
cos
) 54 . 5 (
cos
) 53 . 5 (
|
.
|

\
|
= =
=
=
u u
u
OG OG
OG
y
OG
OC
But
OG OC y
59
Since OG = OE + EG, where OE = r
2
, the radius of the base circle,
and EG = r
1
, radius of the roller,





The velocity of the follower is obtained by differentiating equation
(5.57) with respect to time:



) 57 . 5 ( 1
cos
1
1
cos
1
cos
) 56 . 5 (
2 1
|
.
|

\
|
=
|
.
|

\
|
= =
= + =
u u u
o
o
R OG OG
OG
y
R r r OG
) 59 . 5 (
cos
sin
) 58 . 5 ( 1
cos
1
2
|
.
|

\
|
=
)
`

|
.
|

\
|
= =
u
u
e
u
o
o
R v
or
R
dt
d
y v
60
The acceleration of the follower is given by







b) When the Roller is in Contact with the Nose.
A roller follower in contact with nose is as shown in the figure
below.
B is the center of the roller when it is in the top-most position.
When the cam turns through an angle u, the displacement of the
roller, measured from the top position of the roller, is given by


) 61 . 5 (
cos
cos 2
) 60 . 5 (
cos
sin
3
2
2
2
|
|
.
|

\
|

=
|
.
|

\
|
= = =
u
u
e
u
u
e
o
o
R a
or
R
dt
d
y
dt
dv
a
) 62 . 5 ( OC OB BC y = =
61
62
But, OC =OE + EC,
the displacement of the follower is


N.B. that CK = L , OK = r


Again from the above figure


From which we obtain



) 63 . 5 ( ) cos cos ( ) ( | u CK OK OB EC OE OB y + = + =
) 64 . 5 ( ) cos cos ( ) ( | u L r OB EC OE OB y + = + =
) 65 . 5 ( sin sin u | r L EK = =
( ) ) 67 . 5 ( sin cos
) 66 . 5 ( sin ) cos 1 ( sin
2 2 2
2 2 2 2 2 2
u |
u | |
r L L
or
r L L
=
= =
63
Substituting the value of L cos|, we get the displacement of the
follower to be



Differentiating equation (5.68) we obtain the velocity and
acceleration equations, respectively,









( ) ) 68 . 5 ( sin 1 1 cos 1
2
2
|
|
.
|

\
|
|
.
|

\
|
+ = u u
L
r
L r y
) 70 . 5 (
sin 1
sin ) 2 cos(
cos
) 69 . 5 (
sin 1 2
) 2 sin(
sin
2
3
2
2
4 3 2
2
2
|
|
|
|
|
|
|
.
|

\
|

|
|
.
|

\
|
|
.
|

\
|

+
+ =
|
|
|
|
|
.
|

\
|
|
.
|

\
|

+ =
u
u u
u e
u
u
u e
L
r
L
r rL
r a
L
r
L
r
r v
64