3. Three fundamental rules

3.1 Incidence of d0

Of the proposed calculations, the first is a set of 3 equations describing the torques exerted by the propeller on the pod's 3 axes:

\begin{array}{l} τ_{m} = τ_{res} + I_{SH} θ \\ τ_{y} = m_{H} g d_{0} c_{α} \\ τ_{z} = - m_{H} g d_{0} s_{α} s_{β} \end{array}

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Three fundamental rules

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(1) - BENSON (H.) - Physique 1, mécanique. - Paris, Bruxelles : DeBoeck Université (1999).
(2) - DUQUESNE (M.) - La Physique. - Paris, Bruxelles : DeBoeck Université (2001).
(3)...

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