Abstract
A closed-form system of dynamic equations describing the free motion of a material system with variable mass–inertia characteristics is derived. The system consists of a carrying body and carried bodies (freight) and undergoes translational–rotational motion in space. The differential equations of motion derived include time-dependent parameters and allow for the inertia and varying mass of the system, etc. It is pointed out that special cases can be derived from the general equations to study various modes of motion and stability phenomena
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