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to the others. Fully articulated rotor systems are found on helicopters with more than two main rotor blades. 

As the rotor spins, each blade responds to inputs from the control system to enable aircraft control. The center of lift on the whole rotor system moves in response to these inputs to effect pitch, roll, and upward motion. The magnitude of this lift force is based on the collective input, which changes pitch on all blades in the same direction at the same time. The location of this lift force is based on the pitch and roll inputs from the pilot. Therefore, the feathering angle of each blade (proportional to its own lifting force) changes as it rotates with the rotor, hence the name “cyclic control.” 

As the lift on a given blade increases, it tends to flap upwards. The flapping hinge for the blade permits this motion and is balanced by the centrifugal force of the weight of the blade, which tries to keep it in the horizontal plane. [Figure 4-8] 

Either way, some motion must be accommodated. The centrifugal force is nominally constant; however, the flapping force is affected by the severity of the maneuver (rate of climb, forward speed, aircraft gross weight). As the blade flaps, its CG changes. This changes the local moment of inertia of the blade with respect to the rotor system and it speeds up or slows down with respect to the rest of the blades and the whole rotor system. This is accommodated by the lead/lag or drag hinge, shown in Figure 4-9,  and is easier to visualize with the classical ‘ice skater doing a spin’ image. As the skater moves her arms in, she spins faster because her inertia changes but her total energy remains constant (neglect friction for purposes of this explanation). Conversely, as her arms extend, her spin slows. This is also known as the conservation of angular momentum. An in-plane damper typically moderates lead/lag motion. 

Following a single blade through a single rotation beginning at some neutral position, as load increases from increased feathering, it flaps up and leads forward. As it continues 

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