Bi ging c s c hc gii tch

24/11/08 1
C S C HC GII TCH

- C hc gii tch nghin cu qui lut cn bng v chuyn ng ca c h
khng t do theo di chuyn v nng lng dng gii tch.
- Ni dung ca c hc gii tch trnh by cc nguyn l tng qut ca c
hc, t rt ra cc phng trnh vi phn c bn ca chuyn ng, nghin
cu phng trnh v ra cc phng php tch phn chng.

Bi 1.
Phn loi c h, lin kt t vo c h

Xt c h N cht im
k
M chuyn ng h qui chiu Oxyz.
V tr ca c h c xc nh bi 3N thnh phn xc nh v tr
1
i i i
x , y ,z ; i ,N = .
Vn tc ca cc im thuc c h xc nh bi 3N thnh phn vn tc
1
i i i
x , y ,z ; i ,N = .
I. Khi nim v c h
1. C h t do
C h t do l c h m cc thnh phn xc nh v tr v vn tc ly gi
tr bt k trong khng gian qui chiu.
V d: H mt tri, mi hnh tinh c coi l 1 cht im
2. C h khng t do
Nu cc thnh phn xc nh v tr hay vn tc ca c h chu mt s iu
kin rng buc no do cc vt th khc gy nn th c h gi l c h khng t
do.
3. Lin kt t vo c h
Nhng iu kin rng buc v v tr hay vn tc thuc h do cc thnh
phn khc gy nn gi l lin kt t vo c h.
V mt ton hc, cc lin kt ny c biu th bi cc ng thc hay bt
ng thc gi l cc phng trnh lin kt hay bt phng trnh lin kt.

( )
( )
1 1 1
1 1 1 1 1 1
0
0
N N N
N N N N N N
f x , y ,z ,...,x , y ,z
g x , y ,z ,...,x , y ,z ,x , y ,z ,...,x , y ,z

1,m = , m l s lin kt.

V d:
1. Khi m t cht im A lun nm trn mt ng nm ngang dng pt 0
A
y = .
2. Khi cht im M nm trong mt phng Oxy, treo trn dy OM=l v dy lun
cng, khng gin, c biu din bng phng trnh
2 2
M M
x y l + = .



Bi ging c s c hc gii tch
24/11/08 2


Hnh 1
3. H m t bi hnh trn chu lin kt m t bi phng trnh
2
A B C
x y y l + + = , vi l l chiu di dy ni cc vt.

II. Phn loi lin kt t vo c h
1. Lin kt gi, khng gi
Lin kt gi l cc lin kt c m t bng nhng ng thc th
chng gi l cc lin kt gi 0 f

= hay 0 g

= .
Lin kt khng gi l cc lin kt c vit di dng bt ng thc
0 f

hay 0 g

. Lin kt khng gi ty trng hp gi l cc lin kt gi nu

xy ra du = v coi l lin kt khng gi nu xy ra du bt ng thc.
2. Lin kt dng, khng dng
Lin kt dng nu phng trnh lin kt khng cha r hin thi gian t
(Sclnm). Ngha l 0
f g
,
t t

= =


Lin kt khng dng nu phng trnh lin kt c cha thi gian t
(Rnm). Ngha l 0
f g
,
t t

=


3. Lin kt Hlnm, phi Hlnm
Lin kt Hlnm (lin kt hnh hc) nu trong phng trnh lin kt
ch cha cc thnh phn v tr. Phng trnh lin kt 0 1 f , ,m

= .
Lin kt phi Hlnm nu trong phng trnh lin kt cha cc thnh
phn v tr v vn tc. Phng trnh lin kt 0 1 g , ,m

= .








Bi ging c s c hc gii tch
24/11/08 3
Bi 2.


Khi nim v bc t do,
Ta suy rng ca c h

1. Bc t do ca c h
Mi c h ti mi thi im c v s di chuyn kh d. V h chu lin kt
nn cc di chuyn ny khng c lp vi nhau.
Bc t do ca c h chnh l s di chuyn kh d c lp ca c h.
Xt trng hp c h gm N cht im v chu tc dng ca m lin kt.
S bc t do ca c h v c xc nh nh sau:
Nu c h chuyn ng trong khng gian Oxyz

3 n N m =
(1.a)
Nu c h chuyn ng trong mt phng
2 n N m = (1.b)
Nu c h chuyn ng trn ng thng
n N m = (1.c)
2. Ta suy rng
Ta suy rng l tp hp tt c cc thng s cn thit, c lp v
xc nh v tr ca c h trong khng gian. Ta suy rng c th l ta
Descartes ca cc cht im thuc c h, gc quay, cc ta cong Ty
trng hp ta c th chn ta no bi ton xc nh v tr ca c h n
gin nht.
K hiu ta suy rng l
1 2 3
q ,q ,q ...
Bn cht vt l ca ta suy rng l bt k, do th nguyn ca n
khng phi ch l di nh ta Descartes.
o hm theo thi gian ca ta suy rng
i
q gi l vn tc suy rng.
S ta suy rng 1
j
q , j ,n = bng vi s bc t do ca c h.
V tr ca c h c xc nh nh cc ta suy rng, nn gia ta
Descartes ca cht im v ta suy rng c s lin h vi nhau:

( ) ( ) ( )
1
k k j k k j k k j
x x t ,q , y y t ,q , z z t ,q , j ,n = = = = (2.a)

hoc dng vector

( )
1
k k j
r r t ,q , j ,n = =

(2.b)

V d
1. Bnh xe ng cht bn knh R, chuyn ng ln khng trt trn ng
thng 0x nm ngang (nh hnh v).
Bi ging c s c hc gii tch
24/11/08 4
Xt chuyn ng ca bnh xe, Bnh xe chuyn ng song phng, xc nh
n bi 3 tham s ( )
0 0
, , x y , nhng bnh xe l c h khng t do, n chu cc
lin kt c m t bi phng trnh
0
0 0
y R
x R
=

x
y
A
O

Vy s bc t do ca c h l: n = 3 2 =1.

2. C cu tay quay thanh truyn 0AB c xem l hai cht im chuyn
ng trong mt phng xy, chu cc lin kt cho bi cc phng trnh

( ) ( )
2 2 2
2 2
2
A A
B A B A
B
x y r
x x y y l
y h
+ =

+ =

x
y
F
A
O
B
h
l
r

Vy s bc t do ca c h: n=2.2-3=1.
Ta c th chn ta suy rng l gc quay ca OA.
















Bi ging c s c hc gii tch
24/11/08 5
Bi 3.

Di chuyn thc, di chuyn kh d


Xt c h N cht im chuyn ng trong khng gian Oxyz chu m lin
kt hlnm, gi

( ) 0 1
k
f t;r , ,m

= =

(1)
1. Di chuyn thc
Ti thi im t, gi s cc cht im v tr xc nh bi
k
r

tha mn cc
phng trnh lin kt (1). Trong khong thi gian ( ) t ,t dt + , di tc dng ca
cc lc ngoi, cht im thc hin mt dch chuyn
k k
dr r dt =

gi l di chuyn
thc trong khong thi gian ( ) t ,t dt + .
Ly vi phn (1) theo thi gian, ta c

1
0
N
k
k
k
f f
df dt dr
t r

=

= + =

(2)
Ngha l, di chuyn thc trong khong thi gian ( ) t ,t dt + phi tha mn phng
trnh (2).
2. Di chuyn kh d (di chuyn o)
Ti thi im t c nh, mi cht im c th v s cc v tr tha mn
cc phng trnh lin kt, m v tr thc ca n ch l mt trong s chng. Gi
k
r

l v tr v cng gn vi v tr thc
k
r

. K hiu ( )
k k k
r x, y, z r r =

(gi l
bin phn ca
k
r

), ta c

( )
( )
1
0
N
k
k
k
f
f t;r f t;r r
r

= =

(3)
Cc gia s
k
r

gi l di chuyn kh d ca c h v tha mn cng thc (3).

Vy, di chuyn kh d ca c h l tp cc di chuyn v cng b m cc
cht im ca c h c th thc hin c t v tr kho st sang v tr ln cn m
vn tha mn cc lin kt ti v tr ang xt.

Note:
Khi nim chuyn kh d hon ton khc vi khi nim di chuyn
thc. Di chuyn thc l di chuyn m cc cht im thc hin trong khong thi
gian ( ) t ,t dt + , cn di chuyn kh d n thun l cc gia s
k
r

v cng b tha
mn cc phng trnh (3), c tnh ti thi im c nh t.
Khi lin kt l dng ta c di chuyn thc v cng b trng vi mt
trong cc di chuyn kh d.

Bi ging c s c hc gii tch
24/11/08 6
Bi 4.
Lc suy rng

1. nh ngha lc suy rng
Xt c h N cht im chu tc dng ca cc lc ch ng
k
F

. Gi s c
h c n bc t do.
Cng ca lc ch ng trn di chuyn kh d
k
r

gi tt l cng kh d (cng o)
xc nh nh sau:

1 1
N N
k k k
k k
A A F r
= =
= =



(1)
vi ( )
1 2 k k n
r r t ,q ,q ,...,q =

, ta c


( )
1 2
1
n
k
k k n i
i
i
r
r r t ,q ,q ,...,q q
q

=

= =

(2)
Th (2) vo (1), ta c

1 1 1 1
1 1 1
N n N n
k k
k i k i
k i k i
i i
n N n
k
k i i i
i k i
i
r r
A F q F q
q q
r
F q Q q
q


= = = =
= = =
| | | |
= =
| |

\ \
| |
= =
|

(3)
vi

1 1
N N
k k k k
i k kx ky kz
k k
i i i i
r x y z
Q F F F F
q q q q = =
| |
= = + +
|

\

(4)
gi l lc suy rng th i ca c h.
2. Phng php thc hnh xc nh lc suy rng
i
Q ng vi ta suy
rng
i
q no
Do tt c cc 1
j
q , j ,n =

u c lp vi nhau, xc nh
i
Q ng vi
ta suy rng
i
q no , ta cho di o 0
i
q cn tt c cc 0
j
q , j i = ,
sau tnh cng
i
A ca tt c cc lc tc dng trn di chuyn kh d
i
q . Ta
c,
( )
1
i k i i i
k
A A q Q q
=
= =

(5)
H s ca
i
q trong (5) cho ta lc suy rng
i
Q cn tm.
Trong trng hp tt c cc lc tc ng ln c h u c th, ngha l tn
ti hm th sao cho
k
k
F
r

=

. Khi ta c

1 1
N N
k k
i k
k k
i k i i
r r
Q F
q r q q

= =

= = =

(6)
Bi ging c s c hc gii tch
24/11/08 7

V d
C cu tay quay thanh truyn 0AB c xem l hai cht im chuyn
ng trong mt phng xy. Tc dng ln tay quay OA ngu lc M v lc F

ln
con chy B. Xc nh lc suy rng ng vi ta
suy rng .
Gii
Ta tnh cng kh d ca cc ngu lc M v lc F

tc
dng ln h
B
A M F x = +



( )
( )
( )
( )
( )
2
2
2
2
2
2
cos cos ; sin sin
1
sin sin
1
cos sin
cos sin
sin cos
sin
sin
B
B
B
x r l r l h
r h
l
l r h
l
x r l r h
r h r
x r
l r h

= + =
= +
= +
= + +
+
=
+

(g)
( )
( )
2
2
cos sin
sin
sin
r r h
A M F r
l r h

(
+

(
= +
`
(
+
)

Vy
( )
( )
2
2
cos sin
sin
sin
r h
Q M Fr
l r h

(
+
(
= +
(
+














x
y
F
A
O
B
h
l
r

Bi ging c s c hc gii tch
24/11/08 8

Bi 5.
Nguyn l di chuyn kh d

1. Lin kt l tng
Cc lin kt c gi l l tng nu tng cng ca cc phn lc lin kt
trn cc di chuyn kh d u bng khng, ngha l

1 1
0
N N
k k k
k k
A R r
= =
= =



(1)
trong
k
R

- Phn n lc lin kt t ln cht im th k.

k
r

- Di chuyn kh d ca cht im th k.
Trong thc t, cc lin kt vt rn b qua ma st, tnh n hi ca vt liu
c coi l lin kt l tng.
2. Nguyn l di chuyn kh d
Pht biu: iu kin cn v c h chu lin kt hlnm, gi, dng
v l tng cn bng l tng cng ca cc lc ch ng tc dng ln c h trn
mi di chuyn kh d bt k bng khng.

1 1
0
N N
k k k
k k
A F r
= =
= =



(2)
trong
k
F

l lc hot ng tc dng ln cht im th

k
M thuc c h,
k
r

l di chuyn kh d ca cht im th
k
M . Phng trnh (2) cn gi l
phng trnh cng kh d.
3. Phng trnh cn bng trong ta
Gii s c h c n bc t do, chn cc ta suy rng
1 2 n
q ,q ,...,q . Ta c
phng trnh (2), nguyn l di chuyn kh d, tr thnh

1 1 1
0
N N n
k k k i i
k k i
A F r Q q
= = =
= = =

(3)
vi
1
N
k
i k
k
i
r
Q F
q =

lc suy rng ng vi ta suy rng

i
q . V cc
i
q c lp
nn ta chn
i
q l c lp v ty . T (), ta c

0
i
Q = (4)
Ta c n phng trnh cn bng dng (), gi l phng trnh cn bng dng ta
suy rng.
Nu cc lc tc dng l lc c th, ta c phng trnh cn bng
0
i
i
Q
q

= =

(5)
Vi ( )
i
q = - Hm th nng ca lc tc dng.
Note:
Bi ging c s c hc gii tch
24/11/08 9
u im ca nh lut cng kh d l khi gii bi ton cn bng c hc, ta
khng cn quan tm n cc phn lc lin kt (lin kt l l tng). Do n rt
thun li cho gii cc bi ton tm iu kin cn bng. Khi gp cc bi ton tm
phn lc, hay lin kt l khng l tng ta phi p dng nguyn l gii phng
lin kt hay thnh phn khng l tng tng ng v coi cc phn lc ny nh
lc tc dng.

V d
Xc nh quan h gia cc lc va P Q

c cu Culit cn bng ti v tr
kho st. Bit OC = R ; OK = l .
Gii
Xt c h. B qua ma st gia cc trc n l h Holomom, gi, dng v
l tng.
H c mt bc t do. Chn ta suy rng l
y
x

A
C
Q
K
P
B
O

Cc lc tc dng ln c h , P Q


p dng nguyn l cng kh d khi h cn bng, ta c
0
Q P
A Q r P r = + =



0
x Q y Q x P y P
Q x Q y P x P y + + + =
Vi
( )
1 1 2
cos sin sin
sin cos cos
sin ; cos
0 ;
; tan
cos
const
Q Q
Q Q
x y
x y
P B A P A A A
x OC x OC R
y OC y OC R
Q Q Q Q
P P P
l
y y y l l AB y y y l y

= = =
= = =
= =
= =
= = + = = = = =


( )
2
2
sin sin cos cos 0
cos
0
cos
l
Q R Q R P
Pl
QR

+ =
| |
+ =
|
\

Bi ging c s c hc gii tch
24/11/08 10

2 2
0
cos cos
Pl Pl
Q QR Q
R

= + = =

Bi 5.

PHNG TRNH TNG QUT NG LC HC
(NGUYN L DALAMBERT LAGRANGE)


1. Phng trnh tng qut ng lc hc
Xt c h N cht im
k
M c khi lng
k
m chuyn ng trong khng
gian Oxyz chu lin kt Hlnm, gi, l tng. Gi s cht im
k
M chu tc
dng ca cc lc ch ng
k
F

v phn lc lin kt
k
R

.
p dng nguyn l dAlambert ta c
0
qt
k k k
F R F + + =

(1)
Nhn v hng hai v phng trnh (1) vi
k
r

v ri ly tng theo k, ta c

( )
1 1
0
N N
qt
k k k k k
k k
A F R F r
= =
= + + =



(2)
V lin kt l l tng
1
0
N
k k
k
R r
=
=

, (2) tr thnh

( )
1
0
N
qt
k k k
k
F F r
=
+ =

hay

( )
1
0
N
k k k k
k
F mW r
=
=

(3)
Phng trnh (3) gi l phng trnh tng qut ng lc hc.
Hoc vit di dng ta Descarst Oxyz l
( ) ( ) ( )
1
0
N
kx k kx kx ky k ky ky kz k kz kz
k
F mW r F mW r F mW r
=
(
+ + =

(4)
Pht biu. Nu c h chuyn ng v chu lin kt l tng th tng cng ca tt
c lc ch ng v lc qun tnh trn di chuyn kh d bt k bng khng.
Trng hp c h trng thi cn bng 0
k
W =

, ta c


1 1
0
N N
k k k
k k
A F r
= =
= =



(5)
Phng trnh (5) chnh l nguyn l di chuyn kh d

2. V d.
1. Mt si dy khng dn, khng trng lng mc qua hai rng rc c
nh A, B, trn dy c rng rc di ng C (hv). B qua ma st v khi lng ca
cc rng rc. Tnh gia tc ca cc vt.
Bi ging c s c hc gii tch
24/11/08 11





Gii
H gm cc vt
1 2 3
m ,m ,m . Cc vt
chuyn ng theo phng thng
ng, chn trc ta nh hnh v.
Cc lc ch ng tc dng ln cc
vt ln c h l trng lng ca cc
vt.








p dng phng trnh tng qut
ng lc hc
( ) ( ) ( )
1 1 1 1 2 2 2 2 3 3 3 3
0 m g m x x m g m x x m g m x x + + = (a)
Phng trnh lin kt (l tng)

1 2 3
2 x x x const + + = (b)
Chn ta suy rng l
1 3
x ,x , t (a) ta c
( ) ( )
3 1 3 3 1 2
1 1
2 2
x x x , x x x = + = +
Thay vo phng trnh (a), ta c

( ) ( )
( ) ( )
1 2 1 2 1 2 3 1
3 2 3 2 2 2 1 3
2 4
2 4 0
m m g m m x m x x
m m g m m x m x x

+ + (

+ + + = (




V cc chuyn dch
1 3
x , x c lp v bt k, nn
( ) ( )
( ) ( )
1 2 1 2 1 2 3
3 2 3 2 2 2 1
2 4 0
2 4 0
m m g m m x m x
m m g m m x m x
+ + =
+ + =



Gii h phng trnh trn, ta c
1 2 3
x ,x ,x .

2. Ngi ta vt qua rng rc c nh O mt si dy mm nh, chiu di l,
trn mt u dy treo vt nng M
1
c khi lng m
1,
cn u kia ca dy treo
rng rc M
2
c khi lng m
2
. Vt qua rng rc M
2
si dy mm nh chiu di l
2

2 vt c khi lng tng ng l m
3
, m
4
. Xem lin kt l l tng

1
m
O
A
B
C
1
x
2
x
3
x
2
m
3
m
Bi ging c s c hc gii tch
24/11/08 12



Gii
a vo h trc Oy thng ng hng xung. Lc tc
dng ln c h l trng lc ca cc vt.
Phng trnh tng qut ng lc hc
( )
( ) ( ) ( )
1
1
0
0
N
N
x y z
F m a r
F m x x F m y y F m z z

=
=
=
(
+ + =

( ) ( )
( ) ( )
1 1 1 1 2 2 2 2
3 3 3 3 4 4 4 4
0
m g m y y m g m y y
m g m y y m g m y y


+ +
+ =


C
c di chuyn kh d y
1
, y
2
, y
3
, y
4
khng c lp
v h khng t do vi phng trnh lin kt tng ng
l
( ) ( )
1 2 1
3 2 4 2 2
y y l
y y y y l
+ =

+ =

1 2 3 4 2
0 ; 2 0 y y y y y + = + =
Ta chn hai di chuyn kh d c lp l
2 4
y , y . Vy
1 2 3 2 4
; 2 y y y y y = =
Th vo ta c

( )( ) ( ) ( )( ) ( )
1 1 2 2 2 2 3 3 2 4 4 4 4
2 0 m g y y m g y y m g y y y m g y y + + + =


( ) ( ) ( )
( ) ( )
1 1 2 2 3 3 2
4 4 3 3 4
2
0
m g y m g y m g y y
m g y m g y y

+ + + (

+ = (




V y
3
, y
4
l ty nn

( ) ( ) ( )
( ) ( )
1 1 2 2 3 3
4 4 3 3
2 0
0
m g y m g y m g y
m g y m g y
+ + =

Hn na
1 2
3 4 2
0
2 0
y y
y y y
+ =

+ =

M
1
m g
1
y
M
3
m g
3
M
4
m g
4
m g
2
M
2


Bi ging c s c hc gii tch
24/11/08 13

( ) ( )( )
( ) ( )( )
( ) ( )( )
( ) ( )( )
2
3 4 3 4 1 2 3 4
1 2
4 4 3 4 1 2 3 4
2
3 4 3 4 1 2 3 4
3 3 4 4
3 4 4 4 3 4 1 2 3 4
4 2 3
2 2
1
2
2 2
2
m m m m m m m m
y y g
m m m m m m m m
m m m m m m m m
y m m m g
m m m m m m m m m m
y y y
+ +
= =
+ + +
(
+ +
= + (
+ + + +
(

=

Bi 7.
PHNG TRNH LAGRANGE LOI II

Ta ch xt c h chu lin kt H l nm, gi, l tng c n bc t do.

1. Phng trnh Lagrange loi II
Trng hp tng qut
1
j
j j
d T T
Q , j ,n
dt q q
| |

= =
|
|

\

Trong trng hp lc c th
0 1
j j
d L L
, j ,n
dt q q
| |

= =
|
|

\

L T V = gi l hm Lagrange (l hiu gia ng nng T v th nng V
ca c h)
Ch
Phng trnh Lagrange loi II c ng dng ph bin nghin cu
chuyn ng ca cc c h hlnm, l tng.

2. Quy trnh thit lp phng trnh Lagrange loi II
o Bc 1. Xt tnh cht lin kt
o Bc 2. Xc nh s bc t do n ca c h (bng s ta suy rng) v
chn ta suy rng.
o Bc 3. Xc nh biu thc ng nng.
o Bc 4. Tnh cc lc suy rng
i
Q hoc th nng V.
o Bc 5. Tnh
j j
T T d
, ,
q q dt


hoc tnh L T V =
j
L
q

,
j
L
q

.

o Bc 6. Vit phng trnh Lagrange II, v gii chng (nu cn).
3. V d
Bi ging c s c hc gii tch
24/11/08 14



1. Thit lp phng trnh vi phn chuyn ng ca con lc eliptic gm vt
A chuyn ng trn mt phng ngang nhn, v treo vo A con lc ton hc B c
khi lng A, di l.
2. Bnh xe c xem l a trn ng cht trng lng P, bn knh R c
th ln khng trt trn mt phng nghing 1 gc vi phng nm ngang. Gn
vo trc O ca bnh xe ng cht OA trng lng Q, chiu di OA=l c th quay
khng ma st quanh O (nh hnh v). H ang ng yn, OA thng ng hng
xung. Th cho chuyn ng. Xc nh ti thi im th:
a. Gia tc tm O
b. Gia tc thanh OA
O

C
A
l


Gii
Xt h gm bnh xe v thanh OA. H c hai bc t do
Chn ta suy rng
1
S OO = , l gc lch ca thanh OA vi phng thng
ng
Ta c
cos
sin
O
O
x s
y s

v
cos sin
2
sin cos
2
C
C
l
x s
l
y s

= +

= +

C
A
x
O
y
P
Q

s

Bi ging c s c hc gii tch
24/11/08 15
( )
2 2 2 2
2
2 2 2 2 2
cos ; sin
1 1
cos cos ; sin sin
2 2
cos
4
O O
O O O
C C
C C C
x s y s
v x y s
x s y s
l
v x y s ls



= =
= + =
= + =
= + = + + +







ng nng ca c h


2 2 2 2
0
1 1
2 2 2 2
O O C C C
P Q
T v J w v J w
g g
= + + +
Do bnh xe ln khng trt
;
O
O C
v s
w w
R R
= = =

V ch :
2 2
;
2 12
C C
PR Ql
J J
g g
= =
Ta c: ( )
2
2 2 2
3
cos
2 2 6 2
P Q Ql Ql
T s s s
g g g g
= + + + +

( )
( ) ( )
2
3
cos ; 0
2 2
cos ; sin
3 2 2
T P Q Ql T
s s
s g g g s
T Ql Ql T Ql
s
g g g




= + + + =


= + + = +

Tnh lc suy rng Q
s
v Q

:
k O C
k
A P y Q y = +

Vi : sin ; sin sin
2
O C
l
y s y s = =
Vy
( ) sin sin sin sin sin
2 2
k
k
l Ql
A P s Q s P Q s
| |
= + = +
|
\

Suy ra ( )sin ; sin
2
s
Ql
Q P Q Q

= + =
Phng trnh Lagrange loi hai i vi c h c dng
;
s
d T T d T T
Q Q
dt s s dt


| | | |
= =
| |

\
\


Thay kt qu vo ta c
Bi ging c s c hc gii tch
24/11/08 16

( ) ( ) ( )
( )
2
2
3 2
cos sin sin
2 2 2
cos sin
3 2 2
P Q Ql Ql
s P Q
g g g
Ql Ql Ql
s
g g


+
+ + + = +

+ + =

(0.1)
Tnh va
O OA
a s = = Ti thi i, bt u chuyn ng, khi
0; 0 s = = =

( )
2
3 2
cos sin
2 2
cos 0
3 2
O OA
OA O
P Q Ql
a P Q
g g
Ql Ql
a
g g


+
+ = +

+ =

Gii ra cho va
O OA
a s = = , ta c

( ) ( )
( )
( )
2 2
2
4 sin 4 sin
6 4 3 cos 6 3 sin
6 sin cos
6 3 sin
O
OA
g P Q g P Q
a
P Q Q P Q Q
g P Q
l P Q Q

+ +
= =
+ + +
+
=
+ +