82

Chng

CHUYEN ONG PHC HP CUA IEM

8.1. MO HNH BAI TOAN VA CAC NH NGHA
1. Mo hnh bai toan Nhieu trng hp trong thc te yeu cau chung ta phai khao sat ong iem trong nhng he quy chieu khac nhau. Chang han z j k nh con lac dao ong oi vi tran xe ang i O chay tren ng. Nhng bai toan loai nay c giai quyet thong qua mo hnh tong quat k X j i sau. y O ong iem M chuyen ong trong he Hnh 8.1 x quy chieu Oxyz. He quy chieu Oxyz lai chuyen ong oi vi he quy chieu O1x1y1z1 c xem la he co nh (H.8.1). Van e at ra ay la khao sat chuyen ong cua M trong tng he quy chieu va quan he gia cac chuyen ong nay. 2. Cac nh ngha
1 1 1 1 1 1 1

1- Chuyen ong tng oi Chuyen ong cua M(x,y,z) trong he ong Oxyz c goi la chuyen ong tng oi. ay la chuyen ong ma ngi quan sat cam nhan c khi gan chat mnh vi he ong (Oxyz). Van toc tng oi : V r (hoac V ) Gia toc tng oi : W r (hoac V ) la van toc va gia toc trong chuyen ong tng oi. Cac ai lng nay c xac nh oi vi he ong (Oxyz). Chu y: Cac vector n v ch phng cua he ong i, j , k co nh trong he ong nhng bien thien (quay) trong he co nh (O1 x1 y1 z1). Chung ta nhan c:
r r r
r r

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Vr = Wr = dV R dt

dOM dt
Oxyz =

Oxyz =

r r r d x i + y j + zk dt

Oxyz

r r r &i + y &j + z &k =x

(8.1) (8.2)

d & r &r & r x i + y j + zk dt

Oxyz

r r r &i + & &j + & &k =& x y z

2- Chuyen ong tuyet oi Chuyen ong cua iem M(x1, y1, z1) oi vi he co nh O1x1y1z1 c goi la chuyen ong tuyet oi. Van toc tuyet oi V a (hoac V ), gia toc tuyet oi Wa (hoac W ) la van toc, gia toc c tnh trong chuyen ong tuyet oi. Chu y en tnh chat cac vector n v cua tng he toa o. Chung ta nhan c:
Va = dO1M dt
O1 x1 y1z1 =

d (O O + OM) dt 1 O1 x1 y1z1

(8.3)

r r r r r r & & & &i + y &i + z & k + x i + y j + zk = O1O+ x

Wa =

d Va dt

O1x1y1z1

r r r r r r r r r & & & & & & &i + & &j + & &k + & &i + & & j + +& &k = O1O + x i + y j + zk + 2 & x y z x y z

(8.4)

3- Chuyen ong theo Chuyen ong cua he ong oi vi he co nh c goi la chuyen ong theo. e ong iem M the hien c chuyen ong theo chung ta a ra khai niem trung iem M* cua M la iem thuoc he ong nhng trung vi ong iem M tai v tr ang xet. Tng ng chung ta co van toc theo: Gia toc theo: Chu y: tai thi iem ang xet:
V = V M* W = W M*
* *

O1M O1O + OM r r r r r * * * * O1M O1O + x i + y j + z k = O1O + x i + y j + zk (do M M* )

Chu y: M* co nh trong he ong Oxyz nen cac toa o x, y, z cua M tai v tr nay c xem la cac hang so.
V =
e

dO1M dt

* O1 x1 y1z1

r r r & & & = O1O + x i + y j + zk

(8.5)

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dV W = dt
e

e O1 x1 y1z1

r r r & & & & & & = O1O + x i + y j + zk

(8.6)

8.2. CAC NH LY HP VAN TOC, GIA TOC

1. nh ly hp van toc Van toc tuyet oi cua ong iem bang tong hnh hoc van toc tng oi va van toc theo. (8.7) Va = Vr + Ve Chng minh. S dung (8.1), (8.3) va (8.5), chung ta co ngay ket qua. 2. nh ly hp gia toc Gia toc tuyet oi cua ong iem bang tong hnh hoc gia toc tng oi, gia toc theo va thi gia toc phu coriolit WC . trong o:
Wa = Wr + We + WC r WC = 2 e V r

(8.8) (8.9) (8.10)

Chng minh. S dung (8.2), (8.4) va (8.6) chung ta co ket qua (8.8) trong o
r r r & & & &i + y &j + z &k Wc = 2 x r 1- Trng hp he ong tnh tien ( e = 0 ) r & & r & r Chung ta co ngay: i = j = k = 0 Wc = 0
r & & r & r

2- Trng hp he ong quay quanh truc co nh (H.8.2) Cac vector i, j, k tng ng la van toc au mut cua chung. S dung (7.13):
r r r r & r & r j = e j; k = e k; r r r r &i + y &j + z &k (8.10) WC = 2e x r (8.1) WC = 2e V r r r & r i = e i;

Ngay ca khi he ong chuyen ong tong quat cong r thc (8.9) van ung nhng e la van toc goc tc thi doc

k i O

theo truc quay tc thi. Hnh Hnh 8.2 8.2 x 3- Phng phap thc hanh xac nh W c T cong thc (8.1) chung ta de dang suy ra gia toc W c W c = 2e Vr . Hng trung hng cua Vr khi a quay theo chieu quay cua e goc 2 . ay Vr la hnh chieu cua V r len phng vuong goc vi vector e.
r

8.3. PHNG PHAP GIAI CAC BAI TOAN CHUYEN ONG PHC HP
Nhng bai toan trong chng nay c chia theo cac dang sau:

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- Bai toan tm phng trnh chuyen ong: v du (8.1) - Bai toan tong hp: biet cac chuyen ong thanh phan (tng oi, theo) tm chuyen ong tuyet oi (cac v du 8.2, 8.3, 8.4) - Bai toan phan tch: biet chuyen ong tuyet oi tm cac chuyen ong thanh phan (cac v du 8.5, 8.6, 8.7). Tuy nhien cung co nhng bai toan hon hp bao gom tng phan cua cac loai bai toan tren. e giai c cac loai bai toan nay chung ta can phai: 1- Nam vng cac nh ngha ve chuyen ong 2- Chon he ong phu hp vi tng bai toan (thng chon vat ran sao cho cac iem chung ta can xac nh chuyen ong hay mo ta chuyen ong lien quan trc tiep en vat ran nay). 3- Bao gi cung giai cac ai lng thuoc ve van toc trc bang cach ap dung trc tiep: Va = Ve + Vr 4. Sau khi giai c cac ai lng van toc chung ta s dung phng trnh: Viet mot cach tong quat: W a + W a = W e + W e + W r + 2e V r Chieu phng trnh vector nay len cac truc thch hp chung ta se giai c cac ac trng gia toc.
n n n

8.4. CAC V DU
V du 8.1. Bang e ghi dao ong tnh tien theo phng Ox van toc 2 m/s. au but (gan vao vat dao ong theo phng Oy) ve len bang ng hnh sin vi bien o AB = 2,5 cm; O1C = 8 cm. Tm phng trnh dao ong cua vat neu iem O ng vi v tr cua vat luc t = 0.
y1 B x O1 A O C 1 x y V = 2 m/s

Hnh 8.3 Giai. Chung ta can tm dao ong cua iem au but, iem nay lien he trc tiep vi bang giay. Chon bang giay lam he ong, ng hnh sin tren bang chnh la quy ao tng oi cua iem thuoc vat (vat chuyen ong tnh tien). Xay dng he Oxy co nh, he O1x1y1 gan chat vao bang giay lam he ong, t H.8.3 chung ta nhan c phng trnh chuyen ong tng oi cua iem thuoc vat (au but):

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x 1 = 200t y 1 = 2.5 sin 1 t

2 T

(cm/s)

Tan so vong 1 c tnh qua chu ky T = 8/200 = 0,04 s

1 = = 50

Dung phep oi toa o chung ta nhan c phng trnh dao ong cua vat: V du 8.2. Mot con thuyen bi qua song co van toc so vi mat nc yen lang la r u, dong song chay vi toc o v. Chieu rong cua song la h. Tm hng cua u e con thuyen qua song nhanh nhat ? Giai. Gia s ngi lai thuyen cho thuyen chay theo hng u nh H.8.4. Ap dung cong thc hp van toc khi chon mat nc lam he ong
r r Va = u + v
y

Chieu phng trnh vector len hai truc x, y:

& = u sin + v Vax = x & = u cos Vay = y
h M O
u

VA v x

Lay tch phan theo t t thi iem (xuat phat) en thi iem ang xet chung ta nhan c:
x = (u sin + v) . t y = u cos .. t

Hnh 8.4 Hnh 8.4

Khi cap ben: y = h t =

h la thi iem cap ben u cos

Quang ng thuyen troi doc theo b song luc cap ben la:
x = u sin + v) h hv = htg + u cos u cos

Muon qua song nhanh nhat: = 0, t min = V du 8.3. Bo phan ieu tiet ly tam quay quanh truc thang ng vi van toc goc khong oi o = 6rad / s . Cac qua vang gan vao au cuoi cua lo xo thc hien dao ong trong ranh sao cho khoang cach t trong tam I cua no ti truc quay bien thien theo luat:

h u

hng cho thuyen i vuong goc vi b song.

o We
n

WC Ve O I

Wr Vr

Hnh 8.5

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OI = x = (0,1 + 0,05 sin8 t) m, (t tnh theo giay). Hay tnh: a) Van toc, gia toc iem I tai thi iem gia toc coriolit cua no at gia tr ln nhat. b) Gia toc coriolit khi qua vang v tr xa nhat. Giai. Chon a quay lam he ong (quay eu quanh truc co nh). Xet chuyen ong cua khoi tam I cua qua vang thc hien chuyen ong hp: - Chuyen ong tng oi: dao ong thang doc theo truc ong Ox (gan chat vao a) vi quy luat a biet OI = x = (0,1 + 0,05sin8 t) (m) - Chuyen ong theo: la chuyen ong cua iem thuoc a quay quanh truc O co nh van toc goc o (= const) Van toc: (tnh van toc tai v tr tuy y) Ap dung: V a = V e + V r
V e : Ve = OI. o = (0,1 + 0,05 sin 8t). o (m/s)
OI thuan chieu quay o
WI
WC
1

VI x Vr
1

Ve1 O
I

& = 0,4 cos 8t V r : Vr = x

(m/s)

doc theo phng truc ong Ox Gia toc Ap dung: W a = W e + W r + W C

Wa = W e + W e ..
n

We1 5 0,1
n

Hnh 8.6

trong o:

2 2 2 n = OI.o = xo = (0,1 + 0,05 sin 8t)o We OI

= OI. o = 0 We (do a quay eu, o = 0 ) OI

& = 3,22 sin 8t , doc theo phng truc x (H.8.5) W r : Wr = & x W C = 2 o V r : WC = 4,8. cos t
V r thuan chieu quay o ( do V r o )

a) Gia toc WC at gia tr ln nhat khi: cos 8t 1 = 1 sin 8t 1 = 0 Tng ng: x1 = 0,1; Vr1 = 0,4 ; Ve1 = 0,1 o = 0,6
n 2 We 1 = 0,1 o = 3,6; Wr1 = 0 ;

WC1 = 0,8o = 4,8

T H.8.6 chung ta nhan c:

WI =
2 2 Ve 1 + Vr1 = 1,4 (m/s)

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WI =

2 2 n 2 WCI + (We 1 ) = 15,5 (m/s )

b) Khi qua vang v tr xa nhat

sin 8t 2 = 1 cos 8t 2 = 0 WC2 = 0

Chu y: ay chung ta gia s tai thi iem t1 a ang co v tr tren H.8.6 tia OI xac nh. V du 8.4. Cho qua cau quay quanh truc thang ng van toc goc khong oi o . Chat iem M chuyen ong eu doc theo ng kinh tuyen, con N chuyen ong eu theo ng v tuyen vi van toc tng oi u, v khong oi nh H8.7. Xac nh V a , Wa cua M, N ? Giai. Chon qua cau lam he ong. Van toc iem M: Ap dung: V a = V e + V r M trong o: VrM = u; Ve = IM. o = rM . o ay:
Vr Ve
M M

H O
I o

rN Vr v rM M Vr u Ve N Ve

(H.8.7)

M M 2 M 2 2 Va = ( Vr ) + (Ve ) = u 2 + rM .2 o

iem N: N Vr = v; tng t:

N Ve = HN. o = rN . o
n n

Gia toc: (H.8.8) Ap dung: W a = W r + W r + W e + W e + W C (i) - iem M: Wr = 0 (do Vr = u = const) co:

n = Wr

Hnh 8.7

V2 u2 u2 = = ; OM R

(OM = R)

We = 0 (do qua cau quay eu) n 2 We = rM .2 o = IM. o

WC = 2 o .u cos = 2o u cos

Phng cua WC vuong goc mat phang kinh tuyen qua M (tiep tuyen v tuyen). Chon he truc toa o Decartes co truc z theo truc quay, truc x nam trong mat phang kinh tuyen nh H.8.7. Chieu (i) len ba truc toa o:

B H O

N n r y

I A

n e

Vr = u

Hnh 8.8

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u2 n n sin rM 2 Wax = Wr sin We = o R Way = WC = 2 o u cos 2 W = W n cos = u cos az r R

iem N: co:
Wr = 0 (do Vr = v = const)
n Wr =

v2 v2 = HN rN

We =0 n 2 We = HN.2 o = rN .o

WC = 2o Vr = 2o v, chieu We va: W r

n Wrn = 2 o v rN 2 co ngay: Wax = WC We o

v2 rN

va Way = Waz = 0.

V du 8.5. Cho c cau can gat nh H.8.9. Tay quay OA quay eu quanh O co nh van toc goc o lam cho thanh O1B lac qua lai quanh O1, con chay A trt doc O1B. Biet OA = r, hay xac nh 1 , 1 cua O1B tai v tr nh H.8.9. Giai. Gia vat a biet chuyen ong la thanh OA va vat cha biet chuyen ong la thanh O1B co iem lien he duy nhat la A (au mut thanh OA va tiep xuc vi O1B). Chon O1B lam he ong va xet iem A chuyen ong hp: - Chuyen ong tuyet oi cua A: thuoc OA quay eu quanh O - Chuyen ong tng oi: trt thang doc theo O1B (nam doc theo O1B quan sat chuyen ong cua A). - Chuyen ong theo: O1B quay quanh O1 co nh Van toc Ap dung: V a = V e + V r (*) R Va + V a : Va = r. o
OA thuan chieu o
WC

+ V e : Ve = O 1 A.1 = 2r1 ? (cha biet)

O 1 A thuan chieu 1 (cha biet).

o Wa = Wa 1 1 30
o
n

Ve A We
n

Vr We

Chung ta chon mot chieu gia nh + V r : V r = ? (cha biet) cung phng O1B ? (cha biet chieu) Chung ta chon mot chieu gia nh
o

r Chieu (*) x Va sin 30 = Ve o = Ve 2

y O1 x

Hnh 8.9

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Chieu (*) y Va cos 30o = Vr ro c chon ung, suy ra: 1 =

Ve = o O1 A 4

3 = Vr 2

Cac ket qua nhan c eu ln hn khong, chng to chieu cua V e , V r

(chung ta co the xac nh Ve, Vr theo quy tac tam giac vector kn). Gia toc Ap dung: W a = W e + W r + W C
W a + W a = W e + W e + W r + W C (**)
+ W a : Wa

= ro = 0 (do o = 0)

+ Wa :

n Wa = r 2 o

AO

+ W r : Wr = ? (cha biet) cung phng O1B (cha biet chieu). Chung ta chon chieu gia nh nh hnh ve + We :
n

n 2 = O 1 A.1 = 2r. We

2 o 16

r.2 o 8

AO1

+ WC :

WC = 21 .Vr = r

3 4

2 o

v Vr thuan chieu quay 1 (do 1 Vr )

n Chieu (**) / x Wa cos 30 o = We + 0 + 0 WC n n Chieu (**) / y Wa sin 30 o = 0 We + Wr + 0

r 3 2 r 3 2 o = We o 2 4 r r 2 = 2 o o + Wr 8 2

Giai he phng trnh chung ta nhan c:

Wr = 3r 2 r 3 2 o ; We = o 8 4

Ket qua tren chng to Wr va We co chieu ngc chieu a chon, co o ln la tr so dng tng ng.

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We 1 = = O1 A

r 3 2 o 3 2 4 = o (cung chieu 1 ) 2r 8

Thi iem ang xet thanh O1B quay nhanh dan. Chu y: Neu khong can tnh Wr chung ta bo phng trnh (**) / y. V du 8.6. C cau Cult gom tay quay OA = r quay eu quanh truc O co nh vi van toc goc o , lam cho Cult chuyen ong len, xuong. Tm van toc, gia toc cua Cult theo goc quay cua tay quay OA (H.8.10). Giai. C cau co tay quay OA a biet chuyen ong. iem A ta vao Cult co vai tro truyen ong. Chon Cult lam he ong, xet chuyen ong hp cua iem A. Chuyen ong tuyet oi: A thuoc OA quay eu quanh O (a biet) Chuyen ong theo: Cult tnh tien thang ng Chuyen ong tng oi: ng tren Cult chung ta thay A chuyen ong thang ngang phan tren cua ch T. Van toc (tai v tr tng ng goc ) Ap dung: V a = V e + V r + V a {= r o ; OA thuan chieu quay o } + V e {= ? (cha biet o ln); phng thang ng} (chon chieu gia nh i len) + V r {= ? (cha biet o ln); phng nam ngang} (chon chieu nh H.8.10). Nhn t H.8.10 chung ta giai ra ngay:
Ve = Va . sin = ro sin o t
o

O
Wa

We Ve A

Va Vr

Wr

Hnh 8.10

(chnh la van toc cua Cult). Gia toc Ap dung: W a = W e + W r + W C (**) ay: + W e co phng thang ng, chon chieu gia nh i len + W r co phng nam ngang, chon chieu gia nh sang trai (H.8.10) + W C = 0 (he ong tnh tien) + W a = W a (do OA quay eu) Chieu (**) len truc thang ng (chieu We ):
We = Wa cos = r2 o cos o t
n

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(Chnh la gia toc cua Cult).

Wr

V du 8.7. Can cam chuyen ong nhanh dan eu, sau 4 giay trt t v tr cao nhat xuong oan h = 4 cm lam cho cam co ban knh R = 10 cm trt ngang. Xac nh van toc, gia toc cua cam tai v tr tren.
x I Ve Wrn
Va

h We Vr

Wa O

Hnh 8.11

Giai. Xet au can cam chuyen ong thang. T gia thiet xac nh c phng trnh chuyen ong h ' = t 2 4 (cm). Xem au can thc hien chuyen ong hp khi lay cam lam he ong. - Chuyen ong tuyet oi a biet - Chuyen ong tng oi: au cam trt tren ng chu tuyen tron cua cam. - Chuyen ong theo: tnh tien cuang cam nen V e , W e chnh la van toc, gia toc cua cam. Van toc Ap dung: V a = V e + V r (*) + V a {=h ' = + V e {= ? (cha biet); phng ngang, chon chieu gia nh nh hnh ve} + V r {= ?; hng nghieng xuong va IA } Chieu (*) len hng AI:
Va sin = Ve cos vi: sin = Ve = 2tg = 1,5 (cm/s)
6 8 ; cos = 10 10 t = 2; 2

hng thang ng i xuong}

Chieu (*) len phng Vr: Gia toc

Va cos = Ve sin + Vr Vr = 2,5 (cm/ s).

Ap dung: W a = W e + W r + W C = W e + W r + W r + W c (**) ay: + W a { = , phng thang ng i xuong} + W e { = ? (cha biet), phng nam ngang, chon chieu gia nh nh hnh ve}
1 2

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+ W r { = ? (cha biet), phng AI , chon chieu gia nh nh hnh ve} + Wrn =

2 Vr 2 = 0,625 (cm/ s ) IA

+ W C = 0 (he ong tnh tien). Chieu (**) / AI:

Wa sin = We cos + Wrn

We

Wrn 1 = 0,41 (cm/s2) tg + cos 2

Dau cong chng to cam co gia toc ung chieu a chon. Cam chuyen ong nhanh dan tai thi iem t = 4s co van toc V = 1,5 cm/s; gia toc W = 0,41 (cm/s2).