Doko - VN 34563 Bai Tap Co Hoc Ly Thuyet

Hc vin k thut qun s
B mn c hc vt rn khoa c kh

Anh Cng (Ch bin)
V Quc Tr L Nho Thit
T Hu Vinh L Hi Chu

Bi tp
C hc l thuyt
Tp 1
Tnh hc v ng hc

i tng s dng : i hc v Cao ng

H Ni - 2005
3
Mc lc
Li ni u 5
Chng 1 : Bi ton phng 7
1.1- C s l thuyt 7
1.2- Hng dn p dng 14
1.3- Bi gii mu 16
1.4- Bi tp 29
Chng 2 : Bi ton khng gian 45
2.1- C s l thuyt 45
2.3- Bi gii mu 51
2.4- Bi tp 61
Chng 3 : Bi ton ma st 69
3.1- C s l thuyt 69
3.3- Bi gii mu 75
3.4- Bi tp 84
Chng 4 : Bi ton trng tm 91
4.1- C s l thuyt 91
4.2- Hng dn p dng - bi ton gii mu 94
4.3- Bi tp 100
Chng 5 : Chuyn ng ca im 104
5.1- C s l thuyt 104
5.2- Phng php gii 105
5.3- Bi gii mu 106
5.4- Bi tp 116
Chng 6 : Chuyn ng quay ca vt rn quanh mt trc c nh 127
4
6.3- Bi gii mu 131
6.4- Bi tp 137
Chng 7 : Hp chuyn ng ca im 143
7.3- Bi gii mu 146
7.4- Bi tp 160
Chng 8 : Chuyn ng song phng ca vt rn 173
8.3- Bi gii mu 181
8.4- Bi tp 195
Chng 9 : Chuyn ng ca vt rn quanh mt im c nh 208
9.3- Bi gii mu 213
9.4- Bi tp 219
Chng 10 : Hp chuyn ng ca vt rn 224
10.1- C s l thuyt 224
10.3- Bi gii mu 228
10.4- Bi tp 235
Ti liu tham kho 241

5

Li ni u

C hc l thuyt l khoa hc v cc quy lut cn bng v chuyn ng ca
cc vt th di tc dng ca lc, l mt trong nhng mn hc trng im cho
sinh vin cc trng i hc k thut.
Vic vn dng cc kin thc hc vo gii cc bi tp c hc l thuyt l
yu cu hng u i vi sinh vin, qua gip h hiu su thm v l thuyt,
ng thi nng cao kh nng t duy v rn luyn k nng trong hc tp.
Gio trnh Bi tp c hc l thuyt c bin son theo chng trnh ging
dy mn C hc l thuyt cho sinh vin ca hu ht cc ngnh uc o to ti
Hc vin k thut qun s, n cng ph hp vi chng trnh mn hc ca B
Gio dc & o to.
Gio trnh Bi tp c hc l thuyt c phn thnh hai tp. Tp 1 gm 2
phn: Tnh hc (t chng 1 n chng 4) v ng hc (t chng 5 n
chng 10). Trong mi chng u c phn tm tt l thuyt, phn loi bi tp v
phng php gii, cc v d mu v phn bi tp. Cui mi bi tp c tr li hoc
p s sinh vin tham kho v t kim tra li gii ca mnh. Cn lu trong
phn tr li, i vi cc i lng vct (lc, vn tc, gia tc ...), kt qu c
cho dng tr i s.
Gio trnh Bi tp C hc l thuyt Tp 1 do Nhm mn hc C hc l
thuyt thuc B mn C hc vt rn Khoa C kh Hc vin K thut qun s
bin son : V Quc Tr, T Hu Vinh (phn Tnh hc), L Nho Thit, L Hi
Chu (phn ng hc), Anh Cng ch bin.

6
Trong sch chc chn cn c thiu st, chng ti mong nhn c kin ca
bn c, xin trn trng cm n v tip thu b sung, sa cha cho gio trnh
c tt hn. Cc nhn xt, gp xin gi v : B mn C hc vt rn, Khoa C
kh, Hc vin KTQS.

Cc tc gi
7
Chng 1. Bi ton phng
1.1. C s l thuyt
1.1.1. Thu gn h lc phng:
H lc phng khi thu gn v mt tm (O), nhn c mt vc t chnh R'
r

v mt m men chnh
O
M
r
, vc t m men chnh lun vung gc vi mt phng
tc dng ca lc, xy ra cc trng hp sau:

O
R' 0;M 0 =
r r
, H lc tng ng vi mt lc
k
k
R F =
r r
.

O
R' 0;M 0 =
r r
, H lc tng ng vi mt ngu
( )
O O k
k
M m F =
r r
r
.

O
R' 0;M 0
r r
, H lc tng ng vi mt lc
k
k
R F =
r r
vi tm thu
gn t ti im O cch O mt on
O
M
d
R'
=
r
r .
Ch : Vc t chnh l mt bt bin, n c gi tr v phng chiu khng thay i
v khng ph thuc vo tm thu gn.
1.1.2. iu kin cn bng ca h lc phng:
T cc kt qu thu gn h lc nu trn, ta c nh l v iu kin cn bng
ca h lc phng nh sau:
nh l (v iu kin cn bng ca h lc phng): iu kin cn v h
lc phng cn bng l vect chnh v mmen chnh ca h lc i vi im O no
trit tiu.

( )
n n
k O O k
k 1 k 1
R' F 0; M m F 0
= =
= = = =

r r r
. (1.1)
T nh l trn c th suy ra rng, h lc phng c ba h phng trnh cn
bng vit theo ba dng sau:
Dng 1:
( )
n n n
kx ky O k
k 1 k 1 k 1
F 0; F 0; m F 0;
= = =
= = =

r
Ox Oy ; (1.2)
8
Dng 2:
( ) ( )
n n n
k A k B k
k 1 k 1 k 1
F 0; m F 0; m F 0;
= = =
= = =

r r
(1.3)
iu kin: ng ni AB khng vung gc vi .
Dng 3:
( ) ( ) ( )
n n n
A k B k C k
k 1 k 1 k 1
m F 0; m F 0; m F 0;
= = =
= = =

r r r
(1.4)
iu kin: Cc im A, B, C khng thng hng.
Trng hp cc h lc c bit:
- H ng quy: c hai phng trnh cn bng:

n n
kx ky
k 1 k 1
F 0; F 0;
= =
= =

(1.5)
i vi h lc ng quy, chng ta cn s dng iu kin cn bng di
dng hnh hc: iu kin cn v h lc ng quy cn bng l a gic lc t
khp kn.
- H lc song song (gi thit vi trc y): c hai h phng trnh cn bng:

( )
n n
ky O k
k 1 k 1
F 0; m F 0;
= =
= =

r
(1.6)
hoc:
( ) ( )
n n
A k B k
k 1 k 1
m F 0; m F 0;
= =
= =

r r
(1.7)
iu kin: ng ni AB khng song song vi trc y
Ch : i vi h vt, c hai loi iu kin cn bng:
iu kin cn bng ca tng vt tch ring.
iu kin cn bng ca ton h ho rn (xem ton h nh mt vt rn duy
nht) hay cn gi l iu kin cn bng ca cc ngoi lc (v khi ho rn, h
cc ni lc xem nh cn bng).
Nhng iu kin cn bng ca ton h ho rn l h qu ca cc iu kin
cn bng ca tng vt. Chng ta cng c th xt ring mt phn h, ho rn v lp
cc iu kin cn bng tng ng.
9
Nh th i vi h vt, kh nng lp cc iu kin cn bng l rt rng ri,
vn t ra l lp iu kin cn bng thch hp c th gii quyt bi ton t
ra mt cch thun li nht.
H qu:
H ba lc phng cn bng, khng song song l h ng quy phng;
H n lc cn bng, trong c (n-1) lc song song l h lc song song (lc
th n song song vi n-1 lc u);
Hai lc cn bng vi mt ngu lc phi to thnh mt ngu lc ngc chiu
quay v cng tr s mmen.

Kt qu thu gn h lc phng c tng kt trong bng 1.1.
Bng 1.1
H
c

Kt qu thu gn h lc
iu kin
cn bng
Phng trnh
cn bng
B
t

k

( ) ( )
1 2 n
F,F ,...,F R,M
r r r r

n
j
j 1
R R' F
=
= =
r r r

( )
n
O O k
k 1
M M m F
=
= =
r

k
O O
R F 0
M m 0
= =
= =
r r
O
X 0
Y 0
m 0
=
=
=
n
g

q
u
y

( ) ( )
1 2 n
F,F ,...,F R
r r r r

n
k
k 1
R R' F
=
= =
r r r

k
R F 0 = =
r r

X 0
Y 0
=
=

N
g
u

( ) ( )
1 2 n
F,F ,...,F M
r r r

( )
n
O O k
k 1
M M m F
=
= =
r

O k
M M 0 = =
k
M 0 =

10
S
o
n
g

s
o
n
g

( ) ( )
1 2 n
F,F ,...,F R,M
r r r r

k
O O
R F 0
M m 0
= =
= =
O
Y 0
m 0
=
=

1.1.3. Cc php bin i v xc nh lc
a. Lc hot ng v phn lc lin kt:
1. Lc hot ng: l lc c quy lut xc nh, hoc tp trung, hoc phn b.
Lc phn b xc nh bi biu v cng phn b v thng c thu gn.
Vi h lc song song cng chiu phn b u hoc theo tam gic, kt qu thu gn
trn hnh 1.1(a), (b). Trng hp phn b theo hnh thang, c th quy v phn b
u v tam gic. Kt qu thu gn h lc song song cng chiu phn b tng qut
trn chiu di ta c lc thu gn song song cng chiu vi h phn b, t ti
trng tm v c cng bng s o din tch S (theo n v thch hp) ca biu
phn b.

(a) (b)
Hnh 1.1
2. Phn lc lin kt: Phn lc lin kt t vt gy lin kt (vt c gch cho)
t vo vt kho st (v trng) c biu din di dng lc v ngu lc tp
trung.
Khi gp cc lin kt phc tp, chng ta phi phn tch cu to ca lin kt,
trng thi chu lc ca vt rn, iu kin lm vic ca lin kt, cc di chuyn b
lin kt cn tr quy v cc lin kt n gin gii thiu trn nh quy tc
sau: Tng ng mt di chuyn ( thng, quay) b cn tr, lin kt to c mt
phn lc (lc, ngu lc) ngc chiu di chuyn.
q
G
Q=ql
l/2 l/2
l/2
q
G
l/2
Q=ql/2
11
Bng 1.2 nu c im ca cc lin kt v cc phn lc lin kt thng gp.
Bng 1.2
Lin kt Cu to v cch biu din c im phn lc
1 2 3

Ta trn

Thng gc vi mt ta,
hng vo vt kho st, k
hiu: N

Dy

Nm dc theo dy, hng ra
ngoi vt kho st, k hiu: T

Thanh

Nm dc theo thanh (ng
ni hai u thanh), k hiu: S
.
Bn l,
gi c
nh

Phn lc R t ti bn l,
c chia thnh hai thnh
phn X, Y theo hai trc x, y.

Ngm

Phn lc gm: hai thnh
phn lc X, Y v mt ngu
lc M.
N
2
N
1
T
2
T
1
T
B A
S
A S
B
S
x
R
Y
X
y
A
X
M
A
Y
12
1 2 3
tr
ngn

Phn lc vung gc vi trc
(trong mp tc dng ca h
lc).

ci

Phn lc gm 2 thnh phn:
dc trc v vung gc vi
trc (trong mp tc dng ca
h lc).

tr
di

Phn lc bao gm: thnh
phn lc vung gc vi trc
v mt ngu lc nh ngm
(trong mp tc dng ca h
lc).

Gi di
ng

Phn lc vung gc vi nn,
c mt thnh phn X (trong
mp tc dng ca h lc).

b. Ni lc v ngoi lc:
Khi xt h vt, cn phn bit ngoi v ni lc. Ngoi lc l nhng lc t bn
ngoi tc dng vo h. Ni lc l nhng lc tc dng tng h gia cc vt trong
h. c im ca ni lc l xut hin tng i, cng ng tc dng, ngc chiu
v cng tr s (nhng khng cn bng v t vo hai vt khc nhau). Ch rng
ngoi lc cng nh ni lc u c th l lc hot ng hoc lc lin kt.
c. Phng php xc nh lc v vc t chnh:
Xc nh lc: Cho lc F
r
nghing vi trc x mt gc (nhn).
Y
X
o
Y
X
x
X
y
o
1
X
o
X
X
o
o
1
M
M
X
13
Hnh chiu ca lc ln cc trc (H.1.2) cho bi
cng thc:
x y
F Fcos , F Fsin = = ,
trong : F - tr s ca lc ;
du +(-) khi lc thun (ngc) vi chiu trc.
Xc nh vc t chnh:
Cho h lc
k
F (k 1,2,..,n) =
r
. Vct chnh, k hiu R'
r
, l tng hnh hc cc
vect lc:
n
k
k 1
R' F
=
=
r r
.
xc nh vect chnh, c th p dng hai phng php:
1. Phng php gii tch: Hnh chiu ca vect chnh ln mt trc to
bng tng hnh chiu cc lc ln trc .
n n
x kx y ky
k 1 k 1
R ' F ;R ' F ;
= =
= =

Tr s ca vect chnh:
( ) ( )
2 2
' '
x y
R' R R = +
Cc c sin ch phng ca vect chnh:
( ) ( )
'
'
y
x
R
R
cos x,R' ; cos y,R'
R' R'
= =
r r

2. Phng php hnh hc: Vect chnh
'
R
r
l vect khp kn a gic lc,
l vect ni im cui ca mt ng gy khc c cc cnh tng ng (song
song, cng chiu, cng di) vi cc vect lc. Trng hp hai im u v
cui ca a gic lc trng nhau, vect chnh R' 0 =
r
, chng ta ni a gic lc t
khp kn.
d. Phng php xc nh mmen lc v mmen chnh:
M men lc: Cho lc F
r
v im O (H.1.2).
Mmen lc F
r
i vi O l lng i s:
( )
O
m F Fh =
r

Trong : F tr s lc ;
Hnh 1.2
O
y
x

F
H
14
h = OH tr s ca cnh tay n.
Ngoi cch p dng trc tip nh ngha, c th dng hai phng php sau:
1. Phng php phn lc: Phn tch lc F
r
ra hai thnh phn
1 x
F F =
r r
v
2 y
F F =
r r
song song vi hai trc tng ng, sau ta tnh tng mmen cc thnh
phn:
( ) ( ) ( )
O O 1 O 2
m F m F m F = +
r r r

2. Phng php gii tch: Gi x, y l to im t A ca lc,
x y
F ,F l cc
hnh chiu ca lc ln cc trc to tng ng, khi m men lc i vi tm
O l:
( )
O y x
m F xF yF =
r

M men chnh: Mmen ca h lc phng i vi tm O (mmen chnh ca h
lc) k hiu
O
M l tng mmen cc lc i vi im O:
( )
n
O O k
k 1
M m F
=
=
r

i vi ngu lc, mmen chnh khng ph thuc tm O nn c gi l
mmen ngu lc v bng:
( )
*
M m F,F Fd = =
r r
. Vi h ngu lc, mmen chnh
bng tng mmen cc ngu lc.
1.2. Hng dn p dng
gii bi ton phng, ta tin hnh theo cc bc sau:
Bc 1: Chn vt kho st: (vt kho st c th l: mt vt; h vt; mt vt
do nhiu vt ghp li; mt phn tch ra t mt vt - phn khng kho st t
vo phn kho st nhng lc gi vai tr ca phn lc lin kt; mt nt, im
tp trung cc dy, cc thanh...). t lc: Trc tin, biu din tt c cc lc
cho, tip theo biu din cc phn lc lin kt (phn lc lin kt ta v lin kt
dy c phng chiu xc nh; phn lc cc lin kt thanh, bn l, ngm c
chiu cha bit trc c v theo gi nh - p s dng, chiu ga nh
15
ng; p s m - chiu ngc li). Trong biu din lc, cn ch im t,
phng chiu, s thnh phn v cch phn tch cc phn lc. Cn phn bit
lc hot ng v lc lin kt, lc tc dng vo tng vt v vo ton h ho rn,
ni lc v ngoi lc.
Bc 2: Phn tch c im h lc kho st: (ng quy, song song hay bt
k), t xc nh s phng trnh cn bng c lp c th lp c (2 hoc
3) theo cc iu kin trong mc 1.1.2, sau tin hnh gii cc phng trnh
nhn c.
Ch :
1. Nu h lc kho st l ng quy phng, c th dng iu kin cn bng
dng hnh hc (a gic lc t khp kn). Trong trng hp s lc t, c th dng
phng php bin i lc. bi ton n, vt lt, phng trnh cn bng lp c
ch cha cc lc hot ng
2. i vi bi ton h vt, v c hai loi iu kin cn bng nn tng ng
c hai cch thnh lp cc phng trnh cn bng: phng php tch vt v phng
php ho rn.
Phng php tch vt: ln lt xem xt ring v lp phng trnh cn bng
ca tng vt. Phng php ny c bit thun li nu chn c th t tch
vt sao cho s phng trnh cn bng c lp ca vt c tch bng s lc
l n s.
Phng php ho rn: trc ht lp phng trnh cn bng ca cc ngoi
lc v sau mi tch vt. Phng php ny thng c p dng khi tch
vt khng thun li; khi phng trnh cn bng cc ngoi lc c th cho
ngay mt s ngoi lc n, nh qu trnh tch vt tr nn d dng.
3. Cn ch rng, mi cp ni lc d c v ngc chiu, cng k hiu
nhng vn cng gi tr (cng dng hay m tu theo chiu gi nh l ng hay
sai).
16
1.3. Bi gii mu
1.3.1. Bi ton tm iu kin cn bng
Bi ton c t ra nh sau: Cho mt vt rn (hay h vt rn phng) chu
tc dng ca h lc cho F
1
, F
2
, ..., F
n
, tm v tr cn bng ca vt (h vt) hoc
tm iu kin rng buc gia cc lc cho vt (h vt) cn bng mt v tr
no .
Khi gii cc bi ton dng ny, ta cn ch chn phng trnh cn bng
sao cho khng cha phn lc lin kt, lp c phng trnh cn bng cho php
tm ngay ra iu kin cn bng.
Cc bi ton n v vt lt l cc dng bi ton c bit ca phn ny.
V d 1-1:
Thanh ng cht AB nng P, di 2l c
t ta hai u A v B vo hai cnh nhn ca
mt gc vung OCD. Trn thanh AB ti E
treo mt vt nng trng lng Q. Cho bit
AE=l/2, cnh OC nghing vi ng ngang
mt gc , tm gc nghing ca thanh AB
vi ng ngang khi thanh AB cn bng?
Bi gii:
Kho st s cn bng ca thanh AB (H. 1-3): thanh chu tc dng ca cc
lc P, Q v cc phn lc N
A
, N
B
, ta c h lc cn bng:
( )
A B
P,Q,N ,N 0
r r r r r
.
Ta thy rng, ng tc dng ca cc phn lc lin kt ct nhau ti I, vy
chng khng c mt trong phng trnh cn bng ta lp phng trnh m men i
vi im ny:

( ) ( ) ( )
I k I I
m F m P m Q 0 = + =
r r r
. (a)
Sau khi tnh cc gi tr m men v thay vo (a), ta nhn c phng trnh:
Hnh 1-3
P
Q
E
I
N
N
A
O
A
C
B
D
17
( ) ( )
l
P 2l cos l cos Q 2lsin sin cos 0
2

=

. (b)
Gii phng trnh (b) theo , ta c kt qu:
( )
( )
Q 2 P Q cos2
tg
2 P Q sin2
+
=
+
.
V d 1-2:
Thanh ng cht AB, di 2l, trng lng P c u A ta trn tng nhn, u
B dc gi bi dy BC nghing vi tng mt gc 30
0
. Tm gc nghing ca
thanh vi tng thanh nm trng thi cn bng?
Bi gii:
Kho st s cn bng ca thanh AB: gii phng cc lin kt, thanh chu tc
dng ca cc lc P, N, T. Do bi ton ch yu cu tm gc nghing ca thanh,
nn ta s xy dng phng trnh cn bng khng cha cc thnh phn phn lc
cha bit. Ly m men vi giao im ca cc ng tc dng ca cc lc T v N
(im E, H. 1-4), ta c phng trnh sau:

( )
E k
m F P.HE 0 = =
r
.
T phng trnh trn ta c: HE = 0, hay:

0
2 3
HE l sin BFtg30 lsin 2l cos
3
2 3
l sin cos .
3
= =

=

T ta xc nh c:
2 3
tg
3
= .
Bi ton n:
nh ngha: n l vt rn quay c quanh mt trc c nh O v chu
tc dng ca mt h lc cho nm trong mt mt phng vung gc vi trc
quay ca vt.
Hnh 1-4
P
H
F E
30
0
C
N
T
B
A
18
iu kin cn bng ca n: n cn bng, cc lc ch ng tc dng
ln n phi tho mn phng trnh cn bng cc m men i vi trc quay:
( )
O k
m F 0 =
r
.
V d 1-3:
n OA c th quay c quanh trc nm ngang i qua O. im B ca
n c ni vi van ni hi D, chu p sut p, u A ca n phi treo vt c
trng lng Q bng bao nhiu khi p sut hi vt qu mt gi tr p no th
van s b m ra? Cho bit OA=a, OB=b, din tch ca van l S. B qua trng
lng ca n v ma st.
Bi gii:
Kho st n OAB (H. 1-5), cc lc ch ng tc dng ln n gm c lc
Q v lc y P ca hi nc.
Vit iu kin cn bng cho m men i vi im O, ta c:
( )
O k
m F Pb Qa 0 = =
r
.
T ta c: Pb Qa = , thay gi tr P = pS, ta nhn c:
b
Q pS
a
= .

Bi ton vt lt:
Vt lt l vt rn c th b mt cn bng do b lt quay quanh mt ng
ta no , gi trc quay khi vt lt l O, ta thy c hai nhm lc to nn hai
chiu m men khc nhau. Gi tng m men thun chiu quay ca vt khi b lt l
P
1
D
C
Q
P
2

B A
Hnh 1-6 Hnh 1-5
p
Q
P
R
O
B
A
D
19
m men lt M
L
v tng m men ngc li l m men chng lt M
CL
, ta c iu
kin vt khng b lt l:
CL L
M M , hay:
( ) ( )
O kCL O kL
m F m F

r r
.
T s:
CL
L
M
k
M
= , c gi l h s n nh chng lt, khi iu kin
vt khng b lt l k1.
V d 1-4:
Cho cn trc nm trn ng ray. Trng lng ca cn cu l P
1
nm gia
khong cch hai bnh. Vt cu v tr xa nht l CD=l, trng lng l P
2
. Tm
trng lng ca i trng Q cn trc khng b lt? Cho khong cch t i
trng n tm cn trc l 2a, khong cch gia hai bnh xe l 2b.
Bi gii:
Kho st cn trc trng thi lm vic bnh thng, cn trc chu cc lc
hot ng l P
1
, P
2
, Q v hai phn lc ti A v B. C th xy ra hai kh nng lt:
lt quanh A hoc quanh B (H. 1-6).
Xt kh nng lt quanh A: trng hp ny s nguy him nht khi P
2
= 0,
lc lc Q l lc gy m men lt. Thit lp phng trnh m men quanh trc lt
i qua A, ta c:
( ) ( )
A k 1
m F Q 2a b Pb =
.
khng b lt ta phi c iu kin: ( )
1
Pb Q 2a b hay
1
b
P Q
2a b
.
Xt kh nng lt quanh B, lp phng trnh m men i vi im B, ta c:
( ) ( )
B k 1 2
m F Q 2a b Pb P l = + +
.
khng b lt ta phi c iu kin:
( )
1 2
Pb Q 2a b P l + + hay
2 1
P l Pb
Q
2a b
+
.
Nh vy, i trng Q phi c gi tr:
2 1
1
b P l Pb
P Q
2a b 2a b

+
.
20
V d 1-5 (Bi ton h vt):
Treo mt a trn ng cht v mt vt nng vo cng mt im O c nh
bng hai si dy mm, mnh, khng dn v c trng lng khng ng k. H
cn bng v tr nh hnh v, hy xc nh gc gia dy treo a vi phng
thng ng. Cho bit: bn knh a r, trng lng a P, chiu di on dy treo
a l l, trng lng vt nng l Q.
Bi gii:
Kho st h cn bng gm a, vt nng v cc dy treo (H. 1-7). Cc lc
tc dng ln h gm: cc trng lc P v Q, phn lc lin kt ti O R
O
. xc
nh gc lch gia dy treo a vi phng thng ng, ta coi c h l mt vt rn
cn bng di tc dng ca h lc k trn, iu kin cn bng nh sau:
( )
O
P,Q,R 0
r r r r
.
Lp phng trnh cn bng i vi mmen ti O, ta c:
( ) ( ) ( )
O k
m F P l r sin Q r l r sin 0 = + + =

.
Gii phng trnh trn, ta nhn c:
Q r
sin
P Qr l
=
+ +
.

Hnh 1-7

B
O
A
Q
P
C
30
0
Hnh 1-8
F
M
60
0
D
C
B A
O
1
O
21

V d 1-6:
Cho c cu phng chu tc dng ca m men M v lc y F nh hnh v.
B qua khi lng ca cc thanh v ma st, tm mi lin h gia M v F c
cu cn bng? Cho bit OA=a, im C nm gia thanh O
1
B (Hnh 1-8).
Bi gii:
Kho st h bao gm: cc thanh OA, AB, O
1
B, CD v con chy D cn
bng di tc dng ca cc lc ch ng v cc phn lc lin kt ti O, O
1
, D.
gii bi ton ta p dng phng php tch vt:

Trc tin ta xt cn bng ca thanh OA: ti A do thanh AB ch b ko hoc
nn do ch c mt thnh phn phn lc S
1
, ti O c phn lc R
O
. Vit phng
trnh cn bng m men ti O, ta c:

( )
O k 1
m F M OA.S 0 = + =
r
. (a)
Tip theo, kho st s cn bng ca con chy D cng vi thanh CD: ho
rn h ang xt, ti C do thanh ch chu ko hoc nn nn ch c mt thnh phn
phn lc S
2
hng dc theo thanh, lp phng trnh cn bng theo phng ngang,
ta c:

0
2
F S cos30 0 = . (b)
Sau cng, ta xt phn cn li ca h bao gm thanh O
1
B v thanh AB. Ho
rn h ang xt, ti C c thnh phn phn lc S
2
, ti A c S
1
. Vit phng trnh
cn bng m men i vi O
1
, ta nhn c:
R
O
S
1
M
A
O
S
2
N
30
0
F
D
C
R
O1
S
1
S
2
C
60
0
B
O
1
22

( )
' 0 '
O1 k 1 1 2 1
m F S.OB.sin60 S .OC 0 = =
r
. (c)
Kt hp 3 phng trnh trn vi ch rng
'
2 2
S S = , kh cc thnh phn
phn lc, cui cng ta nhn c iu kin:
F.a M 3 = .
1.3.2. Bi ton tm phn lc lin kt
Bi ton c t ra nh sau: Cho mt vt rn (hay h vt rn phng) cn
bng di tc dng ca h lc cho F
1
, F
2
, ..., F
n
, hy xc nh cc thnh phn
phn lc lin kt.
Khi gii cc bi ton dng ny, ta cn ch biu din y cc lc hot
ng tc dng ln h v cc phn lc lin kt, t nhn c mt h lc cn
bng. tip theo, lp phng trnh cn bng i vi h lc trn v gii cc phng
trnh .
Ch :
gim bt s lng cc lc phi tm, nu cc n ng quy, ta nn lp
phng trnh m men i vi im ng quy ; nu cc n song song, ta
lp phng trnh hnh chiu trn trc vung gc vi cc n .
i vi bi ton h vt, lc u ta nn xc nh tnh tnh nh ca h, sau
xc nh s lng n v s phng trnh cn bng c lp c th lp
c t tm cc v tr tch h tng ng.
V d 1-7:
Dm AB c chiu di l, u A ngm cht vo tng, u B t do. Dm chu
tc dng ca lc F to vi phng ngang mt gc ti B v ngu lc c m men
bng M. Tm phn lc ti A, b qua trng lng ca dm (Hnh 1-9)?
Bi gii:
Xt cn bng ca dm AB. Gii phng lin kt ti ngm A, thay bng cc
phn lc lin kt c chiu gi thit nh hnh v. Ta c h lc cn bng:

( )
A A A
F,M,M ,X ,Y 0
r r r r r r
(a)
23

T (a), ta lp cc phng trnh cn
bng:
A
X X Fcos 0 = =
,
A
Y Y Fsin 0 = =
, (b)
A A
m M M Fl sin 0 = =
.
Gii h phng trnh trn ta nhn c:
A A A
X Fcos ; Y Fsin ; M Fsin M = = =
V d 1-8:
Thanh ng cht AB trng lng P, u A gn bn l v c gi cn bng
v tr nm ngang nh dy buc vt nng D, dy to gc 60
0
vi phng ngang.
B qua trng lng dy, ma st trc bn l v rng rc. Tm trng lng ca vt
D v phn lc ti A (Hnh 1-10)?
Bi gii:
Xt cn bng ca thanh AB chu tc dng ca h lc
( )
A
P,R ,T
r r r
, lp phng
trnh cn bng i vi m men ti A, ta c:

0
A
l
m P Tlsin60 0
2
= + =
, t ta nhn c:
P
T
3
= . (a)
Chiu h lc theo hai phng x v y, ta c:

0
AX AX
T
Tcos60 R 0, R
2
= = (b)

0
AY AY
T 3
Tsin60 R P 0, R P
2
+ = = (c)
Trng lng ca vt D cn bng vi sc cng dy T, vy ta c:
P
Q
3
= .

Hnh 1-9
l
X
A
Y
A
M
A
B A
F
M
24

Ta cng c th gii bi ton trn theo cch khc: thy thanh AB
cn bng di tc dng ca ba lc P, R
A
v T, trong hai lc P v T c ng
tc dng ct nhau ti O, vy thanh cn bng ba lc trn phi ng quy. Biu
din tam gic lc nh hnh trn ta s xc nh c cc gi tr cn tm.
V d 1-9:
Dm ng cht AB c trng lng P v chiu di l, du A ngm cht trong
tng, to vi tng mt gc . Trn dm t khi tr trn ng cht, trng
lng Q. Tm p lc ca khi tr ln dm v tng, phn lc lin kt ti A? Cho
bit
2
BD l
3
= (Hnh 1 - 11).
Bi gii:
Chn h to nh hnh v, h kho st bao gm hai vt: dm AB v khi
tr, ti A c cc phn lc lin kt: X
A
, Y
A
, ngu M
A
; ti v tr khi tr tip xc vi
tng c phn lc N
2
vung gc vi tng. Vy h c 4 n trong khi ta ch thit
lp c ti a 3 phng trnh cn bng, do ta phi p dng phng php tch
h gii.
Hnh 1- 10
30
0
Q
R
A
T
P
30
0
C
P
T

60
0
R
A
B

D
A
O
25
Tch hai vt v gii phng cc lin kt, ta c: Khi tr chu tc dng ca h
lc ng quy
( )
1 2
Q,N ,N
r r r
; dm AB chu tc dng ca h lc
( )
'
1 A A A
P,N ,X ,Y ,M
r r r r r
.

Phng trnh cn bng ca khi tr:

1 2
1
X N cos N 0
Y N sin Q 0
= + =
= =
(a)
Phng trnh cn bng ca dm:

'
1 A
'
1 A
'
A A 1
X N cos X 0
Y N sin P Y 0
l l
m M P sin N 0
2 3
= + =
= + =
= =
(b)
Gii h cc phng trnh (a) v (b) vi ch
'
1 1
N N = , ta c kt qu sau:
( )
2
1 2 A A A
l 2Q 3Psin
Q
N ; N Qctg ; X Qctg ; Y P Q; M
sin 6sin
+
= = = = + =

.
V d 1-10:
Cho kt cu gm hai thanh ABC v CD cn bng di tc dng ca h lc
nh hnh v. Cho cc gi tr: F
1
=10kN, F
2
=12kN, M=25kNm, q=2kN/m, =60
0
.
Cc kch thc trn hnh v o bng m, b qua trng lng hai thanh. Tm
phn lc lin kt ti A, C, D (Hnh 1 - 12)?
Bi gii:
Hnh v d 1-9
D
A
N
2
N
1
Q
P
D
B
X
A
A
N
1
M
A
Y
A
y
x
D
B
A
P
Q
26
Chn h to nh hnh v, h kho st gm hai thanh ABC v CD, ho rn
h ta c mt vt cn bng di tc dng ca h lc:

( )
1 2 A A O O
F,F ,Q,X ,Y ,X ,Y ,M 0
r r r r r r r r
(a)
Trong : Q=4q.
T (a), ta thit lp cc phng trnh cn bng cho h:

A 1 D
A 1 2 D
A 1 1 2 D
X X F cos X Q 0
Y Y F sin F Y 0
m 2Q 4F cos 3F sin M 5F 7Y 0
= + + =
= + =
= + + + =
(b)

Ba phng trnh lp c cha xc nh 4 n. Ta phi s dng thm
phng php tch vt: Gii phng lin kt cho thanh CD, lc ny phn lc ti C
xut hin v c hai thnh phn.
Vit cc phng trnh cn bng cho thanh CD, ta c:

C D
C 2 D
D 2 C C
X X X 0
Y Y F Y 0
m 2F M 4X 4Y 0
= + =
= + =
= =
(c)
T (b) v (c) ta s tm c 6 n nu trn:
3
Hnh 1-12
Y
D

X
D
X
C
Y
C
F
2
C
M
D
Q
Y
D
X
D
X
A
Y
A

B
F
2
C
F
1
M
D
A
B
2
3
4
2
F
2
C
F
1
M
D
A q
27
X
A
=-3.39kN; X
C
=-4.39kN; X
D
=4.39kN
Y
A
=11.8kN; Y
C
=4.14kN; Y
D
=7.86kN.

Bi ton gin:
Khi nim gin: Gin l cu trc cng c cu to t cc thanh thng lin
kt vi nhau bng cc khp hai u, cc v tr ny c gi l cc nt.
Trong bi ton gin chp nhn cc gi thit sau:
- Tt c cc ti trng ngoi t ln gin ti cc nt.
- B qua ma st ti cc nt v trng lng ca cc thanh (hoc trng lng
ca cc thanh c phn b ra cc nt), v vy cc thanh gin c coi l
ch chu ko hoc nn.
Cu to ca gin: S lng thanh (k) v s nt (n) lin h vi nhau theo h
thc:k=2n-3. Nu s thanh t hn, gin s khng cng; ngc li nu s thanh
nhiu hn, gin s siu tnh.
Bi ton gin: l bi ton xc nh phn lc cc gi ta v ng lc cc
thanh gin.
Bi ton xc nh phn lc: Xem gin nh mt vt rn, vit cc phng
trnh cn bng thng thng v gii.
Bi ton xc nh ng lc: C hai phng php:
- Phng php tch nt:nh s nt v thanh (dng s La m nh s
nt), k hiu cc ng lc tng ng vi cc thanh l S
k
. Ln lt xt cc iu
kin cn bng ca cc lc ng quy ti tng nt ca gin. Phng php ny
c s dng khi cn xc nh ng lc tt c cc thanh. Khi c ng lc
no bng khng th thanh c gi l thanh khng.
- Phng php mt ct: Ct gin qua mt s thanh, vit phng trnh cn
bng cho tng phn gin. Phng php ny thng c s dng khi cn
28
xc nh cc ng lc trong cc thanh ring r cn kim tra bn, hoc khi
gp nt c s n ln hn 2.
V d 1-11:
Cho gin nh hnh v, gin chu cc lc tc ng sau: F
1
=F
2
=F
3
=F. Xc
nh cc phn lc ti cc gi v ng lc trong cc thanh (Hnh 1-13)?
Bi gii:
u tin, ta xt tnh tnh nh ca bi ton: nh s nt v thanh nh trn
hnh v, ta c: k=9 v n=6, nh vy s thanh v s nt tho mn h thc k=2n-3,
vy gin l tnh nh.

Xc nh phn lc: Coi gin nh mt vt rn cn bng, chu tc ng ca h
lc bao gm cc lc hot ng F
1
, F
2
, F
3
v cc phn lc lin kt ti A v B. Ta
lp cc phng trnh cn bng cho h lc nu trn, nhn c:
A A
3
X 3F; Y N F
2
= = = .
Xc nh ng lc trong cc thanh: K hiu ng lc S
k
tng ng vi ng lc
ti thanh th k, chiu ca cc ng lc nh trn hnh v v cc thanh coi nh b
ko, nu nh kt qu tnh ton l m, khi thanh s b nn.
b
a
Hnh 1-13
F
3
y
x
9
8
7
6
5
3
2
1
4
F
2
Y
A
F
1
N
B
A
X
A V
IV III
II
I
VI
29
Phng php tch nt: Ti mi nt ta nhn c mt h lc ng quy v
tng ng ta thit lp c cc phng trnh cn bng:
kx ky
F 0, F 0. = =

Bt u t nt I, ti y c hai thanh v tng ng vi hai phng trnh ta
xc nh c:
1 2
F
S , S F 2
2
= = . Tip theo, ti nt II c ba thanh nhng ta
bit gi tr ca S
1
v vy ta cng s xc nh c hai gi tr cn li. Ln lt
nh vy, ta s xc nh c ton b ng lc trong cc thanh.
Phng php mt ct: Gi s i hi xc nh ng lc trong thanh s 6, ta
dng mt ct ab qua cc thanh 2, 3, 5, 6. xc nh S
6
, ta lp phng trnh cn
bng m men i vi nt VI, ta nhn c:
VI 6 A A
m S a Y a X a 0 = + =
.
Thay gi tr ca X
A
v Y
A
vo phng trnh trn, ta nhn c
6
3
S F
2
= . S
6

c gi tr m, nh vy thanh s 6 chu nn.
1.4. Bi tp
1-1. Dng lc ko Q nm ngang ko bnh xe ng cht bn knh R trng
lng P t mt ng A vt ln mt ng B; bc AB=h=R/2. Xc nh phn
lc ti A v B vi tr s Q no bnh xe s vt qua bc?
Tr li: 3
3
2
3
3
Q N ; Q P N
B A
= = ; Xe vt qua bc khi
3
3
P Q
Hng dn: Gc AOB=60
0
, xe vt qua bc khi bt u ri mt A (phn
lc N
A
=0).

B
Q
A
O
Hnh bi 1-1
Hnh bi 1-2
F
30
0
P
B
A
O
30

1-2. Trc ca rng rc O c bi hai thanhOA v OB, trng lng khng
ng k, nghing u 60
0
vi ng nm ngang. Vng qua rng rc l si dy,
u treo vt nng P, u kia nghing 30
0
vi ng nm ngang v chu lc F(=P)
gi vt cn bng. Xc nh ng lc ca hai thanh?
Tr li:
3
3
2
3
3
P S ; P S
B A
= =

1-3. Thanh AB c mc vo tng nh bn l A v c gi nm ngang nh
thanh CD; thanh sau c hai u l bn l ni vo thanh u v trn. Gc nghing
gia hai thanh l 60
0
, trng lng 2 thanh u khng ng k. Cho AC=2m,
CB=1m. Tm phn lc ti bn l A v C khi u B chu lc thng ng P=10kN.
Tr li: kN S ; kN Y ; kN X
C A A
3 10 5
2
3
10 = = =

Hng dn: CD l thanh gy lin kt.
1-4. Cu (xem nh ng cht) AB=2a, trng lng P, nm gi c nh A v gi
di ng B. tm cao h c lc gi nm ngang Q. Xc nh phn lc ti A v B
trong hai trng hp sau:
a) Gi di ng B di chuyn trn mt phng ngang.
b) Gi di ng B di chuyn trn mt phng nghing gc 30
0
vi mt nm
ngang.

Tr li:
a)
a
h
Q
P
N ;
a
h
Q
P
Y ; Q X
B A A
2 2 2 2
+ = = =
60
0
D
C
P
B A
Hnh bi 1-3
a)
h
Q
B
A
B
b)
h
Q
A
Hnh bi 1-4
31
b)
3
3
2 2
1
6
3
6
3
)
a
h
Q P ( N ;
a
h
Q
P
Y );
a
h
( Q
P
X
B A A
+ = = + =
1-5. Xc nh phn lc ti ngm ca dm nm ngang, trng lng khng ng k,
chu lc nh hnh v.
Tr li: X
0
= 2,8kN, Y
0
= 1,7kN, m
0
= -5,35kNm.

1-6. Xc nh phn lc ti ngm ca dm nm ngang, trng lng khng ng
k, chu lc nh hnh v.
Tr li: X
0
=12,5kN, Y
0
=13,7kN, m
0
=-27kNm.
1-7. Lc ko nm ngang Q t u E ca mc
ABCDE b ngm u A v c dng nh hnh v
(AB=DE v bng bn knh R ca na ng trn
BCD). Tm phn lc ngm A ni lc cc thit
din B, C v D .
Tr li:
X
A
= -Q; Y
A
= 0; m
A
= QR; Y
C
= 0; X
C
= Q
M
C
= 2QR; X
D
= Q; Y
D
= 0; m
D
= QR
1-8. Nhn A lng ngoi ng trn A (nm trong
mt thng ng). Treo vo nhn vt nng P. Mt
khc buc vo nhn si dy ABC, u C (sau khi
vt qua rng rc B t v tr cao nht ca ng
trn) treo vt nng Q. Xc nh gc tng ng v
tr cn bng?
Hnh bi 1-5
q=1,5kN/m
45
0
4kN
A
O
2kNm
2m 3m
q=2kN/m
3m
Hnh bi 1-6
q=4kN/m
30
0
5kN
A
O
4kNm
4,5m
Hnh bi 1-7
R
Q
E
D
C
B A
Hnh bi 1-8
B
A
Q
C
P
32
Tr li:
P
Q
arccos
2
2 =

1-9. Thanh ng cht AB trng lng P=20N
c trc quay nm ngang A, u B treo vt nng
P=200N. Cng ti u B, buc si dy, u dy
kia treo vt nng Q = 200N sau khi vt qua rng
rc nh D. Bit AD nm ngang, AD=AB. Tm
gc nghing ca thanh khi cn bng.
Tr li: 5080 0
2
, sin

1-10. n ABC trng lng 80N gm hai
tay n AB = 0,4m v BC = 1m vung gc
vi nhau ti trc nm ngang B ca n. Ti
hai u A v C buc hai si dy, u treo
hai vt nng P
1
= 310N, P
2
= 100N, sau khi
vng qua hai rng rc nh E v F. bit v
tr cn bng gc EAB = 135
0
, trng tm G ca n cch ng thng ng BD
mt on 0,212m.
Xc nh gc = BCF.
Tr li: =
1
45
0
; =
2
135
0
.
1-11. Khi ln trn, mt ng nghing gc vi mt nm ngang (tm ln
pha thp). Bit khong cch hai bnh xe AB = 2a, trng lng xe l P (trng
lng tm C nm trn trung trc ca AB v cch mt ng mt on h).
Xc nh vn tc ti a v xe khng b lt bit
rng lc qun tnh li tm t ti C, nm ngang v c tr
s:

R
v
.
g
P
Q
2
=
(g gia tc trng trng, R bn knh ln).
Hnh 1-11
Hnh bi 1-9
D
B
A
P
Q
Hnh bi 1-10
F
E
G
D
C
B
A
135
0
P
2
P
1
Hnh bi 1-11
33
Hnh bi 1-13
B
D
A
60
0
C
Tr li:

+
atg h
htg a
. gR v
2

1-12. Lc nm ngang Q t vo u A ca cn OA, cn ny quay c quanh
trc O v p B vo khi tr c nm trong gc vung gia nn ngang v tng
ng. B qua trng lng ca cn, bit trng
lng khi tr ng cht l P v OB = BA, =60
0
;
A nm trn ng thng ng qua C.
Tm cc phn lc trc O, phn lc ca
nn v tng, lc p ti B.
Tr li:
2
3
2
3 Q Y ;
Q
X ; Q N
o o B
= = =

2
3
2
3 Q
N ; Q P N
E D
= + =

1-13. Thanh AB ng cht trng lng P gn vi nn bng bn l A v ta ln
qu cu C, qu cu ny ng cht, trng lng Q, ta ln nn v c gia bi
dy AC (ni tm C vi cht bn l A). Bit thanh
nghing 60
0
vi nn. Tm cc phn lc ti A, D v
sc cng ca dy .
Tr li:
4
3
4
3
2 2
P
Y ; P X ;
P
T ; Q
P
N
A A D
= = = + =

1-14. Mt ng dc nghing gc 30
0
gm hai on AB = 60m v BC = 30m
ni vi nhau bng bn l B v c gi bi gi c nh A (bn l) v hai ct CC
v . B qua trng lng ca dm v cc ct.
Trn ng c on tu AE, trng lng (thng
ng) mi mt di l 20kN. Tm phn lc ti A,
ng lc cc ct v lc tc dng tng h ti b.
Hnh bi 1-14
Hnh bi 1-12
O
D
E
A
Q
60
0
C
B
34
Cho AD = 40m, AE = 70m, chiu cao ca on tu khng ng k.
Tr li: S
C
= 50KN; Y
A
= 225KN;
Y
E
= 150KN; S
D
= 1125KN.
1-15. Trn ng nm ngang c xe AB trng lng Q mang cn BC trng lng
P, quay c quanh trc B v c gi bi dy ED,
vng qua u mt C l dy mang vt nng P c u
dy kia buc vo A. Cho AE=EB=BD=DC v cn BC
nghing 60
0
vi mt ng. Tm phn lc hai bnh
xe A, B sc cng ca dy ED v lc tc dng tng
h ti bn l B.
Tr li:

A B
Q P 1 Q 3P 5
N p; N p;
2 4 2 4
+
= = +
( ) ( )
B B
3 3
T P; X P p ; X P p .
2 2
= = + = +

1-16. Trn nn nm ngang t thang hai chn ni vi nhau nh bn l C v dy
EF. Trng lng mi chn thang (ng cht) l 120N. Ti D c ngi nng 720N,
kch thc ghi trn hnh v. Tm phn lc ti A, B v sc cng ca dy.
Hnh bi 1-16
Tr li: N
A
=408N; N
B
=552N; T=522N.
1-17. Lc thng ng P
t vo n OBA truyn tc dng qua thanh BC xung

cn CK, cn ny trt theo mng thng ng DE p vt K. Cho OB=BA,
BCOA, CD=DE=EK=a; gc nghing ca OBA vi ng nm ngang OC l .
Tm lc nn ti K v phn lc ca mng DE (qui v hai lin kt ta D v E)
Hnh 1-15
35
Tr li: N
K
=2Pcos
2
; N
D
=4Psincos; N
E
=2Psincos.
P
K
D
E
C
O
B
A
a
a
a

1-18. Lc thng ng P

t vo n by truyn tc dng xung cn BD thng
qua con trt B. Cn BD trt theo mng trt C thng ng. Bit n OA
nghing 30
0
vi ng nm ngang, OB=BA, CD=CB=a. Tm lc nn ti D v
phn lc mng trt (xem nh loi ngm).
Tr li:
2
3
2
3
2
3
aP m ; . P N ; P N
C C D
= = = .
1-19. Vt nng P c treo vo nt (1, 2) ca dn
gm 5 thanh (1, 2, 3, 4, 5) b tr nh hnh v v c
gi c nh nh 3 thanh 6, 7, 8.
Tm ng lc cc thanh (b qua trng lng xem
nh cc thanh ni vi nhau v vi nn v tng bng
bn l).
Tr li:
1 2 4
3 2 3
S P; S S P;
2 3
= = =

5 6 7 8
3
S 0; S P S ; S P.
2
= = = =

Hnh bi 1-18 Hnh bi 1-17
30
0
P
8
7
6
5
4
3
2
1
60
0
60
0
Hnh bi 1-19
36
1-20. Ba dm ng cht AB, BC, CD trng lng 2P, P, P ni vi nhau bng bn
l B, C v c nm ngang nh gi c nh A v cc gi di ng E, G,
D. Knh thc cho trn hnh v.
Tm phn lc cc gi v lc tc dng
tng h ti B v C.
Tr li:
P N ;
P
N ;
P
N
G C D
2
2 2
= = =

P N ; P N ;
P
N
A E B
6
5
3
2
2

= = =
1-21. Cho c cu nh hnh v, ngu lc m t vo
tay quay OA, thng qua con chy A, cn BC, con
chy C v cn ED, truyn tc dng n vt G. Bit
OB thng ng OA=OB=r: OBC=30
0
; BA=AC, cn
ED nm ngang v on CC thng ng. Tm lc t
vo vt G khi cn bng, Tm phn lc trc O, B v
con chy A, C.
Tr li:
G C o A
N
r
m
N ;
r
m
Y ;
r
m
X ;
r
m
N = = = = =
3
2
3
3
3
3 2
0

r
m
Y ;
r
m
X
B B
3
2
3
= =

1-22. Hai khi tr ng cht C
1
, C
2
, trng lng P
1
=10N, P
2
=30N, nm ta ln
nhau trong mt gc vung to nn bi hai mt OA v OB nghing 30
0
v 60
0
vi
mt nm ngang. Tm gc nghing ca on ni hai tm C
1
, C
2
khi cn bng,
tm lc p tng h gia hai qu cu.
Tr li: =0; N=17,3N

Hnh bi 1-21
Hnh bi 1-20
37
1-23. Thanh ng cht OA, trng lng P quay c quanh trc O v ta ti
im B ca n ln qu cu ng cht C. Qu cu ny c trng lng Q, bn knh
R, c treo vo trc nh dy OD=R. Bit OD nghing 30
0
vi OA, tm gc
nghing (vi ng thng ng) ca dy OD khi cn bng.
Tr li:
P Q
P
tg
3 4
3
+
=

1-24. Ngu m t vo tay quay OA quay c quanh trc
O. Nh con chy A c th trt dc CB m lc truyn tc
dng sang cn CB. Bit OC thng ng, OA=R nm ngang
0
30 = C
)
, CB=3R. Tm lc Q
nm ngang cn t vo B
h cn bng.
Tr li:
R
m
Q
9
3 8
=

Hnh bi 1-24
38
1-25. Cam A l mt khi lng tr thit din tam gic
vung trt c theo mt nhn nm ngang di tc dng
ca lc dy nm ngang P, cam c mt nghing, gc
nghing nh y c cn trt BC, trt theo mng
trt thng ng. Xc nh lc thng ng Q phi t vo
mng trt c cn bng.
Tr li: Q=Pctg.
1-26. Qu cu ng cht c trng lng P c treo
trn tng nhn thng ng nh si dyAC. Dy lp vi tng gc . Xc nh
lc cng T v p lc ca qu cu ln tng.
Tr li:
P
T ; N P.tg
cos
= =

1-27. Gi ABC nng, h ti trng P=20kN qua rng rc A v ti D. Ti D
c gn vo tng c gc DCA=30
0
. Gc gia cc thanh ca cn trc l
ABC=60
o
, ACB=30
0
. Hy xc nh lc dc trong cc thanh AB v AC.
Tr li: N
AB
= 0; N
AC
= +34,6 kN.
1-28. Bn trong mt bn cu lm nhn cht im M trng lng P gi cn bng nh
dy vt qua rng rc A, u cui dy treo vt nng c trng lng Q nh hnh v. Xc
nh p lc N ca cht im M ln mt cu v gc lp bi bn knh OM vi phng
ngang. Cho bit OA=R

Hnh bi 1-25
P
B
A
C
D
Hnh bi 1-27

C
A
O
Hnh bi 1-26
39
Tr li:
Qsin
2
N
cos
;
2 2
Q Q 8P
sin
2 4P
+ +
=

1-29. Dm AB chiu di l, u B treo vt M trng lng P, u A ta vo tng
nhn thng ng, ti C ta vo g nh hnh v. Xc nh phn lc ta ti A v C,
khong cch AC khi h cn bng. B qua ma st v trng lng ca dm. Cho
bit dm lp vi phng ngang gc .
Tr li: N=P.tg;
c
P
N ;
cos
=
AC=lcos
2

1-30. Tm vn AB di 2l trng lng P
1
treo trn hai dy AC v BC c di
bng nhau, dy lp vi tm vn gc . Mt ngi trng lng P
2
ng ti im D
vi AD=a. Xc nh gc nghing ca tm vn vi phng nm ngang ti v tr
cn bng v lc cng T
A
, T
B
ca hai dy.
Tr li:
2
1 2
(l a)P
tg Ctg ;
l(P P )
=
+

A 1 2
cos( )
T (P P )
sin2

= +
;
B 1 2
cos( )
T (P P )
sin2
+
= +
.

M

A
Q
O
R
Hnh bi 1- 28 Hnh bi 1-29
x
C
B
Q
A
P
Hnh bi 1-31a
B A
b a

Hnh bi 1-31b
P
B
A
b a
D
C
a
A
B

Hnh bi 1-30
40

1-31. Dm AB cn bng di tc dng ca lc P nh hnh v. Cho bit cc kch
thc a, b, v cc gc , . Xc nh phn lc lin kt ti A, B trong hai trng
hp. B qua trng lng ca dm.
Tr li: a, X
A
=P.cos;
A B
P.bsin P.asin
Y ; N
a b a b

= =
+ +
.
b,
A A B
P.asin .tg Pbsin Pa sin
X Pcos ; Y ; N
a b a b (a b)cos

= + = =
+ + +
.
1-32. Dm cng xn cn bng di tc dng ca h lc nh hnh v. Xc nh
phn lc ti ngm A. B qua trng lng ca dm.
Tr li: X
A
=Pcos; Y
A
=Psin+q.a;
2
A
5qa
M P.a sin M
2
= + .

1-33. Cho kt cu cn bng di tc dng ca h lc nh hnh v (kch thc cho
bng mt). Xc nh phn lc ti A, C v B. Bit P
1
=10kN, P
2
=12kN, M=25kNm,
q=2kN/m, =60
0
.
Tr li: X
A
=-7,39kN; Y
A
=12,8kN; X
B
=4,39kN;
Y
B
=7,86kN; X
C
=-4,39kN; Y
C
=4,14kN.
P
q
M
B
A

a a a
2 2 3 3
B
P
2
M
C
4
A
P
1
q
41
1-34. Hai dm AB, BC lin kt khp ti B cn bng di tc dng ca cc lc
nh hnh v. Bit cc kch thc: a, b, d, v cc gi tr F
1
, F
2
, M
1
, M
2
, q, , . B
qua trng lng ca cc dm. Tm cc phn lc lin kt ti A, D, B, C.
1-35. Dm lin hp gm hai thanh AB, BC cn bng di tc dng ca cc lc
nh hnh v. Xc nh phn lc ti A, B, C.

1-36. Khung gm hai thanh AB, BC ni bn l ti B cn bng di tc dng ca
cc lc nh hnh v. Tm phn lc ti A, B v C.
1-37. Dm lin hp gm ba thanh AB, BC, CD cn bng di tc dng ca cc
lc nh hnh v. B qua trng lng ca cc dm. Tm cc thnh phn phn lc
ti A, B, E, D, C.

1-38. C h gm ba thanh AB, BC v CD cn bng di tc dng ca cc lc
nh hnh v. Lc F
2
song song vi mt phng nghing. B qua trng lng ca
cc thanh. Xc nh phn lc ti A, B, E, C, D.

Hnh bi 1-34
Hnh bi 1-35
b a
d
c
C F
2

B
M
A
F
1
d
b a a
M
2
B
M
1
D
q
F
2
C
F
1

A
F
1
F
2
c c b b a
M
3
M
2
M
1
D
C E B A
Hnh bi 1-37
F
2
C
B
A
M
2
F
1
M
1
b
a
a
2a
Hnh bi 1-36
q
F
2
Hnh bi 1-38
a
a
b
c c b
M
3
q
F
1

M
2
M
1
D
C E
B
A
D
Hnh bi 1-39
B
A
a a a a a a a
F E G P
C
42

1-39. Khung 3 nhp c cc kch thc nh hnh v. Xc nh phn lc ti cc gi
A, B, C, D nu lc tc dng vo khung theo phng nm ngang. B qua trng
lng ca cc thanh trong khung.
Tr li:
A B C D
P 2 P 2
R ; R P; R P; R
2 2
= = = = .
1-40. Xc nh phn lc lin kt cc gi ta v lc dc trong cc thanh ca dn
phng gm 7 thanh gn vi nhau, chu tc dng cc lc P; v Q ti cc nt C v
E nh hnh v.
B qua trng lng cc thanh. Cho bit gc
0
ACF DEF , CAF 90 = = = .
Tr li: T
1
=-(P+Q); T
2
=T
5
=0.

1-41. Xc nh phn lc ti cc gi A, B, v lc dc trong tt c cc thanh ca dn
phng, chu tc dng ca h lc nh hnh v.
Tr li: X
A
=-1kN; Y
A
=3kN; N
B
=1kN
Ch s thanh 1 2 3 4 5 6 7 8 9
ng lc (kN) -2 -2 -1 1,41 2 4,24 -4 1,41 -1

P
C
C
F
Q
E
D
B

C
C
C
C C
A
Hnh bi 1-40
Q
P
a
a a
a
C
C
C C C
Hnh bi 1-41
a a
43
1-42. Ti hai bc B treo vt D trng lng Q v ni vi trc C ca con ln A
trng lng P nh hnh v. Nu h cn bng, tm p lc do A tc dng vo tng
v gc to bi nhnh dy ni gia hai vt A, B vi phng nm ngang. B qua
ma st ti O v I.
Tr li:
Q.r.cos PR
N ; sin
R Qr
= =

1-43. Cho c cu tay quay cult nh hnh v. Xc nh m men M
1
ca ngu lc
t vo AB cn bng vi mmen ca ngu lc M t trn CD v phn lc ti
A, C khi ACAB. B qua ma st v trng lng cc thanh.
Tr li:
2
A C 1
Msin
R R ; M Msin
a

= = =
1-44. Cho mt s tm g c cng trng lng v cng chiu di 2l. Cc tm g
c xp chng ln nhau trn mt phng ngang nh hnh v. Hy xc nh di
gii hn ca cc phn nh ra, cc tm c th trng thi cn bng.
Tr li: l; l/2; l/3; l/4; ...
Ch : Khi gii bi ton, cng lin tip trng lng ca cc tm bt u t tm
trn cng.

D
B
r
R
A
I

C
C
D
B
A
a
M
1
M

Hnh bi 1-44
B
C
D
F
E
A
Hnh bi 1-45
44

1-45. Thang xp ch A t trn sn nhn nm ngang gm hai phn AC v BC,
mi phn di 3m nng 120N, ni vi nhau bng khp bn l C v dy EF.
Khong cch BF=AF=1m, trng tm mi phn AC v BC im gia. Mt ngi
nng 720N ng ti im D vi khong cch CD=0,6m. Xc nh phn lc ti A
v B v lc cng ca dy, nu gc =45
0
.
Tr li: R
A
=408N; R
B
=552N; T=522N.

45
Chng 2. Bi ton khng gian
Bi ton khng gian l bi ton a ti vic kho st h lc khng gian tc
dng ln vt rn hay h vt rn. Trong qu trnh kho st, bi ton ny a n
hai vn chnh sau: thu gn h lc khng gian v dng ti gin; tm iu kin
cn bng ca h lc khng gian.
Phng php v trnh t gii quyt bi ton khng gian cng tng t nh
bi ton phng.
2.1. C s l thuyt
2.1.1. Thu gn h lc khng gian
Khi thu gn mt h lc khng gian v mt tm O bt k, ta nhn c mt
lc bng vc t chnh ca h lc v mt ngu lc bng vc t m men chnh ca
h lc, xy ra cc trng hp sau:
0 M ; 0 ' R
o
= =

, h lc tng ng khng hay h lc khng gian cn bng.
0 M ; 0 ' R
o
=

, h lc tng ng vi mt lc
=
k
k
F R

.
0 M ; 0 ' R
o
=

, h lc tng ng vi mt ngu ( )
= =
k
k O O
F m M M

.
0 M ; 0 ' R
o

, trong trng hp ny, tu theo quan h gia lc thu gn v
ngu lc thu gn ta c cc kt qu sau:
- Khi: ( ) 0 M x ' R
o
=

, lc thu gn nm trong mt phng ca ngu, h lc s
tng ng vi mt lc
=
k
k
F R

vi tm thu gn t ti im O cch
O mt on
' R
M
d
o
= .
- Khi: ( ) 0 M x ' R
o

, lc thu gn khng nm trong mt phng ca ngu, h
lc khng gian tng ng vi mt h xon.
46
2.1.2. iu kin v cc phng trnh cn bng ca h lc khng gian
1. iu kin cn bng ca h lc khng gian:
nh l: iu kin cn v h lc khng gian ( ) ) .. 1 n k F
k
=

cn bng l vc t chnh ( ' R
) v vc t m men chnh (
o
M
) i vi mt tm bt
k ca h lc u trit tiu.
. 0 ; 0
'
= =
O
M R

(2.1)
2. Phng trnh cn bng ca h lc khng gian bt k: T nh l nu
trn, ta c h 6 phng trnh sau:

( )
( )
( )
= =
= =
= =
=
= =
= =
= =
=
=
=
=
=
=
=
n
k
k z Oz
n
k
k y Oy
n
k
k x Ox
O
n
k
kz z
n
k
ky y
n
k
kx x
F m M
F m M
F m M
M
F R
F R
F R
R
1
1
1
1
1
1
; 0
; 0
; 0
0 ;
; 0 '
; 0 '
; 0 '
0 '

(2.2)
3. Phng trnh cn bng ca cc h lc c bit:
H lc ng quy: ly im ng quy ca h lc lm tm m men, iu
kin 0 M
O
=
s t ng c p ng, ta cn li ba phng trnh:

. 0 ; 0 ; 0
1 1 1

= = =
= = =
n
k
kz
n
k
ky
n
k
kx
F F F (2.3)
H lc song song (gi thit song song vi trc z): cng cn li ba
phng trnh:
( ) ( ) . 0 ; 0 ; 0
1 1 1

= = =
= = =
n
k
k y
n
k
k x
n
k
kz
F m F m F

(2.4)
Trng hp h ngu lc: iu kin 0 ' R =
t ng c p ng, ta
cn li ba phng trnh tng hnh chiu ca cc ngu lc ln ba trc to
ln lt trit tiu.
( ) ( ) ( )

= = =
= = = = = =
n
k
k z z
n
k
k y y
n
k
k x x
F m M F m M F m M
1 1 1
0 ; 0 ; 0

. (2.5)

47
4. iu kin cn bng ca vt rn khng t do:
i vi vt rn khng t do (vt rn chu lin kt), p dng cc phng
trnh nu trn, ta cn gii phng cc lin kt, thay vo cc phn lc lin kt
tng ng sau tin hnh thit lp cc phng trnh cn bng nu trn.
Cn ch rng, trong nhiu bi ton, c bit l cc bi ton tm iu kin
cn bng ca vt rn hay h vt rn, nu ta ch ti cc lin kt v kh nng
chuyn dch ca vt rn th c th gii bi ton mt cch nhanh gn hn. Di
y l mt s dng thng gp:
iu kin cn bng ca vt rn quay c quanh mt trc c nh:
( )
=
= =
n
k
k z z
F m M
1
0
. (2.6)
iu kin cn bng ca vt rn quay c quanh mt tm c nh:
( )
= = , 0
k O O
F m M

Hay: ( ) ( ) ( )

= = =
= = = = = =
n
k
k z z
n
k
k y y
n
k
k x x
F m M F m M F m M
1 1 1
0 ; 0 ; 0

(2.7)
2.1.3. Cc php bin i v xc nh lc:
1. Cc lin kt khng gian: Cc lin kt ta, dy v thanh tng t nh
trong bi ton phng, cc lin kt khc c thm phng z. Bng di y ghi c
im mt s lin kt .
Bng 3-1
Lin
kt
Cu to v biu din
c im
phn lc
1 2 3
B
n

l

t
r

(
n
g
n
)

Vc t R vung gc vi
trc quay, phn thnh hai
thnh phn X v Y.
Y
X
48
G
i

c
u

(
v
i
)

Ba thnh phn phn lc
X, Y v Z.
N
g
m

Ba thnh phn phn lc X,
Y, Z v ba ngu lc M
X
,
M
Y
, M
Z
.
n
g

t
r
i

Hai thnh phn phn lc
X, Y v hai ngu lc M
X
,
M
Y
, M
Z
.

2. Phng php xc nh lc v vect chnh:
Trong bi ton khng gian ch yu s dng phng php chiu xc nh
cc lc.
Hnh chiu ca lc F ln cc trc to c xc nh bi cc cng
thc sau:
, cos F F ; cos F F ; cos F F
z y x
= = =
Trong : - , , l cc c sin ch phng ca lc F vi cc trc to .
- Du + (-) tng ng khi lc thun (ngc) chiu trc.
i vi h lc, vct chnh ca h, k hiu R, l tng hnh hc cc vect
lc c xc nh theo cng thc:
1 2 3
M
Y
Y
M
X
X
Y
Z
X
Y
Z
X
M
Y
M
Z
M
X
Y
X
Z
49
=
=
n
k
k
F R
1
'

T ta tnh c tr s v cosin ch phng ca vect chnh:

= = =
= = =
n
k
kz z
n
k
ky y
n
k
kx x
F R F R F R
1 1 1
' ; ' ; '
( ) ( ) ( ) .
'
'
' , cos ;
'
'
' , cos ;
'
'
' , cos , ' ' ' '
2 2 2
R
R
R z
R
R
R y
R
R
R x R R R R
z
y
x
z y x
= = = + + =

2.1.4. Phng php xc nh mmen lc v mmen chnh:
1. M men lc: Cho lc F
v im O, gi r l vc t nh v im t lc
tnh t tm O.
Mmen lc F
i vi O l mt vc t, k hiu ( ) F m
O
c xc nh theo
cng thc:
( ) F r F m
O
=
Trong :
- Gi tr m men: ( ) Fh F m
o
=

F - tr s ca lc;
h - tr s ca cnh tay n.
- Chiu ca vc t m men hng v pha t ta thy lc F quay
quanh O ngc chiu kim ng h.
xc nh m men ca lc i vi cc trc qua im O, t O, ta k cc
trc to Ox, Oy, Oz, ta c m men ca lc F vi cc trc nh sau:
( ) ( ) ( ) ( ) ( ) ( )
zx O y yz O x xy O z
F m F m , F m F m , F m F m

= = =
Trong
zx yz xy
F , F , F

l hnh chiu ca vc t lc F xung cc mt phng
xOy, yOz, zOx tng ng.
Cc biu thc trn cho php ta a bi ton xc nh m men ca mt lc
i vi mt tm tr v xc nh m men ca mt lc vi cc trc to .
50
xc nh m men ca mt lc vi mt trc, ngoi cch p dng trc tip
nh ngha, c th dng phng php phn lc v phng php gii tch nh trong
phn h lc phng:
( ) ( ) ( )
x y z z x y y z x
yF xF F m ; xF zF F m ; zF yF F m = = =

Trong : x, y, z to im t lc,
F
x
, F
y
, F
z
hnh chiu ca lc ln cc trc to .
2. M men chnh ca h lc: Vc t m men chnh ca h lc khng gian
i vi tm O (mmen chnh ca h lc) k hiu
o
M
l tng mmen cc lc i
vi im O:
( )
=
=
n
1 k
k o o
F m M

Hnh chiu ca vc t m men chnh ca h lc trn cc trc to (vi O
l gc to ) bng tng m men ca cc lc i vi cc trc:
( ) ( ) ( )

= = =
= = =
n
1 k
k z z
n
1 k
k y y
n
1 k
k x x
F m M ; F m M ; F m M

Vi h ngu lc, vc t mmen chnh khng ph thuc tm O v bng tng
hnh hc cc vc t mmen ngu lc.
2.2. Hng dn p dng
gii bi ton khng gian, ta tin hnh cc bc tng t nh trong bi
ton phng nh sau:
Bc 1: Chn vt kho st; t lc tc dng ln vt kho st (nu vt rn
chu lin kt, trc tin, ta gii phng cc lin kt v t thay vo cc
phn lc lin kt tng ng).
Bc 2: Phn tch c im h lc kho st: (ng quy, song song hay bt
k), t xc nh s phng trnh cn bng c lp c th lp c (3
hoc 6) theo cc iu kin trong mc 2.1.2, sau tin hnh gii cc
phng trnh nhn c.
51
2.3. Bi gii mu
Trong phn ny chng ta ch gii hn xem xt dng cc bi ton xc nh
phn lc lin kt cho bi ton mt vt khng gian v h vt khng gian.
2.3.1. Bi ton mt vt
V d 2-1:
Treo mt vt nng c trng lng P vo u O ca thanh OA, thanh c
gn vo tng bng bn l ti A v c gi cn bng nh hai dy nm ngang OB
v OC. Cho bit cc gc ti nh A, B, C bng nhau v bng 45
0
(xem hnh v).
B qua ma st v trng lng ring ca thanh, xc nh ng lc trong thanh v
sc cng ca cc dy?
Bi gii:
Chn h trc to nh hnh v, xc nh
ng lc trong thanh OA v sc cng cc dy, ta
kho st iu kin cn bng ca nt O. Nt chu
tc dng ca cc lc: trng lc P; ng lc S; cc
lc cng dy T
1
, T
2
.
Ta c iu kin cn bng cho h lc trn nh
sau:
( ) 0 T , T , S , P
2 1

(a)
V h lc ng quy ti O, nn t iu kin cn bng (a), ta lp c ba
phng trnh sau:

= =
= =
= =
0 P 45 cos S , 0 F
0 45 cos S 45 cos T 45 cos T , 0 F
0 45 cos T 45 cos T , 0 F
0
kz
0 0
2
0
1 ky
0
2
0
1 kx
(b)
Gii h phng trnh trn, ta nhn c:
2
2 P
T T ; 2 P S
2 1
= = =
C
T
2
T
1
S
O
y
B
A
P
z
x
Hnh 2-1
52
T kt qu nhn c, ta thy S nhn gi tr m vy chiu gi nh trn
hnh v l khng ng, trn thc t thanh OA chu nn.
V d 2-2:
Tm hnh vung ABCD trng lng P c gi cn bng trng thi nm
ngang nh lin kt bn l ti A, khp cu ti B v dy DE. Dy to vi mt phng
tm mt gc 30
0
v BE vung gc vi AB. Xc nh cc phn lc ti A, B v sc
cng dy?
Bi gii:
xc nh cc phn lc, ta kho st iu kin cn bng ca tm ABCD
chu tc dng ca trng lc P ti im O, chn h trc to nh hnh v. S
dng tin gii phng lin kt, thay th tc dng ca cc lin kt bng cc phn
lc lin kt: ti D c sc cng dy T, ti A c cc phn lc R
Ax
, R
Az
, ti B c R
Bx
,
R
By
, R
Bz
vi chiu ca cc lc c gi thit nh trn hnh v.

Nh vy, tm ABCD cn bng di tc dng ca h lc khng gian bt k,
ta c iu kin cn bng sau:
( ) 0 R , R , R , R , R , T , P
Bz By Bx Az Ax

(a)
T iu kin cn bng trn ta c th lp c 6 phng trnh vi 6 n phi
tm, vy bi ton l tnh nh. n gin, ta phn lc T thnh hai thnh phn: T
z

v T
xy
. Ta c cc phng trnh sau:
D
E
P
O
C
B
A
x
R
Bx
y
R
By
R
Bz
R
Az
R
Ax T
T
xy
T
z
z
E
P
O
D C
B
A
Hnh 2-2.
53

, 0 P T R R F
, 0 45 sin T R F
, 0 45 cos T R R F
z Bz Az kz
0
xy By ky
0
xy Bx Ax kx
= + + =
= + =
= + =
(b)

( )
( )
( ) , 0 a R
2
2 a
T F m
, 0 a T
2
a
P F m
, 0 a R
2
a
P F m
Bx xy k z
z k y
Bz k x
= =
= =
= + =
(c)
Gii cc phng trnh trn vi ch rng:
0
z
0
xy
30 sin T T ; 30 cos T T = =
Ta xc nh c cc gi tr nh sau:
. 2 / P R ; P 61 . 0 R ; P 61 . 0 R ; 0 R ; 0 R ; P T
Bz By Bx Az Ax
= = = = = =
V d 2.3
Cnh ca hnh ch nht trng lng P=0.1kN, nm trng thi cn bng
di tc dng ca cc lc: lc ko T=0.04kN t ti im D v to vi phng
ngang mt gc QDN bng 45
0
; mmen cn m. Ca c gi bi cc lin kt: lin
kt ci ti A; lin kt bn l ti B.
Xc nh cc phn lc lin kt v gi tr ca mmen m? Cho bit KD//AE,
gc KDN bng 45
0
, ED=0.8m, AB=2m, AE=1m.
Bi gii:
Kho st s cn bng ca ca di tc dng ca cc lc hot ng: trng
lng P; lc ko T; mmen cn m.
Ca c gn bi hai lin kt: lin kt ti A tng ng nh lin kt gi
cu; lin kt ti B l lin kt bn l. Gii phng cc lin kt v thay chng bng
cc phn lc lin kt tng ng (hnh v), phn tch lc T thnh cc lc thnh
phn theo cc phng ca h trc to . Nh vy ca cn bng vi iu kin sau:
( ) 0 m , R , R , R , R , R , T , T , T , P
By Bx Az Ay Ax z y x

(a)
54

T iu kin cn bng (a), ta lp c 6 phng trnh cn bng, vi 6 n cn
tm, vy bi ton l xc nh tnh, ta c:

, 0
, 0
, 0
= + =
= + =
= + + =
z Az kz
y By Ay ky
x Bx Ax kx
T P R F
T R R F
T R R F
(b)

( )
( )
( ) . 0 m KD T F m
, 0 AB R DE T F m
, 0 AB R AM P AE T AK T F m
x k z
Bx x k y
By z y k x
= + =
= + =
= + =
(c)
Thay cc gi tr v gii h trn ta nhn c:
. kNm 02 . 0 m , kN 0029 . 0 R , kN 008 . 0 R
, kN 0718 . 0 R , kN 0229 . 0 R , kN 12 . 0 R
By Bx
Az Ay Ax
= = =
= = =

Cc gi tr R
Ax
, R
Bx
, R
By
nhn gi tr m, vy chiu ca cc lc ny ngc
vi chiu quy c trn hnh v.

Ch : Trong bi ton trn, nu gi thit m men cn m bit v lin kt ti B
tng ng vi lin kt khp cu, nh vy cnh ca c m hnh ho nh mt
vt rn b gi ti hai im A v B. Khi s lng n vn l 6 v thay cho gi tr
M
A
B
D
Q
T
B
A
x
R
Bx
y
R
By
R
Ay
R
Az
R
Ax
T
y
T
z
T
x
z
m
E
N
F
K
D
C
x
y
z
m
E
P
K
Hnh 2-3.
55
m bit ta c thm thnh phn phn lc R
Bz
, hng dc theo trc z. Mc d s
phng trnh cn bng lp c v s n bng nhau nhng bi ton vn l bi
ton cha xc nh v cc thnh phn theo trc z ch xut hin trong phng trnh:
. 0 T P R R F
z Bz Az kz
= + + =

T phng trnh ny ta ch xc nh c tng cc gi tr phn lc theo trc
z: 0 T P R R
z Bz Az
= = + , ch khng xc nh c ring cc gi tr trn.
V d 2.4:
Rto ca my in l mt khi tr trn ng cht quay quanh trc i xng
nm ngang AB. Rto c trng lng P chu tc dng ca mt ngu lc M nm
trong mt phng vung gc vi trc quay. Lp ng trc vi rto mt puli trng
lng Q v c bn knh r. Hai nhnh ai truyn mc ln puli song song vi nhau,
nghing vi phng ngang mt gc , chu hai lc ko l T
1
v T
2
, c cng
T
1
= 2T
2
. Cho OA=10cm, AB=2AC=50cm. Tm m men M ca ngu rto cn
bng v tm cc phn lc ca hai A v B. B qua ma st.
Bi gii:
Chn h trc to nh trn hnh v, h kho st bao gm c rto v puli
nm cn bng. Cc lc hot ng tc dng ln h gm: cc trng lc P v Q, cc
lc ko T
1
v T
2
v ngu M. Cc phn lc lin kt gm: R
A
(X
A
, Y
A
) v R
B
(X
B
,
Y
B
).

Ta c iu kin cn bng ca h nh sau:
y
x
T
2
T
1
T
2
T
1
Q
X
A
Z
A
P
M
X
B
Z
B
y
x
z

Hnh 2-4
56
( ) . 0 R , R , T , T , M , Q , P
B A 2 1

(a)
T iu kin cn bng (a), ta lp c h phng trnh sau:

( )
= + + =
= =
= + + + =
= + + =
= + + + =
. 0 cos T 10 cos T 10 X 50 F
, 0 M r T T F
, 0 sin T 10 sin T 10 Z 50 P 25 Q 10 m
, 0 Z Z Q P sin T sin T F
, 0 X X cos T cos T F
2 1 B x
2 1 x
2 1 B x
B A 2 1 y
B A 2 1 x

(b)
Gii h phng trnh trn, vi ch rng:
, sin ; cos ; sin ; cos
2 2 2 2 1 1 1 1
T T T T T T T T
z x z x
= = = =
ta c kt qu:
( ) ( ) ( )
( ) ( ) . sin T T 2 . 0 P 5 . 0 Q 2 . 0 Z ; sin T T 8 . 0 P 8 . 0 Q 5 . 1 Z
; cos T T 2 . 0 X ; cos T T 2 . 1 X ; T T 10 M
2 1 B 2 1 A
2 1 B 2 1 A 2 1

+ + = + =
+ = + = =

2.3.1. Bi ton h vt
V d 2.5
Cho hai bnh rng I v II c bn knh r1 v r2 gn ng tm v thng gc
vi hai trc quay AB v CD, cc bnh rng n khp vi nhau v gc n khp l .
Trn trc ca bnh rng I c gn mt tang ti c bn knh R, trn tang qun
dy mm v nh treo vt G trng lng P. Trc CD chu tc dng ca ngu lc
M gi cho h cn bng.. B qua ma st.
1. Tm iu kin cn bng ca h?
2. Cho CD=a, b qua trng lng bn thn ca bnh rng II v trc CD, tm
phn lc ca D.
Bi gii
Kho st h gm hai vt rn: trc AB mang tang ti v bnh rng I; trc CD
mang bnh rng II. Cc lc ch ng tc dng ln h l trng lc P, ngu M. Cc
phn lc lin kt tc dng ln h: R
A
, R
B
, R
D
v ngu lc M
D
. Cc lc lin kt
trong l cc lc n khp S, S ti tip im K.

57

1. iu kin cn bng ca h: Hai vt kho st u quay c quanh nhng trc
c nh AB v CD, chn h to nh hnh v, iu kin cn bng ca tng vt
c th vit nh sau:
Vt AB: 0 sin
1
= Sr PR (a)
Vt CD: 0 sin
2
'
= r S M (b)
Do S v S l cc lc n khp c gi tr bng nhau nn ta c iu kin cn
bng ca h l:
PR
r
r
M
1
2
=
2. Tm phn lc D: Do trc CD c mt , v vy ta coi D ng vai tr nh
mt lin kt ngm c bit. H phn lc ca n tc dng ln trc CD bao gm
phn lc R
D
v ngu M
D
, c hai lc ny u vung gc vi trc CD. Ta phn tch
chng thnh cc thnh phn nh sau (hnh v): R
D
(X
D
, Z
D
); M
D
(M
Z
, M
X
).
Kho st s cn bng ca trc CD mang bnh rng II, ta c iu kin i vi
h lc tc dng:
( ) 0 , , ,
'
D D
M R M S

(c)

A
S
K
II
I
P
D
B
A
R
A
G
M
R
D
R
B
M
D
S

C
Hnh 2.5
y
1
y
2
58

T iu kin (c), ta lp c h phng trnh sau:

= =
= + =
= =
= =
0 sin
0 cos
0 cos
0 sin
'
'
'
'
aS M m
aS M m
S Z F
S X F
Z Z
X X
D Z
D X
(d)
T h phng trnh (d), ta nhn c:
. sin ; cos
; cos ; sin
' '
' '

aS M aS M
S Z S X
Z X
D D
= =
= =

Lc S c tnh t phng trnh (a) v (b):
sin
'
1
r
PR
S S = = .
V d 2.6
Cho c h nh hnh v (hnh v d 2-6), bnh ai 1 c ng knh l d1, vt
3 c trng lng G, bnh rng 4 (bnh vt) c ng knh d4 n khp vi trc vt
5, ng knh d5. Coi dy ai, bnh ai, bnh rng, trc vt c trng lng khng
ng k. Cc kch thc c cho trn hnh v: a l a l l a l l 7 ; 4 ; 3
5 4 3 2 1
= = = = = .
Hy xc nh gi tr m men cn t vo trc vt 5 h cn bng, ng
thi xc nh phn lc ti cc B, D, A, C.
Ch : Lc tc dng tng h gia trc vt v bnh vt nn phn thnh ba
thnh phn vung gc vi nhau, bao gm:
Ptg Q Ptg T
d
M
P = = = ; ;
2
4
,
S
K
II
D
M
X
D
M
Z
C
y
2
M
X
z
x
Z
D
a
59
Trong :
- M: Mmen quay tc ng ln bnh vt;
- P: Thnh phn lc theo phng trc ca trc vt;
- T: Thnh phn lc hng tm ca bnh vt;
- Q: Thnh phn lc theo phng trc ca bnh vt;
- : gc n khp gia bnh vt v trc vt,
- : gc nghing ca trc vt.

Bi gii
Trc tin ta nhn thy rng, do dy ai khng gin v khng c ma st
nn nhnh dy bn bnh ai 1 c lc cng ng bng trng lng ca vt nng 3
v nghing vi phng ngang mt gc . Kho st h cn li, gm trc mang
bnh vt 4, bnh ai 1 v trc vt 5. Cc gi tr cn tm c xc nh t iu kin
cn bng ca bnh vt v trc vt. gii bi ton, ta gii phng h khi cc lin
kt v tch h thnh hai vt rn nh trn hnh 2-6 (b), sau khi t vo h cc phn
lc lin kt v cc lc tng h, ta thy rng c h c 12 gi tr cha bit:
Z B B A A D D C C C
M Y X Z Y X Y X Z Y X P

, , , , , , , , , , ,

.
L
5
L
4
L
3

L
2
L
1
A
D
C
3
5
4
1
B
2
Hnh 2-6 (a).

60
Xt ring trc mang bnh vt, h lc tc dng bao gm: Cc lc tng h
gia bnh vt v trc vt P, T, Q, cc phn lc lin kt X
C
, Y
C
, Z
C
, X
D
, Y
D
, lc
cng ai G. iu kin cn bng ca h ny nh sau:
( ) 0 , , , , , , , , G Y X Z Y X Q T P
D D C C C

(a)

T iu kin (a), ta thit lp c 6 phng trnh cn bng sau:
( )
= = 0
2 2
1 4
d
G
d
P F M
K Z
(1)
( ) ( ) ( )
= + + + + + = 0 cos
5 4 3 4 3 3
l l l G l l X Pl F M
D K Y

(2)
( ) ( ) ( )
= + + + + + = 0 sin
2
5 4 3 3
4
4 3
l l l G Tl
d
Q l l Y F M
D K X

(3)

= = 0 Q Z F
C kZ
(4)

= + + = 0 sin G T Y Y F
D C kY
(5)

= + + = 0 cos G P X X F
D C kX
(6)

M
Z
Hnh 2-6 (b).
L
5
L
4

L
3

x
D
C
4
1
y
G
K
P
T
z
Q
Y
D
X
D
Z
C
X
C
Y
C
L
2

L
1
P
T
Q
x
y
Z
A
X
B
Y
B
X
A
Y
A
z

K
61
Tng t i vi trc vt, h lc tc dng bao gm: M men M
Z
, cc lc
tng h gia bnh vt v trc vt P, T, Q, cc phn lc lin kt X
A
, Y
A
, Z
A
, X
B
,
Y
B
. Ta c iu kin cn bng i vi h lc ny l:
( ) 0 , , , , , , ' , ' , '
Z B B A A A
M Y X Z Y X Q T P

(b)
T iu kin (b), ta lp c 6 phng trnh cn bng sau:
( )
= = 0
2
5
d
Q M F M
Z K Z
(7)
( ) ( )
= + = 0
2 2 1
Ql l l X F M
A K Y
(8)
( ) ( )
= + = 0
2
5
2 2 1
d
P Tl l l Y F M
A K X
(9)

= + = 0 P Z F
A kZ
(10)

= + + = 0 T Y Y F
B A kY
(11)

= + = 0 Q X X F
B A kX
(12)
Nh vy t iu kin cn bng ca cc vt, ta lp c 12 phng trnh
cn bng c lp. Gii h 12 phng trnh trn vi 12 n tng ng, ta s xc
nh c cc gi tr cn tm, nh sau:
;
8
sin 15
2
4
;
8
cos 15 4
;
4
4
1

G tg
a
d
tg P
Y
G P
X
d
d
G P
D D

= =
; cos ; sin ;
D C D C C
X G P X Y G Ptg Y Ptg Z = = =
;
12 2
;
2
;
2
5 5
+ = = =
a
d tg
P Y
Ptg
X
d
Ptg M
A A Z

.
2
;
2 12
;
5
Ptg
X
tg
a
d
P Y P Z
B B A
=
= =
2-4. Bi tp
2-1. Vt nng P c treo vo u O ca gi treo to bi 3 thanh trng lng
khng ng k, gn vi nhau v vi tng bng cc bn l nh hnh v. Tm ng
lc ca cc thanh.
62
Tr li: 2 2 P S S ; P S
C B A
= = =

2-2. Vt nng P=100N c treo vo u O ca gi treo to bi 3 thanh, trng
lng khng ng k, gn vi nhau v vi tng bng cc bn l nh hnh v.
Tm ng lc ca cc thanh.
Tr li: N S S ; N S
D C A
3
2
50
3
3
200 = = =

2-3. Bn ba chn A, B, C to thanh tam gic u cnh a. Trng lng bn l P
v trng tm nn trn ng thng ng zOO
1
qua tm O
1
ca tam gic ABC.
Trn mt bn c vt M trng lng p t im c to x, y; trc ng song vi
AB. Xc nh phn lc ti cc chn.
30
0
45
0
A
x
y
A
O
C
D
B
z
63
Tr li:
a
P
y x
p P
N
A

+
+
=
3
3
3
;
a
p
x y
p P
N
B

+ +
+
=
3
3
3
;
p
a
x
.
p P
N
C
3
3
2
3

+
=
2-4. Cho cn cu nh hnh v (H. 2-4). Bit AD = DB=1m; CD = 1,5m; CM =
1m; KL=4m; trng lng cn cu (k c i trng) l P =100 kN, trng tm G
ca c cu nm trong mt LMFN v cch MN mt on 0,5m trng lng vt
c cu l Q=30kN. Tm phn lc ti 3 bnh xe khi mt thng ng LMFN song
song vi AB.
Tr li: N
A
=8,3kN; N
B
78,3kN; N
C
=43,4kN.
2-5. Tm trn, trng lng khng ng k, nm ngang trn mi nhn tm O
ca tm. Trn chu vi tm trn t ba im nng trng lng P
1
=1,5N, P
2
= 1N v
P
3
=2N sao cho tm trn vn cn bng. Xc nh cc gc =AOB, = AOC.
Tr li: = 75
0
30
,= 151
0
.
2-6. Tm g ng cht hnh vung trng lng P c v tr nm ngang
nh 6 thanh (khng trng lng) nh hnh v. Ton hnh c dng khi lp
phng. Tm ng lc cc thanh.
Tr li: S
1
= S
3
= S
4
= S
5
= 0; S
2
= S
3
=
2
P

2-7. Tm g khng trng lng chu lc P v c v tr nm ngang nh 6
thanh (khng trng lng) nh hnh v. Ton hnh c dng khi lp phng, tm
ng lc cc thanh.
64
Tr li: S
1
=P
1
; . P S ; P S ; P S 2 2 2
5 4 2
= = = S
6
= -P.
2-8. Xt tm g nh trong hnh v, b qua trng lng v gi thit chu tc
dng ca ngu lc m nm trong mt phng tc dng ca tm g. Tm ng lc cc
thanh, cho bit tm g c cnh a.
Tr li: ; ; 2 ; 0
5 3 6 2 4 1
a
m
S S
a
m
S S S S = = = = = =

2-9. Cnh ca ng cht hnh ch nht, trng lng 200 N lp vo tng nh
gi cu A v bn l B v c gi cn bng v tr nm ngang nh dy cung CE
nghing 60
0
vi ng thng ng AE. Bit ng cho AC nghing 30
0
vi cnh
AB, tm phn lc A, B v sc cng ca dy.
Tr li: T= 200N; X
A
= 86,6N; YA= 150; Z
A
=100N; X
B
= Z
B
= 0
2-10. Cnh ca ch nht ABCD ng cht trng lng 120N gn vi nn nh hai
bn l A, B v c o cn bng v tr nghing 60
0
vi mt nm ngang nh thanh
(khng trng lng) ED(=DA) nm trong mt thng ng qua AD. Tm cc phn
lc bn l v ng lc ca thanh.
Tr li: S = 34,5N; X
A
=17,3N; Z
A
=30N; X
B
=0; X
B
=60N.
65

2-11. Cnh ca ng cht hnh ch nht ABCD, trng lng P, chiu di

3 a AB = , chiu rng AD=a, c trc quay thng ng AB vi hai gi cu A v
bn l B. Ca c m rng gc 120
0
vi khun ca, u D chu lc Q nm song
song vi cnh di EA ca khun, u C c gi bi dy CE. Tm sc cng ca
dy v phn lc cc .
Tr li: ) (
Q P
X ; Q T
A
2 2
2
3
4
6 + = = ;
3
2 12
3
Q P Z ;
Q
P Y
A A
+ = =
12
3
1 2
2
3
4
P
Q Y ; ) (
Q P
X
D B
= =

2-12. Trc AB nm ngang trn hai bn l A, B, mang theo bnh xe C v
thanh DE u c trng lng khng ng k. Trc cn bng di tc dng ca 2
vt nng Q= 250 N treo u dy cun quanh vnh bnh xe v P= 1kN gn vo
u E. Bit DE nghing 30
0
vi ng thng ng, bn knh xe l 20 m, cc kch
thc khc ghi trn hnh v. Tm chiu di DE = l v phn lc cc .
Hnh bi 2-11
Hnh bi 2-12
66
Tr li: l = 10cm; Z
A
= 300N; Z
B
= 950N; X
A
= X
B
= 0.
2-13. Hai A, B (bn l) trc nm ngang AB mang theo bnh xe C v khi
tr AB; bn knh bnh xe cng cun dy u t do treo vt P = 60N, sau khi vng
qua rng rc nh D. Kch thc cho trn hnh v, nhnh dy gia bnh xe v rng
rc nm trong mt phng ca bnh xe v nghing vi ng knh nm ngang ca
bnh xe mt gc = 30
0
. Tm Q v phn lc khi cn bng.
Tr li: Q = 360
0
, Z
A
= 160N; Z
B
= 230N; X
A
=-69,3N; X
B
=17,3N.

2-14. Trc thng AB c bi bn l A v ci B, mang theo bnh xe C v
rto D. Tng trng lng bnh xe v rto D l Q = 200N. Bnh xe C c bn knh
10 cm vi 2 nhnh ai truyn song song sc cng T= 100 N v T
2
= 50 N. Tm
m men ngu lc ) P , P (
*

cn tc dng vo rto c v tr cn bng, cc phn lc
. Kch thc khc cho trn hnh v.
Tr li: m= 5Nm; Z
B
= 200N; X
A
= X
B
= 0; Y
B
= 10N; Y
A
= -180N.
2-15. Dm nm ngang OC ng cht, trng lng P = 1000N di 2m, chu tc
dng ca ngu lc ) Q , Q (
'

trong mt nm ngang tr s Q = 100N tay n
EF=20cm. Dm lin kt vi tng nh gi cu O v hai dy AB v CD b tr nh
hnh v. Cho OB = 0,5 m. Tm phn lc ti O v sc cng cc dy.
Tr li: T
1
= 1000N; T
2
= 80 N; X
0
= 40N; Y
0
= 540 3N; Z
0
= 500N.

X
Z
T1
T2
10cm
50cm
Y
P
D
A
C

Hnh bi 2-14
Hnh bi 2-13
67
Q
Q'
F
E
C
30
o
D
y
z
30
o
B A
x
O

Hnh bi 2-15
B B1
A1
A
O

Hnh bi 2-16
2-16. Thanh ng cht AA
1
= 2r, trng lng P b treo bi hai dy thng ng
AB = A
1
B
1
= l. Tc dng vo thanh mt mmen ngu lc M trong mt nm ngang
lm thanh b quay mt gc quanh trc trung trc thng ng ca n (thanh
c nng cao nhng vn nm ngang ). Xc nh mmen M theo gc v tm
sc cng ca dy.
Tr li:
2
4
2 2 2
2
=
sin r l
sin Pr
m ;
2
4 2
2 2 2

=
sin r l
lP
T
2-17. Ti bn nh A, H, B v D ca hnh lp phng t 4 lc bng nhau
P
1
=P
2
=P
3
=P
4
=P c chiu nh hnh v. Hy thu gn h lc v dng n gin
nht, trong P
1
hng theo AC, P
2
hng theo HF, P
3
hng theo BE, P
4
hng
theo DG.
Tr li: Hp lc bng 2P hng theo ng cho DG.
2-18. Tm hnh ch nht ng cht ABCD trng lng Q=10N, c gi cn
bng v tr nm ngang nh gi bn l cu ti B, bn l tr ti C v dy EF nh
hnh v. Trn tm tc dng lc P=5N theo phng thng ng v ngu lcc m
men M=20Nm. Xc nh lc cng T ca dy v phn lc ti B v C. Cho bit
DE=BC=0,5m, BC=2m, gc FEH=30
0
,
0
60 = .
Tr li: T=40N; X
B
=-5,68N; Y
B
=17,3N
Z
B
=7,5N; X
C
=35,68N; Z
C
=-10N.
68
2-19. Tm hnh ch nht ABCD ng cht, trng lng P, c gi v tr nm
ngang nh sau thanh nh hnh v, b qua trng lng cc thanh. Tm chu tc
dng ca lc Q hng dc theo CD v ca ngu lc (F, F). Cho bit AD=a,
AB=b, chiu cao DG=c, gc BCA=. Lp cc phng trnh xc nh ng lc
trong 6 thanh.

2-20. H hai trc song song nm ngang AB v CD mang hai bnh rng O v O
n khp vi nhau ti I. Cho AB=1m, BO=CO=OD=0.5m, bn knh hai bnh
rng bng 0.4m, php tuyn chung In ca hai mt rng ti I nghing gc vi
OO. Tng trong ca bnh rng O c bn knh bng 0.2m c qun dy c mt
u treo vt nng P=1kN. B qua trng lng cc bnh rng v r to, tm ngu lc
cn thit M t vo r to trn trc AB gi cho h cn bng, xc nh phn lc
cc (bn l) A, B, C, D v lc tc dng tng h ti I.
Tr li: ;
sin 2
N ;
4
3
; cotg
4
I
P P
Z Z
P
Y Y
D C D C
= = = = =
. 75 . 0 Z ; cotg 75 . 0 ;
4
Z ; cotg
4
; 2 . 0
B A
P P Y
P P
Y P M
B A
= = = = =

Hnh bi 2-17 Hnh bi 2-18 Hnh bi 2-19
O
A
B
C
D
P
O
M
n
I
Hnh bi 2-20
69
Chng 3. Bi ton ma st

Trc y, khi xt lin kt, chng ta b qua ma st. hon chnh by
gi chng ta ch n ma st trong cc bi ton cn bng.
Trong chng ny chng ta tip cn dng bi ton tnh m lin kt t ln
vt l lin kt c ma st. y l dng bi ton kh, phc tp hn nhiu so vi bi
ton khi b qua ma st, trong gii hn c th chng ta ch tip cn bi ton ny
vi cc kt qu thc nghim v ma st v cc nh lut ma st ca Cu lng.
Trong qu trnh xem xt cc bi ton c lc ma st, chng ta s lm r mt
phn ngha v vai tr ca lc ma st trong cc bi ton cn bng trong phn tnh
hc v n s gip ta hiu thu o hn trong cc bi ton ca phn ng lc hc
sau ny.
3.1. C s l thuyt
3.1.1. M hnh phn lc lin kt
Cho vt rn A ta ln vt rn B, gi s mt ta kh v khng nhn. Lc ,
ngoi thnh phn phn lc lin kt N c phng php tuyn nh bit, vt A
cn chu lc ma st trt F
ms
v ngu lc ma st ln M
ms
khi vt A chuyn ng
hoc c khuynh hng chuyn ng i vi vt B (hnh 3.1).

Hnh 3.1 Hnh 3.2
Phn tch cc lc ma st: Thc t, khi hai vt tip xc, b mt tip xc
khng phi l mt im m l mt din tch no , cc lc lin kt xut hin v
to thnh mt h lc {N
i
} (hnh 3.2), khi thu gn h lc ny v mt tm ta nhn
c mt thnh phn lc R bng vc t chnh ca h lc trn v mt m men M
bng m men chnh ca h lc trn. Vc t R khng vung gc vi tip tuyn ca
F
ms
N
M
ms
B
A
N
2
N
n
N
1
ng tip xc
70
mt tip xc v c phn thnh hai thnh phn N v F. Nh vy h lc nu trn
tng ng vi 2 lc N, F v ngu M, lc N chnh l phn lc lin kt khi khng
c ma st, lc F l thnh phn lc sinh ra khi tnh n ma st v ngu M chnh l
ngu lc ma st ln.
3.1.2. nh lut ma st trt
1. nh lut ma st trt tnh
nh ngha ma st trt: L sc cn khi c hin tng trt ca mt vt ny trn
b mt ca mt vt khc. K hiu F
ms
.
nh lut 1: Khi dch chuyn mt vt trn b mt mt vt khc s xut hin lc
ma st mt phng tip xc gia cc vt, lc ny c th c tr s t "0" n F
gh

(lc ma st gii hn). Lc ma st c xu hng ngc vi chiu chuyn ng ca
vt m lc ch ng tc dng c xu hng gy ra.

gh ms
F F (3.1)
nh lut 2: Tr s ca lc ma st gii hn bng tch h s ma st tnh vi p lc
php tuyn (hay phn lc php tuyn).
N f F
ms 0
(3.2)
Trong f
0
- h s ma st trt tnh (c xc nh bng thc nghim), tr
s ca h s ma st trt tnh khng ph thuc vo din tch b mt tip xc m
ph thuc vo vt liu ca cc mt tip xc.
2. nh lut ma st trt ng
nh lut: Khi chuyn ng, lc ma st trt hng ngc vi chiu ca vn tc
tng i ca vt so vi vt gy lin kt v c tr s:
fN F
ms
(3.3)
Trong f - h s ma st trt ng (c xc nh bng thc nghim), tr
s ca h s ma st trt ng ph thuc vo b mt tip xc, trng thi mi
trng, vt liu ca cc mt tip xc v vn tc chuyn ng.
Trn hnh 3.3 ch ra s bin i ca ma st trt, khi vt ng yn (V=0), h
s ma st c gi tr bng gi tr h s ma st trt tnh f
0
, khi vt bt u chuyn
71
ng h s ma st thay i dn theo s bin i ca vn tc chuyn ng, lc ny
n c gi tr ca h s ma st trt ng f.

Hnh 3.3
3. Gc ma st v nn ma st
Gc nghing ln nht ca phn lc ton phn R khi lc ma st bng lc ma
st ti hn c gi l gc ma st (hnh 3.4a).

a) b)
Hnh 3.4
Trong bi ton khng gian, vt A c th chuyn ng theo mi hng trn
b mt vt B, v vy phn lc lin kt c th nm tu trong mt nn gii hn bi
gc v c gi l nn ma st (hnh 3.4b).
p dng gc ma st v nn ma st, ta c iu kin cn bng:
iu kin cn bng khi c ma st trt: iu kin vt cn bng l phn lc
ton phn ca cc lin kt ta c ma st trt phi nm trong nn ma st.
4. Bi ton cn bng khi c ma st trt
Trong bi ton xc nh iu kin cn bng khi c ma st, ta thng gp hai
dng bi ton sau:
Dng 1: Kho st trng thi cn bng ti hn v lc ma st c gi tr bng lc
ma st ti hn, N f F F
gh ms 0
= = .
f
0
f
0
f
V

A
B
R
F
gh
N
R
A
B
72
Dng 2: Kho st tt c cc v tr cn bng c th c ca vt, lc ny gi tr
ca lc ma st c xc nh theo cng thc: N f F F
gh ms 0
= .
3.1.3. nh lut ma st ln
1. nh ngha ma st ln: l sc cn xut hin khi mt vt ny ln trn b mt
mt vt khc. K hiu M
l
.

a) b)
Hnh 3.5
Xt con ln bn knh R, trng lng P nm trn mt phng ngang nhm. Tc
dng vo trc con ln lc Q F
gh
. Ti A xut hin lc F
ms
= Q, ngn khng cho
con ln trt trn mt phng, gi thit phn lc php N cng t ti A, ta c N = P
(hnh 3.5a). Nh vy Q v F
ms
to thnh mt ngu v cho d Q c nh n my
th con ln vn c th ln trn mt phng. Thc t, ch khi lc Q t n mt gi
tr nht nh no (Q
gh
) th con ln mi bt u ln. iu ny c th gii thch
nh sau: hai vt tip xc vi nhau trn mt din tch AB, khi tc ng lc Q, vt
s b bin dng p lc ti A gim, ti B tng ln v din tch tip xc cng tng
dn ln, phn lc N lc ny t ti im B, ngu (N, P) cn bng vi ngu (Q,
F
ms
) cn li xu hng ln (hnh 3.5b). Khi lc Q t gi tr gii hn, khong cch
AB = k, khi ta c:
Nk R Q
gh
= (3.4)
hay: N
R
k
Q
gh
= . (3.5)
i lng k trong cng thc trn c gi l h s ma st ln, c th
nguyn di (trong a s trng hp, t s k/R nh hn nhiu so vi h s ma
st tnh f
0
).

C
N
A
Q
P
F
ms
B
C
N
A
Q
P
F
ms
k
73
2. nh lut ma st ln: Ngu lc ma st ln xut hin khi c xu hng ln tng
i ca mt vt trn b mt mt vt khc, c chiu ngc vi chiu ca xu hng
ln v c gi tr: kN M
l
.
3. M hnh phn lc khi c ma st ln: Khi gii cc bi ton c ma st ln, ta p
dng hai dng m hnh sau y:
Dng 1: Ngoi cc lc v phn lc thng thng, ta thm vo i lng ma st
ln (hnh 3.6a). H lc tc dng ln vt lc ny l (P, Q, N, F
ms
, M
l
) v coi
kN M
l
.

a) b)
Hnh 3.6
Dng 2: Coi phn lc N b di mt on h v pha c xu hng ln ca vt (hnh
3.6b), h lc tc dng lc ny l ((P, Q, N, F
ms
) v h k.
3.2. Hng dn p dng
3.2.1. Phn loi cc bi ton ma st
Cc bi ton c ma st c phn loi nh sau:
1. Bi ton mt vt v h vt.
2. Bi ton ma st trt v ma st ln.
3. Bi ton thun: xc nh phn lc h cn bng.
4. Bi ton ngc: tm iu kin h cn bng.
Trong bi ton ny ta chia ra cc dng sau:
Bi ton tm v tr cn bng.
Bi ton tm iu kin lc hot ng phi tho mn c cn bng.
Bi ton t hm: tm iu kin (cc thng s hnh hc) c cn bng, d lc
hot ng rt ln.
B
C
N
A
Q
P
F
ms
h
M
l
A
C
N
Q
P
F
ms
74
3.2.2. Trnh t v phng php gii
Trnh t gii: Bi ton ma st c gii theo hai bc nhng c nhiu c im
cn ch .
Bc 1: t lc: ngoi lc hot ng v cc phn lc thng thng ta phi
thm lc ma st trt v ngu lc ma st ln. v ng chiu ca lc ma
st, phi xc nh xu hng trt v ln ca cc vt.
Bc 2: Lp cc iu kin cn bng: lp cc iu kin cn bng i vi h
lc nh bit; a vo iu kin i vi cc lc ma st.
Nh vy, cc iu kin cn bng bi ton c ma st tng ln, do vic
gii cng s phc tp hn.
Phng php gii
1. Phng php gii tch: V lc v ngu lc ma st, lp cc phng trnh cn
bng v vit cc iu kin ma st, c th theo mt trong ba dng sau:
Dng 1: Gi nguyn bt ng thc ma st v gii h thng hn hp gm cc
phng trnh cn bng v cc bt phng trnh ma st. Phng php ny rt
thun li khi ch c mt bt ng thc ma st.
Dng 2: Xt h trng thi ti hn (h sp trt hoc ln). Khi thay cho
bt ng thc ma st, chng ta c ng thc N f F F
gh ms 0
= = v kN M
l
= , h
hn hp ni trn tr thnh h thun phng trnh v cho php tm n l hm
ca cc h s ma st. Chiu ca bt ng thc c xc nh nh kinh nghim
hoc da vo chiu bin thin ca cc hm nhn c.
Dng 3: Xt h trng thi cha ti hn nhng vit iu kin ma st di
dng ng thc vi cc h s ma st (f' hay h) nh hn h s ma st thc.
Chng ta cng c h thun phng trnh v cho n l hm ca f' (h). Thay f'
(h) bng f
0
(k) v vit li iu kin cn bng di dng bt ng.
2. Phng php hnh hc: p dng cho bi ton c ma st trt, theo phng
php ny chng ta v nn ma st (khng v phn lc php v lc ma st), xy ra
hai trng hp sau:
75
Trng hp c mt nn ma st: Khi cn bng phn lc ton phn cn bng
vi lc hot ng. Nhng phn lc ton phn nm trong nn ma st nn lc
hot ng cng phi c tnh cht . Vy iu kin cn bng l lc hot ng
nm trong nn ma st.
Trng hp c hai nn ma st: Xc nh phn giao ca hai nn ma st. iu
kin cn bng l lc hot ng phi ct phn giao nu trn (v phi ng quy
v giao im ca hai phn lc ton phn l im chc chn nm trong phn
giao ca hai nn ma st).
3.3. Bi gii mu
V d 3-1
Hy xc nh gc nghing ca mt phng nghing vt nm trn n cn
bng, nu h s ma st ca vt vi mt phng l f
0
?
Bi gii
Ta p dng gii bi ton ny bng phng php gii tch, theo u bi yu
cu phi xc nh tt c cc v tr cn bng ca vt. V vy, trc tin ta xc nh
v tr cn bng ti hn ca vt, lc gc =
gh
.
H lc tc dng ln vt (P, N, F
gh
) cn bng
(hnh 3-7), v vy ta c quan h:

gh gh
tg N F = (a)
Mt khc theo nh lut ca ma st trt, ti
thi im ti hn gi tr lc ma st bng:
N f F
gh 0
= (b)
Kt hp (a) v (b) ta c:
0
f tg
gh
= (c)
Xt biu thc (c), nu gim f
0
th
gh
cng gim theo, v vy ta kt lun rng
s cn bng cng c th xy ra khi <
gh
. Vy tt c cc gi tr ca gc m
vt s cn bng c xc nh theo bt ng thc sau:

0
f tg (d)
F
gh
N
P
Hnh 3-7
76
V d 3-2
Thang AB ta trn tng v sn nh, cho bit h s ma st ca thang vi
tng v sn l f
0
. Hy xc nh gc nghing ca thang vi tng c th tro
ti nh thang. B qua trng lng ca thang.
Bi gii
Ta p dng phng php hnh hc gii bi ton ny. Gi s thang nm ti
v tr cn bng ti hn (hnh 3-8), thang chu tc dng ca cc phn lc R
A
v R
B
,
cc lc ny nm lch vi cc php tuyn mt gc bng gc ma st .
ng tc dng ca cc phn lc ct nhau ti K.
Do , khi cn bng th lc th ba P tc dng ln
thang cng phi i qua im ny. Bi vy, theo hnh
v ngi ch ln c cao nht n im C. Mun tro
ln n im B th bt buc im giao ca hai phn
lc phi nm trn ng BO hoc bn tri ng ny,
iu ny ch xy ra khi ng tc dng ca phn lc
R
A
ct im B hoc nm di im .
Vy, ln ht thang, gc nghing ca thang phi tho mn iu kin:

V d 3-3
Thanh AD trng lng khng ng k, nm ngang trn hai gi B v C,
h s ma st trt gia thanh v cc gi l f. Ti D thanh chu lc ko Q nghing
vi thanh mt gc . Cho bit BC=2CD=2a. Xc nh gc xut hin hin
tng t hm cho d lc Q rt ln.
Bi gii
Ta ln lt p dng c hai phng php gii.
Phng php gii tch: H lc tc dng ln thanh bao gm: (Q, N
1
, N
2
, F
1
, F
2
),
thanh trng thi cn bng, ta c cc phng trnh sau (hnh 3-9a):

= = ; 0 cos
2 1
F F Q F
X

(a)
O
R
A

C
B
A
R
B
P
K
Hnh 3-8
77

= + = ; 0 sin
2 1
N N Q F
Y

(b)

= = . 0 2 cos ) (
1
aN aQ F m
k C
(c)
Cc iu kin p t ln cc lc ma st c s dng dng sau:
, ;
2 2 2 1 1 1
N f F N f F = =
trong : . ;
2 1
f f f f
Thay gi tr ca F
1
v F
2
vo cc phng trnh (a, b, c), ta nhn c:

2 1
3
2
f f
tg
+
= . (d)

Hnh 3-9a
Khi tng cc gi tr f
1
, f
2
ln tr s f, v phi ca (d) s gim

f f f
tg
2
1
3
2
=
+
hay
f
arctg
2
1
. (e)
Trong biu thc (e), iu kin cn bng khng ph thuc lc Q, v vy khi
gc tho mn iu kin trn th lun xy ra hin tng t hm.
Phng php hnh hc: Ti hai im B v C ta v hai nn ma st, hai nn c
phn giao l phn gch cho, nh E. h cn bng, lc Q phi c ng tc
dng ct phn giao ny (hnh 3-9b).

Hnh 3-9b
N
2
N
1

Q
D
C B A
F
2
F
1
H
E

Q
D
C B A

78
Gc nghing ca ng ED vi phng ngang chnh l gc ti hn ca lc
Q, c xc nh theo cng thc:

f a
actg
HD
EH
tg
2
1
2
= = =

(f)
Vy, h lun cn bng khi gc nghing ca lc Q lun ln hn gi tr trong
biu thc (f). T hm lun xy ra v d tng tr s Q, ng tc dng ca lc Q
vn ct phn giao.
V d 3-4 (Ma st ca dy i vi mt tr)
Cho lc P tc dng vo u mt si dy vt qua mt tr trn bn knh R.
Hy xc nh lc Q nh nht cn phi tc dng vo u dy kia dy cn bng,
bit gc m ca dy quanh tr l (hnh 3-10).
Bi gii
Xt dy trng thi cn bng ti hn, trc
tin, ta xt cn bng ca on dy DE c chiu
di dl=Rd, vi R l bn knh ca tr. Hiu sc
cng ca dy ti cc im D v E l dT c cn
bng bi lc ma st dF=f
0
N. Vy ta c:
DT= f
0
N
xc nh dN, ta chiu cc lc ln trc y:

Td
d
T
d
dT T
d
T dN + = + + =
2
2
2
sin ) (
2
sin (a)
Thay gi tr ny vo biu thc ca dT, ta c:
Td f dT
0
= (b)
Chia hai v cho T ri ly tch phn v tri t 0 n , v phi t P n Q, ta
nhn c:

0
0
0
ln f
Q
P
d f
T
dT
P
Q
= =

(c)
T ta c:
y
B
A
(T+dT)
dN
Q
P
O
d/2
T
dF
d/2

d

x
Hnh 3-10
79

0 0
f f
Pe Q hay e
Q
P

= = (d)
Theo (d) ta nhn thy lc Q cn tm ch ph thuc vo h s ma st f
0
v gc
m , khng ph thuc vo bn knh ca tr. Khi khng c ma st, ta c: P=Q
ng nh trong lin kt dy thng thng. Mt im quan trng trong ng dng
thc t l cng tng gc (cng cun dy nhiu vng) th cng gim c lc Q
gi cho h cn bng.
Cng thc (d) c gi l cng thc le dng xc nh t s gia sc
cng P v Q cc phn dy curoa truyn ng n puli nu nh khng c hin
tng trt.
V d 3-5
Cho c cu hm dng dy ai nh hnh v. R to chu mt ngu c gi tr
M, bn knh ca r to l R. Tm iu kin ca lc F tc dng vo u n B v
vung gc vi n c cu cn bng, cho bit h s ma st trt gia ai v mt
r to l f
0
.
Bi gii
Kho st c cu hm cn bng trng thi ti hn. Coi c cu gm hai vt
rn nm cn bng: n AB v rto cng ai da. S dng phng php tch vt,
cc lc tc dng ln cc vt c ch ra trn hnh v (hnh 3-11).
Xt s cn bng ca r to, p dng iu kin cn bng ca n, ta c:
( ) 0
1 2
= =
T T R M m
O
. (a)
Xt n AB, iu kin cn bng c dng:
0 2
'
2 1
= =
RF RT m
O
. (b)

80

Ngoi ra, ta c cc h thc sau:

'
2 2
T T = (c)

0
2 1
f
T Te

= (cng thc le) (d)
Kt hp cc cng thc trn, ta nhn c iu kin cn bng ti hn:
( )
0
1 2
f
e RF M

= .
tm iu kin cn bng tng qut, ta thay th f
0
bng gi tr kf
0
, ta nhn
c kt qu:
( ) ( )

0
1 2 1 2
' f k
e RF e RF M

= .
Vy iu kin cn bng tng qut l:
( )
0
1 2
f
e R
M
F
.
V d 3-6 (bi ton ma st ln)
t mt khi tr trn ng cht trng lng P, bn knh R trn mt phng
nghing vi phng ngang mt gc , sao cho ng sinh ca khi tr vung gc
vi ng dc chnh ca mt phng nghing. Tc dng ln trc ca khi tr
lc Q song song vi mt phng nghing. Cho bit h s ma st trt l f v h s
ma st ln l k.
1. Tm iu kin khi tr khng ln xung?
2. Tm iu kin khi tr ln khng trt i ln theo mt phng nghing?
O
1
T
2

F
T
1
O
2R R
T
1
T
2
R
1
A B
M
Hnh 3-11
81
Gii
Kho st khi tr trng thi cn bng, tu tng trng hp, ta c cc m
hnh lc tc dng nh hnh v, iu kin cn bng ca khi tr di tc dng ca
h lc:
( ) 0 , , , , M F N Q P

(a)
trong :
N - phn lc php tuyn,
F - lc ma st trt,
M - ngu lc ma st ln.
Ln lt kho st cc trng hp:
1. Tm iu kin khi tr khng ln xung (hnh 3-12 a):

T iu kin (a), ta c h phng trnh sau:

= + =
= + =
= + =
kN M fN F
M PR QR m
N P F
F P Q F
A
Y
X
,
0 sin
0 cos
0 sin

(b)
T ba phng trnh u ca (b), ta xc nh c:
( ) Q P R M Q P F P N = = = sin , sin , cos
Thay th cc gi tr trn vo iu kin cui ca (b), ta xc nh c iu
kin i vi lc Q:
y
O
F
M
x
Q

P
N
Hnh 3-12 a
y
O
F
M
x
Q
P
N
Hnh 3-12 b
82
( )
. cos sin
, cos sin

R
k
P Q
f P Q

Thng thng ta c f
R
k
< , nn iu kin khi tr khng trt v khng
ln xung l:
. cos sin

R
k
P Q
2. Tm iu kin khi tr ln khng trt i ln (hnh 3-12b):
Ta cng kho st khi tr cn bng di tc dng ca h lc cn bng nh
iu kin (a). Da vo hnh v, ta c h phng trnh sau:

= + + =
= + =
= =
kN M fN F
M PR QR m
N P F
F P Q F
A
Y
X
,
0 sin
0 cos
0 sin

(c)
T ba phng trnh u ta xc nh c:
( ) sin , sin , cos P Q R M P Q F P N = = =
Thay th vo iu kin th 4 ca (c), ta c kt qu sau:
( ) cos sin , cos sin kP P Q R fP P Q .
Kt hp hai iu kin trn, ta c iu kin chung hnh tr ln khng trt
ln pha trn l:
cos sin cos sin f
P
Q
R
k
+ + .
Nhn xt: v f
R
k
< , nn ta lun tm c gi tr ca Q tho mn iu kin
trn.
V d 3-7
Xe gong chu tc dng ca lc ko F, chy trn ng ray thng nm
ngang (Hnh 3-13). Thn xe c trng lng P, mi cp bnh xe c trng lng Q
v bn knh r. H s ma st ln gia bnh xe v ng ray l k. B qua ma st ti
83
cc trc bnh xe, coi cc bnh xe l a trn ng cht. Tm tr s ca lc F xe
chuyn ng u.

Bi gii
Khi xe chuyn ng u trn ng thng, th tt c cc lc tc dng ln h
phi tho mn iu kin cn bng tnh hc, nh vy ta c th coi xe nh ang
ng yn. S dng phng php tch vt, t cc lc tc dng vo tng vt nh
hnh v 3-14, vi ch rng cc ngu lc ma st ln tc dng vo cc cp bnh
xe u c gi tr m men t gi tr ti hn:
1 1
; kN M kN M = = . Chn h trc to
nh hnh v, ln lt thit lp cc phng trnh cn bng cho tng vt.

i vi thn xe:

( )
( )
= + + =
= + =
0
0
1
1
O O Y
O O X
Y Y P F
X X F F
(a)
i vi bnh xe th nht

= =
= =
0
0
r X kN m
Y Q N F
O K
O y
(b)
i vi bnh xe th nht
Q
O
X
O
Y
O
M
F
ms
N
P
F
X
O
Y
O
X
O1
Y
O1
Q
O
1
X
O1

Y
O1

M
1
F
ms1
N
1
Hnh 3-14
y
x
Q
O
K H
P
F
Q
O
1
Hnh 3-13
84

= =
= =
0
0
1 1
1 1
r X kN m
Y Q N F
O H
O y
(c)
Gii cc h phng trnh trn, ta tm c:
( ) ( )
( ) P Q
r
k
X X F
P Q
r
k
N N
r
k
X X
P Q Y Y Q N N
P Y Y
O O
O O
O O
O O
+ = + =
+ = + = +
+ = + + = +
= +
2
2
2 2
1
1 1
1 1
1

Nhn xt: trong chuyn ng ln ca bnh xe, ngu lc ma st ln s t gi tr
ti hn trc, v vy trong nhng bi ton dng ny ta s dng iu kin ti hn
i vi ma st ln.
3.4. Bi tp
3-1. Ghp hai tm kim loi bng bulng. Gi thit c khe h gia bulng v cc
tm thp. Tm lc bulng cn p vo hai tm thp lc ma st gia chng
mcchng li hai lc ko P = 2kN, c tc dng khng cho hai tm thp trt i
vi nhau. Cho h s ma st trt f = 0,2.
Tr li: 10kN.
P

A
A
B B
Q
P

3-2. Trc A, trng lng Q, t trn mng trt nm ngang B to bi hai mt
nghing hp vi nhau mt gc nh hnh v. Cho h s ma st trt f. Tm lc
nm ngang P c th ko trt tr A.
Tr li:
2
sin / fQ P
85
3-3. Vt B c trng lng P nm trn mt mt khng nhn c dng mt phn t
cung trn v c gi cn bng nh lc ko T t vo dy BAD. Cho h s ma
st trt f = tg. Tm lc ko T.
Tr li:
) sin(
) sin(
T
) sin(
) sin(
P
+
+
+

+

4
2
4
2

3-4. Thanh ng cht AB c trng lng B , ta trn nn khng nhn u A v
c gi cn bng trng thi nghing 45
0
nh dy BC. Tm gc nghing ca
dy khi thanh trng thi sp trt.
Tr li:
f
tg
1
2+ =

45
o
B
C
A

3-5. Thanh nng ng cht AB, hai u ta nn vng trn khng nhn bn knh
a. Bit h s ma st trt l f , khong cch t tm O n thanh l OC = b, xc
nh gc nghing ca OC vi ng knh thng ng ca ng trn.
Tr li: f
f a
) f ( b
ctg
+

2
2 2
1

86
B
C
O a
b
A
B
30
o

3-6. Trn mt phng nghing 30
0
vi mt phng nm ngang ca hai vt A v B,
trng lng 200 N v 400 N ni vi nhau bng mt si dy. Bit h s ma st
gia A v B vi mt phng nghing l f
A
= 0,5 v f
B
= 2/3. H hai vt cn bng
khng? Tm sc cng T ca si dy v tr s cc lc ma st.
Tr li: H cn bng; F
A
= 86,6 N; F
B
= 213,4 N; T = 13,4N.
3-7. Lc nm ngang P t vo nm A lm cho n c xu hng trt sang phi v
y cn BCD trt thng ng ln cao; cn ny c nh hng bng hai gi
C v D. Bit gc nghing ca nm l , on BC = CD, tm lc Q phi nn xung
cn c cn bng.
1- Khi b qua ma st.
2- Khi ma st c h s f ti C v D v cn BD trng thi sp trt ln cao.
Trong iu kin no xy ra t hm (cn bng d Q = 0 m P rt ln).
Tr li: 1. Q = Pctg .
2. Q = P(ctg - 3f); cotg3f hay arctg3f.
Q
P
A
B
C
D

Hnh bi 3-7
87
3-8. Bnh xe O c xu hng nh quay di tc dng ca ngu m. gi cn
bng, dng lc Q thng ng t ti u C ca n nm ngang AC quay c
quanh trc A p m hm B vo vnh bnh xe. Bit h s ma st f = 0,1, t s
2 0,
AC
AB
= , bn knh bnh xe R = 0.4m, mmen m = 10 kNm. Xc nh lc Q.
Tr li: Q 5kN.
Q
C
B
A
O
m
2
d
2
a
r
r
3-9. My dt kim loi dng hai trc cn O v O quay ngc chiu nhau. Bit
bn knh mi trc cn l r, khong cch OO = 2d, h s ma st gia trc cn v
tm kim loi l f = tg.
Tm b dy ln nht 2a ca nhng tm kim loi m my c th dt c.
Tr li: a = 2(d -rcos)
3-10. Trn mt nm ngang c bnh xe ng cht tm O, bn knh R
1
trng lng
P, chu lc ko Q nghing gc vi mt nm ngang v hng xung di, t ti
im A trn ng thng ng qua O. Bit OA = a, h s ma st trt f, h s ma
st ln k,tm gc nghing c cn bng.
Tr li:
a R
k
f ctg min
3-11. Trn mt nm ngang c bnh xe ng cht tm O, bn knh R, trng lng
P, chu ngu lc m v lc Q. Bit h s ma st trt f, h s ma st ln k. Xc
nh tr s mmen m v tr s Q bnh xe cn bng.
Tr li: Q fP; m kP+QR (k+fR)P
88
A
Q
O

Q O
m

3-12. Sn trng lng P nm trn hai bnh xe A v B. Hai bnh xe ny ng cht
cng bn knh R, trng lng P, ln khng trt trn mt ng nm ngang. Bit
gia bnh xe vi sn v vi mt ng c ma st trt h s f v ma st ln h s
k. V tr trng tm sn cho trn hnh v. Xc nh lc ko nm ngang Q cn t
vo sn xe trng thi sp ln khng trt.
Tr li: fP ) p P (
R
k
Q + =

G
A B
a b
Q
P
Hnh bi 3-12
3-13. Xe t A trng lng P trn mt phng nghing. Chiu cao trng tm C
ca xe so vi mt ng bng h, h s ma st gia cc bnh vi mt ng f.
Khong cch gia cc bnh xe bng 2b. Tm gi tr ca gc nghing to bi
mt ng vi phng nm ngang sao cho xe A trt v lt .
Tr li: Xe b lt :
h
b
tg f
2
> > ; Xe b trt bn: f tg
h
b
> >
2

89

3-14. Con ln A ng cht bn knh R, trng lng P c t trn mt
phng ngang v ta vo g chn c cao h so vi mt t. H s ma st
trt gia vt A vi mt t v g chn u bng f.
Tm gi tr mmen ln nht ca ngu lc tc dng ln vt A, vt cn
bng.
Tr li:
R
h R
f
f f RfP
M

=
+
+
=

sin ;
cos ) 1 (
) sin cos (
2

3-15. Tay quay OA chiu di ni bn l vi con trt A nm bn trong cu lis.
Cu lis c th chuyn ng theo phng ngang, khong cch gia hai rnh trt
CB = . H s ma st trt gia cu-lis v rnh l f. Tc dng lc P vo cu-lis. Xc
nh m men M ca ngu lc cn t vo tay quay c h cn bng. B qua
trng lng c cu.
Tr li:
sin 2 1
sin
sin 2 1
sin
f
P
M
f
P

+

90
3-16. Hy xc nh d ln ca gc sao cho con ln bn knh R khng ln trn
mt phng nghing khng nhn, cho bit h s ma st ln bng k, con ln c
trng lng P.
Tr li: tg
R
k

3-17. Thanh ng cht OA=l c trng lng l P, ta trn con ln ng cht B c
bn knh r trng lng Q. B qua ma st gia OA v B. Vt B c t trn mt
phng ngang khng nhn. Khi h cn bng v tr nh hnh v, thanh OA to gc
vi phng thng ng, khong cch t O n ng tc dngca lc Q l a.
Hy tm phn lc ti O v gi tr ln nht P
max
B bt u ln nu bit h
s ma st ln l k.
Tr li: ;
) cos ( 2
cos sin
2

r a
Pl
X
D
+
=
) cos ( 2
sin
3
r a
Pl
P Y
o
+
= ;

) sin cos ( sin
) cos ( 2
2 max

k r l
r a kQ
P
+
= .
3-18. Xe t ti trng lng P trn ng thng ngang. Cc bnh xe c bn
knh r v h s ma st ln vi mt ng l k. Cp bnh ch ng chu tc dng
ca ngu lc c m men M. Thn xe chu tc dng ca lc cn R nm ngang cch
mt t l h. Tm gi tr nh nht ca M xe c th chuyn ng c. Xc
nh p lc ca cc cp bnh trc v sau ln mt ng ng vi gi tr M
min
.
Tr li: kP Rr M + =
min
; .
) (
;
) (
b a
Rh a k P
N
b a
Rh k b P
N
B A
+
+ +
=
+

=
91
Chng 4. Bi ton trng tm
Trng tm l im t trng lc, t cc tnh cht, phng php bin i v
tm tm ca h lc song song ta c th p dng cho bi ton tm trng tm. Thng
thng, cc vt kho st u nm trong trng trng, v vy bi ton tm trng
tm c ngha thc t quan trng, nht l trong phn ng lc hc.
4.1. C s l thuyt
4.1.1. Cng thc trng tm h cht im
) (
1
1
1
1
1
1
1
1
1

=
=
=
=
=
=
=
=
=
=
n
k
k
n
k
k k G
n
k
k k G
n
k
k k G
n
k
k k G
p P
z p
p
z
y p
p
y
x p
p
x
r p
P
r

(4.1)
Trong :
n - l s cht im;
) z , y , x ( r
k k k k
- bn knh vct (to );

p
k
trng lng cht im th k;
P trng lng h;
) z , y , x ( r
G G G G
- bn knh vct (to ) trng tm.

4.1.2. Cng thc trng tm vt rn
) (
,
1
,
1
,
1
1
=
=
=
= dp P
zdp
P
z
ydp
P
y
xdp
P
x
dp r
P
r
G
G
G
G

(4.2)
Trong :
dp r,
- bn knh vc t v trng lng phn t nguyn t;

92
- du tch phn di trn vt rn (1, 2 hay 3 lp tu thuc dng vt
rn v tu cch lp phn t nguyn t)
4.1.3. Cng thc Guynanh
- Cng thc 1: Din tch S sinh ra bi mt ng cong phng (AB) khi quay
quanh trc ng phng Oy khng ct n c xc nh bi cng thc (H. 4-1):
L x S
G
2 = ,
Trong :
L l di ng thng AB;
x
G
l khong cch t trng tm G ca ng phng n trc Oy.

- Cng thc 2: Th tch ca mt vt trn xoay sinh ra bi mt hnh phng khi quay
quanh trc ng phng Oy khng ct n c xc nh bi cng thc (H. 4-2):
S x V
G
2 = ,
Trong : S - din tch tm phng;
x
G
- khong cch t trng tm G ca tm phng n trc Oy.
4.1.4. Mt s tnh cht v phng php xc nh trng tm
1. Cc tnh cht:
- C th thay mt phn h (mt s cht im, mt phn vt th) bng mt
cht im t ti trng tm v c cng trng lng vi phn .
Hnh 4-2
y
x
G
G
S
x
G
G
S
A
B
y
Hnh 4-1
93
- Vi vt ng cht, trong cc cng thc, c th thay trng lng bng
di, din tch hoc th tch tu theo vt c xt l mt ng, mt mt hoc mt
khi.
- Trng tm vt ng cht c tm (trc, mt phng) i xng trng vi
(nm trn) tm (trc, mt phng) i xng.
- Tm (khung) ng cht hnh vung, ch nht, bnh hnh, trn... c trng
tm trng vi tm hnh hc.
2. Phng php xc nh trng tm:
a. Phng php i xng: T cc tnh cht nu trn, ta c th d dng xc
nh trng tm mt s vt ng cht sau:
- Trng tm tam gic ng cht: l giao im cc ng trung tuyn (H.
4-3a).
- Trng tm t din ng cht: l giao im cc on ni nh v trng
tm y i din (H.4-3b).

Hnh 4-3a. Hnh 4-3b.
b. Phng php tch vt (ghp vt): Phng php ny da trc tip vo
cng thc xc nh trng tm. N c p dng khi vt rn c th coi c ghp
t nhiu vt c v tr trng tm xc nh (c th t cc iu kin i xng), sau
s dng cng thc (4-1) xc nh v tr trng tm ca ton h.
c. Phng php tch phn: Khi vt kho st khng th tch ra thnh cc
phn hu hn c trng tm xc nh, ta phi s dng phng php tch phn theo
cng thc (3-2). u tin ta chia vt thnh cc th tch b
k
v no . i vi
cc th tch ny ta c cng thc xc nh cc to trng tm theo cc trc:
A
B
C
B
1
G
A
1
B
A
C
A
1
C
1
D
G
94
V
v x
x
k k
G

= , tng t i vi cc trc y v z, sau ta ly gii hn ca biu
thc trn vi
k
v tin ti khng v ta nhn c cng thc:
.
1
;
1
;
1

= = =
V
G
V
G
V
G
zdv
V
z ydv
V
y xdv
V
x
Ta cng lm tng t nh vy i vi to trng tm ca din tch v ca
ng.
4.2. Hng dn p dng bi ton gii mu
Trong phn ny ta xt cc bi ton xc nh trng tm s dng cc phng
php nu trn.
4.2.1. Phng php tch vt.
Phng php ny c p dng khi c th chia vt rn thnh mt s hu
hn phn bit trng tm v trng lng.
Trnh t: - Chia vt.
- Thay mi vt bng mt cht im.
- p dng cng thc (4.1).
Ch :
- Thng vt l ng cht nn ta c th thay trng lng bng di, din
tch hoc th tch.
- Nu vt khuyt, ta xem n nh do vt nguyn (cha khuyt) ghp vi
phn khuyt c trng lng m.
V d 4.1
Tm trng tm h ba thanh ng cht, cng thit din, cng vt liu b tr
nh trn hnh v (Hnh 4-4).
Bi gii
Thay ba thanh bi ba cht im G
1
, G
2
, G
3
c trng lng t l vi di
p
1
=a; p
2
=b; p
3
=2c v c to :

95
; 0 ; ;
2
1 1 1
= = = z b y
a
x
; 0 ;
2
;
2 2 2
= = = z
b
y a x
.
2
;
2
;
2
3 3 3
c
z
b
y
a
x = = =

To trng tm G ca h l:
;
) 2 ( 2
2 2
) (
1
2
3 3 2 2 1 1
c b a
ac ab a
x p x p x p
p
x
G
+ +
+ +
= + + =
c b a
c
z
c b a
bc b a
y
G G
2
;
) 2 ( 2
2 2
2 2
+ +
=
+ +
+ +
= .
V d 4.2
Tm trng tm ca tm ng cht c kch thc tnh bng cm cho trn hnh
v (Hnh 4-5).

Bi gii
Dng cc trc to v chia tm thnh ba hnh ch nht nh hnh v. Tnh
to trng tm ca mi hnh ch nht v din tch ca chng:
To :
x
1
=-1; y
1
=1; x
2
=1; y
2
=5; x
3
=5; y
3
=7.
Hnh 4-4
x
y
z
G
3
G
2
G
1
c
a
b
60
0
y
2
C
2
6
2
8
2
2
x
C
1
C
3
Hnh 4-5
96
Din tch:
S
1
= 4; S
2
= 20; S
3
= 12.
To trng tm C:
cm
S S S
x S x S x S
x p x p x p
P
x
C
9
19
12 20 4
60 20 4 ) (
) (
1
3 2 1
3 3 2 2 1 1
3 3 2 2 1 1
=
+ +
+ +
=
+ +
+ +
= + + =
cm
S S S
y S y S y S
y p y p y p
P
y
C
9
53
12 20 4
108 100 4 ) (
) (
1
3 2 1
3 3 2 2 1 1
3 3 2 2 1 1
=
+ +
+ +
=
+ +
+ +
= + + =
V d 4-3
Tm trng tm ca tm trn ng cht O, bn knh R,b khuyt l trn A,
bn knh r. Bit OA = a, a+r<R (Hnh 4-6).
Bi gii
Tm khuyt do tm nguyn tm O ghp vi
phn khuyt tm A mang trng lng m.
V ng cht nn trng lng t l vi din
tch, tc l:
S
0
=R
2
; S
A
=-r
2
.
V i xng nn trng tm G nm trn trc x
(qua O, A).
Chng ta c: x
0
=0, x
A
=a v
.
0
) (
1
2 2
2
2 2
2 2
0 0
r R
ar
r R
a r R
x S x S
S
x
A A G
= + =

V d 4-4
Tm trng tm ca khi hp ch nht ng cht
c kch thc v b khuyt mt bn cu nh trn hnh
v (Hnh 4-7). Bit c r
b
r
a
r < < < ;
2
;
2

Bi gii
Xem khi khuyt do khi hp nguyn O ghp
vi khi bn cu A mang trng lng m.
Hnh 4-6
G
O A
Hnh 4-7
O
G
A
r C
c
a
b
z
97
V ng cht nn trng lng t l vi th tch:
3
0
3
2
; r V abc V
A
= = .
V i xng, trng tm nm trn trc OZ qua tm O ca khi hp nguyn
v song song vi cnh c. Ch rng trng tm C ca bn cu nm thp hn A
mt on . r
8
3
AC=
Ta c:
.
8
3
2
; 0
0
r
c
z z
C
= =
Trng tm G ca khi khuyt c cao :
;
3
2
8
3
2 3
2
0 .
) (
1
3
3
0 0
r abc
r
c
r abc
z V z V
V
z
C A G

= + =
.
) 2 3 ( 4
) 3 4 (
2
3
r abc
r c r
z
G
=
4.2.2. Phng php tch phn
Khi khng th chia vt ra mt s hu hn phn n gin, nhng c th
biu din hnh dng vt di dng gii tch thun li, chng ta c th dng
phng php tch phn.
V d 4-5
Tm trng tm cung trn ng cht AB trn ng trn bn knh R, gc
ti tm 2 (Hnh 4-8).
Bi gii
V ng cht, trng lng c thay bng
di; v i xng, trng tm nm trn trc Ox.
Chia cung trn ra v hn cung v cng nh, v
tr c xc nh bi gc .
Hnh 4-8
R
R
R
B
x

d
98
Cung nguyn t tng ng gc d c di bng: dl=Rd , v c honh
: x=Rcos.
Ch rng di cung AB l L=R2. Honh trng tm ca cung cho
bi cng thc:

+
+
= = =

sin
sin
2
cos
2
1 1
R
R
Rd R
R
xdl
L
x
G

Vi na cung trn:
R
x
G
2
;
2
= =
V d 4-6
Tm trng tm ca qut trn ng cht AOB ca tm trn tm O bn knh
R c gc ti tm AOB=2.
Bi gii
Tng t trn, v ng cht, trng lng c thay bng din tch v i
xng, trng tm nm trn trc Ox. Chia qot trn thnh v hn qot trn v cng
nh c v tr xc nh bi gc v c gc m d. Din tch mi qot trn nguyn
t l = d R
2
1
dS
2
, trng tm ca n c honh = cos R
3
2
x (nh tam gic).
Ch rng din tch qot trn l S=R
2
. Trng tm qot cho bi cng thc:

+
= = =

sin
3
2
2
1
cos
3
2 1 1
2
2
R d R R
R
xds
S
x
G

Vi na tm trn:
3
4
;
2
R
x
G
= = .
V d 4-7
Tm trng tm bn cu ng cht tm O bn
knh R (Hnh 4-9).
Bi gii
O
G
z
z

d
z

Hnh 4-9
99
Chng ta s thay trng lng bng th tch v ch cn tnh cao . Chia
bn knh cu thnh v hn lt mng song song vi y cao z, b dy dz, bn
knh
2 2
z R r = , th tch:
dV=r
2
dz=(R
2
-z
2
)dz.
Ch rng th tch bn cu
3
3
2
R V = , trng tm ca bn cu c cao :
R dz z R z
R
zdV
V
z
R
G
8
3
) (
2
3 1
0
2 2
3
= = =

4.2.3. Phng php Guynanh
Ta c th p dng cc cng thc Guynanh tm trng tm ng cong
phng v tm phng ng cht bng cch xc nh din tch (hay th tch) do
ng cong phng (hay hnh phng) sinh ra, sau p dng cng thc Guynanh
xc nh trng tm ca ng cong phng (hnh phng) sinh ra din tch
(th tch) trn.
V d 4-8
Tm th tch ca khi xuyn sinh ra bi mt trn tm A bn knh r khi
quay quanh trc ng phng v cch A on R (Hnh 4-10).
Bi gii
Din tch mt trn l S=r
2
, trng tm l A cch mt on R. Theo cng
thc Guynanh th hai, th tch khi xuyn l:
V=2d.S=2R.r
2
=2
2
Rr
2
.

A
r
R
Hnh 4-10
100
V d 4-9
Tm trng tm na mt trn bn knh R (Hnh 4-11).
Bi gii
Gi d l khong cch t tm O n trng tm G.
Din tch na mt trn l R
2
/2. Cho na mt trn quay
quanh ng knh, n qut ra khi cu th tch
3
3
4
R V = .
Cng thc Guynanh th hai cho:
V=2d.S
Hay:

3
4
2
2
3
4
2
2
3
R
R
R
S
V
d = = =
4.3. Bi tp
4-1. Xc nh trng tm h thanh ng cht, cng vt liu, cng thit din, c
kch thc cho trn hnh bi 4-1.
Tr li: a) ;
) 3 4 ( 4
7
x
+
=

) 3 4 ( 4
3 ) 3 2 5 (
y
+
+
=
b) ;
2 4 10
2 4 7
x
+
+
=
.
2 2 5
2 2
y
+
+
=
c) ;
) c b a ( 2
c
x
2
+ +
=
;
) c b a ( 2
bc 2 b
y
2
+ +
+
=
.
) c b a ( 2
a
z
2
+ +
= d) .
4
3
z ; 1 y ;
8
5
x = = =
O
G
d
Hnh 4-11
Hnh bi 4-1
101
4-2. Xc nh trng tm cc tm
ng cht c hnh dng v kch thc
nh hnh bi 4-2.
Tr li: a) ;
) d b a ( 2
d bd a
x
2 2
+
+
=

) d b a ( 2
d ad b
y
2 2
+
+
=
b) .
) bd bh ad ( 2
bd bh ad
y
2 2 2
+
+
=
c) y=11 cm.
d) x 6,7 cm; y 2,5 cm.
nh hnh bi 4-3.
Tr li:
a)
) 3 4 ( 2
a 3
x
+
= b)
) 8 ( 3
a 10
x
+
=
c)
) 3 2 ( 3
a
x
+
= d)
3 3 8
3 a 3
x
+
=

nh hnh bi 4-4.
Tr li:
a)
9
a
x = b) a
) 8 ( 6
4 3
x

=
c)
= =
9
R 14
y ;
6
R
x d)
3 3 4
3 R 2
y

=

Hnh bi 4-2
Hnh bi 4-3
102

4-5. Xc nh trng tm cc khi ng cht c hnh dng v kch thc nh hnh
bi 4-5.
Tr li:
a) a
10
7
z ; a
10
9
y x = = = ; b) a
14
13
z y x = = =
c)
) R 2 h ( 12
R 9 h 3
z
2 2
+
= d)
R 2 h 3
R h 2
4
3
z
2 2
=

Hnh bi 4-4
103
4-6. Xc nh trng tm ca cc tm ng cht gii hn bi cc th cho trn
hnh bi 4-6.
Tr li:
a)
10
3
;
4
3 a
y
a
x = = b)
8
3
;
5
3 a
y
a
x = =
c)
8
;
2

= = y x d)
20
9
= = y x
4-7. Dng cng thc Guynanh, xc nh trng tm ca cung trn, qot trn
thuc vng trn bn knh R v c gc ti tm 2.
4-8. Tnh th tch ca khi xuyn to nn bi thit din:
a) Tam gic u cnh a.
b) Na mt trn bn knh r, khi quay quanh trc z song song v cch y
(tam gic, na mt trn) mt on R.
Tr li:
a) 3
6
6
2
2
a
a
R V
+ =

; b)
+ =
3
4
1
3 2
R V .

104
Chng 5. Chuyn ng ca im
5.1. C s l thuyt
Gii bi ton chuyn ng ca im, ta tm cc yu t sau:
- Phng trnh chuyn ng ca im
- Vn tc, gia tc ca im
- Tnh cht ca chuyn ng
gii quyt bi ton, ta c th dng cc phng php: vc t, to
cc, to t nhin, to c cc.
Cc cng thc xc nh trong tng phng php cho bng sau:
Thng s nh v Phng trnh
chuyn ng
Vn tc Gia tc
Vc t

( ) =
r r
r r t =
r r
&
v r = =
r r r
& &&
w v r
To
cc

( )
( )
( )
=
=
=
x x t
y y t
z z t
(1)
=
&
r
&
&
x
y
z
v x
v v y
v z
(2)
=
=
=
&&
r
&&
&&
w x
x
w w y
y
w z
z
(3)

To cc

( )
( )
=
=
r f t
1
f t
2
(4)
&
r
&
r
r
v r
v
v r
(5)
=
= +
& &&
r
&& & &
2
w r r
r
w
w r 2r
(6)
To
t nhin

( ) = s s t (7)
= & v s (8)
= =
& &&
r
2
n
w v s
w
v
w
(9)
Trong thc hnh ta thng ch s dng cc phng php to cc v to
t nhin.
* Du hiu ca chuyn ng nhanh dn:
= + + >
r r
&&& &&& &&& v.w xx yy zz 0 (10)
Chuyn ng chm dn :
= + + >
r r
&&& &&& &&& v.w xx yy zz 0 (11)
* Cc chuyn ng c bit:
105
- Chuyn ng u:

= = = v const; w 0;s vt (12)

- Chuyn ng bin i u:

= w const ;

= +
0
v v w t ;

= +
2
0
1
s v t w t
2
(13)
(w
> 0 nhanh dn u,w
< 0 chm dn u)
5.2. Phng php gii
Cc loi bi ton: c ba loi sau:
I. Bit phng trnh chuyn ng, tm cc c trng ca chuyn ng
nh qu o, vn tc, gia tc, tnh cht chuyn ng.
II. Bit mt s iu kin ca chuyn ng, tm phng trnh chuyn
ng v cc c trng chuyn ng.
III. Bi ton tng hp: trong mt bi ton dng c hai phng php: to
cc v to t nhin.
Phng php gii bi ton:
1. Chn phng php: Tu u bi m ta chn phng php to cc
hay to t nhin. Phng php to t nhin c dng khi bit qu o
ca im.
2. Tm phng trnh chuyn ng:
- Xt im v tr bt k. Tm quan h to ca im theo thi gian, nhn
c (1) hoc (7).
- Nu bit gia tc th tch phn, nhn c vn tc, tch phn ln na s tm
c phng trnh chuyn ng.
- Nu bit chuyn ng l u hoc bin i u, ta vit ngay phng trnh
chuyn ng dng (12) hoc (13).
3. Tm qu o: Kh thi gian t khi phng trnh chuyn ng. T tm
c lin h gia cc to , khng cn cha t na.
4. Tm vn tc v gia tc:
106
p dng (2) v (3) khi dng to cc.
p dng (8), (9) khi dng to t nhin.
5. Tm tnh cht chuyn ng:
p dng (10) v (11)
6. Tm bn knh cong ca qu o
- p dng (9)
5.3. Bi gii mu
I. Bit phng trnh chuyn ng, tm cc c trng ca chuyn ng
V d 5.1. Chuyn ng ca im c cho bi cc phng trnh:
x = 8t - 4t
2
;y = 6t - 3t
2

(x, y tnh bng m, t tnh bng s)
Xc nh qu o, vn tc v gia tc ca im. Xt tnh cht ca chuyn ng.
Bi gii:
1. Chn phng php: dng phng php to cc ( bi cho dng
cc, cha bit qu o).
2. Qu o: Kh t khi phng trnh
chuyn ng. Mun vy nhn hai v ca
phng trnh u vi 3, phng trnh th hai
vi 4 ri tr v vi v, ta c:
3x - 4y = 0 hay y =
3
4
x

Hnh 5.1
Nh vy, qu o l ng thng, nghing vi trc Ox mt gc vi
tg =
3
4
(H.5.1).
3. Vn tc, gia tc: theo (5-2) v (5.3), ta c:
vn tc: v
x
= & x = 8(1-t); v
y
= & y = 6(1 - t); v = +
2 2
x y
v v = 10(1 - t)m/s
107
gia tc: w
x
= && x = - 8;
y
w = && y = -6; w = +
2 2
x y
w w = 10m/s
2
4. Tnh cht chuyn ng: Xt tch
r r
v. w theo (5.10 v 5.11). Cc vc t
r
v v
r
whng theo qu o, tc l theo ng thng AB. Cc hnh chiu ca
r
wlun
lun m, nn
r
w chiu khng i, hng t B v A, cn chiu ca
r
v ph thuc t:
Lc t = 0; x = 0, v
o
= 10m/s. im gc to 0.
r r
v.w = v
x
w
x
+ v
y
w
y
= - 64(1 - t) - 36(1 - t)
Khi 0 < t < 1s :
r r
v.w < 0. im chuyn ng chm dn (
r
v hng t A n
Lc t = 1s th x = 4, y = 3: im v tr B v v = 0.
Khi t = 2s, x = 0, y = 0. im i qua 0.
Nh vy im bt u chuyn ng t im 0 vi vn tc u v
0
= 10m/s dc
AB. Trn on OB im chuyn ng chm dn v sau 1s im ti B, ti vn
tc bng khng. Bt u t B im chuyn ng nhanh dn t B v A v lc t = 2s
im qua gc to v tip tc chuyn ng theo OA.
Gia tc ca im lun lun bng 10m/s
2
.
V d 5.2. Chuyn ng ca im cho
bi cc phng trnh:
x = asint, y = acost, z = ut, trong
a, v u l cc hng s. Hy xc nh
qu o, vn tc v gia tc ca im.
Bi gii:
Bnh phng tng v ca hai phng
trnh u ri cng li (v sin
2
t + cos
2
t =
1), ta c:
x
2
+ y
2
= a
2

Hnh 5.2
Do , qu o nm trn mt tr trn bn knh a c trc hng theo trc Oz (hnh
5.2). Nu xc nh t t phng trnh cui cng ri thay vo phng trnh th nht,
ta c: x = asin

z
u

108
Bi vy, qu o ca im s l giao tuyn ca mt cong hnh sin c cc
ng sinh song song vi trc Oy vi mt tr bn knh a. ng cong gi
l ng xon c. T cc phng trnh chuyn ng, ta thy rng im thc
hin c mt vng xon c trong thi gian t
1
xc nh t ng thc t
1
= 2.
Nh vy trong thi gian ny, im chuyn ng dc theo trc z c mt on
bng h = ut
1
=
2 u
gi l bc xon. xc nh vn tc v gia tc ca im,
ta ly vi phn cc phng trnh chuyn ng theo thi gian t. Ta c:
v
x
= acost, v
y
= - asint, v
z
= u
T , ta c: v =
( )
+ + = +
2 2 2 2 2 2 2 2
a cos t sin t u a u
Gi tr ca biu thc di du cn l hng s, nn chuyn ng xy ra vi
vn tc c tr s khng i v hng theo tip tuyn vi qu o. Theo cc cng
thc (5.3) ta tnh c cc hnh chiu ca gia tc bng
w
x
= - a
2
sint, w
y
= - a
2
cost, w
z
= 0.
T w = +
2 2
x y
w w = a
2

Vy, chuyn ng xy ra vi gia tc c tr s khng i. xc nh chiu
ca gia tc, ta c cc cng thc:
cos
1
=
x
w
w
= - sint = -
x
a
;cos
1
=
y
w
w
= - cost = -
y
a
, cos
1
=
z
w
w
= 0
Nhng v
x
a
= cos,
y
a
cos,
trong v l cc gc lp bi bn knh a k t trc ca mt tr ti ng im
vi cc trc Ox v Oy. V csin ca cc gc
1
v
1
ch khc du vi csin ca
cc gc v , nn ta c th kt lun rng gia tc ca im lun lun hng theo
bn knh ca mt tr v pha trc ca mt tr ny.
Ta thy rng mc d trong trng hp ny chuyn ng c vn tc khng i
v gi tr, nhng gia tc ca im vn khng bng khng v vn tc thay i
chiu.
109
V d 5.3. Mt ngi c chiu cao h ang ri khi ngn n theo mt ng
thng vi vn tc u. n treo cao H. Hy xc nh vn tc ca u bng
ngi .
Bi gii: gii bi ton, trc ht ta hy
xc nh quy lut chuyn ng ca u bng
ngi. Chn im O nm trn ng thng
ng vi ngn n lm gc to , ly ng
thng qu o ca u bng ngi lm trc to
ox (hnh 5.3). Gi s ngi ang mt v
tr no cch im O mt on x
1
. Khi ,
u bng s cch gc O mt on x
2
.
T iu kin ng dng ca cc tam gic
OAM v DAB, ta c:
x
2
=
1
H
x
H h

Hnh 5.3
Phng trnh ny th hin quy lut chuyn ng ca im M l u bng
ngi, nu bit quy lut chuyn ng ca ngi , tc l bit x
1
= f(t).
Tnh o hm ca c hai v ng thc ny theo thi gian, ri thay &
1
x = u
x
= u,
&
2
x = v
x
= v (theo cng thc (5.2), trong v l vn tc cn tm, ta c: v =
H
u
H h
.
Nu ngi chuyn ng vi vn tc khng i (u = const), th vn tc v
ca nh bng cng khng i, nhng c gi tr ln hn vn tc ca ngi
( )
H
H h
ln.
110
V d 5.4. Vi cc gc lch nh,
con lc s chuyn ng theo vng
trn bn knh theo quy lut s =
asin kt, trong O l gc qu o, a
v k l cc hng s (hnh 5.4). Hy
xc nh vn tc, gia tc tip tuyn
v gia tc php tuyn ca con lc v
cc v tr ti cc i lng ny
bng khng.
Bi gii: p dng cc cng thc
tng ng (5.8) v (5.9) ta tnh c:

Hnh 5.4
v =
ds
dt
= akcoskt; w
=
dv
dt
= - ak
2
sinkt; w
n
=
l
2
v
=
l
2 2
a k
cos
2
kt.
T quy lut chuyn ng, ta thy rng con lc dao ng iu ha theo qu o
vi bin cong a. cc v tr ngoi cng (tc l ti cc im A v B) sin kt = 1,
do cos kt = 0. V vy ti cc im A v B vn tc v gia tc php tuyn c gi tr
bng khng, cn gia tc tip tuyn t ti gi tr cc i w
max
= ak
2
. Ngc li, khi
con lc n gc ta O, th s = 0, nn sin kt = 0, cos kt = 1. Ti v tr ny w
= 0,
cn v v w
n
c cc gi tr cc i bng: v
max
= ak, w
nmax
=
l
2 2
a k

T v d ny ta thy cc gia tc w
hay w
n
c th bng khng ti mt s im
trn qu o ca chuyn ng cong khng u. C th, w
= 0 ti cc im khi:
dv
dt
= 0, tc l ti im khi v c gi tr cc i hoc cc tiu, cn w
n
= 0 ti cc
im khi v = 0 (nh trong trng hp va xt) hay khi = (cc im un ca
qu o).
V d 5.5. u my xe la chuyn ng nhanh dn u theo cung trn bn
knh R = 800 m. Cho bit sau khi chy c mt qung ng bng s
1
= 600 m
111
u my c vn tc 36 km/gi. Hy xc nh vn tc v gia tc ca u my
im gia qung ng .
Bi gii: V u my chuyn ng nhanh dn u vi v
0
= 0, nn vi gi thit
s
0
= 0, quy lut chuyn ng ca u my s l s =
1
2
w
t
2
, cn vn tc bng
v=w
t.
Kh t khi cc phng trnh , ta c: v
2
= 2 w
s.
Theo iu kin bi ton, khi s = s
1
th v = v
1
. T , ta tm c: w
=
2
1
1
v
2s

im gia qung ng khi s
2
=
1
s
2
, vn tc v
2
bng:
v
2
=

= =
1
2 1
v
2w s w s
2

Gia tc php tuyn ti v tr ny bng: w
n2
= =
2 2
2 1
v v
R 2R

Bit w
v w
n2
, ta xc nh c gia tc ton phn ca u my ti im gia
qung ng l: w
2
=
+ = +
2
2 2 1
n2 2 2
1
v 1 1
w w
2 s R

Thay gi tr bng s vo phng trnh, ta c:
v
2
7,1 m/s; w
2
=
5
48
0,1 m/s
2
.
II. Tm phng trnh chuyn ng v cc c trng ca chuyn ng
V d 5.6. Xc nh qu o, vn tc v gia tc ca trung im M ca thanh
truyn AB ca c cu thanh truyn tay quay (hnh 5.5.). Cho bit OA = AB = 2a,
gc quay ca tay quay tng t l thun vi thi gian = t.
Bi gii: Ta bt u t vic xc nh cc phng trnh chuyn ng ca im
M. Dng cc trc v gi x v y l cc to ca im M ti v tr bt k, ta c:

112

x = 2acos + acos, y = asin
Thay bng gi tr ca n, ta
c cc phng trnh chuyn ng
ca im M:
x = 3acos t, y = asint.
xc nh qu o ca im
M, ta vit cc phng trnh chuyn
ng di dng:
x
3a
= cost,
y
a
= sint

Hnh 5.5
ri bnh phng tng v cc ng thc ny, sau cng li, ta c
+
2 2
2 2
x y
9a a
= 1.
Vy, qu o ca im M l ng elp vi cc bn trc 3a v a.
Vn tc ca im M xc nh theo cc cng thc (5.2) bng:
v
x
= - 3asint , v
y
= acost; v = a +
2 2
9sin t cos t
Ta thy vn tc l i lng bin i theo thi gian trong gii hn t v
min
= a
n v
max
= 3a.
Theo cc cng thc (5.3) ta xc nh c cc hnh chiu ca gia tc im
B bng: w
x
= - 3a
2
cost = -
2
x ; w
y
= - a
2
sint = -
2
y.

113
V d 5.7. Mt im chuyn ng trong mt phng xOy, gia tc ca n c
hnh chiu w
x
= 4cm/s
2
. w
y
= 2tcm/s
2
. Tm phng trnh chuyn ng ca im,
bit lc t = 2s th vn tc ca im v = 12 2 cm/s v lm vi cc trc Ox v Oy
nhng gc bng nhau.
Bi gii:
- Xc nh vn tc:
V w
x
=
x
dv
dt
, w
y
=
y
dv
dt

Suy ra: dv
x
= w
x
dt = 4dt; dv
y
= w
y
dt = 2tdt
Lc t = 2s th v
x
= v
y
= 12 2 cos45
0
= 12 cm/s, do :
= =

y
x
v
v t t
x y
12 2 12 2
dv 4dt; dv 2tdt
ta c: v
x
= 4t + 4; v
y
= t
2
+ 8
Xc nh phng trnh chuyn ng:
V: v
x
=
dx
dt
; v
y
=
dy
dt

Suy ra dx = v
x
dt = (4t + 4)dt; dy = v
y
dt = (t
2
+ 8)dt
Lc t = 0 : x = y = 0, ta c: = + = +

y x t t
2
0 0 0 0
dx (4t 4)dt; dy (t 8)dt
ta c phng trnh chuyn ng ca im: x = 2(t
2
+ 2t); y = +
3
t
8t
3

V d 5.8. Mt tu thu chuyn ng nhanh dn u. Vn tc lc A v v
1
v
B l v
2
, vi v
2
> v
1
, khong cch AB = . Tm phng trnh chuyn ng v
khong thi gian T tu i t A n B. Tnh vn tc, gia tc ca tu lc t = 2T.
Bi gii:
1. Chn phng php: Tu thu chuyn ng nhanh dn u nn ta vit ngay
c biu thc v phng trnh chuyn ng di dng to t nhin.
114
2. Phng trnh chuyn ng, vn tc: chn thi im v v tr ca tu A
lm thi im u v gc to . Theo (5.13) khi chn chiu dng ca qu o
thun chiu chuyn ng, ta c:
v = v
1
+ w
t; s = v
1
t +
1
2
w
t
2
.
Thi im t = T th tu n B, lc v = v
2
v s = .
v
2
= v
1
+ w
t; = v
1
T +
1
2
w
T
2

Gii hai phng trnh trn ta c: T =
+
l
1 2
2
v v
v w
1
=
2 1
v v
T

Vy phng trnh chuyn ng ca tu l: s = v
1
t +
2 2 1
v v
t
2T

Vn tc ca tu khi t = 2T bng: v = v
1
+

2 1
v v
T
. 2T = 2v
2
- v
1

Gia tc ca tu lc no cng nh nhau v chuyn ng thng bin i u.
Vy: w = w
2 1
v v
T

III. Bi ton tng hp
V d 5.9. im chuyn ng vi vn tc ban u nm ngang theo lut:
x = v
0
t; y =
1
2
gt
2

trong v
0
v g l nhng hng s.
Tm qu ao, vn tc, gia tc tip, gia tc php ca im v bn knh cong
ca qu o (biu din chng qua vn tc ca im ti v tr ).
Bi gii:
1. Chn phng php: Bi ton cho dng to cc nhng khi tm gia
tc tip, gia tc php v bn knh cong ta phi chuyn sang dng to t nhin.

2. Qu o: Rt t t phng trnh u,
115
thay vo phng trnh th hai, ta c
y =
2
0
g
2v
x
2

Qu o ca im l ng parabn
(hnh 5.6).

Hnh 5.6
3. Vn tc, gia tc: Ta dng phng php to cc: p dng (5.2) v (5.3).
- Vn tc: v
x
= & x = v
0
; v
y
= & y = gt; v = +
2 2 2
0
v g t
Nh vy, lc t = 0 im c vn tc v
0
, sau tng lin tc theo thi gian.
- Gia tc w
x
= && x = 0; w
y
= && y = g; w = g = const
Ta thy im chuyn ng vi gia tc c tr s khng i v lun song
song vi trc Oy. Ch : y khng phi l chuyn ng bin i u (chuyn
ng bin i u khi w
= const, ch khng phi w = const. Di y s thy

w
= const).
4. Gia tc tip, gia tc php, bn knh cong: Ta dng phng php to t
nhin: p dng (5.14)
- Gia tc tip : w
= = =
+
2 2
2 2 2
0
dv g t g t
dt v
v g t

V v
2
= +
2 2 2
0
v g t nn t =
2 2
0
1
v v
g

thay t vo w
s c biu thc ca w
ph thuc vo v: w
=
2
0
g
v v
v

T ta thy, ti thi im u v = v
0
th w
= 0, sau w
s tng theo v,
khi v th w

g. Bi vy, gii hn th w
= w.
- Gia tc php: w
2
=
+
2 2
n
w w
116
Do
( )

= = =
2 2
2
0
2 2 2 2 2 2 0
n 2 2
v v
v
w w w g g g
v v
; w
n
=
0
gv
v

Nh vy lc u v = v
0
th w
n
= g, sau w
n
gim khi v tng v w
n
0.
- Bn knh cong ca qu o: w
n
=
2
v
t : = =
2 3
n 0
v v
w v g

Ta thy lc u bn knh cong c gi tr cc tiu
min
=
2
0
v
g
sau s tng
theo v, khi v th .

5.4. Bi tp
5.4.1. Bit phng trnh chuyn ng, tm cc c trng chuyn ng
5.1. Ti trng c nng ln bng dy cp n hi dao ng theo phng trnh x
= asin

+

3
kt
2
trong a tnh theo cm, k theo 1/giy. Hy xc nh bin v
tn s vng dao ng ca ti trng, nu bit trc chu k dao ng l 0,4 giy v
ti thi im ban u x
0
= - 4 cm, ng thi v ng cong khong cch.
Tr li : a = 4 cm, k = 4
1
s
.
5.2. Theo cc phng trnh chuyn ng im cho trc, hy xc nh phng
trnh qu o ca im.
1) x = 20t
2
+ 5 Tr li : na ng thng 3x - 4y = 3
y = 15t
2
+ 3 vi im gc ti x = 5; y = 3.
2) x = 4t - 2t
2
Tr li : na ng thng 3x - 4y = 0,
y = 3t - 1,5t
2
trong - < x 2,
- < y 1,5.
3) x = 5 + 3cost Tr li : ellip
( )
+ =
2
2
x 5
y
1
9 16

y = 4 sint
117
4) x = at
2
Tr li : parabn ay
2
- b
2
x = 0
y = bt
5) x = 5sin
t
2
Tr li : ellip 16x
2
+ 25 y
2
- 400 = 0
y = 4cos
t
2

6) x = 5cost Tr li : ng trn x
2
+ (y - 3)
2
= 25
y = 3 - 5sint
7) x = 3 + 4 cost Tr li : ellip
( ) ( )
+
2 2
x 3 y 2
16 25
=1
y = 2 + 5 sint
8) x = 2cos

+

t
8
Tr li : ellip +
2 2
x y
6 16
-
xy
6
sin

8
= cos
2

8

y = 4sin

+

t
4

5.3. Theo cc phng trnh chuyn ng im cho trc, hy tm qu o ca
im v ch ra quy lut chuyn ng ca im theo qu o, trong khong
cch tnh t im ban u.
1) x = 3t
2
Tr li : na ng thng 4x - 3y =0;
y = 4t
2
s = 5t
2
.
2) x = 3 sint Tr li : ng trn x
2
+ y
2
= 9;
y = 3 cos t s = 3t.
3) x = acos
2
t Tr li : on thng x + y - a = 0;
y = asin
2
t vi 0 x a; s = a 2 sin
2
t.
4) x = 5cos5t
2
Tr li : ng trn x
2
+ y
2
= 25;
y = 5 sin5t
2
s = 25 t
2
.
5.4. Cu trc chuyn ng dc theo phn xng theo phng trnh x = t, mt xe
ti trt ngang trn cu theo phng trnh y = 1,5 t(x v y tnh theo m, t theo
giy). Dy xch thu ngn li vi vn tc v = 0,5 m/s. Hy xc nh qu o trng
118
tm ca ti trng; bit rng ti v tr ban u trng tm ny trong mt phng
nm ngang Oxy; trc Oz hng thng ln trn.
Tr li : qu o l ng thng y = 1,5 x; z = 0,5 x.
5.5. Chuyn ng ca im v ln hnh Litxagi cho bi phng trnh x=3sint,
y=2cos2t (t tnh theo giy). Hy tm phng trnh qu o, v n v ch ra hng
chuyn ng ca im ti cc thi im khc nhau. ng thi hy ch ra thi
im
1
t u tin qu o ct trc Ox.
Tr li : Mt phn parabn 4x
2
+ 9y = 18, dc theo n
=
1
x 3, y 2 ; t
4
giy.
5.6. Hy xc nh qu o ca im thc hin ng thi hai dao ng iu ho
cng tn s, nhng bin v pha khc nhau, ngoi ra hai dao ng ny xy ra
theo hai hng trc giao : x = asin(kt + ) ; y = bsin(kt +
2
)
Tr li : ellip +
2 2
2 2
x y 2xy
a b ab
cos( - ) = sin
2
( - ).
5.7. Cho phng trnh chuyn ng ca im (x, y, z tnh bng cm, t tnh bng
s); tm qu o, vn tc, gia tc ca im:
a) x = t
3
+ 2

b) x = 10cos
2
t
5
c) x =
+
4
1 t

y = 3 - t
3
y = 10sin
2
t
5
y = - 4t - 4 z = 2t + 2
Tr li : a) x + y = 5; (2 x ); v = 3 2 t
2
cm/s
w = 6 2 tcm/s
2

b) vng trn bn knh 10 cm; v = 4 cm/s
w = 1,6
2
cm/s
2

c) xy = - 16; y = - 2z (mt tr hypecbolic)
v =
( )
( ) + +
+
4
2
2
4 5 1 t
1 t
cm/s;
119
w =
( ) +
3
8
1 t
cm/s
2
5.8. Mt im chuyn ng theo lut:
x = t; y = sint
2
(x, y: cm, t : s)
Tm: a) Tr s vn tc ca im lc n ct trc Ox ln th nht k t lc bt
u chuyn ng.
b) Tr s gia tc thi im ny.
c) Tr s vn tc ca im ti v tr cao nht ca n trn qu o
Tr li : v = 3,68 cm/s; w = 2 cm/s
2
; v = 1 cm/s.
5.9. Mt im dao ng theo lut x = asin

+

3
kt
2
, y bin a tnh bng
cm, tn s k tnh bng rad/s. Tm a v k nu chu k dao ng bng 0,4s v v tr
lc u x
0
= - 4m.
Tr li : a = 4 cm; k = 5rad/s.
5.10. Mt im chuyn ng trn ng trn bn knh R theo lut s = v
0
t -
2
1
at
2
.
Tm:
a) Tr s gia tc ca im
b) Thi im t v s vng N khi im chuyn ng nhn c gia tc bng a.
Tr li : a) w = ( ) +
4
2
0
1
aR v at
R

b) w = a, lc t =
0
v
a
; N =
2
0
v
4 aR

5.11. Hy tm qu o ca chuyn ng im nhn c bng cch hp hai dao
ng trc giao khc tn s:
1. x = asin2t, y = asint.
2. x = acos2t, y = acost.
Tr li : 1) x
2
a
2
= 4y
2
(a
2
- y
2
)
2) 2y
2
- ax - a
2
= 0, trong x a, y a .
120
5.12. Tay quay (maniven) OA quay vi vn tc gc khng i = 10s
-1
. di
OA = AB = 80 cm. Hy tm phng trnh chuyn ng v qu o ca im gia
M ca thanh bin, cng nh phng trnh chuyn ng ca con trt B, bit rng
ti thi im ban u con trt v tr cc phi, h trc to nh trong hnh v.
Tr li : 1) Qu o im M l:
ellip +
2 2
2 2
x y
120 40
= 1
2) Phng trnh chuyn ng ca
con trt B: x = 160 cos10t.

Hnh bi 5.12
5.13. Phng trnh chuyn ng ca im trn vnh bnh xe ln khng trt theo
ng ray thng c dng:
x = a(kt - sinkt), y = a(1 - coskt),
Hy xc nh nhng thi im, khi im ny v tr thp nht, trung bnh v
cao nht trn qu o; xem rng trc y hng ln trn.
Tr li : 1)
2
k
giy;
2)

+

2
2k k
giy;
3)

+

2
k k
giy; = 0, 1, 2, 3, ...
5.14. Hy tm phng trnh chuyn ng v qu o ca im trn vnh bnh xe
bn knh R = 1 m ca u my hi nc, nu u my ny chuyn ng theo
ng thng vi vn tc khng i 20 m/s. Gi thit rng bnh xe ln khng
trt, v tr ban u ca im trn ng ly lm gc to v chn trc Ox
dc theo ng.
Tr li : Xiclit x = 20t - sin 20t; y = 1 - cos20t.
5.15. Bom ri t my bay chuyn ng theo phng trnh: x = 40 t, y = 4,9 t
2
(x, y
tnh theo m, t theo giy); chn gc to ti im bom bt u ri, trc Ox nm
ngang, trc Oy hng xung di. Hy tm phng trnh qu o bom v xc
121
nh thi gian ri v tm bay xa ca bom theo phng nm ngang, bit rng my
bay bay cao h = 3000 m.
Tr li : y = 0,00306 x
2
; t = 24,74 giy; L = 989,6 m.
5.16. Con lc chuyn ng trn
ng trn bn knh theo lut s =
asinkt, trong a v k l cc hng
s. Tm vn tc, gia tc tip, gia tc
php ca con lc v cc v tr ti
cc i lng ny bng khng.

Hnh bi 5.16
Tr li : v = akcoskt; w
= - ak
2
sinkt;w
n
= -
l
2 2
2
a k
cos
2
kt.
w
n
= 0 ti 2 v tr bin; w
= 0 ti v tr cn bng.
5.17. Hai im cng bt u chuyn ng t mt im trn vng trn bn knh R
= 16 m theo hai chiu ngc nhau. im th nht chuyn ng theo lut s = at +
2sin

2
t, trong a = const, cn im th hai c gia tc php w
n
= 4t
2
. Khi hai
im gp nhau th gia tc ca im th hai bng 4 5 m/s
2
. Tm a v thi im
gp nhau.
Tr li : a = 32 - 6; t = 1s.
5.4.2. Tm phng trnh chuyn ng v cc c trng chuyn ng
5.18. C cu cam nh hnh v. Cam l a trn c
bn knh r, trc quay O cch tm C mt on OC
= a. Cam quay quanh O theo lut = t. Tm
phng trnh chuyn ng v vn tc ca thanh
AB.

Hnh bi 5.18
122
Tr li : y=acos +r
2 2
1 sin ;
(=
a
r
,=t);v =

2
1 asin t
1 sin t

5.19. Con chy chuyn ng thng vi gia tc w
x
= -
2
sin

2
t m/s
2
. Tm phng
trnh chuyn ng, bit vn tc u ca con chy l v
ox
= 2 m/s v v tr u ca
n trng vi gc to .
Tr li : x = 4sin

2
t m.
5.20. Mt im chuyn ng t gc to , c hnh chiu l w
x
= - a; w
y
= a. Vn
tc u c hnh chiu v
0x
= v
0
; v
oy
= 0. Tm qu o v tr s nh nht ca vn tc.
Tr li : (x + y)
2
=
2
0
2v
a
y ; v
min
=
0
v
2
.
5.21. di ca thc v ellip AB = 40
cm, di ca tay quay OC = 20 cm, AC
= BC. Tay quay quay u xung quanh
trc O vi vn tc gc . Hy tm
phng trnh qu o v tc ca im
M nm cch u thc A mt khong
AM = 10 cm.
Tr li : +
2 2
x y
900 100
=1;
+

2 2
1 1
2 2
x y
900 100
=1

Hnh bi 5.21
.
5.22. Vn tc ca tu ho v
0
= 72 km/h, bn knh ca bnh tu R = 1m; bnh tu
ln khng trt trn ng ray thng.
123
1) Hy xc nh gi tr v hng vn tc
v ca im M nm trn vnh bnh, khi bn
knh im M hp vi hng vn tc v
0
mt
gc
2
+ .
2) Xy dng tc im M v xc nh vn
tc v
1
ca im v nn tc .

Hnh bi 5.22
Tr li : 1) Vn tc v = 40 cos
2
m/s v hng theo ng thng MA.
2) ng trn = 2v
0
cos, trong =
2
, bn knh r = v
0

(xem hnh v); v
1
=
2
0
v
R
= 400 m/s
2
.
5.23. Hy xc nh phng trnh chuyn ng v qu o im M ca bnh xe
toa tu bn knh R = 0,5 m; im ny cch trc mt khong a = 0,6 m v ti thi
im ban u nm thp hn ng ray 0,1 m; cho bit toa tu chuyn ng theo
ng thng vi vn tc v = 10 m/s. ng thi hy xc nh nhng thi im, khi
im M qua v tr thp nht, cao nht, v hnh chiu vn tc ca n ln trc Ox,
Oy ti nhng thi im . Trc Ox trng vi ng ray, trc Oy i qua v tr
thp nht ban u.
Tr li : Xiclit ko di: x = 10t - 0,6 sin 20t,
y = 0,5 - 0,6 cos 20t;
Vi t =
k
10
giy, c v tr thp nht
v
x
= - 2m/s; v
y
= 0;
vi t =
20
(2k + 1) giy, c v tr cao nht,
v
x
= 22 m/s, v
y
= 0; (k = 0, 1, 2, 3, ...)
124
5.24. u ba my ri xung t cao 2,5 m, thi gian ba t ti cao
gp i thi gian ri xung. Tm s ln p ca ba trong mt pht, nu coi l
ba ri t do vi gia tc 9,8 m/s
2
.
Tr li : 28 ln.
5.25. Mt xe chuyn ng trn ng trn bn knh R = 400 m vi vn tc v
0
=
18 km/h. Xe chuyn ng nhanh dn u v 1 pht sau t c vn tc 72 km/h.
Tm gia tc tip, php, ton phn ca xe v on ng m xe i c sau 20s k
t lc bt u chuyn ng.
Tr li : W
t
=
1
4
m/s
2
;
w
n
=
1
4
m/s
2
;
w =
2
4
m/s
2
.
s = 150 m.

Hnh bi 5.26
5.26. Mt im chuyn ng nhanh dn u trn mt nghing AB sau chm
dn u trn mt ngang v cui cng dng li C. Bit AB = S
1
; BC = S
2
v thi
gian im chuyn ng t A n C l T. Tm tr s cc gia tc a
1
v a
2
khi im
chuyn ng trn AB v BC. Lc u A vn tc ca im bng khng.
Tr li : a
1
=
( ) +
2
1 2
2
1
2 S S
S T
; a
2
=
( ) +
2
1 2
2
2
2 S S
S T

5.4.3. Bi ton tng hp
5.27. Mt im chuyn ng trn ng trn bn knh R = 8 m vi tm C c to
(8, 0). V tr ca im trn vng trn c xc nh bng gc hp gia bn
knh vct ca im v trc x: =
2
sin

2
t
a) Lp phng trnh chuyn ng ca im di dng to t nhin. Xc
nh vn tc, gia tc ton phn ca im lc u v lc hng ca chuyn ng
thay i.
125
b) Lp phng trnh chuyn ng ca im di dng to cc.
Tr li : a) a = 4sin

2
t m; t = 0; v = 2m/s; w =
4
2
m/s
2

t = 1; v = 0; w =
3
m/s
2
.
b) x = 8 + 8 cos(

2
sin

2
t)m; y = 8sin(

2
sin

2
t)m.
5.28. Tm phng trnh chuyn ng dc qu o ca im, nu bit phng trnh
chuyn ng ca n di dng cc:
a) x = 3t
2
+ 5; y = 4t
2
+ 3
b) x = acost; y = asint ; z = ct
c) x = e
t
cost; y = e
t
sint; z = e
t

d) x = 4acos
2
t; y = asin
2
t.
Tr li : a) s = 5t
2
; b) = s = +
2 2
a c t
c) s = 3 (e
t
- 1); d) s = 5asin
2
t
5.29. Mt im chuyn ng theo lut: x = 300t, y = 400t - 5t
2
(t : s; x v y:m).
Tm: a) Vn tc v gia tc ca im thi im u.
b) cao v tm xa ca im.
c) Bn knh cong ca qu o im u v im cao nht.
Tr li : v
0
= 500 m/s; W
0
= 10 m/s
2
; h = 8km; s = 24 km

0
= 41,67 km; = 9 km.
5.30. Mt im chuyn ng theo ng inh c c phng trnh s = 2cos4t, y =
2sin4t, z = 2t(x, y, z:m). Tm bn knh cong ca qu o.
Tr li : = 2
1
8
m.
5.31. Hy xc nh vn tc im gia M ca
thanh bin c cu tay quay v vn tc ca
con trt; cho trc r = = a, = t, trong
= const.
Hnh bi 5.31
126
Tr li : 1) v = +
2
a
9sin t 1
2
. 2) v = 2asint.
5.32. Bom nm t my bay chuyn ng theo phng trnh x = v
0
t, y = h -
2
gt
2
;
trc Ox nm ngang, trc Oy hng ln trn. Hy xc nh:
1) phng trnh qu o;
2) vn tc ca bom (gi tr v hng) ti thi im bom ct trc Ox;
3) bay xa;
4) phng trnh tc ca bom v vn tc v
1
ca im v nn tc .
Tr li : 1) y = h - g
2
2
0
x
2v
.
2) v = +
2
0
v 2gh ; cos(v, x) =
0
v
v
; cos(v, y) = -
2gh
v
.
3) x = v
0

2h
g
.
4) ng thng ng tnh t im cch gc to mt khong v
0
; v
1y
= - g.
127
Chng 6. Chuyn ng quay ca vt rn quanh mt
trc c nh
Vic nghin cu chuyn ng tnh tin ca vt rn c a v vic nghin cu
chuyn ng ca im nn bi ton ny tr v bi ton trong chng 5.
6.1. C s l thuyt
6.1.1. Chuyn ng ca vt
1. Phng trnh chuyn ng ca vt
= (t) (6.1)
trong c tnh bng rad l gc gia mt phng gn vo vt v mt
phng c nh (hai mt phng ny u cha trc quay) vi chiu quay dng
c nh trc.
2. Vn tc gc ca vt (rad/s)
d
dt
=
0
0
>
<
:
:
(6.2) (6.2)

n
30
= (6.3)
trong n l s vng quay trong mt pht.

Hnh 6.1.

vt quay theo chiu dng
vt quay theo chiu m
128
3. Gia tc gc ca vt (rad/s
2
)
=
2
2
d d
dt dt

= (6.4)
4. Tnh cht ca chuyn ng
.
0
0
>
<
:
:
(6.5)
5. Cc chuyn ng quay c bit: Chn v tr u lm gc v chiu dng
thun chiu quay
a) Quay u
= 0; =
0
= const; =
0
t (6.6)
b) Quay bin i u:
=
0
= const; =
0
t +
0
;
=
1
2
0
t
2
+
0
t: (6.7)
trong :
0
> 0 chuyn ng nhanh dn u,
0
< 0 chm dn u cho ti khi
dng li ( = 0);
0
- vn tc gc ca vt ti thi im u.
6.1.2. Chuyn ng ca cc im thuc vt
1. Phng trnh chuyn ng
ca im:
S DM R. (t) = = (6.8)
trong R l khong cch t
im kho st M n trc quay.

Hnh 6.2.
2. Vn tc ca im
vt quay nhanh dn
vt quay chm dn
129
v
r
Phong : thng gc vi bn knh OM
Chiu : thun chiu quay ca vt
Gi tr : v R
(6.9)
3. Gia tc ca im

n
= +
r r r
w w w
=

r
Phong : thng gc vi bn knh OM
w Chiu : thun chiu
Gi tr : w R
(6.10)
n
w

r

2 2 2 4
n
w w w R
= + = + (6.11)

2
tg

=
(6.12)
trong l gc nghing gia gia tc ton phn vi bn knh OM
6.1.3. Bi ton truyn ng
1. Truyn chuyn ng quay nh bnh rng, bnh ma st, ai truyn, xch:
i
12
=
1 2 2
2 1 1
r z
r z

= =

cho trng hp bnh rng (6.13)
r - bn knh bnh, Z - s rng ca bnh rng;
Du +: n khp trong, ai thng (H 6.3, a
1
, b
1
)
Du -: n khp ngoi, ai cho (H6.3, a
2
, b
2
)
2. Truyn ng gia vt quay quanh trc c nh v vt tnh tin bng
thanh rng hay bng ma st (H.6.3c):
v = R. (6.14)
v - vn tc vt tnh tin, - vn tc gc vt quay.
Phng: dc theo bn knh OM
Chiu: Hng vo trc quay
Gi tr: w = R
2
130

Hnh 6.3.a
1

Hnh 6.3.b
1

Hnh 6.3.a
2

Hnh 6.3.b
2

Hnh 6.3.c
6.2. Phng php gii
I. Cc loi bi ton
1. Bi ton mt vt
- Bit phng trnh chuyn ng, cc yu t c trng ng hc ca vt, tm
phng trnh chuyn ng, cc yu t c trng ng hc ca mt im trn vt.
- Bit phng trnh chuyn ng, cc yu t c trng ng hc ca im
trn vt, tm phng trnh chuyn ng, cc yu t c trng ng hc ca vt.
131
2. Bi ton truyn ng.
II. Phng php gii bi ton
+ Tm , : p dng (6.2), (6.3), (6.4) hoc suy t (6.9), (6.10), (6.11).
Trng hp vt quay bin i u th dng (6.7).
+ Tm tnh cht ca chuyn ng: p dng (6.5)
+ Tm vn tc, gia tc ca im thuc vt: p dng (6.9), (6.10), (6.11),
(6.12).
+ Tm s lin h v truyn chuyn ng: p dng (6.13), (6.14).
6.3. Bi gii mu
6.3.1. Bit chuyn ng ca vt hoc im thuc vt tm cc c
trng chuyn ng
V d 6.1. Mt trc quay c n = 90 v/ph. Sau khi ngt ng c, trc bt u
quay chm dn u v sau t
1
= 40 s th dng hn. Hy xc nh s vng m trc
quay c trong thi gian .
Bi gii: V trc quay chm dn u, nn ta c:
=
0
t +
2
t
2
(a)
=
0
+ t (b)
Vn tc gc ban u khi trc quay chm dn chnh l vn tc ca trc trc
khi ngt ng c. Do :
0
=
n
30

Ti thi im t = t
1
, vn tc gc ca trc l
1
= 0. Thay cc gi tr vo
phng trnh (b), ta c: 0 =
n
30
+ t
1
v = -
1
n
30t

Nu gi s vng m trc quay c trong thi gian t
1
l N (khng nhm ln
vi n l vn tc gc !), th gc quay trong thi gian s bng
1
= 2N. Thay
cc gi tr va tm c ca v
1
vo phng trnh (a), ta c:
132
2N =
n
30
t
1
-
n
60
t
1
=
n
60
t
1

T y suy ra N =
1
nt
120
= 30 vng
V d 6.2. Thanh OA quay quanh trc O theo lut =
3
t
6

Tm tnh cht chuyn ng ca thanh v vn tc, gia tc ca im A lc
thanh quay c 18 vng. Bit OA = = 20 cm (hnh.6.4)
Bi gii: a) trc ht ta cn tm vn tc gc v gia tc gc ca thanh. Theo
(6.2) v (6.4):
2
t ; t
2
= = = = & &&
Gi t
1
l thi im m thanh quay c 18 vng, ng vi
1
= 18.2 = 36 .
T phng trnh chuyn ng ta c: 36 =
3
t
6

Rt ra: t
1
= 6s.
ng vi t
1
:
2
1
6
2
= = 18 rad/s.

1
6 = rad/s
2

Lc
1 1
. > 0: Vt ang quay nhanh dn. Hnh 6.4
b) Vn tc, gia tc im A: theo (6.9), (6.10), (6.11):
v =
1
= 0,2 . 18 = 11,3 m/s
w
=
1
= 0,2 . 6 = 3,8 m/s
2
; w
n
=
2
1
= 0,2 . (18)
2
= 648 m/s
2

Cc vect v hnh 6.4.
V d 6.3. Mt vt quay quanh trc c nh. thi im kho st, im A
cch trc quay khong R = 0,5 cm c vn tc v = 2m/s v gia tc (ton phn) l
8 3 m/s
2
.
a) Tm vn tc gc v gia tc gc ca vt
133
b) Tm vn tc v gia tc im B cch trc quay mt khong r = 0,2 m
(H.6.5)
Bi gii: a) Vn tc im A bit, vy vn tc gc ca vt l:
=
A
v 2
4rad / s.
R 0, 5
= =
tm gia tc gc ca vt, phi bit gia tc tip ca im A. Theo (6-11),
(6-12):
n 2
A
w R = = 0,5.4
2
= 8m/s
2
.
( ) ( )
2
2
2 n 2
A A A
w w w 8 3 8 8 2
= = = m/s
2

T (6-10) ta c gia tc gc ca vt l:
=
A
w 8 2
16 2
R 0, 5
= = rad/s
2
Hnh 6.5
Cn c
A
w
r
cho, ta thy c chiu ngc . Nh vy lc kho st vt
quay chm dn (, <0).
b) Bit v ca vt, ta d dng tnh c vn tc, gia tc im B nh V d
6.2 nhng cng c th suy trc tip theo t l:

B B
v w r 0, 2 2
v w R 0, 5 5
= = = =
A A

Vy v
B
=
2
5
v
A
= 0,8 m/s; w
B
=
2
5
w
A
=
16 3
5
m/s
2

V d 6.4. Mt bnh bn knh R = 1,2 m quay u vi n = 90 v/ph. Hy xc
nh vn tc tuyn tnh v gia tc ca mt im nm trn vnh ca bnh .
Bi gii: Vn tc tuyn tnh ca im bng v = R, trong l vn tc
gc biu din bng rad/s. Trong trng hp ny: =
n 1
3
30 s
=
134
Nn v =
n
30
R 11,3 m/s
V = connt, nn = 0 v do : w = w
n
= R
2
=
2 2
n
900
R = 106,6 m/s
2

Gia tc ca im trong trng hp ny c chiu hng v trc quay.
V d 6.5. Trong giai on ly , bnh quay theo quy lut
=
3
9
t
32

Hy xc nh vn tc tuyn tnh v gia tc ca im cch trc quay mt
khong h = 0,8 m khi gia tc tip tuyn ca im bng gia tc php tuyn ca n.
Bi gii. Ta xc nh vn tc gc v gia tc gc ca bnh
=
2
d 27 d 27
t , t
dt 32 dt 16

= = =
i vi gia tc tip tuyn v gia tc php tuyn ca im, ta c cc cng thc
w
= h, w
n
= h
2
.
Gi thi im lc w
= w
n
l t
1
. D nhin l thi im
1
=
2
1
hay
2
4
1 1
27 27
t t
16 32

=

,
T ta c
3
1
64
t
27
= v t
1
=
4
3
s. Thay gi tr ca t
1
vo biu thc ca v ,
ta tm c thi im t
1
;
1
=
3
2
1/s ,
1
=
9
4
1/s
2

T y ta xc nh c cc i lng cn tm bng
v
1
= h
1
= 1,2 m/s; w
1
= h
2 4 2
1
1,8 2 2, 54m/ s + =
Vect w
1
lp vi vect vn tc ca im mt gc bng 45
0
.
6.3.2. Truyn chuyn ng quay quanh cc trc c nh
V d 6.6. Mt hp bin tc nh hnh 6.6. S rng ca cc bnh tng ng l
Z
1
= 10; Z
2
= 60; Z
3
= 12; Z
4
= 70. Tm t s truyn ca 2 trc A v B.
135
Bi gii: Bnh 1 v 2 n khp ngoi, nn t s truyn l:
i
12
=
1 2
2 1
Z
Z
(a)
Bnh 2 v 3 gn cng trn mt trc, nn
2
=
3

Bnh 3 v 4 n khp ngoi, nn:
i
34
=
3 4
4 3
Z
Z
(b)
Nhn (a) v (b)
1 3 2 4
2 4 1 3
Z Z
.
Z Z

=

(a)
V
1
=
A
;
4
=
B
nn :

Hnh 6.6
i
14
=
A 2 4
B 1 3
Z Z 60.70
Z Z 10.12
= =
= 35
Vy trc B quay cng chiu vi trc A nhng chm hn 35 ln.
V d 6.7. C cu ti nh hnh 6.7. Do hm b hng nn vt M ri xung
theo phng trnh x = 3t
2
(x : cm; t: s). Tm vn tc v gia tc ca u mt A ca
tay quay ti t = 2s. Bit ng knh
ca trng l d = 40 cm, di tay
quay = 40 cm, s rng ca bnh
Z
1
= 72; Z
2
= 24.

Bi gii:
1. Xt im M
v
M
= x 6t = & cm/s; w
M
= x &&= 6
cm/s
2

2. Gi N l im trn vnh
trng ta c:
136
Hnh 6.7
v
N
= v
M
= 6t cm/s;
N
w
= w
M
= 6 cm/s. Suy ra
1
=
N
v 6t
d
20
2
= = 0,3t rad/s;
1
=
N
w 6
d
20
2
= = 0,3 rad/s
2
. chiu ca
1
v
1
nh hnh v.
3. Bnh 1 v 2 n khp ngoi
Tr s vn tc gc bnh 2 c tnh theo cng thc:
2 1
1 2
Z
Z

Vy:
2
=
1
1
2
Z 72
0, 3t 0, 9t
Z 24
= = rad/s. Suy ra:
2
= 0,9 rad/s
Lc t = 2s th
2
= 1,8 rad/s;
2
= 0,9 rad/s
2
.
4. Xt chuyn ng im A:
v
A
=
2
= 40. 1,8 = 72 cm/s; w
A
=
2
2
= 40. (1,8)
2
= 130 cm/s
2

N
w
=
2
= 40 . 0,9 = 36 cm/s
2
; w =
2 2
36 130 + = 135 cm/s
2
.
V d 6.8. Ti trng B lm quay trc bn knh r v bnh rng 1 c bn knh r
1

c gn cht vo trc. Cho rng ti trng bt u chuyn ng t trng thi ng
yn vi gia tc a khng i. Hy xc nh quy lut quay ca bnh rng 2 bn
knh r
2
lin kt khp vi bnh rng 1 (hnh 6.8).
Bi gii:
137
V ti trng B bt u chuyn
ng vi vn tc ban u bng
khng, nn vn tc v
n
ca n ti
mi thi im t bng v
n
= at. y
cng l vn tc ca cc im trn
vnh ngoi ca trc. Nhng mt
khc vn tc ca cc im ny li
bng
1
r, trong
1
l vn tc
gc chung ca c trc ln bnh
rng 1. Do :
1
r = at,
1
=
at
r

Hnh 6.8
By gi ta tm
2
. V im khp C hai bnh rng phi c cng vn tc
tuyn tnh, nn v
1
=
1
r
1
=
2
r
2
. T y suy ra:
2
=
1
2
r
r

1
=
1
2
r a
r r
t
Vy, vn tc gc ca bnh rng 2 tng t l vi thi gian. Bit rng
2
=
2
d
dt
, trong
2
l gc quay ca bnh rng, ta c: d
2
=
1
2
r a
r r
tdt
Ly tch phn c hai v v gi thit rng khi t = 0, th
2
= 0, cui cng ta tm
c quy lut chuyn ng quay nhanh dn u ca bnh rng 2 di dng:
2
=
1
2
r a
2rr
t
2

6.4. Bi tp
6.4.1. Bit chuyn ng ca vt hoc im thuc vt, tm cc c
trng ca chuyn ng
6.1. R to ca tuabin quay nhanh dn u, thi im t
1
v t
2
c tc tng
ng l n
1
= 1300 vng/pht v n
2
= 4000 vng/pht. Tm gia tc gc v s
vng quay N m rto quay c trong thi gian t = t
2
- t
1
= 30 s.
138
Tr li: = 3 rad/s
2
; N = 1325 vng.
6.2. Hy xc nh vn tc gc ca: 1) kim giy ng h, 2) kim pht, 3 kim gi,
4) tri t quay quanh trc ca n, 5) tuc bin hi Lavan quay 15.000
vng/pht.
Tr li: 1) =
1
s
30

= 0,1047 s
-1

2) =
1
s
1800

= 0,001745 s
-1

3) =
1
s
21600

= 0,0001455 s
-1

4) =
1
s
43200

= 0,0000727 s
-1
5) = 1571 s
-1
.
6.3. Hy vit phng trnh quay ca a ca tuc bin hi khi ang vn hnh, bit
rng gc quay t l bc ba vi thi gian v ti t = 3 giy vn tc gc ca a
tng ng bng n = 180vng/pht
Tr li: = t
3
raian
6.4. Mt trc my ang quay vi tc n = 1200 vng/pht th hm li. Sau
trc quay chm dn u v quay c 80 vng th dng hn. Tm thi gian
hm.
Tr li: 8s.
6.5. Mt rto quay nhanh dn u t trng thi ngh, khi t mt vn tc gc no
th quay chm dn vi cng tr s gia tc gc ri ngng li. Bit thi
gian tng cng l T giy v s vng quay tng ng l N vng. Tm vn tc
gc cc i ca rto.
Tr li:
max
=
4 N
T

6.6. Qu cu A treo u si dy di = 398 cm, dao ng trong mt phng
thng ng theo lut:
139
= sin
8 2

t (: rad; t:s)
Tm: a) Thi im u tin t khi bt u chuyn ng gia tc php ca
qu cu bng khng.
b) Thi im u tin gia tc tip bng khng.
c) Gia tc ton phn lc t = 2s.
Tr li: t = 1s; t = 2s; w = 282,95 cm/s
2

6.7. Mt vt quay quanh trc c nh theo lut:
= t +
( )
t
e 1

trong v l nhng h s khng i.
Tm a) vn tc gc, gia tc gc ca vt v tnh cht chuyn ng.
b) Gii hn ca vn tc gc, gia tc gc ca vt v vn tc, gia tc
im M cch trc quay mt khong r.
Tr li: a) = - e
-t
; = e
-t
: chuyn ng quay l nhanh dn cho n
lc e
-t

b)
t t
lim ; lim 0

= = = 0 . Lc v
M
= r;
w
M
=
2
r;
M
w
= 0.
6.8. Mt vt quay nhanh dn u t trng thi ngh. Lc t = 1 s im cch trc
quay mt qung R
1
= 2m c gia tc w = 2 2 m/s
2
. Tm gia tc ca im
cch trc quay mt khong R = 4m lc t = 2s.
Tr li w
= 4m/s
2
; w
n
= 16 m/s
2
; w = 4 17 m/s
2
.
6.9. Vect gia tc ca mt im trn vnh v lng lm vi bn knh mt gc 60
0
,
gia tc tip ca im thi im kho st l w
t
= 10 3 cm/s
2
. Tm gia
tc php ca im cch trc quay mt khong r = 0,5 m. Bn knh v lng
l R = 1m.
Tr li: w
n
= 5m/s
2

140
6.10. Trc bn knh R = 10cm chuyn ng c l do vt P ri xung theo lut:
x = 100t
2
, (x: cm; t:s)
Tm vn tc gc, gia tc gc ca trc v gia tc ton phn ca 1 im nm
trn vnh trc.
Tr li: = 20 t rad/s
= 20 rad/s
2

w = 200
4
1 100t + cm/s
2

Hnh bi 6.9 Hnh bi 6.10

6.4.2. Truyn chuyn ng quay quanh cc trc c nh
6.11. Ba bnh rng n khp nhau
(hnh v). Bn knh cc bnh
r
1
= 20 cm; r
2
= 12 cm; r
3
= 15
cm. Bnh u quay vi vn tc
gc n
1
= 90 vng/pht. Tm
vn tc gc bnh th ba.
Tr li: n
3
= 120 vng/pht
cng chiu vi bnh th nht.

Hnh bi 6.11

6.12. nhn c s thay i vn tc mt cch chu k, ngi ta dng 2 bnh
rng lip bng nhau truyn chuyn ng. Cc trc i qua tiu c ca
141
elp. Trc O
1
quay u vi tc 270 vng/pht. Khong cch O
1
O
2
= 50
cm, cc bn trc ca lip l 25 cm v 15 cm. Tm vn tc gc cc i v
cc tiu ca trc O.
Tr li:
max
= 81 rad/s

min
= rad/s
6.13. Bnh rng cn O
1
c bn knh r
1
= 10 cm c dn ng t trng thi tnh
nh bnh rng cn O
2
c bn knh r
2
= 15 cm. Hi sau bao lu bnh O
1
t
vn tc gc 144 rad/s, nu bnh O
2
quay nhanh dn u vi gia tc gc 4
rad/s
2
.
Tr li: t = 24 s

Hnh bi 6.12

Hnh bi 6.13
6.14. C cu truyn ng bng ma st. Bn knh bnh B l , bn knh hnh nn
ct A l r l R, tip im M cch y nh ca nn ct mt khong s, chiu
cao ca nn ct l . Hai trc quay trong cng mt phng. Tm t s truyn
gia 2 trc.
Tr li: i
12
=
( )
1
2
rt s R r +
=
l

6.15. C cu nh hnh v. Thanh 1 chuyn ng theo lut x = asinkt, bn knh cc
bnh l r
2
, r
3
v r
4
. Bnh 2 gn cng vi bnh 3. Kim gn cng vi bnh 4.
Tm vn tc gc ca kim.
142
Tr li:
4
=
3
2 4
r
r r
akcoskt.

6.16. C cu nh hnh v. Vt 1 chuyn ng theo lut x = 2 + 70t
2
(x: cm; t : s).
Cc bnh c bn knh: r
2
= 30 cm; R
2
= 50 cm; R
3
= 60 cm. Tm vn tc
gc, gia tc gc ca bnh 3 v vn tc, gia tc im (M cch trc quay 1
khong r
3
= 40 cm lc vt 1 di chuyn c 1 on bng 40 cm).
Tr li:
3
= 2,94 rad/s;
3
= 3,84 rad/s
2

v = 118 cm/s; w = 379 cm/s
2

Hnh bi 6.16

143
Chng 7. Hp chuyn ng ca im

7.1. C s l thuyt
Xt im M chuyn ng i vi h quy chiu ng Oxyz gn vi vt V,
vt V chuyn ng i vi h quy chiu c nh
1 1 1 1
O x y z . Khi :
Chuyn ng tuyt i l chuyn ng ca im M i vi h quy chiu
c nh
1 1 1 1
O x y z . Vn tc tuyt i k hiu l
r
a
V . Gia tc tuyt i k hiu l
r
a
W .
Chuyn ng tng i l chuyn ng ca im M i vi h quy chiu
ng Oxyz. Vn tc tng i k hiu l
r
r
V . Gia tc tuyt i k hiu l
r
r
W
im M* thuc h ng, c v tr trng vi M thi im kho st gi l
trng im ca M. Trng im khng chuyn ng trn h ng (Hnh 7.1).
Chuyn ng theo l chuyn ng ca vt V (gn vi h ng Oxyz) i
vi h quy chiu c nh. Vn tc theo l vn tc ca trng im M* i vi h
c nh
1 1 1 1
O x y z , k hiu l
r
e
V . Gia tc theo l gia tc ca trng im M* i
vi h c nh
1 1 1 1
O x y z , k hiu l
r
e
W .

Hnh 7.1 Hnh 7.2

nh l hp vn tc :
= +
r r r
a e r
V V V (1)
144
nh l hp gia tc :
= + +
r r r r
a e r c
W W W W (2)
trong
r
c
W l gia tc Crilit, c tnh theo cng thc :
=
r r
r
c e r
W 2 V (3)
r
e
l vn tc gc trong chuyn ng quay ca vt V (h quy chiu ng) i vi
h c nh. Gia tc Crilit c th bng 0 trong cc trng hp sau :
=
e
0 , tc l khi chuyn ng theo l chuyn ng tnh tin.
=
r
r
e r
V 0 hay
r
e
v
r
r
V ng phng, chng hn : chuyn ng ca
im M dc theo ng sinh ca hnh tr (chuyn ng tng i), hnh
tr chuyn ng quay quanh trc ca n (chuyn ng theo).
Khi chuyn ng theo l chuyn ng tnh tin th (2) tr thnh :
= +
r r r
a e r
W W W (4)
Khi chuyn ng theo l chuyn ng quay quanh trc th vect vn tc gc quay
theo
r
e
hng theo trc quay, gia tc Crilit c th hin trn hnh 7.2, c
phng vung gc vi trc quay v gi tr ca n c tnh theo cng thc :

c e r
W 2 V sin = (5)
trong l gc gia 2 vct
e
r
v
r
V
r
. Nu
e r
V
r
r
th tt nhin l :

c e r
W 2 V = (6)
Nu cc qu o chuyn ng (tuyt i, tng i, theo) u l ng cong th
nh l hp gia tc c vit trong h to t nhin di dng :

+ = + + + +
r r r r r r r
n n n
a a e e r r c
W W W W W W W (7)
7.2. Phng php gii
C th phn cc bi ton thng gp thnh cc loi sau :
Bi ton tng hp chuyn ng : Bit cc yu t ng hc ca chuyn
ng tng i v theo, tm cc yu t ng hc ca chuyn ng tuyt i.
145
Bi ton phn tch chuyn ng : Bit cc yu t ng hc ca chuyn
ng tuyt i v chuyn ng theo (hoc tng i), tm cc yu t ng hc
ca chuyn ng tng i (hoc theo).
Bi ton hn hp : Bit mt s yu t ng hc ca cc loi chuyn ng
(tuyt i, tng i hoc theo), tm cc yu t ng hc cn li ca im.
Tuy nhin, ta cng khng cn quan tm nhiu n vic nhn dng bi ton,
bi d loi no th cng s dng chung phng trnh ca cc nh l hp vn tc
v hp gia tc. Do vy, phng php gii chung gii c 3 loi bi ton trn
gm 3 bc : Phn tch chuyn ng, tm vn tc, tm gia tc.

7.2.1. Phn tch chuyn ng
Trc ht cn ch r xt chuyn ng hp ca im (M) no ? im M c
th l mt im hnh hc thc s, c th l im no thuc mt vt chuyn
ng tnh tin m vt ny chuyn ng tng i so vi vt khc.
Tip theo cn xc nh r :
Chuyn ng theo : L chuyn ng ca vt (V), trn vt phi c im
M chuyn ng (bi nu khng th khng c trng im). Dng chuyn ng theo
l tnh tin hoc quay quanh trc. Qu o chuyn ng theo l qu o chuyn
ng ca im (M*) i vi h quy chiu c nh.
Chuyn ng tng i : L chuyn ng ca im M trn vt (V). Qu
o chuyn ng tng i l thng hoc cong, trong mt phng (nu vt V l
hnh phng) hoc trong khng gian (nu vt V c dng khi).
Chuyn ng tuyt i : L chuyn ng ca im M i vi h quy chiu
c nh. Qu o chuyn ng tuyt i l thng hoc cong, trong mt phng
hoc trong khng gian.
7.2.2. Tm vn tc
- Vit biu thc vn tc (1). Xc nh phng chiu, tr s cc vn tc.
- V cc vect vn tc. i vi cc vect ch bit phng cha bit chiu th
chiu c th gi nh, nu kt qu gii l dng th chiu ca n ng chiu gi
146
nh, nu kt qu gii ra m th ly chiu ngc li chiu gi nh. Xc nh n s
ca phng trnh (1).
- Gii phng trnh vect (1) tm tr s ca cc thnh phn vn tc cha bit.
C th dng phng php v (quy tc tam gic vect) hoc chiu hai v ca (1)
ln hai trc vung gc nhau (trong bi ton phn tch chuyn ng c th chiu
ln hai trc bt k no thch hp nht).
7.2.3. Tm gia tc
- Vit biu thc gia tc dng (2) nu chuyn ng theo khng phi l tnh tin
dng (4) nu chuyn ng theo l tnh tin;. Sau d xc nh phng chiu v tr
s cc gia tc. Xc nh n ca phng trnh vect (7.2) hoc (7.3).
- V cc vect gia tc. i vi cc vect n ch bit phng, cha bit chiu, th
chiu ca chng c gi nh v c x l nh trong bi ton vn tc.
- Gii phng trnh vect (2) hoc (4).
Nu trong cc phng trnh vect c mt vect cha bit phng trnh (tc cc n
tp trung vo mt vect) th vect c xc nh qua cc hnh chiu ca n
trn cc trc ca h trc vung gc bng cch chiu ng thc vect ln hai trc
vung gc nhau nu cc vect ng phng v ln ba trc vung gc nhau nu
cc vect khng ng phng. Trng hp xy ra i vi bi ton tng hp
chuyn ng.
i vi trng hp trong phng trnh vect c cc vect bit phng, nhng
cha bit chiu v gi tr (tc l cc n thuc cc vect khc nhau) th c th
chiu ng thc vect ln cc trc thch hp sao cho s n trong phng trnh
nhn c l t nht.
Cn ch rng cc thnh phn gia tc php tuyn, gia tc Crilit khng phi l
nhng n i vi bi ton gia tc, bi v sau khi gii bi ton vn tc nhng thnh
phn gia tc c xc nh.

7.3. Bi gii mu
7.3.1. Bi ton tng hp chuyn ng
147
V d 7.1. im M chuyn ng
theo ng thng OA vi vn tc U
r
.
ng thng ny quay trong mt
phng Ox
1
y
1
vi vn tc gc quanh
tm O. Hy xc nh vn tc ca im
M i vi h trc Ox
1
y
1
nu khong
cch OM = r.
Bi gii:

Hnh 7.3
Ta xem chuyn ng ca im M l chuyn ng tuyt i i vi h Ox
1
y
1
gm
chuyn ng tng i theo ng thng OA v chuyn ng theo cng vi
ng thng . Khi vn tc U
r
hng theo OA s l vn tc tng i ca
im. Chuyn ng quay ca ng thng OA quanh tm O l chuyn ng theo
ca M, cn vn tc ca im trn ng thng OA ca im M lc trng vi
n l vn tc theo
e
V
r
ca M. V im ny ca ng thng chuyn ng theo
vng trn bn knh OM = r ca vn tc
e
V
r
c tr s l r v vung gc vi OM
t ta c
e
V
r
vung gc vi
r
V
r
nn:
a
V
r
=
e
V
r
+
r
V
r
V
a
=
2 2 2 2 2
e r
V V r u + = +
V d 7.2. Na a trn bn knh R = 40 cm quay u vi vn tc gc
0
= 0,5
rad/s quanh ng knh AB. im M chuyn ng theo vnh a vi vn tc
khng i u = 10cm/s. Tm gia tc tuyt i ca im M lc n v tr C. Bit
AOC = 45
0
.
Bi gii:
148
1. Phn tch chuyn ng: im M
chuyn ng i vi vnh, vnh quay
quanh trc c nh. Ta c bi ton
chuyn ng i vi im M. Chn
vnh lm h ng.
- Chuyn ng ca vnh l chuyn
ng theo. l chuyn ng quay
u quanh trc c nh vi vn tc
0
=
0,5 rad/s.

Hnh 7.4
- Chuyn ng ca ca im M theo vnh l chuyn ng tng i. l
chuyn ng trn u vi vn tc u trn ng trn tm O, bn knh R.
- Chuyn ng ca im M i vi gi c nh l chuyn ng tuyt i; c c
trng ng hc ca n cha bit.
2. Vn tc:
- S dng nh l hp vn tc trong hp
chuyn ng, ta c

M c r
v v v = +
r r r

trong
*
c C
M
v v v = =
r r r
v M
*
l trng
im ca M thuc vnh tc l im C.
Vy
c
v
r
c phng vung gc vi mt
phng hnh v c chiu hng vo
trong (c k hiu , v c tr s:
v
e
=
0
Rsin45
0
= 10 2cm/s.

Hnh 7.5

r
v u =
r r
c phng tip tuyn ng trn ti C; v
r
= u = 10m/s.
- Cc vect c biu din nh trn hnh (7.4)
149
- Vect
M
v
r
c th tm c nh phng php v hoc qua ba hnh chiu ca n
trn h trc to cc Oxyz
Mx e
0
M My
0
Mz
v v 10 2cm/s
v v ucos45 5 2cm/s
v usin45 5 2cm/s
= =
= =
= =
r

T : v
M
=
2 2 2 0 2 2 0 2 2
e e
v u cos 45 u sin 45 v u 10 3 + + = + =
( ) ( )
My
Mx
M M
v
v 2 6
cos v ,Ox ; cos v ,Oy
v 3 v 6
= = = =
r r
; ( )
Mz
M
v 6
cos v ,Oz
v 6
= =
r

3. Gia tc
- Chuyn ng theo l quay u v chuyn ng tng i l trn u, nn da
vo nh l hp gia tc trong hp chuyn ng im i vi im M ta c:
M e r c
w w w w = + +
r r r r

n
e
w
r
hng vo trc quay v c gi tr:
n
e
w =
0
Rsin45
0
= 5 2cm/s
2

n
r
w
r
hng dc bn knh MO; w
n
=
2
u
R
2,5 cm/s
2

C
w
r
xc nh theo quy tc nu trn (phng chiu
C
w
r
c c bng cch quay
v
r
mt gc 90
0
quanh
o
r
theo chiu
0
) v c gi tr:
C
w
r
= 2
0
v'
r
= 2
r 2
5 2
2
= cm/s
2

- Cc vect gia tc c biu din nh trn hnh (7.5).
- Trong phng trnh vect (b), vect vn tc ca im M cha c xc nh c?
phng chiu v gi tr, n c th c xc nh qua cc hnh chiu ca n ln
h trc to cac Oxyz.
150
2
Mx e
n n 0 2
M My e e
n 0 2
Mx r
w w 5 2cm/s
5
w w w w cos45 2cm/s
4
2
w w sin45 5 cm/s
4
= =
= = =
= =

T :
( )
2 2
2
M
2 2
w 5 2 15 5
4 4

= + +

r
9 cm/s
2

( ) ( ) ( )
M M M
2 15 2 2
cos w ,Ox 5 ;cos w ,Oy ;cos w ,Oz 5
9 36 36
= = =
r r r

2. Vn tc:
- S dng nh l hp vn tc trong hp
chuyn ng, ta c
M c r
v v v = +
r r r

trong
*
c C
M
v v v = =
r r r
v M
*
l trng
im ca M thuc vnh tc l im C.
Vy
c
v
r
c phng vung gc vi mt
phng hnh v c chiu hng vo
trong (c k hiu , v c tr s:
v
e
=
0
Rsin45
0
= 10 2cm/s.

Hnh 7.5

r
v u =
r r
c phng tip tuyn ng trn ti C; v
r
= u = 10m/s.
- Cc vect c biu din nh trn hnh (7.4)
- Vect
M
v
r
c th tm c nh phng php v hoc qua ba hnh chiu ca n
trn h trc to cc Oxyz
151
Mx e
0
M My
0
Mz
v v 10 2cm/s
v v ucos45 5 2cm/s
v usin45 5 2cm/s
= =
= =
= =
r

T : v
M
=
2 2 2 0 2 2 0 2 2
e e
v u cos 45 u sin 45 v u 10 3 + + = + =
( ) ( )
My
Mx
M M
v
v 2 6
cos v ,Ox ; cos v ,Oy
v 3 v 6
= = = =
r r
; ( )
Mz
M
v 6
cos v ,Oz
v 6
= =
r

3. Gia tc
- Chuyn ng theo l quay u v chuyn ng tng i l trn u, nn da
vo nh l hp gia tc trong hp chuyn ng im i vi im M ta c:
M e r c
w w w w = + +
r r r r

n
e
w
r
hng vo trc quay v c gi tr:
n
e
w =
0
Rsin45
0
= 5 2cm/s
2

n
r
w
r
hng dc bn knh MO; w
n
=
2
u
R
2,5 cm/s
2

C
w
r
xc nh theo quy tc nu trn (phng chiu
C
w
r
c c bng cch quay
v
r
mt gc 90
0
quanh
o
r
theo chiu
0
) v c gi tr:
C
w
r
= 2
0
v'
r
= 2
r 2
5 2
2
= cm/s
2

- Cc vect gia tc c biu din nh trn hnh (7.5).
- Trong phng trnh vect (b), vect vn tc ca im M cha c xc nh c?
phng chiu v gi tr, n c th c xc nh qua cc hnh chiu ca n ln
h trc to cac Oxyz.
2
Mx e
n n 0 2
M My e e
n 0 2
Mx r
w w 5 2cm/s
5
w w w w cos45 2cm/s
4
2
w w sin45 5 cm/s
4
= =
= = =
= =

152
T :
( )
2 2
2
M
2 2
w 5 2 15 5
4 4

= + +

r
9 cm/s
2

( ) ( ) ( )
M M M
2 15 2 2
cos w ,Ox 5 ;cos w ,Oy ;cos w ,Oz 5
9 36 36
= = =
r r r

7.3.2. Bi ton phn tch chuyn ng
V d 7.3. Tay quay OA c chiu di quay quanh trc c nh qua O vi vn
tc gc
0
= const lm cho cn K trt t heo phng ngang. Tm vn tc v gia
tc ca cn K cng nh vn tc v gia tc ca con trt A i vi cn K. Cho bit
ti v tr ang xa = 30
0
(H.7.6).
Bi gii :
1. Phn tch chuyn ng: im A chuyn ng i vi K, cn K chuyn ng
i vi gi c nh. Do c bi ton tng hp chuyn ng i vi im A.
Chn cn K lm h ng.
- Chuyn ng ca mng K i vi gi l chuyn ng theo. l chuyn ng
tnh tin, cc yu t ng hc ca n cha c xc nh (hon ton).
- Chuyn ng ca im A i vi cn K l chuyn ng tng i. l chuyn
ng thng, c cc yu t ng hc cha c xc nh (hon ton).
- Chuyn ng ca im A i vi gi chuyn ng tuyt i. l chuyn
ng trn u trn ng trn tm O, bn knh OA. Cc yu t ng hc ca n
hon ton xc nh do chuyn ng ca tay quay OA c xc nh.
2. Vn tc
- Khi s dng nh l hp vn tc trong hp chuyn ng i vi im A, ta c:
A e r
v v v = +
r r r
(a)
trong
A
v
r
c phng thng gc vi OA, thun chiu
0
v c gi tr v
A
=
0
.
tnh vn tc
e
v
r
ta ly im A
*
thuc cn K l trng im ca A. Do cn K
tnh tin theo phng ngang nn
e
v
r
hng theo phng ngang.
153
V chuyn ng tng i ca A dc
theo ng thng ng i vi cn K
nn
r
v
r
c phng thng ng.
- Cc vect vn tc c biu din nh
trn hnh 7.6.
Hnh 7.6
- Trong phng trnh vect (a) vect
A
v
r
c hon ton xc nh c phng
chiu v gi tr; cc vect
r
v
r
v
e
v
r
ch bit c phng, cn chiu v gi tr
cha c xc nh.
tm gi tr v
e
v v
r
c th s dng phng php v. D dng tnh c:
v
r
= v
A
cos =
1
2
0
; v
e
= v
A
sin =
3
2

0

r
v
r
l vn tc ca con trt A i vi cn K, cn
e
v
r
chnh l vn tc ca cn K
(ti thi im kho st).
3. Gia tc
- p dng nh l hp gia tc tng hp chuyn ng cho im A trong trng hp
chuyn ng theo l tnh tin, ta c:
A e r
w w w = +
r r r
(b)
v A nm trn tay quay OA quay u, nn c phng dc OA, chiu hng t A
v O v c gi tr: w
A
=
2
0

V chuyn ng tng i l chuyn ng thng nn
r
w
r
c cng phng vi
r
v
r
,
cn chiu v gi tr cha c xc nh cn
e
w =
r
*
A
w
r
trong A
*
l im thuc
cn K trng vi A. V cn tnh tin ngang nn
e
w
r
c phng ngang, chiu v gi
tr cha c xc nh.
- Cc vect gia tc c biu din nh trn hnh 7.7.
154
- Phng trnh vect (b) cha hai n: l gi tr ca cc vect gia tc
e
w
r
,
r
w
r
.
xc nh chng c th dng phng php v theo quy tc bnh hnh. D dng
tm c: w
e
= w
A
cos60
0
=
2
0
1
2
l ; w
r
= w
A
sin60
0
=
2
0
3
2
l
Chiu ca cc vect
e
w
r
,
r
w
r
c ch
ra trn hnh 7.7. Ti thi im kho st
con trt chuyn ng chm dn v
cn K tnh tin nhanh dn v pha phi.

Hnh 7.7

V d 7.4. Tay quay OA c chiu di = 10 cm quay u vi vn tc gc
0
=
6rad/s lm cho con trt A trt dc cn lc O
1
B. Lc OA nm ngang = 30
0
.
1. Tm vn tc trt ca A dc cn lc, vn tc gc
1
ca cn lc.
2. Tm gia tc ca con trt A v gia tc gc
1
ca cn lc.
Bi gii
1. Phn tch chuyn ng: im A chuyn ng dc thanh O
1
B thanh O
1
B quay
quanh trc c nh qua O
1
. Ta c bi ton hp chuyn ng im i vi im A.
Chn O
1
B lm h ng.

- Chuyn ng ca thanh O
1
B i vi
gi c nh l chuyn ng theo, l
chuyn ng quay quanh mt trc c
nh, cc yu t ng hc ca n cha
c xc nh (hon ton).
- Chuyn ng ca im A dc O
1
B l
chuyn ng tng i. l chuyn
ng thng, c cc yu t ng hc
cha c xc nh (hon ton).

Hnh 7.8
155
cha c xc nh (hon ton).

- Chuyn ng ca im A i vi gi c nh l chuyn ng tuyt i. l
chuyn ng trn u dc ng trn tm O bn knh OA. Cc yu t ng hc
ca chuyn ng ny c hon ton xc nh v tay quay OA quay u vi vn
tc gc cho
0
= 6 rad/s.
2. vn tc
- Vit biu thc hp vn tc cho im A
A e r
v v v = +
r r r
(a)
trong :
A
v
r
c phng thng gc vi OA, chiu ph hp vi chiu ca
0
v c gi tr v
A

=
0
(
A
v
r
hng thng ng ln).
r
v
r
=
*
A
v
r
, A
*
thuc thanh O
1
B trng vi im A ti thi im kho st. Do
e
v
r
c phng thng gc vi thanh O
1
B ti A, chiu v gi tr cha c xc nh:
- Cc vect vn tc c biu din trn hnh (7.8).
- Trong phng trnh vect (a), vect
A
v
r
hon ton c xc nh c phng
chiu v gi tr, cc vect
e
v
r
v
r
v
r
ch c xc nh v phng. Hai n ca
phng trnh vect (a) l cc gi tr v
e
v v
r
. Cc n ny thuc hai vect khc
nhau. chnh l c im ca bi ton phn tch chuyn ng. xc nh cc
n ca bi ton c th s dng phng php v bng cch phn tch
A
v
r
theo hai
phng bit ca
e
v
r
v
r
v
r
, cng c th chiu hai v ca ng thc vect (a) ln
hai trc thch hp. C th tm gi tr v
r
chng ta chiu hai ca (a) ln trc O
1
B
(chiu ca cc vect
e
v
r
v
r
v
r
c gi nh nh trn hnh (7.8). Ta c:
v
A
cos = v
r

Vy
r
v
r
c gi tr v
r
=
0
cos30
0
= 30 3cm/s, c chiu nh chiu gi nh:
tm gi tr v
e
chiu hai v ca (a) ln trc thng gc vi phng ca
r
v
r
:
156
Do v
e
v
r
c gi tr: v
e
=
0
sin30 = 30cm/s'
v c chiu nh chiu gi nh.
V
e
v
r
l vn tc ca im A
*
thuc O
1
A nn d dng tm vn tc gc ca khu
O
1
B:
1
=
*
e A
* *
1 1
v
v 30
OA OA 20
= = = 1,5 rad/s.
Ti thi im kho st thanh O
1
B quay ngc chiu kim ng h.
3. Gia tc
V chuyn ng theo l quay quanh mt trc c nh nn da vo nh l hp gia
tc trong hp chuyn ng:
A e r C
w w w w = + +
r r r r

Thanh OA quay u quanh O vi vn tc
0

nn
A
w
r
hng dc AO t A n O v c gi
tr :
w
A
=
2
0
= 360 cm/s
2
;
C
w
r
=2
0 1 1 r
v 2 v =
r r r r

C
w
r
phng chiu c xc nh theo quy
tc nu trn (quay
r
v
r
gc
2
theo chiu
1
) v c gi tr:

Hnh 7.9
w
C
= 2
1
v
r
= 90 3cm/s
2

* *
n r
e A
A A
w w w w = = +
r r r r

n
A
w
r
hng dc BO
1
t A n O
1
v
n
A
w
r
= O
1
A.
2
1
= 45 cm/s
2
,
r
A
w
r
c phng
thng gc OB
1
ti A c chiu v gi tr cha xc nh.
r
A
w
r
hng dc O
1
B, gi tr cha c xc nh, chiu c gi nh nh trn hnh
7.9.
Biu thc gia tc c th vit li:
157
n
A e e r C
w w w w w
= + + +
r r r r r
(b)
- Cc vect gia tc c biu din nh trn hnh (7.9)
- Trong phng trnh vect (b) cha hai n l cc gi tr w
r
v
e
w

tm chng, chiu hai v ca (b) ln hai trc
1
v
2
ta c hai phng
trnh:
- w
A
sin = -
n
e
w + w
r
; w
A
cos =
e
w
+ w
C
Gii chng ta nhn c:
w
r
=
n
e
w - w
A
sin = - 135 cm/s
2
;
e
w
= w
A
cos = - w
C
= 90 3cm/s
2

Kt qu nhn c chng t
r
w
r
c chiu ngc vi chiu gi nh, cn
c
w
r
c
chiu ?? nh. V
e
w
r
=
*
A
w
r
nn:
*
e A
1 * *
1 1
w
w 90 3
4,5 3
OA OA 20

= = = = rad/s
2

Chiu
1
hp vi chiu
*
A
w
r
ti thi im kho st ngc chiu kim ng h, tc?
lc quay nhanh dn. Con trt A chuyn ng chm dn.
V d 7.5. Cam l mt a trn bn knh R, tm C quay u quanh trc c nh
qua O vi vn tc gc
0
lm cho cn AB chuyn ng dc theo rnh K. Tm vn
tc v gia tc ca cn y ti thi im ng vi = 30
0
; = 45
0
.
Bi gii
1. Phn tch chuyn ng: i vi cam, im A ca cn chuyn ng trn bin
trn ca cam, cn cam quay quanh trc c nh qua O. Ta c bi ton hp chuyn
ng vi im. Chn cam lm h quy chiu ng.

158
- Chuyn ng ca cam l chuyn ng
theo. l chuyn ng quay u vi vn
tc gc
0
bit.
- Chuyn ng ca im A i vi cam l
chuyn ng tng i. l chuyn ng
trn theo bin trn ca cam. Cc yu t ng
hc cha xc nh, nhng bit c qu o
chuyn ng.

Hnh 7.10

- Chuyn ng ca im A i vi gi c nh l chuyn ng tuyt i. l
chuyn ng thng dc AB vi vn tc v gia tc cha xc nh v gi tr.
2. Vn tc
- nh l hp vn tc ca im trong hp chuyn ng im cho ta:
A e r
v = +
r r r
(a)
trong
A
r
hng dc OB cha bit c tr s:
r
r
hng tip tuyn vi qu o
tng i ca im, tc tip tuyn vi bin trn ca cam (thng gc vi CA) cha
xc nh c gi tr; cn
c
r
=
*
A
r
, A
*
l im thuc cam v trng vi A ti
thi im kho st.
Vect vn tc
A
v
r
c phng thng gc vi OA
*
(tc OA), c chiu thun
0
v
c gi tr v
A
=
0
.OA
*
=
0
.OA =
0
trong = 0A =
( )
R
1 3
2
+ .
- Cc vect vn tc c biu din nh trn hnh 7.10.
- Phng trnh vect (a) cha hai n l cc gi tr v
r
v v
A
. gii chng c th s
dng phng php v hoc chiu hai v ca (a) ln hai trc thch hp. D dng
tm c:
v
A
= v
e
tg30
0
=
c
0 r 0 0
3 v 2 3
;v
3 cos30 3
= =
l

159
A
v
r
chnh l vn tc ca cn AB.
3. Gia tc
- S dng nh l hp gia tc trong hp chuyn ng im cho im A chuyn
ng theo khng phi l tnh tin (quay u vi vn tc
0
) nn;
A e r C
w w w w = + +
r r r v

trong
A
w
r
hng dc OB, cha bit c tr s ca n,
e A
w w =
r v
, A
*
l im
thuc v cam, trng vi im A ti thi im kho st,
A
w
r
=
*
B
A
w
r
c phng dc
AO, chiu hng t A n O v c gi tr
*
n
A
w =
2
0
. Chuyn ng trn theo
bin ca cam, nn
n
r r r
w w w
= +
r r r

n
r
w
r
hng dc AC t A n C v c gi tr
n
r
w =
2
0
2 2
r
R 3
4
R
v
=

r
w
tip tuyn vi bin ca cam (thng gc vi bn knh CA), c gi tr cha xc

nh.
C
w
r
c xc nh theo quy tc c nu: quay
r
w
r
, mt gc
2
theo chiu quay

ca cam nhn c phng trnh ca
C
w
r
v w
C
= 2
0
v
r
=
2
0
4 3
3

l
.

Hnh 7.11
Biu thc gia tc ca im A c th vit li nh sau:
160
n n
A e r r C
w w w w w
= + + +
r r r r r
(b)
- Cc vect gia tc c biu din nh hnh 7.11)
- Phng trnh vect (b) cha hai n: l gi tr ca vect
A
w
r
v
r
w
r
. xc
nh chng, ta chiu hai v ca ng thc (b) ln hai trc thch hp. tm gi tr
r
w
r
chiu hai v ca (b) ln phng ngang, ta nhn c mt phng trnh i s
ch cha
r
w
; cn tm gi tr w
A
chiu (b) ln trc Cta c mt phng trnh
i s khc ch cha w
A
. Khi thc hin cc php chiu ta nhn c:
O =
n
r
w sin +
r
w
r
cos - w
C
sin
w
A
cos =
n
e
w cos +
n
r
w - w
C

Vy:
r
w
r
= (w
C
-
n
r
w )tg =
( )
2
0
2
3 1
3

l
> 0; w
A
=
( )
2
0
4 3 3
9

l

Chiu gi nh ca
r
w
r
v
A
w
r
l ng. Ti thi im kho st cn AB chuyn
ng nhanh dn xung pha di.
7.4. Bi tp
7.4.1. Lp phng trnh chuyn ng
7.1. Mt im M chuyn ng vi vn tc khng
i v
r
dc theo dng knh AB ca mt a trn.
a quay vi vn tc gc khng i quanh trc
vung gc vi hnh v i qua tm ca a. thi
im u, dng knh AB trng vi trc Ox v M
nm tm ca a (xem hnh v). Xc nh qu
o tuyt i ca M.

Hnh bi 7.1

Tr li : Qu o l mt dng xon Acsimet, phng trnh ca n trong to
c cc l : r =
r
V

161
7.2. Mt bng dng ghi, chuyn ng tnh tin song song vi trc x vi vn
tc khng i V
1
. Thanh OM = r quay quanh O lm u bt ch M chuyn ng
trn vi vn tc khng i V.
Xc nh phng trnh chuyn ng
ca u bt ch so vi bng.
Tr li : Phng trnh chuyn ng
ca u bt ch so vi bng l:
1 1
1
V
x rcos t Vt,
r
V
y rsin t .
r

=

Hnh bi 7.2

7.4.2. Bi ton tng hp chuyn ng:
7.3. Trn chic xe chuyn ng nhanh dn
vi gia tc 49,2 cm/s
2
c t mt ng c
in. Rto ca ng c quay vi phng
trnh = t
2
. Bn knh rto l 20 cm.Xc
nh vn tc v gia tc im A nm trn
vnh rto lc t=1 giy, cho bit lc A c
v tr nh hnh v.
Tr li : V
A
= 78 cm/s, W
A
= 74,6 cm/s
2
.

Hnh bi 7.3
7.4. Mt mt phng nghing AB hp vi
phng ngang mt gc 45
0
chuyn ng
thng theo trc Ox vi gia tc khng i 1
dm/s
2
. Trn mt nghing c mt vt P trt
xung vi gia tc tng i khng i 2
dm/s
2
. Vn tc u ca mt phng v ca
vt u bng khng, v tr ban u ca vt
c xc nh bng cc to x = 0, y = h

Hnh bi 7.4
162
(xem hnh v). Xc nh qu o, vn tc
v gia tc tuyt i ca vt.
Tr li : y = h -
x
2
;V = 5t dm/s; W = 5dm/s
2
,
7.5. Mt t chuyn ng trn on dng
thng vi gia tc W
0
= 2m/s
2
. Trn trc dc
c mc mt v lng bn knh R = 0,25 m,
thi im kho st c vn tc gc = 4s
-1
v
gia tc gc = 4s
-2
.

Hnh bi 7.5
Tm gia tc tuyt i ca mt im trn vnh v lng.
Tr li : W = 4,58 m/s
2
.
7.6. Cho mt my iu tit ly tm nh hnh v.
Hai qu cu ca my quay quanh trc thng ng
z vi vn tc gc = 10 rad/s. Do ti trng ngoi
thay i nn cc qu cu tch ra khi trc quay z
v cc thanh treo chng c vn tc gc
1
= 1,2
rad/s. Tm vn tc tuyt i ca cc qu cu thi
im kho st nu chiu di ca cc thanh = 50
cm, khong cch gia cc trc treo 2e = 10 cm,
gc hp gia cc thanh v trc ca my iu tit
1
=
2
= = 30
0
.

Hnh bi 7.6
Tr li : V = 306 cm/s.
7.7. Cng u bi 7.6. Tm gia tc ca cc qu cu bit rng lc kho st vn tc
gc ca trc l =
2
rad/s, gia tc gc ca trc l = 1 rad/s

2
, vn tc gc cc
thanh treo l
1
=
2
rad/s, gia tc gc ca chng l

1
= 0,4 rad/s
2
. Lc kho st
2 = 90
0
.
163
Tr li : W = 293,7 cm/s
2
.

7.8. Mt ng trn bn knh R = 1m quay
quanh trc nm ngang O theo chiu kim ng
h vi vn tc gc khng i = 1 rad/s.
trong ng c mt qu cu nh M dao ng
quanh im A theo lut = sint. Xc nh
gia tc tuyt i ca qu cu (gia tc tip,
php) thi im t = 2
1
6
giy.

Hnh bi 7.8
Tr li : W
= - 4,93 m/s
2
; W
n
= 13,84 m/s
2
.
7.9. Tam gic vung OAB quay quanh trc O vung gc vi mt phng ca hnh
vi vn tc gc khng i = 1rad/s. Mt im M chuyn ng vi gia tc
khng i bng 2 cm/s
2
dc theo cnh AB t A n B vi vn tc u bng
khng.
Tm vn tc v gia tc tuyt i ca M
thi im t =
1
2
s. Cho bit lc ny
OB = BM = 4 cm.
Tr li: V= 41cm/s, W = 6 2cm/s
2
.

Hnh bi 7.9
7.10. Mt my nn kh c cc ng dn kh cong, quay u vi vn tc gc
quanh trc O vung gc vi mt phng ca hnh. Khng kh chy dc theo cc
ng vi vn tc tng i khng i V
r
. Tm hnh chiu ca vn tc v gia t ca
mt phn t kh nm im C ca ng AB ln cc trc O v O.
Cho bit bn knh cong ca ng im C bng , gc gia php tuyn ca ng
im C v bn knh CO bng . Bn knh CO bng r.
164

Tr li : V
= V
r
cos + r,
V
= V
r
sin;
W
=
2
r
r
V
2V

sin
W
= -
2
2 r
r
V
2V cos

+

Hnh bi 7.10

7.11. Hnh ch nht ABCD quay quanh cnh CD vi vn tc gc =
2
s
-1
= hng
s. Dc theo cnh AB im M chuyn ng theo quy lut = asin
2
tcm.
Cho trc kch thc: DA = CB = a
cm. Hy xc nh gi tr gia tc
tuyt i ca im ti thi im t =
1 giy.
Tr li :
a
=
2
a
2
4
cm/s
2
.

Hnh bi 7.11

165
7.12. Hnh vung ABCD cnh 2a (cm)
quay quanh cnh AB vi vn tc gc
khng i = 2rad/s.Mt im M
dao ng dc theo dng cho AC theo
lut = acos
2
t (cm ).
Xc nh gia tc tuyt i ca im lc
t = 1 giy v t = 2 giy.
Tr li : W
a1
= a
2 5
cm/s
2
,
W
a2
= 0,44a
2
cm/s
2
.

Hnh 7.12
7.13. Trong my iu tit quay quanh trc thng ng vi tc n = 180
vng/pht, qu nng A gn vi u mt cc l xo thc hin dao ng iu ho
dc theo mng MN, theo lut x = (10 + 5 sin8t) cm, x l khong cch t trng
tm ca n n trc quay.

Xc nh gia tc ca trng tm
ca qu nng khi gia tc crilit
ca n t gi tr cc i v tm
gia tc crilit ca qu nng khi
chng cc v tr bin
Tr li : W
a
= 600
2
cm/s
2

W
c
= 0.

Hnh bi 7.13
7.14. Trong khi a trn quay
quanh trc O
1
O
2
vi vn tc gc
= 2ts
-1
, im M chuyn ng
dc bn knh ca n t tm ra
vnh theo quy lut OM = 4t
2
cm.
Bn knh OM to vi trc O
1
O
2

mt gc 60
0

Hnh bi 7.14
166
mt gc 60
0
.
Hy xc nh gi tr ca gia tc tuyt i ca im M ti thi im t = 1 giy.
Tr li : w
M
= 35,56 cm/s
2
.
7.15. Mt ng trn bn knh r quay quanh trc O
vung gc vi mt phng ca ng vi vn tc
gc khng i theo chiu mi tn trn hnh v.
Trong ng cha y cht lng chuyn ng vi
vn tc tng i khng i u. Xc nh gia tc
ca cc phn t cht lng nm cc im 1,2,3
v 4 trn hnh trong hai trng hp chuyn ng
tng i cng chiu v ngc chiu vi chuyn
ng theo.

Hnh bi 7.15
Tr li : 1) W
1
= r
2
-
2
u
2u
r
, W
3
= 3r
2
+
2
u
2u
r
+ ,
W
2
= W
4
=
2
2
2 4 2
u
2u r 4 r
r

+ + +

.
2) W
1
= r
2
-
2
u
2u
r
+ , W
3
= 3r
2
+
2
u
2u
r
,
W
2
= W
4
=
2
2
2 2 4
u
r 2u 4r
r

+ +

.
167
7.16. Mt na vng trn bn knh R quay
quanh trc song song vi dng knh AB v
cch dng knh mt khong 2R vi vn
tc gc khng i .
Trn vng trn c mt im chuyn ng t
A n B vi vn tc khng i u. Xc nh
vn tc v gia tc ca im thi im u
v thi im m n i c 1/4 vng
trn (xem hnh v).

Hnh bi 7.16
Tr li : 1) V =
2 2 2
u 4 R +
W =
4
2 2 2 2
2
u
4 R 4 u
R
+ +
V =
2 2 2
u R + , W =
2
2
u
R
R

7.4.3. Bi ton phn tch chuyn ng.
7.17. Cho mt c cu tay quay mng
trt nh hnh v, tay quay OA quay
quanh trc c nh O vi vn tc
khng i n = 90 vng/pht, mng BC
chuyn ng tnh tin theo phng x.
u A ca tay quay ni vi con chy A,
con chy ny trt dc mng BC v lm
cho mng chuyn ng tnh tin ln
xung.

Hnh bi 7.17
Xc nh vn tc V ca mng thi im m tay quay hp vi trc x gc 30
o

Chiu di tay quay = 200 mm.
Tr li : V = 0,942 m/s.
168
7.18. Tm gia tc ca cam nu cn cam
chuyn ng thng nhanh dn u, sau 4
giy n trt t v tr cao nht xung on
h = 4 cm (hnh v). Bn knh ca cam l r
= 10 cm.

Hnh bi 7.18
Tr li : W = 1 cm/s
2
.
7.19. Hai b mt con sng song song vi
nhau, mt con thuyn i t im A v lun
lun gi cho mi ca n c phng vung
gc vi b, nh th th n s ti b bn kia
im C nm pha di 120 m so vi im
A, sau thi gian 10 pht (hnh v).

Hnh bi 7.19
Mun cho thuyn ti b bn kia vo ng im B cng ngang vi A th cn lun
lun gi cho mi thuyn hp mt gc no y vi dng AB. Trong trng hp
ny thuyn i qua sng mt 12,5 pht.
Xc nh chiu rng ca sng, vn tc tng i u ca thuyn, vn tc v ca
dng nc.
Gi thit trong c hai trng hp vn tc tng i u c gi tr nh nhau.
Tr li : = 200 m, u = 20m/s, v = 12 m/s.
7.20. Tay quay OC ca c cu culit quay
quanh O vi vn tc gc lm thanh AB
chuyn ng theo rnh K thng ng nh
con chy A (hnh v). Xc nh vn tc
trt ca con chy A dc OC. Cho bit OK
= , thi im kho st OC lm vi OK
gc .

Hnh bi 7.20
169
Tr li : V
r
=
tg
cos

l

7.21. Con chy A ca c cu culit ca my
bo c cht trn bnh E c truyn chuyn
ng nh h thng bnh rng D v E.
Bn knh cc bnh rng l R = 100 mm, R
1

= 350 mm, O
1
A = 300 mm, khong cch
O
1
B = 700 mm.

Hnh bi 7.21
Cho vn tc gc ca bnh D l = 7 s
-1
. Tm vn tc gc ca cn lc BA lc
O
1
A v tr thng ng (v tr trn v di) v lc n thng gc vi cn lc BA
(bn tri, bn phi).
Tr li :
1
= 0,6 s
-1
;
II
=
IV
= 0,
III
= 1,5 s
-1
.
7.22. phng mt v tinh nhn to ca qu t, ngi ta phi to cho n mt vn
tc nm ngang bng 8 km/s gn mt t. Xc nh vn tc tng i ln nht v
b nht m ngi ta cn phi truyn cho v tinh n t c vn tc cn thit
trn. Tnh ton trong hai trng hp: v tinh c phng ln xch o v c
phng v 60
0
. Bn knh ca qu t tnh trung bnh l R = 6400 km.
Tr li :
a) V
max
= 8,565 km/s, V
min
= 7,535 km/s.
b) V
max
= 8,233 km/s, V
min
= 7,767 km/s.
170
7.23. Hai a A v B cng quay vi
vn tc gc quanh cc trc c
nh O
1
v O
2
(hnh v). Trn a B
ly im M v kho st chuyn
ng ca n khi ly a A lm h
quy chiu ng.
Xc nh tr s gia tc tng i v
crilit ca M nu = 10 rad/s v
O
1
O
2
= 15 cm.

Hnh bi 7.23
Tr li : W
r
= 15 m/s
2
, W
k
= 30 m/s
2
.
7.24. truyn quay gia hai trc O v
O
1
song song vi nhau ngi ta dng mt
c cu nh hnh v. Tay quay AB quay
quanh trc O
1
vi vn tc gc
1
khng
i lm cho mng ch thp quay quanh
trc O.
Xc nh vn tc gc ca mng, vn tc
tng i, theo v gia tc tng i, theo
v crilit ca con chy A nu ly mng
lm h quy chiu ng. Cho bit OO
1
=
AO
1
= O
1
B = a.

Hnh bi 7.24
Tr li : =
1
2
, V
e
= a
1
sin
1
2
t2
V
r
= a
1
cos
1
2
t, W
e
= W
r
= -
2
1 1
a
sin t
2 2

, W
k
= a
2
1
cos
1
2
t.

171
7.25. Cho mt c cu culit nh hnh v. Tay
quay OA quay vi vn tc gc khng i
0
.
Xc nh vn tc gc v gia tc gc ca
O
1
D, gia tc ca thanh BC thi im m
tay quay c v tr nm ngang v bn phi.
Cho bit OA = r, OO
1
= r 3, h = 2r 3.
Tr li : =
0
4
; =
2
0
3
8
, W =
2
3
r
2
0
.

Hnh bi 7.25

7.26. Dng sng c chiu rng 1 km, chy t nam ln bc vi vn tc 5km/h.
Hy xc nh gia tc crilit ca cc ht nc v tuyn 60
0
bc. Sau xc nh
mc nc b bn no cao hn v cao hn bao nhiu, bit rng mt nc phi trc
giao vi vect tng ca vect gia tc trng trng v vect bng v ln nhng
ngc hng vi gia tc Crilit.
Tr li : Gia tc Crilit w
c
= 0,0175
cm/s
2
hng v pha ty. b bn phi
mc nc cao hn 1,782 cm.

Hnh bi 7.26
7.27. Chng dng st on pha bc thnh ph Mlitpn c hng theo kinh
tuyn. Tu ho chy vi vn tc v = 90 km/h v hng bc. Hy tm gia tc
Crilit ca tu ho ti v tuyn 47
0
.
Tr li : w
c
= 0,266 cm/s
2
.
7.28. Trn con dng st nm dc theo v tuyn trn bc bn cu, mt chic tu
ho chy vi vn tc v
r
= 20 m/s t ty sang ng. Hy tm gia tc Crilit w
c
ca
tu ho.
172
Tr li : w
c
= 0,291 cm/s
2
;
7.29. Sng Nva chy t ng sang ty dc
theo v tuyn 60
0
bc vi vn tc v
r
= 4km/h.
Hy xc nh tng cc hnh chiu ln tip
tuyn BC vi kinh tuyn tng ng ca cc
thnh phn gia tc ca nhng ht nc ph
thuc vo vn tc chy. Bn knh tri t R =
64.10
5
m.
Tr li : w
BC
= 1396 . 10
-5
cm/s
2
.

Hnh bi 7.29

173
Chng 8. Chuyn ng song phng ca vt rn
8.1. C s l thuyt
Chuyn ng song phng ca vt rn l chuyn ng m mi im thuc
vt chuyn ng trn mt phng song song vi mt phng c nh.
8.1.1. Chuyn ng ca vt
1. Phng trnh chuyn ng ca vt:
Chn im A tu lm cc, dng h trc Axy
chuyn ng tnh tin i vi h trc c nh Ox
1
y
1
. V
tr ca hnh phng c th c xc nh nh x
A
, y
A
, v
, trong (x
A
, y
A
) l cc to ca cc A; l gc
nh v ca mt on thng AB thuc hnh phng i
vi h trc ng Axy.
( )
( )
( )
A 1
A 2
3
x f t
y f t
f t
=
(8.1)
c gi l phng trnh chuyn ng ca vt song phng.
Chuyn ng song phng c th c phn tch thnh hai chuyn ng:
chuyn ng tnh tin cng vi h trc Axy v chuyn ng quay i vi h trc
Axy (Hnh 8.1).
2. Cc yu t ng hc c trng cho chuyn ng hnh phng:
A A
v ,w , ,
r r

Trong , l vn tc gc v gia tc gc ca hnh phng trong chuyn
ng quay i vi h trc Axy;
A A
v ,w
r r
- vn tc v gia tc cc A.
8.1.2. Chuyn ng cc im thuc vt
1. Vn tc cc im thuc vt
a. nh l hp vn tc
O
A
B

x
y
y
1
x
1
Hnh 8.1
174
Hnh 8.2
Hnh 8.3
Hnh 8.4
Vn tc ca mt im thuc hnh phng bng tng hnh hc ca vn tc
cc v vn tc ca im trong chuyn ng ca hnh phng quay i vi h trc
tnh tin cng vi cc
M A MA
v v v = +
r r r
(8.2)
Trong (Hnh 8.3).

b. nh l hnh chiu vn tc
Hnh chiu vn tc hai im ln phng ni lin hai im lun lun bng
nhau (Hnh 8.2).
hc
MA
M
v
r
= hc
AM
A
v
r
(8.3)

c. nh l v s phn b vn tc cc im thuc hnh phng
Ti mi thi im, tn ti mt im P thuc hnh phng m vn tc ca n
bng khng (P c gi l tm vn tc tc thi).
- Nu P gii ni th vn tc mi im ca hnh phng c phn b ging
nh trng hp hnh phng quay (tc thi) quanh P (Hnh 8.4), lc :
v
B
= PB.; v
A
= PA.; v
M
= PM. (8.4)
- Nu P v cng th vn tc mi im ca hnh phng c phn b
ging nh trng hp hnh phng chuyn ng tnh tin (tc thi):
Quy tc tm tm vn tc (Hnh 8.5). C th nh sau :

Phng MA
Chiu thun chiu

Gi tr v
MA
= MA.

MA
v
175

Trng hp hnh phng S (thng l a, tr trn) chuyn ng ln khng
trt trn ng thng hoc ng cong c nh, im tip xc P l tm
vn tc (Hnh 8.5a).
Cc trng hp trn hnh 8.5a 8.5d cn bit thng tin v vn tc ca 2
im A, B thuc vt :
Nu
r r
A B
v , v khng song song (khng cn bit gi tr), P l giao im ca 2
ng thng vung gc vi
r r
A B
v , v (Hnh 8.5b).
Nu
r r
A B
v , v song song, ng thi
r r
A B
v , v vung gc vi AB, cn bit gi tr
A B
v , v , P l giao im ca ng thng ni u mt ca
r r
A B
v , v vi ng
thng AB (Hnh 8.5c,d).
Nu
r r
A B
v , v song song, ng thi
r r
A B
v , v khng vung gc vi AB, th P xa
v cng, vt chuyn ng tnh tin tc thi (Hnh 8.5e). Khi , vn tc
mi im thuc vt nh nhau, nhng gia tc ni chung khc nhau.
2. Gia tc cc im thuc vt
1. nh l hp gia tc
Gia tc ca mt im thuc hnh phng bng
tng hnh hc ca gia tc cc v gia tc ca im
trong chuyn ng ca hnh phng quay i vi h
trc tnh tin cng vi cc (Hnh 8.6).

Hnh 8.5
A
M
W
A

n
MA
W
t
MA
W
V d 8.1.
176
n
M A MA MA
w w w w
= + +
r r r r
(8.5)
Trong :

2. nh l v s phn b gia tc cc im thuc hnh phng:
Ti mi thi im, tn ti mt im Q thuc hnh phng, gia tc ca n
bng khng (Q c gi l tm gia tc tc thi) v gia tc mi im trn hnh
phng c phn b ging nh trng hp hnh phng quay (tc thi) quanh Q
lc (Hnh 8.7)
n
M MQ MQ MQ
w w w w
= = +
r r r r
(8.6)
Trong :
n
MQ
w
r
hng t M n Q v c gi tr
n
MQ
w = MQ
2

MQ
w
r
hng thng gc MQ, thun chiu v c gi tr
MQ
w
= MQ.
M
w
r
lm vi MQ gc , c tg =
2

Cn ch rng tm gia tc tc thi ni chung khng trng vi tm vn tc
tc thi.
Ch thch 1:
Nu vn tc gc ca hnh phng tm c l hm ca thi gian t: ( ) t =
th gia tc gc ca hnh phng c tnh theo biu thc
phng: thng gc vi AM,
chiu: thun chiu ,
gi tr:
MA
w
= MA.
MA
w
phng: dc MA,
chiu: hng t M n A,
gi tr:
n
MA
w
= MA.
2
n
MA
w
Hnh 8.7
177
=
d
dt
(8.7)
c bit khi mt a trn ln khng trt trn mt dng c nh (H.8.8),
tm ca a c vn tc v
A
, th
=
A
d 1
w
dt R

= (8.8)
2. Trong trng hp bit gia tc mt im (
A
w
r
), vn tc gc v gia tc
gc (,) ca hnh phng, th tm gia tc tc thi Q s nm trn na dng thng
AQ c c bng cch quay vect
A
w
r
theo chiu mt gc , vi (Hnh 8.9).
tg =
2

v cch A mt on
AQ =
A
2 4
w
+

3. Trong trng hp bit vect gia tc ca
hai im A v B, c th tnh d dng cc i lng
2
v , do tnh c gc .
tm tm gia tc tc thi Q ta quay cc
vect gia tc
A
w
r
,
B
w
r
tng ng quanh cc im
A v B cng gc . Giao im ca hai dng
thng nhn c s xc nh v tr ca tm gia tc tc thi Q (Hnh 8.10).
Hnh 8.8 Hnh 8.9
Hnh 8.10
178
4. Trong trng hp vic xc nh gia tc gc v do vic xc nh
tm gia tc tc thi Q ca hnh phng khng c thun tin th gii bi ton
v gia tc ngi ta thng s dng nh l hp gia tc.
8.2. Phng php gii
8.2.1. Phn loi bi ton:
Ta c th phn cc bi ton thng gp thnh nhng loi sau:
I. Lp phng trnh chuyn ng ca vt v ca cc im thuc vt
II. Xc nh cc yu t chuyn ng : Trng hp bit vn tc v gia tc ca
mt im A v tm vn tc tc thi ca vt P trong khong cch AP l hm
bit ca thi gian, c bit AP = const (Hnh 8.11)
III. Xc nh cc yu t chuyn ng : Trng hp bit vn tc v gia tc ca
mt im A v qu o ca mt im khc (B) ca vt (H.8.12).

IV. Cc bi ton hn hp v c bit
8.2.2. Phng php gii bi ton
Tin hnh theo cc bc sau.
Hnh 8.11 Hnh 8.12
Hnh 8.13
Hnh 8.14 Hnh 8.15
179
Bc 1: Phn tch dng chuyn ng ca cc vt thuc c h (tnh tin, quay
quanh mt trc c nh, song phng) v xc nh cc yu t ng hc ca chng
(yu t no bit v nhng yu t no cha bit). i vi khu chuyn ng song
phng cn c bit ch n nhng im ni ca chng vi cc khu ln cn.
Bc hai: Gii cc bi ton.
1. i vi bi ton thnh lp phng trnh chuyn ng ca vt cn vit
cc biu thc (8.1) thc cht l xc nh phng trnh chuyn ng ca mt on
AB no trn vt (v tr ca AB c xc nh bi x
A
, y
A
v gc ). thnh
lp phng trnh chuyn ng ca mt im M cn tnh cc to ca im M l
hm theo thi gian.
2. i vi bi ton xc nh cc yu t ng hc
1. Bi ton vn tc
C th s dng mt trong cc phng php sau:
a. Tm vn tc tc thi P
- Chn mt im bit vn tc lm cc (A)
- Xc nh tm vn tc theo cc quy tc nu.
- Xc nh vn tc gc ca hnh phng: c chiu thun chiu quay ca
on AP quanh P v c gi tr:
=
A
v
AP

- Vn tc mt im M bt k thuc hnh phng:
v
M
= MP
(c chiu thun chiu quay ca on MP quanh P)
b. nh l hp vn tc:
- Chn mt im bit vn tc lm cc (A)
- Vit biu thc (8.2): i vi bi ton II, M l mt im bt k thuc hnh
phng, cn i vi bi ton loi III im M c thay bng im bit qu o
(im B).
180
- V v tnh cc vect vn tc trong biu thc (8.2) (cc vect vn tc bit
phng nhng cha bit chiu th chiu ca chng c gi nh, nu kt qu khi
gii ra l dng th chiu gi nh ng, cn m, th chiu ng ngc vi chiu gi
nh). Xc nh cc n ca phng trnh vect (8.2), n tng ng vi hai phng
trnh i s nh chiu hai v ca (8.2) ln hai trc to . i vi bi ton II cc
n l gi tr, phng chiu ca vect vn tc im M, cn i vi bi ton III n
l gi tr vect
B
v
r
v
B1
v
r
.
- Gii phng trnh vect (8.2):
gii phng trnh (8.2) c th dng phng php v hoc phng php
chiu hai v ca ng thc vect (8.2) ln hai trc vung gc vi nhau. i vi
bi ton loi III c th chiu ln hai trc bt k thch hp nhn c hai
phng trnh i s, trong mi phng trnh ch c mt n (chn trc chiu
thng gc vi phng ca n).
c. C th s dng nh l hnh chiu vn tc, tc (8.3)
2. Bi ton gia tc
gii bi ton v gia tc, thng thng ngi ta s dng nh l hp gia
tc, c tin hnh theo cc bc sau:
- Chn mt im bit gia tc lm cc
- Vit biu thc (8.5):
+ i vi bi ton loi II, M l mt im bt k thuc hnh phng v gia
tc c tnh nh (8.7) hoc (8.8).
+ i vi bi ton loi III, im M c thay bng im bit qu o
(im B).
- V v tnh cc vect trong (8.5): (cc vect gia tc cha bit chiu th
chiu ca chng c gi nh v x l kt qu nh trong trng hp ca bi ton
vn tc). Xc nh n trong phng trnh vect (8.5) n tng ng vi hai phng
trnh i s nh chiu ng thc (8.5) ln hai trc to . i vi bi ton loi III,
cc n l gi tr, phng chiu ca vect
B
w
r
v
BA
w
r
(trong cha gia tc gc ca
hnh phng ). Trong trng hp qu o ca B l dng cong th cn phn tch.
181

B
w
r
=
n
B B
w w
+
r r

Trong d dng tnh c:

2
n B
B
v
w =

- l bn knh cong ca qu o im B. Do , n ca bi ton l gi tr
ca
B
w
r
v
BA
w
r
(trong cha ).
- Gii phng trnh vect (8.5): i vi bi ton loi II cn chiu ng thc
vect (8.5) ln hai trc thng gc nhau tm hai thnh phn
M
w
r
ln hai trc
v nh vy gia tc ca im M c xc nh hon ton. i vi bi ton loi III,
chiu ng thc vect (8.5) ln lt ln hai trc thng gc vi
B
w
r
(hoc
B
w
r
) v
phng AB. Bng cch nh vy ta nhn c hai phng trnh i s cha ring
r gi tr ca
B
w
r
(hoc
B
w
r
) v
BA
w
r
. Lc gia tc gc ca hnh phng c
chiu thun chiu
BA
w
r
quanh A v c gi tr
=
BA
w
BA

By gi c th xc nh gia tc mt im bt k theo nh bi ton II.
Cng c th xc nh gia tc nh phng php tm gia tc. Phng php ny
thun li ch i vi bi ton II (gia tc tnh c nh (8.7) v (8.8).

8.3. Bi gii mu
8.3.1. Lp phng trnh chuyn ng
V d 8.1. C cu tay quay thanh truyn
nh hnh 8.16. Tay quay OA quay theo lut
= t. Lp phng trnh chuyn ng ca thanh
truyn AB. Bit OA = r; AB = , khong cch
t trc quay O n rnh trt bng a.
Bi gii:
Hnh 8.16
182
1. Phn tch chuyn ng: Thanh OA quay quanh trc c nh qua O. Thanh
AB chuyn ng song phng.
2. Phng trnh chuyn ng ca thanh AB. Chn h trc c nh Ox
1
y
1
nh
hnh v. Chn A trn thanh AB lm cc v gi l gc gia on AB v phng
ngang X
1
.
x
A
= OAcos = rcost; y
A
= OAsin = rsint
sin =
AI rsin a r a
sin t
AB
+
= = +
l l l

Nh vy theo (8.1) phng trnh chuyn ng ca thanh AB l:
x
A
= rcost; y
A
= rsint
= arcsin
r a
sin t

+

l l

V d 8.2. Tay quay OA quay u quanh trc c
nh qua O lm cho bnh c bn knh r ln khng
trt theo vnh trong ca bnh c nh R. Lp
phng trnh chuyn ng ca bnh v ca im M
thuc bnh ng, chobit ti thi im u khi =
0, im M trng vi im M
0
v l tip im gia
hai bnh.
Bi gii:
1. Phn tch chuyn ng. Thanh OA quay quanh trc c nh qua O, bnh
xe chuyn ng song phng.
2. Phng trnh chuyn ng ca bnh ng. Chn h trc c nh Ox
1
y
1

nh hnh v.
Chn im A, tm ca bnh ng lm cc v gi l gc gia bn knh
AM ca bnh ng lm vi phng ngang.
D dng ta tnh c:
x
A
= OAcos = (R- r)cost; y
A
= OAsin = (R- r)sint
Hnh 8.17
183
V ti thi im u im M trng vi im M
0
v do iu kin ln khng
trt ca bnh ng trn bnh c nh nn
0
CM CM

= . Do :

0
CM CM R
CAM
r r r
= + = = =
T suy ra: =
R R
1 1 t
r r

=

Vy phng trnh chuyn ng ca bnh ng l:
x
A
= (R - r) cost; y
A
= (R - r)sint; =
R
1
r

t
3. Phng trnh chuyn ng ca im M. nhn c phng trnh
chuyn ng ca im M ta tnh:
x
M
= x
A
+ AMcos = (R - r)cost + rcos
R
1
r

t
y
M
= y
A
- AMsin = (R - r)sint - rsin
R
1
r

t.

8.3.2. Bit vn tc, gia tc im A v tm vn tc tc thi P vi AP = const.
Tm cc c trng chuyn ng (c cu a phng)
V d 8.3. Tay quay OA quay xung quanh trc O lm bnh 2 ln khng trt
theo vnh bnh 1 c nh (Hnh 8.18).
Bit r
2
= 0,2 m; r
1
= 0,3 m. Lc tay quay c vn tc gc = 1rad/s v gia
tc gc = 4rad/s
2
, tm:
- Vn tc gc bnh 2, vn tc im B trn vnh bnh 2; AB OA.
- Gia tc gc bnh 2, gia tc im B.
Bi gii:
1. Phn tch chuyn ng: Tay quay OA chuyn ng quay quanh O c
nh: bnh 2 chuyn ng song phng, im tip xc l tm vn tc tc thi P.
i vi bnh 2, ta bit
A A
v ,w
r r
v P vi AP = const.
184
2. Vn tc: Dng phng php tm vn tc tc thi.
- Tm vn tc: im tip xc l tm vn tc P
- Tm vn tc gc bnh 2 v vn tc im B.
Vn tc gc bnh 2:
2
=
A 1 2
A 2 2
v OA r r
P r r
+
= = = 2,5 rad/s.

2
ngc chiu kim ng h.
Vn tc im B: v
B
= PB.
2
= r
2 2
.
2
=

2
2
m/s

B
v
r
c chiu nh hnh v (H.8.18a)
a. Gia tc:
- V bnh 2 ln khng trt vi AP = const nn theo (8.8):

2
=
( )
1 2 A
2
r r . w OA.
AP AP r
+
= = = 10rad/s
2

2
thun chiu kim ng h.
- Chn A lm cc, ta c:
n n
B A A BA BA
w w w w w

= + + +
r r r r r

n
A
w
r
hng vo O;
n
A
w = OA .
2
= 0,5 m/s
2

A
w
r
OA, chiu ph hp vi ;
A
w
= OA. = 2 m/s
2

n
BA
w
r
hng t B n A;
n
BA
w = BA.
2
2
=1,25 m/s
2

Hnh 8-18
185

BA
w
r
BA: chiu ph hp ;
BA
w
= BA .
2
= 2m/s
2

- V cc vect gia tc (Hnh 8.18b)
- Tnh w
B
:
B
w
r
cha bit phng chiu, do phn tch thnh hai phn
vung gc. Chiu hai v ca (a) ln hai trc vung gc:
w
Bx
=
n
A BA
w w
+ = 3,25 m/s
2
; w
By
= -
n
A BA
w w
+ = 1,5 m/s
2

Vy: w
B
=
2 2
Bx By
w w + = 3,58 m/s
2

Phng chiu ca
B
w
r
c xc nh nh cc csin ch phng ca n.
C th tm gia tc ca im B nh phng php tm gia tc.

8.3.3. Bit vn tc, gia tc mt im v qu o im khc. Tm cc c
trng chuyn ng (c cu thanh)
V d 8.4. C cu 4 khu nh hnh 8.19. Cho OA = r, AB = 2 r, O
1
B = 2r 3.
Lc thanh OA thng ng, cc im O, B, O
1
cng nm trn dng ngang, khi
thanh OA c vn tc gc
o
v gia tc gc
o
=
2
o
3 . Tm vn tc gc v gia tc
gc ca thanh AB.
Bi gii:
1. Phn tch chuyn ng: Cc thanh OA v O
1
B quay xung quanh cc trc
c nh. Thanh AB chuyn ng song phng. i vi thanh ny ta bit
A A
v ,w
r r

v qu o im B.
2. Vn tc: C th dng cc phng php khc nhau
a. Dng tm vn tc tc thi
- Tm P: Bit
A
v
r
OA;
B
v
r
O
1
B, do t A v B k cc dng tng ng
vung gc vi
A
v
r
v
B
v
r
, giao im ca 2 dng ny l P. y P trng vi O
(H.8.19a).
- Tm vn tc gc cc thanh v vn tc cc im.
186
im A thuc OA nn:v
A
= r
0

Mt khc, A thuc AB nn: v
A
= PA.
AB

Do :
AB
=
A 0
v r
PA r
= =
0

v thanh AB quay ngc chiu kim ng h.
im B thuc thanh AB nn: v
B
= PB.
AB
= r 3
0

Mt khc, B thuc thanh BO
1
: v
B
= BO
1
.
1
BO

Trong
BO
l gi tr vn tc gc khu BO
1
, quay quanh trc O
1
.
Vy
1
B o o
BO
1
v r 3
BO 2 2r 3

= = =
V thanh BO
1
quay quanh trc qua O
1
theo chiu kim ng h.
b. Dng nh l hp vn tc:
- Chn im A c chuyn ng bit lm cc
- nh l hp vn tc cho ta:

B A BA
v v v = +
r r r
(a)
Trong
A
v
r
OA; v
A
= r
o

BA
v
r
AB; v
BA
= AB.
AB
;
B
v
r
O
1
B; v
B
= BO
1
.
1
BO

- V cc vect vn tc trong ng thc vect (a), trong cc vect
BA
v
r
v
B
v
r
ch bit c phng, cha xc nh c chiu v gi tr. C th gii phng
trnh vect (a) bng phng php hnh hc. Da vo hnh v, ta c:

Hnh 8.19
187
v
BA
=
A
v
sin
= 2r
o
; v
B
=
A
v
tg
= r
o
3
Suy ra:
AB
=
AB
v
AB
=
o
;
1
B o
BO
1
v
BO 2
= =
Thanh AB quay ngc chiu kim ng h, cn thanh BO
1
quay thun chiu
kim ng h.
c. Dng nh l hnh chiu vn tc. D dng nhn c: v
B
cos60
0
= v
A
cos30
0

Suy ra v
B
=
o
r 3
3. Gia tc:
Chn im A lm cc, nh l hp gia tc cho ta

n
B A BA BA
w w w w
= + +
r r r r

Do qu o ca A v B l dng trn nn biu thc trn c vit di
dng:

n n n
B B A A BA BA
w w w w w w

+ = + + +
r r r r r r
(b)
Trong
n
B
w
r
v
n
A
w
r
hng tng ng v O
1
v O:
n
BA
w
r
hng t B n A,
chng c gi tr:

1
n 2 2 n 2
B 1 BO o A o o
r 3
w BO. ;w OA r
2
= = = =

n 2 2
BA AB o
w .AB 2r = =
A
w
r
thun chiu
o
v c gi tr:
A
w
=
o
. OA = r
2
o
3.
V cha xc nh c cc gia tc gc cc thanh BO
1
v BA
( )
1
BO AB
v
nn ch bit phng cc vct
B
w
r
BO
1
v
BA
w
r
BA, cn chiu ca chng
cha xc nh c. Gi nh chiu ca chng nh trn hnh 8.191b. Ngoi ra:
B
w
r
= BO
1
.
BO
;
BA
w
=BA.
AB

Tt c cc vct gia tc c biu din nh trn hnh 8.19b.
188
Nh vy phng trnh vct (b) cha hai n: gi tr ca
B
w
r
v
BA
w
r
, sau khi
xc nh chng d dng xc nh
1
BO
v
AB
.
tnh gi tr ca w
r
, chiu hai v ca (b) ln trc
1
OO
uuuur
, ta nhn c
n n 0
B A BA BA
w w w cos30 w

= + cos60
0

T :
BA
w
= 5
2
o
3r > 0
Chiu ca
BA
w
r
ng vi chiu gi nh
D dng tnh c:
AB
=
2 AB
o
w 5 3
BA 2
=
v thanh AB ti v tr kho st quay nhanh dn.
By gi chiu 2 v ca (b) ln trc AB
uuur
, ta c:
n
B
w cos30
0
+
B
w
sin30
0
=
n
B
w sin30
0
-
B
w
cos30
0
-
n
BA
w
Sau khi tnh ton ta nhn c
B
w
=
2
o
15
r
4

Nh vy
B
w
c chiu ngc li vi chiu gi nh trn hnh 8.19b.

D dng tnh c
1
B
BO o
1
w 5 3
BO 8
= =
8.3.4. Bi ton hn hp
V d 8.5. Tay quay OA quay u quanh trc O vi vn tc gc
o
lm bnh 1
ln khng trt theo vnh bnh 2 c nh. Hai bnh cng bn knh r. Thanh
truyn BD v cn lc DC cng di (Hnh 8.20). Ti thi im BD OA,
0
BCD 45
= . Tm:
Cc vn tc gc:
1 BD DC
, ,
Gia tc im B.
Bi gii:
1. Phn tch chuyn ng: Cc thanh OA v CD chuyn ng quay quanh
mt trc c nh. Bnh 1 v thanh DB chuyn ng song phng.
189
2. Vn tc: Dng phng php tm vn tc tc thi.
a. Xt bnh 1 (bnh ln khng trt).
- Tm vn tc: im tip xc gia 2 bnh l tm vn tc tc thi P ca bnh
1.
- Vn tc gc bnh 1 (
1
) v vn tc im B ( )
B
v
r
:

A o
1
1
v 2r
PA r
= = = 2.
o
;
1
thun chiu kim ng h.
v
B
= P
1
B.
1
= 2r 2.
2
;
B
v
r
P
1
B
1
chiu ph hp
1
.
b. Xt thanh BD: Bit
B
v
r
v qu o D (vng trn tm C)
- Tm vn tc: t B v D k cc dng tng ng vung gc vi
B
v
r
v
D
v
r
,
giao im ca chng l tm vn tc tc thi P
2
ca thanh BD, y BD =
2
2
l
- Vn tc gc ca BD ( )
BD
v vn tc im D ( )
D
v
r
:

Hnh 8.20

BD
=
2
B
v 4r
P B
=
l
.
o
;
BD
ngc chiu kim ng h.
p dng nh l hnh chiu vn tc: Hch
BD
B
v
r
= Hch
BD
D
v
r

190
Hay: v
B
cos45
0
= v
D
cos45
0

V
D
= v
B
= 2r 2
0
;
D
v
r
c chiu nh hnh 8-20a.
T suy ra vn tc gc thanh DC ( )
DC
:

DC
=
D
v r 2
DC
=
l
.
0
;
DC
ngc chiu kim ng h
3. Gia tc (tng t V d 8.3). Xt bnh 1:
- Bnh 1 ln khng trt vi AP
1
= const, nn theo (8.8)
Gia tc
1
=
A
w
r
= 0 (v OA quay u)
- Chn A lm cc, xt gia tc im B:
n n
B B BA BA
w w w w
= + +
r r r r

n
B
w
r
hng t A n 0;
n
A
w = OA.
2
o
=2r
2
o

n
BA
w
r
hng t B n A;
n
BA
w = BA.
2
1
= 4r
2
o

BA
w
r
BA;
BA
w
= BA.
1
= 0.
- V cc vect gia tc: Hnh 8.20b
- Tnh w
B
: v
n n
A BA
w w
r r
nn: W
B
=
( ) ( )
2 2
n n 2
A BA o
w w 2 5r + =
Trong :
DB
w
=DB.
DB
;
D
w
= DC .
DC
Ch : Mun tm
BD
v
DC
ta xt thnh DB v chn B lm cc:
n n
D D B DB DB
w w w w w

+ = + +
r r r r r

V d 8.6. H rng rc nh hnh 8.21. thi im vt I c nng ln vi vn
tc
1
v
r
gia tc
1
w
r
. Vt II h xung vi vn tc
2
v
r
, gia tc
2
w
r
. Rng rc ng c
bn knh R. Tm vn tc gc ca rng rc ng, vn tc v gia tc tm C, gia tc
im B.
Bi gii:
1. Phn tch chuyn ng: vt I v II chuyn ng tnh tin. Hai rng rc nh
quay xung quanh trc c nh. Rng rc ng chuyn ng song phng.
Khi khng c trt gia dy v rng rc th:
191

Hnh 8.21

v
1
= v
A
; w
1
=
A
w
; v
2
= v
B
; w
2
=
B
w

Nh vy trn rng rc ng ta bit
A
v
r
,
A
w
r
v
B
v
r
,
B
w
r

2. Vn tc - Trn rng rc ng, ta bit vn tc hai im, do tm c vn
tc tc thi P (H.8.21a).
- Vn tc gc ca rng rc:
=
B A B A 1 2
v v v V v v
PB PA PB PA 2R
+ +
= = =
+
(a)
- Vn tc tm C:
V
C
=
B A 2 1
v V v v
2 2

= (b)
Nu v
2
> v
1
: tm C ang chuyn ng ln; nu v
2
< v
1
tm C h xung;
nu v
2
= v
1
th v
C
= 0.
3. Gia tc: Biu thc (a) ng vi mi thi im, nn theo (8.7) ta c gia tc
gc ca rng rc:
= ( )
1 2
1 2
d 1 d w w
v v
dt 2R dt 2R
+
= + =
thun chiu kim ng h.
V C chuyn ng thng, nn gia tc cng phng vi vn tc, t (b) ta c
w
C
=
2 1 2 1 2 1
d v v d v v w w
dt 2 dt 2 2

= =

192
Nu w
2
> w
1
th
C
w
r
hng ln.
- chn C lm cc, ta c:

n
B C BC BC
w w w w
= + +
r r r r
(c)
n
BC
w
r
hng t B n C:
n
BC
w = BC .
2
=
( )
2
1 2
v v
4R
+

BC
w
r
BC, chiu ph hp vi ;

BC
w
- BC . =
1 2
w w
2
+

- V cc vect gia tc: hnh 8.21b.
- Tnh w
B
: chiu 2 v ca (c) ln hai trc vung gc, ta c
w
Bx
=
n
BC
w =
( )
2
1 2
v v
4R
+

w
By
= w
C
+
2 1 1 2
BC 2
w w w w
w w
2 2

= + =
V d 8.7. Cho c cu nh hnh 8.22. Thanh I
chuyn ng nhanh dn ln pha trn truyn
chuyn ng qua thanh AC v con trt B lm cho
thanh II chuyn ng tnh tin ngang.
Tm gia tc gc ca thanh AC v gia tc ca
con trt B i vi thanh AC khi c cu v tr ng
vi gc = 30
0
, BO = 3 cm, thanh I c vn tc v
1
=
3 cm/s, gia tc w
1
= 3 cm/s
2
cn thanh II c vn
tc v
2
= 5 cm/s, gia tc w
2
= 1 cm/s
2
.
Bi gii:
1. Phn tch chuyn ng: Con trt B chuyn ng i vi thanh AC, thanh
AC li chuyn ng. Ta c bi ton hp chuyn ng i vi im B. Chn h
quy chiu ng l thanh AC.
Hnh 8.22
193
- Chuyn ng ca thanh AC i vi gi c nh l chuyn ng theo. l
chuyn ng song phng, i vi n ch bit c vn tc v gia tc im A
thuc vt.
- Chuyn ng ca con trt B i vi thanh AC l chuyn ng tng i.
l chuyn ng thng dc thanh AC. i vi chuyn ng ny ch bit c
phng ca vn tc v gia tc.
- Chuyn ng ca B i vi gi c nh l chuyn ng tuyt i. l
chuyn ng thng theo phng ngang, ti thi im kho st vn tc v gia tc
ca n cho.
2. Vn tc
- Da vo nh l hp vn tc trong hp chuyn ng im ta c:
B e r
v v v = +
r r r

trong
B 2
v v =
r r
cn
r
v
r
hng dc theo AC;
*
e
B
v v =
r r
, B
*
l trng im
ca B thuc thanh AC. Da vo nh l hp vn tc trong chuyn ng song
phng i vi hai im A v B
*
u thuc khu song phng AC, ta c:
* *
A
B B A
v v v = +
r r r

By gi biu thc vn tc tuyt i ca im B c th vit di dng:

*
B A r
B A
v v v v = + +
r r r r
(a)
trong
A 1
v v =
r r
cn
*
B A
v
r
l vn tc ca im B
*
trong chuyn ng ca
thanh quay quanh cc A, chng ta ch bit phng ca n thng gc vi thanh
AC, nhng cha bit chiu (phi gi nh) v tr s (
*
B A
v =
AC
. B
*
A, trong
AC

l vn tc gc thanh AC cha xc nh).
- Cc vect vn tc c biu din nh trn hnh 8.22.
- Phng trnh vect (a) cha hai n: gi tr ca vect
r
v
r
v
*
B A
v
r
. xc
nh chng, chiu hai v ca (a) ln hai trc
2
(H.8.22), ta nhn c:
v
B
cos = - v
A
sin +
*
B A
v
v
B
sin = v
A
cos - v
r

194
khi thay v
A
= v
1
= 3cm/s, v
B
= v
2
= 5cm/s; = 30
0
v gii, ta c:
v
r
= -1 cm/s < 0;
*
B A
v = 3 3cm/s > 0.
Kt qu cho thy chiu ca
r
v
r
ngc li chiu gi nh, tc ti thi im ny
c trt chuyn ng hng v A, cn
*
B A
v
r
c chiu ng nh chiu gi nh.
Ngoi ra d dng tm c:
AC
=
*
B A
*
v
3 3
3
B A 6 2
= = rad/s
Da vo chiu ca
*
B A
v
r
ta thy rng ti thi
im kho st thanh AC quay ngc chiu kim ng
h.
- S dng nh l hp gia tc trong hp chuyn
ng i vi im B. V chuyn ng theo khng
phi l chuyn ng tnh tin (khu AC chuyn ng
song phng) nn:
B e r C
w w w w = + +
r r r r

Trong
B 2
w w =
r r
;
C
w
r
c phng chiu nh
quy tc quay vect vn tc
r
v
r
theo chiu quay ca
AC
gc
2
quanh trc qua B (H.8.23).

w
C
= 2
e
.v
r
sin( )
C r
.v
r r
= 2
AC
.v
r
= 3cm/s
2
(
AC
r
c phng thng gc mt
phng hnh v v hng ra)
r
w
r
hng dc thanh AC, gi tr v chiu cha bit.
Gi s
r
w
r
c chiu nh trn hnh 8.23.

*
e
B
w w =
r
, B
*
thuc thanh AC, ti thi im kho st trng vi B. V
thanh AB chuyn ng song phng i vi hai im B
*
v A, ta c:
* * *
n
A
B A B A
w w w w
= + +
B
r r r r

*
n
A 1
B A
w w ; w =
r r r
hng t B n A;
*
n
B A
w =
2
AC
. BA = 4,5 cm/s
2
;
Hnh 8.23
195
*
B A
w
r
c phng vung gc vi BA, chiu cha bit (gi nh nh trn hnh
8.23) c gi tr
*
B A
w
r
=
AC
. BA cha bit v gia tc gc
AC
ca thanh AC cha
xc nh.
Biu thc gia tc tuyt i ca B by gi c th vit di dng:

* *
n
A r C
B A B A
w w w w w w
= + + + +
B
r r r r r r
(b)
Cc vect gia tc c biu din trn hnh 8.23.
- Phng trnh vect (b) cha hai n: gi tr w
r
v
*
B A
w
tm chng, chiu
hai v ca (b) ln lt ln cc trc
1
v
2
ta nhn c:
w
B
cos = - w
A
sin +
*
B A
w
- w
C

w
B
sin = w
A
cos +
*
n
B A
w - w
r

Gii ra ta c:
W
r
=
*
n
B A
w + w
A
cos + w
B
sin = 7,6 cm/s
2
> 0
*
n
B A
w = w
A
sin - w
B
cos + w
C
= 2,4 cm/s
2
> 0
Nh vy cc vc t
*
r
B A
w ,w
r r
c chiu nh gi nh
By gi d dng tm c :
*
B A
AC
w
2,4
BA 6
= =
r
= 0,4 rad/s
2

Chiu ca
AC
ph hp vi chiu
*
B A
w
r
. nh vy ti thi im kho st thanh
AC chuyn ng nhanh dn.

8.4. Bi tp
Lp phng trnh chuyn ng
8.1. Cho c cu tay quay thanh truyn
ca my hi nc. Tay quay quay u vi
vn tc gc
o
. Ly A lm cc, vit
phng trnh chuyn ng ca thanh
Hnh bi 8.1
196
truyn AB. Bit rng AB =l , OA = r v khi t = 0 th = 0.
Tr li: x = cos
o
t, y = rsin
o
t,
0
r
arcsin sin t

=

l

8.2. Tay quay OA quay nhanh dn u quanh O vi
gia tc gc
0
lm bnh 2 ln khng trt theo vnh
bnh 1 c nh. Bn knh cc bnh l r v R, khi t =
0 th
o
= 0 v = 0. Vit phng trnh chuyn ng
ca bnh 2 v ca im M thuc bnh 2. Cho bit
khi t = 0 th M ti M
0
.
Tr li : Phng trnh chuyn ng ca bnh 2.
2
0
A
t
x (R r)cos
2
= + ;
2
0
A
t
y (R r)sin
2
= +
2
0
R t
( 1)cos
r 2
= +
Phng trnh chuyn ng ca im M
2 2
0 0
M
t R t
x (R r)cos Rcos(1 )
2 r 2

= + + ;
2 2
0 0
M
t R t
y (R r)sin Rsin(1 )
2 r 2

= + + +
8.3. Tay quay OA quay u vi vn tc gc
0
. Vit phng trnh chuyn ng
ca thanh AB v ca trung im M ca n.
Cho bit OA = O
1
B = a, OO
1
= AB = b (a < b), khi t = 0 th = 0 (Hnh 8.3).
Tr li: Phng trnh chuyn ng ca AB
x
A
= acos
0
t;y
A
= asin
0
t;
0
0
asin t
2arctg
b acos t
=

Phng trnh chuyn ng ca im M :
M 0
b
x acos t cos
2
= + ;
Hnh bi 8.2
Hnh bi 8.3
197
M 0
b
y asin t sin
2
=
8.4.1. Bit vn tc v gia tc im A v tm vn tc tc thi P vi AP =
const (c cu a phng)
8.4. H rng rc (hnh v). Cc rng rc 1 v 4 cng bn
knh R, cc rng rc 2 v 3 cng bn knh r. Lc kho st,
vt M ang chuyn ng ln vi vn tc v v gia tc w. Tm:
- Vn tc u dy A
- Gia tc gc ca cc rng rc 3 v 4 (coi cc dy tip
xc vi rng rc hai u ca ng knh ngang).
Tr li:
A 3 4
w 3w
v 4v; ;
r R
= = =
8.5. Vt M ri xung theo lut x = 2t
2
m lm chuyn ng
rng rc c nh 2 rng rc ng 1. Rng rc 1 c c bn
knh bng 0,2m. Tm gia tc cc im C, B v D trn vnh
ca rng
rc 1 lc t =
0,5s;
OBCD.
Tr li: w
C
= 5m/s
2
; w
B
=7,29m/s
2
; w
D
= 6,4m/s
2

8.6. Tay quay OA quay vi gia tc gc
0
= 8rad/s
2
, lc kho st c vn tc gc
0
= 2rad/s. Bnh II ln khng trt theo vnh ca bnh I c nh. Hai bnh c
Hnh bi 8.4
Hnh bi 8.5
Hnh bi 8.6
198
cng bn knh R =12cm. Tm gia tc im M v im N ca bnh II; M l im
tip xc, N l im u ca ng knh MN.
Tr li: w
N
= 480cm/s
2
; w
M
= 96m/s
2
8.7. C cu dng quay nhanh bnh 1 nh (hnh v),
khi tay quay quay vi vn tc gc
0
th bnh 2 ln
khng trt trong bnh 3 c nh lm cho bnh I quay
quay xung quanh trc O. Tm:
- Quan h v vn tc gc v quan h v gia tc gc
gia bnh I v tay quay.
- Bn knh r
1
theo r
3
cho
1
2
12

Tr li:
3
1 0
1
r
(1 )
r
= + ;
3
1
r
r
11
=
8.4.2. Bit vn tc, gia tc mt im v qu o im khc (c cu thanh)
8.8. Tay quay OA di 20cm, quay u vi vn tc gc
0
= 10 rad/s, thanh
truyn AB di 100cm, con chy B chuyn ng theo phng thng ng. Tm vn
tc gc, gia tc ca thanh truyn v gia tc con chy B ti thi im tay quay v
thanh truyn vung gc vi nhau, gc = 45
0
.
Tr li:
AB
= 2rad/s;
2
AB
16rad/s = ; w
B
= 565,6cm/s
2

8.9. C cu 3 khu nh hnh v 8-38. Tay quay OA quay u vi vn tc gc
0
= 4rad/s; OA = r = 0,5m; AB = 2r; BC = r 2. Ti thi im
o
OAB 90 = ,
o
ABC 45 = , hy tm vn tc gc, gia tc gc thanh AB v BC.
Tr li:
AB
= 2rad/s;
BC
= 4rad/s;
2
BC
20rad/s = ;
2
BC
8rad/s = ;

Hnh bi 8.7
O
A
B
199

Hnh bi 8.8 Hnh bi 8.9 Hnh bi 8.10
8.10. C cu bn khu nh hnh v. Cc thanh AB v CD cng di 40cm.
Thanh BC di 20cm, khong cch AD bng 20cm. Tay quay AB quay u vi vn
tc
0
. Tm vn tc gc v gia tc gc ca
thanh BC lc gc ADC = 90
0

Tr li:
2
BC 0 BC 0
8 20
;
3 9
= = ;
0
lm chuyn ng thanh truyn AB gn
cng vi bnh L bn knh r. Bnh L lm chuyn ng bnh K cng c bn knh r
v lp trn trn trc O. Tm vn tc gc v gia tc gc ca bnh K ti v tr OA
thng ng v nm ngang. Cho AB = l. Hnh bi 8.11
Tr li: Khi OA thng ng = 2
0
;
2
0
2 2
4r
4r
=
l

khi OA nm ngang:
o
r
2(1 ) ; 0 = =
l

8.12. Tay quay OA quay vi gia tc gc khng i
2
0
5rad/s = v ti thi im
kho st c vn tc gc
0
=10rad/s. Bit OA = r = 20cm; O
1
B = R = 100cm; AB
=l =120cm.
Tm vn tc im B, im C v gia tc (tip v php) ca im B khi OA
v O
1
B thng ng.
Tr li: v
B
= v
C
= 200cm/s;
n 2
B
w 400cm/s =
r 2
B
w 370,45cm/s =

200

0
= 1rad/s. Bit OA = 20cm; AB =
50cm; BC = 24cm. Khi c cu c v tr nh hnh v. Tm : Vn tc con chy B,
con chy C, vn tc gc thanh BC, gia tc con chy B.
Tr li: v
B
= 20 3cm/s;v
C
= 30 cm/s;
BC
= 5
3
12
rad/s; w
B
= 44cm/s
2
0
= 8rad/s. Bit OA = 25cm; CA = CB = 50
cm; DE = 100 cm. thi im kho st

o o
CDE 90 ;BED 30 = = . OA v AB thng
hng vung gc vi BE.
Tm:
-Vn tc gc cc thanh AB v DE.
- Gia tc cc im B v C.

Hnh bi 8.14
Tr li:
AB
= 2rad/s;
DE
= 0,5rad/s; w
B
= 2000cm/s
2
; w
C
= 1800cm/s
2
.
8.15. C cu hnh v AB = EF = KD = 10cm; BC = 25cm; DC = CE. Thanh AB
c vn tc gc
AB
=10rad/s. Lc = 90
0
; = 30
0
; = 90
0
, hy tm vn tc gc
v gia tc gc thanh EF.
Tr li:
EF
= 20rad/s;
EF
= 932cm/s
2
.
8.16. Thanh OA dao ng theo lut sin t(rad)
6 2

= lm cho a K quay quanh
trc O
1
. Cho bit OA = 2O
1
B = 24cm v lc t = 4s thanh OA v O
1
B nm ngang;
= 60
0
.
Tm vn tc gc v gia tc gc ca a.
Vn tc v gia tc ca trung im M ca thanh AB.

201

Tr li:
2 4
2
3
rad/s; rad/s
6 72

= = ;
4
2
Mx
M A M
4 2
My
w cm/s
12
v v ; w
3
w cm/s
12

=
r r r

Trc x hng nm ngang t tri sang phi. Trc y hng thng ng ln.
8.17. Pt tng D ca my p thu lc c truyn chuyn ng t n OL. Lc c
cu c v tr nh hnh v, n OL c vn tc gc = 2rad/s v gia tc gc =
4rad/s
2
. Tm:
-Vn tc pt tng D, vn tc gc thanh AB
- Gia tc pt tng, gia tc gc thanh AB
Tr li: v
D
= 34,6cm/s;
AB
= 2rad/s;w
D
= 29,4sm/s
2
;
AB
= 5,2rad/s
2
.

8.4.3. Bi ton hn hp (C cu thanh v a ln khng trt. Hnh phng
bt k).

0
3 = rad/s lm cho a ln khng
trt trn ng ngang. Cho OA = 3m; R =1m. Lc = 60
0
; OAB = 90
0
.
202
Tm vn tc cc im B, M v gia tc ca
chng.
Tr li: v
B
= 6m/s; v
M
= 6 2m/s
w
B
= 18m/s
2
; w
M
= 18 2m/s
2

Hnh bi Error! Reference source
not found.
a bn knh R ln khng trt trn ng
ngang lm cho con chy B trt trong rnh
ngang. Thanh AB di l , khi u A v tr cao
nht tm O c vn tc
0
v
v
v gia tc
0
w
r
. Tm
gia tc im A, im B v gia tc gc ca
thanh AB lc , bit OA =
R
2
.

Hnh bi 0
Tr li :
2
0
Ax 0 Ay
3 v
w w ; w
2 2R
= =
2 2
0 0
B 0 AB
2 2 2 2
3 3v v
w w ;
2
2 4 9R R 4 9R
= =
l l

0

lm cho bnh II bnh r ln khng trt ln vnh
bnh I c nh bn knh R = 2r. Thanh BD di r
gn cng vi bnh II, thanh BC ni vi con chy
C. Tm gia tc im B, im C v gia tc gc ca
thanh BC lc= 30
0
, lc OA v DB nm
ngang.
Tr li:w
B
=24r
2
0
;

203

2 2
C 0 BC 0
7 3
w 7 3r ;
5
= =
Hnh bi 8.19

8.20. Bnh rng bn knh r kp gia hai thanh kha song song chuyn ng nhanh
dn v cng mt pha (H.8-21). Lc kho st cc thanh c vn tc
1 2
v , v
r r
v gia
tc
1 2
w ,w
r r
. Tm vn tc, gia tc tm O v gia tc im A ca bnh rng tip xc
vi thanh kha 1.
Tr li:
2
1 2 1 2 1 2
0 0 A X 1 AY
v v w w (v v )
v ; w ; w w ; w
2 2 4r
+ +
= = =
8.21. C cu vi sai, tay quay OA c vn tc gc
0
, gia tc gc
0
; bnh 1 quay
cng chiu vi tay quay vi vn tc gc
1
= 3
0
; gia tc gc
1
= 3
0
. Bit R
1
=
2R
2
= 2r. Tm vn tc gc, gia tc gc bnh 2 v gia tc im M trn vnh bnh
2; AMOA.
Tr li:
2
= 3
0
; gia tc gc
2
= 3
0
;
Mx 2 0
M 2
My 0 0
w 3r( )
w
w 3r(3 )
=
= +
r

8.22. C cu vi sai, bnh dn 1 quay
ngc chiu kim ng h vi vn tc
gc
0
gia tc gc
0
. Tay quay OA
=3R quay thun chiu kim ng h
vi cng vn tc gc v gia tc gc
trn. Tm vn tc v gia tc im M
204
trn. Tm vn tc v gia tc im M
trn vnh bnh b dn 3 c bn knh R
, AMOA.
Hnh bi 8.22
Tr li:
2
Mx 0 0
0 M
2
My 0
w 3R R )
v R 10; w
w 3R R
=
=

=
r

8.23. a ln khng trt theo mt phng
nghing, gc nghing 30
0
. Tm O ca a
chuyn ng theo lut x = 10t
2
cm. tm O
c treo thanh OA = 36cm, chuyn ng
theo lut sin t (rad).
3 6

= Tm vn tc
v gia tc u mt A lc t = 1s.
Tr li: v = 2,8cm/s;
2
x
2
y
w 25,2cm/s
w
w 8,25cm/s
=
v

Hnh bi 8.23

8.24. Cho hp bin tc gm mt bnh xe c
nh bn knh r
1
= 40cm, hai cp bnh xe
chuyn ng mc cng vi nhau c bn
knh r
2
= 20cm, r
3
= 30cm v mc ni tip
vi bnh xe c bn knh r
4
= 90cm, bnh xe
ny lp vo trc b dn (hnh v).
Trc dn v tay quay mang trc ca cp
bnh xe 2-3 quay vi vn tc n
1
= 1800
vng/pht. Tm tc trc b dn.
Tr li: n
II
= 3000vng/pht

Hnh bi 8.24

205
8.25. Trc dn I ca mt hp bin tc quay
vi n
1
=1200 vng/pht. Tm tc ca trc
b dn II nu bnh c nh mc ni tip c
s rng l z
1
=180, cp bnh xe chy c s
rng tng ng z
2
= 60, z
3
= 40, cn bnh
mc vi trc b dn c z
4
= 80 (hnh v).
Tr li: n
II
= 3000 vng/pht

Hnh bi 8.25
8.26. Cho hp bin tc vi sai nh hnh v.
Bnh th nht n khp trong, quay vi tc
160 vng/pht, cc bnh th 2 v th 3
gn cng vi nhau v lp vo khung gn
lin vi trc dn. Trc dn I thc hin n
1
=
1200vng/pht.
Tm tc trc b dn, nu trc I v
bnh xe 1 quay ngc chiu nhau. Cho bit
s rng cc bnh xe tng ng l: z
1
=70, z
2
= 20; z
3
= 30; z
4
= 80.
Tr li: n
II
= 585 vng/pht, cng chiu
vi bnh xe 1.

Hnh bi 8.26
8.27. Thanh AB di 0,2m chuyn ng
trong mt phng hnh v (H.8-28). Vc t
gia tc u A v u B to vi phng BA
gc 45
0
v 60
0
, tr s w
A
= 2m/s
2
; w
B
=
4,2m/s
2
. Tm vn tc gc, gia tc gc ca
thanh v gia tc im gia C ca AB.
Hnh bi 8.27
206
Tr li: = 2rad/s; =12,05rad/s
2
; w
C
=
3,18m/s
2
.
8.28. Hnh vung ABCD c cnh a = 2cm
chuyn ng trong mt phng ca hnh v.
Lc kho st, im A v im B c vc t
v gia tc nh trn hnh v (H.8-29), tr s
w
A
= 2cm/s
2
;
2
B
w 4 2cm/s = . Tm vn tc
gc, gia tc gc v gia tc im C lc .

Hnh bi 8.28
Tr li: 2 = rad/s; =1rad/s
2
; w
c
= 6cm/s
2
;
C
w
r
hng t C n D.
8.29. Hai con chy A v B chuyn ng c
gia tc dc theo hai phng vung gc,
cng hng vo O (H.8-30). Tm vn tc
v gia tc ca im C lc hai thanh AC v
BC vung gc vi hai phng chuyn
ng ca con cha. Bit rng lc cc
con chy c vn tc tng ng l v
A
v v
B
;
OA = a, CB = b.

Hnh bi 8.29
Tr li v
C
= 0;
4 4
A B
C 2 2
v v
w
a b
= +
8.30. Thanh AB lun lun ta ln im C
c u B trt trn na ng trn vi vn
tc khng i v
B
= 1m/s (hnh v). Tm
vn tc, gia tc im C lc gc =30
0
(
l gc gia thanh vi ng nm ngang).
Bit bn knh ca ng trn R =1m.
Tr li:

2
c c
1 1
v m/s; W 7m/s
2 4
= =
B
C

A
D
I

Hnh bi 8.30
207
8.31. Cho mt c cu tng hp c hai tay
quay OA
1
v OA
2
cng chiu di v bng
na khong cch gia hai mng nh
hng M v N. thi im kho st cc
gc
1
=
2
= = 30
0
, hai tay quay quay
cng chiu vi vn tc gc
0
v gia tc
gc bng khng. Tm vn tc gc v gia
tc gc ca khu EK thi im (hnh
v).
Hng dn: Thanh EK chuyn ng song
phng.
Tr li:
2
0 0
3 3 3
; .
8 32
= =
1
2
A
1
A
O
M
N
K
E
Hnh bi 8.31

208
Chng 9. Chuyn ng ca vt rn quay quanh mt
im c nh
Chng ny ta gii bi ton v mt dng chuyn ng phc tp ca vt rn:
Vt chuyn ng quay quanh mt im c nh. Vi chuyn ng ny, mi im
trn vt s chuyn ng trn nhng mt cu m tm l im c nh, nn chuyn
ng ny cn c tn l chuyn ng cu.
9.1. C s l thuyt
9.1.1. Kho st chuyn ng ca vt
1. Phng trnh chuyn ng ca vt
Xt chuyn ng ca vt rn quay quanh im c nh O. Ta dng h trc c
nh Ox
1
y
1
z
1
v h trc Oxyz gn lin v chuyn ng cng vi vt th (Hnh
9.1). ng giao tuyn OK gia mt phng Oxy v Ox
1
y
1
gi l ng nt, khi
v tr ca oxyz (tc l ca vt rn) trong h trc Ox
1
y
1
z
1
c th c xc dnh
bng 3 gc le:

1 1
KOX; X OK; ZOZ = = =
gi l gc quay ring
gi l gc quay tin ng
gi l gc knh (hay trng ng)
Chiu dng ca cc gc c ch trn hnh v.
Khi thay i, vt s quay quanh OZ
Khi thay i, vt s quay quanh OZ
1

Khi thay i vt quay quanh ng nt OK Hnh 9.1
xc nh c chuyn ng ca vt rn, cn bit v tr ca n trong h
trc Ox
1
y
1
z
1
mi thi im t tc cn bit cc h thc:
( )
( )
( )
t
t
t
=
=

(9.1)
209
Cc phng trnh xc nh cc quy lut chuyn ng c gi l cc phng
trnh chuyn ng ca vt rn quay quanh mt im c nh.
2. Vn tc gc quay ca vt
Theo phn tch chuyn ng trn, cc chuyn ng quay xc nh cc vc
t vn tc gc
1 2 3
, ,
r r r
nm dc theo cc trc quay (Hnh 9.1)
Vi
1
2
3
=
=

&
&
&
(9.2)
Vc t vn tc gc tc thi
r
=
1 2 3
+ +
r r r
(9.3)
Hnh chiu ca
r
ln cc trc ca h trc c nh Ox
1
y
1
z
1
:
1
x
sin sin cos = +
&
&
1
y
sin cos sin = +
&
& (9.4)
1
z
cos = + & &
Hnh chiu ca
r
ln cc trc ca h trc ng Oxyz:
x
sin sin cos = +
&
&
y
sin cos sin =
&
& (9.5)
z
cos = + & &
Gi tr ca vc t
r
bng
=
2 2 2
2 cos + + +
&
& & && (9.6)
Trc OP mang vct
r
c gi l trc quay tc thi, phng trnh ca n
i vi h trc c nh c dng:
1 1 1
1 1 1
x y z
x y z
= =

(9.7)
trong
1 1 1
x y z
, , c biu thc (9.4)
Phng trnh ca trc quay tc thi OP i vi h trc ng s l:
210
x y z
x y z
= =

(9.8)
trong
x
,
y
,
z
ly cc biu thc (9.5).
V mt thc hnh, trc quay tc thi c xc nh da trn hai quy tc sau:
- Tm mt im trn vt ngoi im O c vn tc bng khng. Trc quay tc
thi i qua im v O.
- Tm vect
, phng ca
l trc quay tc thi.

Khi vt chuyn ng, trc quay tc thi v nn mt mt nn i vi h trc
ng c gi l mt ln, cn i vi h trc c nh c gi l mt cn c.
Trong qu trnh vt chuyn ng mt ln s ln khng trt trn mt cn c.
3. Gia tc gc ca vt

d
dt
=
r
r
(9.9)

v quy c c gc ti O. Khc vi chuyn ng quay quanh mt trc c nh
trong trng hp ny vect gia tc gc
r
khng cng phng vi vect vn tc
gc
(H.9.2). Vect gia tc gc

r
chnh l vect vn tc im u mt ca
vect vn tc gc
.
Trng hp vt quay tin ng u, khi chuyn ng quay ring v quay
tin ng l u (
1
= const;
2
= const) cn chuyn ng quay trng ng
khng c (
3
= 0; = const). i vi trng hp ny (H.9.3) ta c:
Hnh 9.3
Hnh 9.2
211
1 2
= +
r r r
(9.10)

2 1
=
r r r
(9.11)

e r
=
r r r

Khi :
=
2 2
1 2 1 2
2 cos + + = const
=
1
.
2
sin = const (9.12)
= arcsin
1
sin = const; ( )
1 2
mp ,
r r r
;
9.1.2. Kho st chuyn ng cc im thuc vt
1. Vn tc cc im thuc vt

Hnh 9.4
v r =
r r r
(9.13)
trong r
r
= OM
r
, cn
r
c xc nh theo (9.3).
Vy
v
r

Nh vy vic tnh vect vn tc ca mt im M thuc vt ging nh tnh
vn tc ca im khi vt quay trc OP vi vn tc
r
(H.9.4).
2. Gia tc ca im thuc vt
phng: thng gc vi mt phng
( )
OP,r
r
r
.
chiu: thun chiu quay ca vt quanh OP
gi tr: v = h; h l khong cch t M n trc OP.
212
w w w

= +
r r r
(9.14)
trong :
w v
r r r

w r
r r r

Quy tc thc hnh:
Vc t w
r
c xc nh ging nh
n
w
r
trong
chuyn ng quay quanh trc c nh khi ly trc
quay l trc mang vect
r
(tc trc OP) (H.9.5).
Vect w
r
c xc nh ging nh w
r
trong
chuyn ng quay quanh trc c nh khi ly trc
quay l trc mang vect
r
(H.9.5)
9.2. Phng php gii
1. Phn loi bi ton
Trong cc bi ton thng gp c th phn thnh cc loi:
Loi I: Bit trc quay tc thi (vt ln khng trt trn vt khc c nh) v
bit chuyn ng ca mt im A thuc vt.
Loi II: Bit cc chuyn ng thnh phn.
2. Phng php gii bi ton. Theo cc bc sau:
1) Phn tch chuyn ng ca c h, dng chuyn ng ca tng vt thuc
h, cc yu t ng hc ca tng vt (cc i lng bit, cha bit), pht hin
vt quay quanh mt im c nh v xc nh loi bi ton.
2) Xc nh cc yu t ng hc ca vt
Phng: dc ng thng gc v t M n OP.
Chiu: hng t M n OP
Gi tr: w
= h
2
; h l khong cch t M n OP.
Phng: thng gc vi mt phng
( )
,OM
uuuur
r

Chiu: nhn t u mt
r
w
r
thy
r
quay n r
r
ngc
chiu kim ng h theo gc nh
Gi tr: w
= h
1
; h
1
l khong cch t M n trc mang
vect
r
.
Hnh 9.5
P
O
213
- Vect vn tc gc
r
. i vi bi ton loi I vect
r
nm dc trc quay tc
thi v c chiu ph hp vi vect
A
v
r
c tr s bng:
A
v
h
=
h - l khong cch t A n trc quay tc thi.
i vi bi ton loi II vect vn tc gc
r
c xc nh theo (9.3) v (9.2)
hoc (9.10) khi vt quay tin ng u.
- Vect gia tc gc
r
c xc nh theo cng thc (9.9) tc l tm vect vn
tc ca im u mt ca vect vn tc gc.
Trong trng hp vt quay tin ng u, vect gia tc gc c xc nh
theo cng thc (9.11).
3) Xc nh cc yu t ng hc ca cc im thuc vt.
Vn tc mt im thuc vt c xc nh theo (9.13): cn gia tc ca n
c xc nh theo (9.14).
9.3. Bi gii mu
V d 9.1. Trc OA quay quanh trc OB vi
vn tc gc
0
= const, lm cho bnh rng nn I
ln khng trt trn bnh rng nn II c nh
(H.9.6). Cho OA = a, OB = b. Tm:
- Vn tc gc ca bnh I, vn tc im cao
nht M.
- Gia tc gc ca bnh I, gia tc ca im M.
Bi gii
1. Phn tch chuyn ng. H kho st gm c tay quay OA quay u quanh
trc c nh thng ng vi vn tc gc
0
, v bnh rng I ln khng trt trn
bnh rng II c nh. Chuyn ng ca bnh rng I l chuyn ng quay quanh
im c nh O (c th phn tch chuyn ng bnh rng I gm c chuyn ng
quay ring quanh trc OA v quay tin ng quanh trc OB).
2. Xc nh vn tc gc
r
v gia tc gc
r
ca bnh rng I:
Hnh 9.6
214
Bnh I ln khng trt trn bnh II c nh, im tip xc P gia hai bnh
rng c vn tc bng khng nn OP l trc quay tc thi ca bnh rng I, do
n cha phng ca vect vn tc gc
r
.
Trn bnh I c im A ta bit vn tc v n l im ni gia bnh I v tay
quay O, nn gi tr ca
r
c tnh theo Hnh 9.7, trong

v
A
= OA.
0
= a
0
; h = asin.
Vy: =
o o
a
asin sin

=

= const
Vect
r
c chiu nh trn hnh 9.6
V vect
r
c gi tr khng i,
lm vi trc thng ng gc khng i
v quay quanh trc vi vn tc gc
o
r
nn vn tc im u mt ca n
c tnh theo cng thc.
r
=
d
dt
r
= v
k
=
o
r

Vect
r
c phng thng gc vi mt phng (
o
r
,
r
) hng t trong ra
ngoi, k hiu v c gi tr: =
0
.cos =
2
2 o
o
a
tg b

3. Xc nh vn tc v gia tc ca im M (Hnh 9.7)
Vn tc ca im M c tnh theo v r =
r r r
c phng thng gc vi mt
phng (
r
, OM
uuuur
) c chiu hng vo trong (k hiu ) v c gi tr:
v
M
= MD. = 2h = 2asin. = 2a
o
= 2v
A

Gia tc ca im M c tnh theo w w w

= +
r r r
:
trong w v
=
r r r
hng thng gc vi trc OP, c chiu t M n D v c
gi tr : w
= MD.
2
= 2a
2
sin = 2
2 2
o
a
a b
b
+
P
I
M
Hnh 9.7
215
g
w OM =
uuuur
r r
c phng thng gc vi mt phng ( OM
uuuur
,
r
) c chiu hng
nh hnh v, c gi tr: w
= OM. =
2 2 2
o
a a
. a b
cos b
= +

Hai vect w
r
v w
r
to vi nhau mt gc ( - 2) nn
w =
2 2
w w 2w w cos2

+ =
2 2 2
o
a
a 9b
b
+
V d 9.2. Mt a bn knh R quay u vi vn tc gc
1
, quanh trc O
1
O
2
,
trc ny quay u vi vn tc gc
2
quanh trc thng ng. Tm vn tc gc v
gia tc ca a, vn tc v gia tc ca hai im mt ng knh AB v tr thng
ng (H.9.8).

Hnh 9.8
Bi gii
1. Phn tch chuyn ng: H gm khung quay quanh trc thng ng c
nh vi vn tc gc khng i
2
v a quay i vi khung quanh trc O
1
O
2
vi
vn tc gc khng i
1
v cng vi khung quay quanh trc thng ng vi vn
tc gc khng i
2
. Vy a c chuyn ng quay quanh im c nh O, hn
na l chuyn ng quay tin ng u (
1 2
const; const;
2
= = = )
2. Xc nh vect vn tc gc
r
v gia tc gc
r
. Vect vn tc gc
r
c
xc nh theo (9.10) trong
1 2

r r
. Vy: =
2 2
1 2
+
216
Vect
r
c chiu nh hnh 9.8. Trc quay tc thi l trc mang vect
1
r
.
Vect gia tc gc
r
c xc nh theo :
r
=
2 1

r r

Vy =
1
2
sin
2
=
1
2

Vect
r
c gc ti O, vung gc vi mt phng hnh v v hng vo trong.
3. Xc nh vn tc v gia tc cc im A, B (Hnh 9.8 v Hnh 9.9). Ti thi
im kho st, a quay tc thi quanh OP vi vn tc gc
r
do :

Hnh 9.9
v
B
= v
A
= h = Rcos. = R
1
= R
1
.
Cc vect
B A
v ,v
r r
hng ngc chiu nhau v cng thng gc vi mt phng
hnh v,
A
v
r
hng t trong ra ngoi.
Theo (9.14) ta c:
A C
w w w
= +
r r r
, trong w v
=
r r r
c phng thng gc
vi trc OP, hng t A n trc CP v c gi tr.

A
w
= h
2
= Rcos.
2
= R
2 1
= R
1

w OA
=
uuur
r r
c phng v chiu song song vi trc O
1
O
2
(H.9.9) v c gi tr
w
= OA. = R
1
2

D dng thy rng w
r
v w
r
lm vi nhau gc
2
- . Do
217
w
A
=
2 2 2 2
1 1 2
w w 2w w sin R 4

+ + = +
Vect
B
w
r
cng phng ngc chiu v cng gi tr vi
A
w
r
.
V d 9.3. Mt vt rn quay quanh im c nh theo phng trnh:
= 30t; = 2t; =
6

Tm vn tc gc, gia tc gc v trc quay tc thi ca vt i vi h trc c
nh v h trc ng.
Bi gii: Gi h trc c nh l Ox
1
y
1
z
1
v h trc ng gn lin vi vt l
Oxyz (H.9.1).
tm vect vn tc gc
r
ta cth tm hnh chiu ca n i vi h trc c
nh theo biu thc (9.4):

1
x
= &sinsin +
&
cos = 30sin
6
sin2t = 15sin2t
1
y
= &sincos +
&
sin = -30sin
6
cos2t = -15cos2t
1
z
= &cos+& = 30cos
6
+ 2 = 15 3+ 2 = const
D dng tnh c gi tr ca vect vn tc gc
= ( ) ( )
( )
2
2 2
15sin2t 15cos2t 15 3 2 + + + =
( )
2
2
15 15 3 2 + + = 31,7 rad/s
Cng c th tm gi trca
r
theo cng thc (9.6)
Phng chiu ca vect vn tc gc
r
c xc nh nh cc csin ch
phng ca chng.
cos( )
1
x
1
,Ox

=
r
; cos( )
1
y
1
,Oy

=
r
;cos( )
1
z
1
,Oz

=
r
= const.
D dng thy rng trong trng hp ny vt c chuyn ng quay tin ng
u (
1 2 2
30 const; 2 const; 0;
6
= = = = = = = = =
&
& & )
Vy c th tm vect vn tc gc theo(9.10) :
r
=
1 2
+
r r

218
=
2 2 2 2
1 2 1 2
3
2 cos 30 2 2.2.30
6 2
+ + = + + = 31,7 rad/s
sin( )
1
1
.Oz sin
r
= const.
Bng cch nh vy ta nhn c kt qu tm c trn.
Vect gia tc gc
1
r
da vo (9.11), c phng thng gc vi mt phng
(
1
r
,
2
r
) tc mt phng (Oz
1
, Oz) c chiu khi nhn t u mt
1
r
thy
2
r
quay
gc b nht ngc chiu kim ng h gp
1
r
v c gi tr tnh theo (9.12):
=
1
.
2
sin = 30.2sin
6
= 30rad/s
2
= const
Phng trnh ca trc quay tc thi i vi h trc c nh theo (9.7)
1 1 1
x y z
15sin2t 15cos2t 28
= =

vit phng trnh ca trc quay tc thi i vi h trc ng gn lin vi
vt, chng ta s dng (9.8), trong cc hnh chiu ca vect vn tc gc
r
ln
cc trc ca h ng c dng (9.5):
x
= &sinsin +
&
cos = 2sin
6
sin30t = sin30t
y
= &sincos -
&
sin = 2sin
6
cos30t = cos30t
z
= &cos+&= 2cos
6
+ 30 = 30+ 3 = const
Phng trnh ca trc quay tc thi i vi h trc ng c dng:
x y z
sin30t cos30t 30 3
= =
+

Phng trnh ny c th xem l phng trnh ca mt ln vit trong dng
tham s t. Bng cch kh t chng ta nhn c phng trnh ca mt ln.
219
( )
2 2
2 2 2
x y x y 1
F , 0
z z z z
30 3

= + =

+

Tng t, chng ta nhn c phng trnh ca mt cn c
2 2
1 1 1 1
2 2 2
1 1 1 1
x y x y 1
G , 0
z z z z
28
15

= + =

9.4. Bi tp
9.1. Mt hnh nn ln khng trt theo mt ngang nh O c nh. Tm C ca
y nn chuyn ng u, tr v v tr c sau mt giy. Tm vn tc mt B ca
ng knh AB, gia tc gc ca hnh nn v gia tc cc im A v B (hnh v).
Cho chiu cao CO = 18 cm; gc
0
AOB 90 =
Tr li : v
B
= 36 2cm/s. = 39,5;
r
hng thng gc vi OA v OB
w
A
= 1000 cm/s
2
;
A
w
r
song sng vi OB.
w
B
= 1000 2cm/s
2
;
B
w
r
trong mt phng AOB v to vi OB gc 45
0
.
9.2. Hnh nn II chuyn ng trn mt hnh nn c nh I, ng cao OO
1
= 10
cm c vn tc 120 vng/pht. Gc phng nn I l 120
0
, nn II l 60
0
(hnh v).
Tm vn tc v gia tc im C v im B ca hnh nn II.
Tr li: v
A
= 0;v
B
= 80cm/s

; w
A
= 320
2
cm/s
2
;
B
w
= 610
2
cm/s
2
;
B
w
= 320
2
cm/s
2
.
9.3. Hai con ln hnh nn ct ln khng trt trn mt c nh. Bn knh y
ca con ln l R = 10 2cm, gc nh 2 = 90
0
, vn tc tm A l v
A
= 20 cm/s
(hnh v ). Tm vn tc v gia tc im C v im B ca con ln.
Tr li: v
C
= 0;v
B
= 40 cm/s; w
C
= 40 cm/s
2
;w
B
= 40 5cm/s
2
.
220


9.4. Mt my nghin c s cu trc nh hnh v. Qu cu rng II cha bi v
vt liu nghin c lp trn trn khung I quay c quanh trc nm ngang nh
tay quay G. Khi tay quay tay quay G, khung I quay quanh trc AB lm cho trc
CD chuyn ng, do bnh rng nn E gn cng vi trc CD - chuyn ng n
khp vi bnh F c nh. Bn knh ca bnh E l r, ca bnh F l R. Tm vn tc
gc v gia tc gc ca qu cu II, nu tay quay c vn tc gc
0
= const, gc
gia trc AB v CD l . (Hnh v).
Tr li: =
2
2 2 o o
R
R r 2Rrcos ; sin
r r

+ + = .
9.5. Khung vung ABCD quay quanh cnh AB vi vn tc 2 vng/pht. Mt a
quay quanh ng cho BD ca khung vi vn tc 2 vng/pht. Tm vn tc gc,
gia tc gc ca a. (H.9.5)

Hnh bi 9.4
221
Tr li: = 0,39rad/s; = 0,031 rad/s
2
.
9.6. a A v a B quay c lp i vi nhau quanh trc thng ng lm cho
a C chuyn ng, do trc DI ca n quay quanh trc thng ng. Bn knh
ca a C l r = 0,05 m, trc DI =
1
14
m, cc im tip xc c vn tc v
1
= 3m/s v
v
2
= 4m/s.
Tm vn tc tm D, vn tc gc v gia tc gc ca a C (H 9.6).
Tr li:v = 0,5 m/s; = 949 rad/s; = 490 rad/s
2

9.7. Con quay quay ring quanh trc OB vi vn tc gc khng i
1
rad/s,
ng thi trc OB to nn hnh nn u. Sau mt pht nh B to c n vng,
gc BOS = . Tm vn tc gc v gia tc gc ca con quay. (H 9.7)
Tr li:
2
1
2 1 1
n n n
2 cos ; sin
30 30 130

= + + =


9.8. Hy tm phng trnh ca trc quay tc thi v ln ca vn tc gc ca
c th; bit rng hnh chiu ca vn tc im M
1
(0, 0, 2) ln cc trc to gn
lin vi c th bng v
x1
= 1m/s; v
y1
= 2m/s; v
z1
= 0 v hng vn tc ca im M
2

(0, 1, 2) xc nh bi cc csin ch phng sau y:
2 2 1
, ,
3 3 3
+
222
Tr li: x + 2y = 0; 3x + z = 0; = 3,2s
-1

9.9. Chuyn ng ca c th quanh im c nh cho bi cc gc le nh sau:
= nt, =
2
+ ant, =
3
, trong a v n l hng s. Hy xc nh hnh chiu

ca vn tc gc v gia tc gc ca c th ln cc trc to c nh. ng thi
cng xc nh gi tr tham s a cho cxit c nh ca c th l mt phng
Oxy.
Tr li:
x
=
n 3
2
cos ant,
y
=
n 3
2
sin ant,
z
= n
1
a
2

+

;

x
= -
2
an 3
2
sin ant,
y
=
2
an 3
2
cos ant,
z
= 0; a = -
1
2
.
9.10. Hy tm vn tc v gia tc im C v B ca trc ln hnh nn ln khng
trt theo b phng hnh nn vnh khn, bit rng bn knh y ca trc ln R
= 10 2 cm v gc ti nh 2 = 90
0
; vn tc ca tm trc ln A chuyn ng
theo qu o ca n bng v
A
= 20 cm/s.

Hnh bi 9.10
Tr li: v
c
= 0; w
C
= 40 cm/s
2
; v
B
= 40 cm/s; w
B
= 40 5cm/s
2
.
9.11. Vn tc gc ca c th = 7s
-1
; trc quay tc thi ca n ti thi im ang
xt hp vi cc trc to c nh l nhng gc nhn , v .
Hy xc nh ln v v hnh chiu ln cc trc to v
x
, v
y
, v
z
ca vn tc
ca im c to ti thi im ang xt l: 0, 2, 0 (tnh bng mt); ng thi
223
xc nh khong cch d t im n trc quay tc thi; cho bit cos =
2
7
;
cos =
6
7
.
Tr li: v
x
= - 12 m/s; v
y
= 0, v
z
= 4m/s; v = 12,65 m/s; d = 1,82 m.

224
Chng 10. Hp chuyn ng ca vt rn
10.1. C s l thuyt
10.1.1. Hp cc chuyn ng quay
quanh hai trc song song
Xt trng hp chuyn ng tng i ca
vt l chuyn ng quay quanh trc aa' gn trn
tay quay ba vi vn tc gc
1
, cn chuyn ng
ko theo l chuyn ng quay ca tay quay ba
quay quanh trc bb' song song vi aa' v c vn
tc gc
2
1 r
2 e
=
Hnh 10-1

Hnh 10.2
Tm vn tc gc tuyt i
a
ca vt .
nh l: Hp hai chuyn ng quay quanh hai trc song song ca vt rn, ta
c chuyn ng tuyt i l chuyn ng song phng c mt phng qui chiu
vung gc vi trc quay. Vn tc gc tuyt i bng tng i s vn tc gc
tng i v vn tc gc theo
225

a
=
e
+
r
(10.1)
Trong trng hp chuyn ng theo v tng i c chiu ngc nhau v c vn
tc gc cng gi tr th chuyn ng tuyt i l chuyn ng tnh tin (
a
0).
10.1.2. Hp cc chuyn ng quay quanh hai trc ct nhau
Xt trng hp chuyn ng tng i ca vt 1 (hnh 10.2) l chuyn ng
quay vi vn tc gc
1
r
quay quanh trc aa
1
gn trn tay quay 2, cn chuyn
ng ko theo l chuyn ng quay vi vn tc gc
2
r
xung quanh trc b
1
b ct
aa
1
.

1 r
2 e
=
r r
r r

nh l: Hp hai chuyn ng quay quanh hai trc ct nhau ti O ta c
chuyn ng cu quanh O vi vn tc gc tuyt i bng tng hnh hc ca vn
tc gc theo v tng i
a e r
= +
r r r
(10.2)
10.1.3. Truyn ng hnh tinh, vi sai phng v truyn ng hnh tinh
vi sai nn.
1. Truyn ng hnh tinh, vi sai phng

Hnh 10.3
- Truyn ng hnh tinh, vi sai phng l truyn ng bnh rng tr trong h
ng quay quanh mt trc c nh song song vi cc trc quay ca bnh rng
(Hnh 10.3). Nu c mt bnh rng c nh ta c truyn ng hnh tinh (hnh
226
10.3 c bnh rng 1 c nh). Nh vy trong truyn ng hnh tinh ch c mt
khu dn ng (c mt vn tc gc c lp) v c cu c mt bc t do. Nu c
hai khu dn ng (c hai vn tc gc c lp) ta c truyn ng vi sai, c cu c
hai bc t do (trong hnh 10.3, bnh rng 1 khng c nh m c th quay quanh
trc A khng ph thuc vo tay quay AB).
gii bi ton truyn ng hnh tinh, vi sai phng, u tin chn h ng
(tay quay hoc khung quay) v vit cng thc n khp ca tng cp bnh rng i
vi h ng (cng thc n khp tng i).
V d, i vi cp bnh rng 2.3 chn tay quay AB lm h ng v vn tc
gc ca cc bnh 2 v 3 i vi tay quay c k hiu qua
2tq
v
3tq
.
2tq
3 3
3tq 2 2
r z
r z
= =
(10.3)
trong ly du + hoc - tu thuc cp bnh rng n khp trong hay ngoi.
Cn r
2
, r
3
l bn knh; z
2
, z
3
l s rng ca bnh 2 v bnh 3.
Da vo (10.1) d dng tnh c vn tc gc tuyt i ca cc bnh rng:
i
=
tq
+
itq
(10.4)
Cng thc (10.3) kt hp vi (10.4) c th vit di dng:
2 tq
3 3
3 tq 2 2
r z
r z

= =

(10.5)
n c gi l cng thc Vilit.
2. Truyn ng hnh tinh, vi sai nn
L truyn ng bnh rng nn trong h ng quay quanh mt trc c nh
ct mt trong cc trc quay ring ca cc bnh rng nn. Nu c mt khu dn
ng (c mt vn tc gc c lp) ta c truyn ng hnh tinh v h c mt bc
t do. Nu c hai khu dn ng (c hai vn tc gc c lp) ta c truyn ng vi
sai v c cu c hai bc t do.
Sau khi chn chiu quay dng i vi cc trc quay ct nhau ta vit cng
thc n khp tng i cho tng cp bnh rng nn:
227
1tq
2 2
2tq 1 1
r z
r z
= =
(10.6)
Ly du + nu i vi h ng cc bnh rng quay cng chiu nhau i vi
trc quay ring ca chng (hoc cng chiu dng hoc cng chiu m) v ly
du - trong trng hp ngc li (H.10.4).

Hnh 10.4
Cn ch rng khi i chiu ca mt trong cc trc th du trong (10.6) s
thay i. Ni khc i, trong (10.6) ly du + hoc - tu thuc vic chn chiu
quay dng i vi cc trc quay ring ct nhau.
V chuyn ng theo v tng i ca bnh rng 1 xy ra quanh cc trc
song song nn da vo (10.1) ta c
1tq
=
1
-
tq
(10.7)
cn chuyn ng theo v tng i ca bnh 2 xy ra quanh cc trc ct
nhau nn khng c quan h (10.1) m ch c quan h (10.2), do :
2tq 2 tq
=
r r r
(10.8)
10.2. Phng php gii
1. Phn loi cc bi ton
Cc bi ton thng gp c phn thnh hai loi sau:
1. Truyn ng hnh tinh, vi sai phng (bi ton hp chuyn ng quay
quanh cc trc song song).
228
2. Truyn ng hnh tinh, vi sai nn (bi ton hp chuyn ng quay quanh
cc trc ct nhau).
2. Phng php gii bi ton
Cc bc gii bi ton:
1) Phn tch chuyn ng: Phn tch chuyn ng cc vt thuc h, pht hin
h trc ng hnh thnh bi ton chuyn ng hnh tinh, vi sai phng (chuyn
ng theo v tng i xy ra quanh cc trc song song) hay bi ton hnh tinh,
vi sai nn (chuyn ng theo tng i xy ra quanh cc trc ct nhau).
2) Gii
a. Bi ton hnh tinh, vi sai phng:
- Chn chiu quay dng i vi trc quay.
- Vit cng thc n khp tng i (10.3) cho cc cp bnh rng tr.
- Trong (10.3) chuyn cc vn tc gc tng i qua vn tc gc tuyt i
theo (10.4) v nhn c (10.5).
- Gii (10.5), xc nh n v gii
b. Bi ton hnh tinh, vi sai nn.
- Chn chiu quay dng i vi cc trc ct nhau.
- Vit cng thc n khp tng i (10.6) cho cc cp bnh rng nn.
- Tm vn tc gc tuyt i. i vi cc bnh rng c chuyn ng theo, v
tng i xy ra quanh cc trc song song th s dng cng thc (10.7), cn i
vi cc bnh rng chuyn ng theo v tng i xy ra quanh cc trc ct nhau
th s dng cng thc (10.8).
- Gii (10.6), (10.7), (10.8) - xc nh n v gii.
10.3. Bi gii mu
10.3.1. Chuyn ng hnh tinh, vi sai phng
V d 10.1. Hp bin tc (H.10.5) gm trc dn I quay vi vn tc n
1
= 1500
vng/pht v truyn chuyn ng cho trc II qua h thng bnh rng 2 - 3, nh
bnh rng 2 ln khng trt trn bnh 1 c nh, lm cho bnh rng 4 gn
229
lin vo trc II quay. Tm tc ca trc b dn II. Cho Z
1
= 120; Z
2
= 40;
Z
3
= 30; Z
4
= 50.
Bi gii:
1. Phn tch chuyn ng. H gm c
bnh rng 1 c nh, bnh rng 4 v tay
quay OA quay quanh trc nm ngang vi
vn tc gc
tq
bit (ng vi n
1
= 1500
vng/pht) v cp bnh rng 2 - 3 va
quay quanh trc quay ring ca mnh i
vi tay quay v cng vi tay quay OA
quay quanh trc nm ngang c nh. Chn tay quay lm h
ng, ta c bi ton tng hp chuyn ng quay quanh cc trc song song i vi
cp bnh rng 2 -3 (chuyn ng tng i l chuyn ng quay quanh trc ring
OO') ca cp bnh rng 2 - 3, cn chuyn ng theo l chuyn ng ca tay quay
OA).
2. Vn tc
- Vit cng thc n khp tng i.
i vi h ng l tay quay OA. Ta c cc cp bnh rng n khp 1 - 2 v 3 - 4.
Gi vn tc gc ca bnh rng 1, 2, 3, 4 i vi tay quay OA ln lt l
1tq
,
2tq
,
3tq
,
4tq
. S dng cng thc (10.3) cho cc bnh rng 1 - 2 (n khp trong) v 3 -
4 (n khp ngoi) ta c:
1tq
2
2tq 1
z
z
(a)
3tq
4
4tq 3
z
z
(b)
V cp bnh rng 2 - 3 gn cht nhau (l mt vt rn) nn
2tq 3tq
=
Nhn v vi v ca cc ng thc (a) v (b) ta c:
Hnh 10-5
230
1tq
2 4
4tq 1 3
z z
z z
(c)
Da vo (10.4) ta c :
1tq
=
1
-
tq
;
4tq
=
4
-
tq

Vy:
1 tq
2 4
4 tq 1 3
z z
z z

=

(d)
Gii phng trnh (d) ta nhn c :
4
=
1 3
2 4
z z
1 .
z z

+

tq
-
1
.
1 3
2 4
z z
z z

Bnh rng 1 ng yn nn
1
= 0; cn
tq
=
1
;
4
=
II

Do :
II
=
1 3
2 4
z z
1 .
z z

+

I.
Vy trc I v II quay cng chiu. Khi thay s
vo ta c : n
II
= 1500
120.30
1
40.50

+

= 420 vng/pht
Vn tc gc tng i ca cp bnh rng 2 - 3 i vi tay quay bng:
2tq
=
( )
1 1 1
1tq 1 tq tq
2 2 2
z z z
z z z
= =
Tc cp bnh rng 2-3 quay quanh trc ring ngc chiu vi tay quay OA
v c tc bng: n
2tq
=
1
2
z
z
n
tq
=
120
40
.1500 = 4500 vng/pht
2
=
tq
+
2tq
=
1
2
z
1
z

tq
= - 2
tq
Vy bnh song phng quay nhanh gp
i v ngc chiu tay quay.
Ch thch:
1) D dng tnh c :
2
= - 2
tq
2) Vic tm vn tc v gia tc cc
im thuc bnh rng 2 da vo cng thc
trnh by chng chuyn ng song
phng.
Hnh 10-6
231
V d 10.2. Cho hp truyn ng nh hnh 10.6. Trc dn I gn vi tay quay
OA quay vi vn tc
1
= 120 rad/s. Tay quay OA mang trc ca hai bnh rng 2
v 3 c gn cng vi nhau. Bnh rng 1 quay cng chiu trc dn vi vn tc
gc
1
= 180 rad/s. Tm vn tc gc tuyt i ca cp bnh rng 2 - 3 v vn tc
gc ca trc b dn II. Bit s rng ca cc bnh rng Z
1
= 80; Z
2
= 20; Z
3
= 40;
Z
4
= 60.
Bi gii
1. Phn tch chuyn ng
Bnh rng 1, bnh rng 4 v trc I (cng vi tay quay OA) quay quanh trc
nm ngang c nh. Cp bnh rng 2 - 3 quay quanh trc quay ring ca mnh i
vi tay quay v cng tay quay quay quanh trc nm ngang c nh. Chn tay
quay lm h ng ta c bi ton tng hp chuyn ng quay quanh nhng trc
song song i vi cp bnh rng 2 - 3 (chuyn ng tng i l chuyn ng
ca bnh rng 2 - 3 i vi tay quay OA quanh trc quay ring v chuyn ng
theo l chuyn ng ca tay quay OA). V bnh xe 1 v trc I quay c lp nhau
(hai khu dn) nu ta c c cu vi sai.
2. Vn tc
- Vit cng thc n khp tng i. i vi h ng l tay quay OA. Ta c
cc cp bnh rng n khp (ngoi) 1 - 2 v 3 - 4. Gi vn tc gc ca bnh rng
i vi tay quay OA ln lt l
1tq

2tq
,
3tq'
,
4tq
.
Ta c:
1tq
2
2tq 1
z
z
(a)

3tq
4
4tq 3
z
z
(b)
V cp bnh rng 2 - 3 gn cht nhau nn:
2tq
=
3tq
. Khi nhn v vi v ca
cc ng thc n khp (a) v (b) trn ta c:
232

1tq
2 4
4tq 1 3
z z
z z

=

(c)
Da vo (10.4) :
1tq
=
1
-
tq
;
4tq
=
4
-
tq

Vy:
1 tq
2 4
4 tq 1 3
z z
z z

=

(d)
T :
4
=
1 3
2 4
z z
z z

1
+
1 3
2 4
z z
1
z z

tq
V
4
=
II
;
tq
=
I
, ta c:
II
=
1 3
2 4
z z
z z
.
1
+
1 3
2 4
z z
1 .
z z

I

Khi thay cc s liu vo ta c (gi s
I I
0; 0 > > ):
II
80.40 80.40
180 1 120
80.60 80.60

= +

= 280 rad/s > 0
Trc II quay cng chiu vi bnh 1 v trc I.
T (a) ta c:
2tq
=
( ) ( )
1 1 1
1tq 1 tq 1 I
2 2 2
z z z
.
z z z
= =
Vy:
2
=
tq
+
2tq
=
I
-
1
2
z
z
(
1
-
I
) =
1
2
z
1
z

+

1
-
1
2
z
z
.
1

=
80 80
1 120
20 20

+

. 180 = 240 rad/s > 0.
tc bnh song phng quay cng chiu vi trc dn v bnh rng 1.
Ch thch:
1) C th tm gia tc gc
2
ca bnh rng 1.
2
=
1
2
z
1
z

+

.
1
-
1
2
z
z

1

trong :
1 2
, ln lt l gia tc ca trc dn I v bnh 1.
2) Vic tm vn tc v gia tc cc im thuc bnh 2 (hoc 3) da vo cc
cng thc chng chuyn ng song phng.
233
10.3.2. Truyn ng hnh tinh, vi sai nn
V d 10.3. Cho c cu vi sai nh hnh 10.7. Trc I gn vi tay quay v quay
c lp i vi bnh rng nn 1 quanh trc thng ng. Trn tay quay lp khi
bnh rng 2 v 3 c gn cng vi nhau v c th quay quanh trc nm ngang
i vi tay quay, trong bnh rng 2 n khp vi bnh rng 1, bnh rng 3 n
khp vi bnh rng 4 n c lp cng trn trc II.
Cho bit bnh 1 quay u thun chiu dng vi
1
= 10 rad/s v trc II
quay u ngc chiu dng vi
II
= 20 rad/s quanh trc thng ng; bn knh
cc bnh rng tng ng l r
1
= 12 cm; r
2
= 12 cm; r
3
= 3 cm; r
4
= 6 cm.
- Tm vn tc gc ca trc I.
- Vn tc gc ca khi bnh rng 2 - 3 i vi tay quay v i vi h trc c nh.
Bi gii:
1. Phn tch chuyn ng: Cc
bnh rng 1 v 4 cng tay quay quay
quanh trc thng ng. Khi bnh
rng 2 - 3 quay quanh trc quay
ring nm ngang i vi tay quay v
cng tay quay quay quanh trc thng
ng. Chn tay quay lm h ng ta
c bi ton tng hp hai chuyn ng
quay quanh hai trc ct nhau i vi
bnh rng (2 v 3), trong chuyn
ng tng i l chuyn ng quay
ring ca khi bnh xe 2 - 3 quanh cc trc nm ngang, cn chuyn ng theo l
chuyn ng ca tay quay. C cu c hai khu dn ng c lp, nn ta c c cu
vi sai nn.
2. Vn tc
- Chn chiu quay dng quanh cc trc
1
v
2
nh hnh 10.7.
- Vit cng thc n khp tng i
Hnh10-7
234
i vi h ng l tay quay c cc cp bnh rng nn n khp 1 - 2 v 3-4.
Gi vn tc gc ca bnh rng 1 v 4 i vi tay quay quanh trc
1
l
1tq
,
4tq
,
cn vn tc gc ca bnh rng 2 v 3 i vi tay quay quanh trc
2
l
2tq
v
3tq
(
2tq
=
3tq
). Ta c:
1tq
2
2tq 1
r
r
(a)
3tq
4
4tq 3
r
r
(b)
Trong (a) ly du + v i vi tay quay chuyn ng ca bnh 1 v bnh 2 v
xy ra quanh cc trc
1
v
2
cng chiu dng hoc cng chiu m, cn trong
(b) ly du - i vi tay quay nu bnh 3 quay quanh trc
2
theo chiu dng th
bnh 4 quay quanh trc
1
theo chiu m v ngc li:
Khi nhn v vi v ca (a) v (b) ta c (
2tq
=
3tq
):

1tq
2
4tq 1
r
r
.
4
3
r
r
(c)
V cc chuyn ng tng i v theo ca
cc bnh 1 v 4 u xy ra quanh trc thng
ng nn:
1tq
=
1
-
tq
;
4tq
=
4
-
tq

Do (c) c th vit di dng:
1 tq
2
4 tq 1
r
r

=

.
4
3
r
r
= -1
T :
tq
=
I
=
1 4 1 II
2 2
+ +
= = - 5 rad/s < 0
Vy trc 1 quay quanh trc
1
theo chiu m, vect
1
r
ngc chiu trc
1
.
tm vn tc gc ca bnh 2 i vi trc quay
2
ta ch n (a).
2tq
=
1
2
r
r

1tq
=
1
2
r
r
(
1
-
tq
) =
Hnh10-8
235
=
12
6
(10 + 5) = 30 rad/s > 0
Vy chuyn ng ca bnh 2 i vi tay quay xy ra quanh trc
2
theo
chiu dng v
r
2tq
hng thun chiu dng ca trc
2
. Vy:
r
2
=
r
1
+
r
2tq

Cc vect
r
1
v
r
2tq
c phng vung gc nhau nn (H.10.8):
2
= ( ) ( )
2 2
2 2
I tq
5 30 + = + = 30,5 rad/s; = arctg6.
Ch thch:
1) D dng nhn thy rng bnh rng 2 quay tin ng u quanh im c
nh O vi vn tc gc quay ring
r
2tq
, vn tc gc tin ng
r
tq
v gc tin
ng =
2
.
Vy gia tc gc bnh 2 s bng :
2
=
r
r
tq
r
2tq

c phng thng gc vi mt phng hnh v, hng ra v c gi tr
2
=
tq
.
2tq
= 5 . 30 = 150
2
rad/s
2

2) Vn tc v gia tc cc im thuc bnh 2 c tnh da vo cc cng thc
trong chng vt quay quanh mt im c nh.
10.4. Bi tp
10.4.1. Truyn ng hnh tinh vi sai phng
10.1. Hp truyn ng gm bnh rng 1 c nh, bnh rng 4 gn cht vo trc II
cn tay quay gn cht vo trc I quay quanh trc ngang vi vn tc gc n
1
= 1800
vng/pht: Cho :
r
1
= 40 cm; r
2
= 20 cm; r
3
= 30 cm; r
4
= 90 cm.
Tm vn tc ca trc b dn II.
Tr li: n
II
= 3000 vng/pht.

236

10.2. C cu quay nhanh bnh 1 nh hnh v. Khi tay quay quay vi vn tc
gc
o
lm bnh 2 ln khng trt trong bnh 3 c nh v truyn chuyn ng
cho bnh 1 quay quanh trc O. Tm bn knh r
1
theo bn knh
3
cho bnh 1
quay nhanh hn tay quay 12 ln
1
o
12

=

Tr li: r
1
=
3
r
11

10.3. Tay quay OA quay quanh trc O vi vn tc n
o
= 30 vng/pht. Trn tay
quay c lp cc trc ca cc bnh rng, trong bnh 2 v bnh 3 gn cng vi
nhau (hnhv). Bnh 1 c nh. S rng cc bnh Z
1
= 60; Z
2
= 40; Z
3
= 50; Z
4
=
25. Tm vn tc gc ca bnh 3.
Tr li n
3
= n
o
1 3
2 4
ZZ
1
Z Z

= - 60 vng/pht

237
10.4. C cu vi sai phng nh hnh v. Tay quay c vn tc gc
o
= 3 rad/s. Bnh
1 quay cng chiu vi tay quay vi vn tc gc
1
= 3
o
. Bit R
1
= 2R
2
. Tm vn
tc gc tuyt i ca bnh 2 v vn tc gc tng i ca bnh 2 i vi tay
quay.
Tr li:
2 1 2tq o
3 ; 4 = =
10.5. Trc dn A ca hp vn tc, quay vi vn tc n
A
= 1200 vng/pht. Bnh 1
lp trn trn trc dn v quay ngc chiu trc A vi vn tc n
1
= 160 vng/pht.
Tm vn tc trc b dn, bit s rng ca cc bnh l Z
1
= 70; Z
2
= 20;Z
3
= 30; Z
4

= 80.
Tr li: n
B
= 585 vng/pht, cng chiu vi bnh 1.

10.6. Hp truyn ng nh hnh v. Bnh rng bn knh R lp t do trn trc I-I,
bnh ny mang cp bnh rng bn knh r
2
v r
3
ghp cng vi nhau. Bnh rng R
c dn ng t bnh rng bn knh r
0
. Cp bnh rng r
2
v r
3
n khp vi cp
bnh rng bn knh r
1
v r
4
, trong bnh r
1
lp cng, cn bnh r
4
lp trn trn
trc I-I. Tm vn tc gc ca bnh rng r
4
, nu bit trc I - I v trc O - O quay
cng chiu vi vn tc gc tng ng l n
1
v n
o
.
Tr li: n
4
=
o 1 3 o
1 o o
2 4
r r.r r
n n . n
R r .r R

+

238
10.4.2. Truyn ng hnh tinh, vi sai nn
10.7. C cu truyn ng bnh rng nn nh hnh v. Trc dn A gn cng vi
bnh 1. Trc b dn B mang trc ca cp bnh 2-2. Bnh 3 c nh; cc bnh rng
c cng bn knh. Tm t s vn tc gc ca trc A v trc B. (Hnh v)
Tr li:
A
B
2
.
10.8. Hp truyn ng nh hnh v. Bit bn knh cc bnh rng l r
1
= 24 cm; r
2

= 30 cm; r
3
= 40 cm; r
4
= 44 cm. Vn tc gc trc A v bnh 1 l
A
= 60 rad/s;
1
= - 40 rad/s. Tm vn tc gc ca trc B v ca cp bnh 2 - 3 (Hnh v).
Tr li:
B
= 133 rad/s;
2
= 100 rad/s.

10.9. C cu truyn ng nh hnh v. Bnh 1 v bnh 2 quay cng chiu vi vn
tc gc
1
= 3 rad/s v
2
= 5 rad/s. Tm vn tc gc ca trc A v vn tc gc
tng i ca bnh 3 i vi tay quay. (Hnh v).
Tr li:
A
= 4 rad/s;
3tq
= 3,5 rad/s.
239


10.10. Hp truyn ng vi sai ca t. Hai bnh rng 1 v 2 cng bn knh R = 6
cm, mi bnh gn cng vi mt na trc sau ca xe trn lp bnh xe. Cp
bnh rng trung gian 3 - 3 c bn knh r = 3 cm c trc gn cng vo hp, hp lp
trn vo trc sau ca xe. (Hnh v).Khi chuyn ng trn ng vng, 2 bnh
chuyn ng vi vn tc khc nhau:
1
= 6 rad/s;
2
= 4 rad/s. Tm
- Vn tc gc ca hp.
- Vn tc gc tng i ca bnh 3 i vi hp.
- Vn tc gc tuyt i ca bnh 3.
Tr li:
e
= 5rad/s;
3r
= 2 rad/s;
3
= 5,4 rad/s.

10.11. Hp truyn ng nh hnh v. Bnh 1 lp trn trn trc A, u cui ca
trc ny mang trc ca cp bnh 2 - 2. Bnh 3 gn cng vi trc B. Tm vn tc
gc ca trc B trong cc trng hp:
1. Trc A c vn tc gc
A
, bnh 1 ng yn.
2. Trc A c vn tc gc
A
, bnh 1 quay cng chiu vi vn tc gc
1
.
3. Trc A v bnh 1 quay cng chiu vi
A
=
1
.
4. Trc A v bnh 1 quay cng chiu vi
1
= 2
A
.
240
5. Trc A c vn tc gc
A
, bnh 1 quay ngc chiu vi vn tc
1
.
Tr li:
1)
B
= 2
A
; 2)
B
= 2
A
-
1
; 3) 1)
B
=
A

4)
B
= 0 ; 5)
B
= 2
A
+
1
.

10.12. Hp truyn ng nh hnh v. Bnh rng nn 1 gn cng vi bnh rng 1,
bnh rng nn 2 gn cng vi bnh rng 2'. Cc bnh 2 v bnh 2' lp trn trn
trc MN. Hai bnh 1' v 2' n khp vi hai bnh 4 v 5 lp cng trn trc AB.
Tm t s vn tc gc
0
v ca trc AB v trc MN nu bit bnh 1 v
bnh 2 cng bn knh; s rng ca cc bnh 1', 2', 4 v 5 l
1
Z ,
2
Z , Z
4
v Z
5
.
Tr li:
4 5
o 1 2
1 Z Z
2 Z Z

= +

241
Ti liu tham kho
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Hc vin k thut qun s

t vo n OBA truyn tc dng qua thanh BC xung

s t ng c p ng, ta cn li ba phng trnh:

Hnh 2-6 (a).

- bn knh vct (to );

- bn knh vct (to ) trng tm.

- bn knh vc t v trng lng phn t nguyn t;

= = = v const; w 0;s vt (12)

> 0 nhanh dn u,w

= const, ch khng phi w = const. Di y s thy

tip tuyn vi bin ca cam (thng gc vi bn knh CA), c gi tr cha xc

theo chiu quay

rad/s, gia tc gc ca trc l = 1 rad/s

rad/s, gia tc gc ca chng l

c chiu ngc li vi chiu gi nh trn hnh 8.19b.

quanh trc qua B (H.8.23).

l trc quay tc thi.

(H.9.2). Vect gia tc gc

, trong a v n l hng s. Hy xc nh hnh chiu

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