-1-

phn m u
C hc nghin cu cc quy lut cn bng v chuyn ng ca vt th di
tc dng ca lc. Cn bng hay chuyn ng trong c hc l trng thi ng yn
hay di ch ca vt th trong khng gian theo thi gian so vi vt th khc c
lm chun gi l h quy chiu. Khng gian v thi gian y c lp vi nhau.
Vt th trong c hc xy dng di dng cc m hnh cht im, c h v vt
rn.
C hc c xy dng trn c s h tin ca Niu tn a ra trong tc
phm ni ting " C s ton hc ca trit hc t nhin" nm 1687 - chnh v th
c hc cn c gi l c hc Niu tn.
C hc kho st cc vt th c kch thc hu hn v chuyn ng vi vn
tc nh hn vn tc nh sng. Cc vt th c kch thc v m, chuyn ng c
vn tc gn vi vn tc nh sng c kho st trong gio trnh c hc tng i
ca Anhxtanh.
Trong cc trng i hc k thut, c hc lm nn tng cho cc mn hc
k thut c s v k thut chuyn ngnh nh sc bn vt liu, nguyn l my,
ng lc hc my, ng lc hc cng trnh, l thuyt tnh ton my nng nghip,
l thuyt t my ko v.v...
C hc c lch s lu i cng vi qu trnh pht trin ca khoa hc t
nhin, bt u t thi k phc hng sau c pht trin v hon thin dn.
Cc kho st c tm quan trng c bit lm nn tng cho s pht trin ca c
hc l cc cng trnh ca nh bc hc ngi Galil (1564- 1642). Galil
a ra cc nh lut v chuyn ng ca vt th di tc dng ca lc, c bit l
nh lut qun tnh. n thi k Niutn (1643- 1727) ng hon tt trn c s
thng nht v m rng c hc ca Galil, xy dng h thng cc nh lut mang
tn ng - nh lut Niutn. Tip theo Niutn l almbe (1717- 1783),
le ( 1707 - 1783) c nhiu ng gp cho c hc hin i ngy nay.

-2le l ngi t nn mng cho vic hnh thnh mn c hc gii tch m

sau ny Lagrng, Hamintn, Jaccobi, Gaox hon thin thm.
Cn c vo ni dung v cc c im ca bi ton kho st, chng trnh
c hc ging cho cc trng i hc k thut c th chia ra thnh cc phn: Tnh
hc, ng hc, ng lc hc v cc nguyn l c hc. Tnh hc nghin cu cc
quy lut cn bng ca vt th di tc dng ca lc. ng hc ch nghin cu
cc quy lut chuyn ng ca vt th n thun v mt hnh hc. ng lc hc
nghin cu cc quy lut chuyn ng ca vt th di tc dng ca lc. Cc
nguyn l c hc l ni dung c bn nht ca c hc gii tch. C hc gii tch
chnh l phn ng lc hc ca h c trnh by theo hng gii tch ho.
C hc l khoa hc c tnh h thng v c trnh by rt cht ch . Khi
nghin cu mn hc ny i hi phi nm vng cc khi nim c bn v h tin
, vn dng thnh tho cc cng c ton hc nh hnh gii tch, cc php tnh vi
phn, tch phn, phng trnh vi phn... thit lp v chng minh cc nh l
c trnh by trong mn hc.
Ngoi ra ngi hc cn phi thng xuyn gii cc bi tp cng c kin
thc ng thi rn luyn k nng p dng l thuyt c hc gii quyt cc bi
ton k thut.

-3-

Phn I

Tnh Hc
Chng 1
Cc khi nim c bn v h tin ca tnh hc
l thuyt v m men lc v ngu lc
1.1. cc khi nim c bn

Tnh hc nghin cu cc quy lut cn bng ca vt rn tuyt i di tc

dng ca lc. Trong tnh hc c hai khi nim c bn l vt rn tuyt i v lc.
1.1.1. Vt rn tuyt i
Vt rn tuyt i l vt th c hnh dng bt bin ngha l khong cch hai
phn t bt k trn n lun lun khng i. Vt th c hnh dng bin i gi l
vt bin dng. Trong tnh hc ch kho st nhng vt th l rn tuyt i thng
gi tt l vt rn. Thc t cho thy hu ht cc vt th u l vt bin dng. Song
nu tnh cht bin dng ca n khng nh hng n chnh xc cn c ca
bi ton c th xem n nh vt rn tuyt i trong m hnh tnh ton.
1.1.2. Lc v cc nh ngha v lc
Lc l i lng o tc dng c hc gia cc vt th vi nhau. Lc c
biu din bng i lng vc t c ba yu t c trng: ln (cn gi l cng
), phng chiu v im t. Thiu mt trong ba yu t trn tc dng ca lc
khng c xc nh. Ta thng dng ch ci c du vc t trn k hiu cc
r

vc t lc. Th d cc lc P , F1 ,.... N . Vi cc k hiu ny phi hiu rng cc

ch ci khng c du vc t trn ch l k hiu ln ca n. Th d ln
r

ca cc lc P , F ... N l P, F, ...N. ln ca cc lc c th nguyn l Niu tn

hay bi s Kil Niu tn vit tt l (N hay kN).
Sau y gii thiu mt s nh ngha:

-4H lc: H lc l mt tp hp nhiu lc cng tc dng ln vt rn.

Lc tng ng: Hai lc tng ng hay hai h lc tng ng l hai
lc hay hai h lc c tc ng c hc nh nhau. biu din hai lc tng
ng hay hai h lc tng ng ta dng du tng ng nh trong ton hc.
r

Th d hai lc F v P tng ng ta vit F P . Hai h lc ( F1 , F2 ,.. Fn ) v ( P1 ,

r
r
r r
r
r r
r
P2 ,.. Pm ) tng ng ta vit ( F1 , F2 .. Fn ) ( P1 , P2 ,.. Pm ).

Hp lc: Hp lc ca h lc l mt lc tng ng vi h lc cho. Th

r

d nu c R ( F1 , F2 ,.. Fn ) th R c gi l hp lc ca h lc ( F1 , F2 ,.. Fn ).
H lc cn bng: H lc cn bng l h lc tng ng vi khng (hp
r

lc ca n bng khng). Th d: h lc ( F1 , F2 .. Fn ) l cn bng khi

r

( F1 , F2 .. Fn ) 0.
1.2. H tin ca tnh hc

Tnh hc c xy dng trn c s su tin sau y:

Tin 1: (H hai lc cn bng)
iu kin cn v hai lc cn bng l hai lc c cng ln, cng
r

phng, ngc chiu v cng t ln mt vt rn. Ta c ( F1 , F2 ) 0 khi F1 = - F2 .

Tin 2 : ( Thm hoc bt mt h lc cn bng)
Tc dng ca h lc ln vt rn s khng i nu ta thm vo hoc bt i
mt h lc cn bng.
Tin 3: ( Hp lc theo nguyn tc hnh

r
F2

r
R

bnh hnh)
Hai lc cng t vo mt im trn vt rn
c hp lc c biu din bng ng cho ca
hnh bnh hnh m hai cnh l hai lc cho.

r
F1

Hnh 1.1

-5r

Hnh v 1.1 Biu din hp lc ca hai lc F1 , F2 . V phng din vc t c

th vit:

r
r
r
R = F1 + F2 .

Tin 4: ( Lc tc dng tng h)

Lc tc dng tng h gia hai vt rn c cng ln, cng phng
nhng ngc chiu.
Tin 5: (Tin ho rn)
Mt vt khng tuyt i rn ang trng thi cn bng khi ho rn n vn
gi nguyn trng thi cn bng ban u.
Tin 6: ( Gii phng lin kt)
Trc khi pht biu tin ny cn a ra mt s khi nim v: Vt rn
t do, vt rn khng t do, lin kt v phn lc lin kt.
Vt rn t do l vt rn c kh nng di chuyn theo mi pha quanh v tr
ang xt. Nu vt rn b ngn cn mt hay nhiu chiu di chuyn no c
gi l vt rn khng t do. Nhng iu kin rng buc di chuyn ca vt rn
kho st gi l lin kt. Trong tnh hc ch xt lin kt do s tip xc ca cc vt
rn vi nhau (lin kt hnh hc). Theo tin 4 gia vt kho st v vt lin kt
xut hin cc lc tc dng tng h. Ngi ta gi cc lc tc dng tng h gia
vt lin kt ln vt kho st l phn lc lin kt.
kho st vt rn khng t do ta phi da vo tin gii phng lin kt
sau y:
Tin :Vt rn khng t do c th xem nh vt rn t do khi gii phng
cc lin kt v thay vo bng cc phn lc lin kt tng ng.
Xc nh phn lc lin kt ln vt rn l mt trong nhng ni dung c bn
ca cc bi ton tnh hc. Sau y gii thiu mt s lin kt phng thng gp v
tnh cht cc phn lc ca n.
Lin kt ta (vt kho st ta ln vt lin kt): Trong dng ny cc phn

-6lc lin kt c phng theo php tuyn chung gia hai mt tip xc. Trng hp
c bit nu tip xc l mt im nhn ta ln mt hay ngc li th phn lc
lin kt s c phng php tuyn vi mt ti im tip xc. ( Hnh v 1.2, 1.3,
1.4).

r
NC

r
N

r
NB
r
NA

A
B
Hnh 1.2

Hnh 1.3

Hnh 1.4

Lin kt l khp bn l:
Khp bn l di ng ( hnh 1.5) ch hn ch chuyn ng ca vt kho st
theo chiu vung gc vi mt phng trt do phn lc lin kt c phng
vung gc vi mt trt. Khp bn l c nh ( hnh 1.6) ch cho php vt kho
st quay quanh trc ca bn l v hn ch cc chuyn ng vung gc vi trc
quay ca bn l. Trong trng hp ny phn lc c hai thnh phn vung gc vi
trc bn l. ( hnh 1.6).
r
R

r
N

Yo
X

Hnh 1.5

O
Xo

Hnh 1.6

Lin kt l dy mm hay thanh cng: (hnh 1.7 v hnh 1.8)

Cc lin kt dng ny ch hn ch chuyn ng ca vt th theo chiu dy
hoc thanh. Phng ca phn lc lin kt l phng dc theo dy v thanh.

-7-

r
T1

r
T

r
T2

r
s

r
sA

r
sB

Hnh 1.7

Hnh 1.8
Lin kt ngm (hnh 1.9). Vt kho st b hn ch khng nhng di chuyn
theo cc phng m cn hn ch c chuyn ng quay. Trong trng hp ny
phn lc lin kt c c lc v m men phn lc. ( Khi nim m men lc s c
ni ti phn sau).
Lin kt l gt trc: ( hnh 1.10) Vt kho st b hn ch cc chiu chuyn
ng theo phng ngang, phng thng ng v chuyn ng quay quanh cc
trc X v Y do phn lc lin kt c cc thnh phn nh hnh v.
z
YA

ZA

mA

XA

mX

mY YA

XA
x
Hnh 1.9

Hnh 1.10

Cc h qu suy ra t h tin tnh hc.

H qu 1: ( nh l trt lc)
Tc dng ca mt lc ln vt rn
A

s khng i nu ta trt lc dc theo

r
FA

r
F 'B

r
FB

ng tc dng n t im khc.
r

Tht vy: Cho lc F t ti A ca

r

vt rn ( FA ). Ta t vo im B
r

trn ng
r

Hnh 1.11

tc dng ca F mt cp lc cn bng ( FB , FB ) (hnh 1.11). Theo tin hai c

-8th vit:
r
r r r
FA ( FA , FB , FB ). y cc ch s A, B i theo cc lc ch im t cc

lc , cc lc ny c ln bng nhau v cng phng .

r

Mt khc theo tin 1 hai lc ( FA , FB ) l cp lc cn bng v th theo

tin hai c th bt cp lc trn vt, ngha l:
r
r r r
r
FA ( FA , FB , FB ) FB

Nh vy ta trt lc F ban u t ti A dc theo ng tc dng ca

n v t ti B m tc dng c hc ln vt rn vn khng i.
H qu 2: H lc cn bng th mt lc bt k trong h ly theo chiu
ngc li s l hp lc ca cc lc kia.
r

Chng minh: Cho h lc cn bng ( F1 , F2 ,... Fn ). Gi s ta ly trong h

r

mt lc Fi v i chiu sau cho tc dng ln vt rn. Xt vt rn chu tc dung

r

ca lc - Fi . Theo tin 2 nu thm vo vt rn h lc cn bng cho, tc dng

ln vt rn vn khng i, ngha l:
r

- Fi (- Fi , F1 , F2 ... Fi ... Fn )
r

Trong h (n+1) lc v phi c hai lc cn bng l ( Fi , - Fi ) theo tin 2

r

ta c th bt Fi , v - Fi i ngha l:
r

- Fi ( F1 , F2 , Fi 1 ... Fi +1 ... Fn )
r

Biu thc ny chng t - Fi l hp lc ca h lc cho khi khng c Fi .

1.3. L thuyt v m men lc v ngu lc

1.3.1. M men lc i vi mt tm v i vi mt trc

1.3.1.1. M men ca lc i vi mt tm
r

M men ca lc F i vi tm O l i lng vc t, k hiu m o (F) c:

-9r

- ln bng tch s: F.d, vi F l ln lc F v d l khong cch t

r

tm O ti ng tc dng ca F gi l cnh tay n.

- Phng vung gc vi mt phng cha tm O v lc F (mt phng tc
dng).
r

- Chiu hng v pha sao cho khi nhn t nh ca vc t m o (F) xung

r

mt phng tc dng s thy vc t lc F chuyn ng theo chiu mi tn vng

quanh O theo ngc chiu kim ng h (hnh 1.12).
r

D vo hnh v d dng thy rng ln ca vc t m o (F) bng hai ln

r

din tch tam gic OAB ( tam gic c nh O v y bng lc F ).

r

Vi nh ngha trn c th biu din vc t m men lc F i vi tm O

bng biu thc sau:
r r r
r r
m o (F) = OA x F = r x F .

Trong r l vc t nh v ca im t ca lc F so vi tm O.
Trong trng hp mt phng tc dng ca m men lc xc nh, n
r

gin ta a ra khi nim m men i s ca lc F i vi tm O nh sau:

r

M men i s ca lc F i vi tm O l i lng i s k hiu:

mo = F.d
r

Ly du dng (+) khi nhn vo mt phng tc dng thy lc F quay theo

chiu mi tn vng quanh O theo chiu ngc kim ng h (hnh 1.13), ly du
tr (-) trong trng hp quay ngc li (hnh 1.14).
M men i s thng c biu din bi mi tn vng quanh tm O theo
chiu ca m men.

-10-

r
F

B Fr

A(x,y,z)

r r
m o( F )

900

90

r
F

mo(F)=F.d

mo(F)= - F.d

Hnh 1.13

Hnh 1.14

x
Hnh 1.12

1.3.1.2. M men ca lc i vi mt trc

r

M men ca lc F i vi trc OZ l i lng i s k hiu mZ( F ) tnh

r

theo cng thc: mZ( F ) = F'.d' . Trong F' l hnh chiu ca lc F trn mt
phng vung gc vi trc Z. d' l khong cch tnh t giao im O ca trc Z
r

vi mt phng n ng tc dng ca F ' (hnh 1.15).

Ly vi du (+) khi nhn t hng
dng ca trc OZ s thy hnh chiu F'

r B
F ''

quay quanh trc OZ ngc chiu kim

d

ng h.
Ly du (-) trong trng hp

B1 r

F'

r
FZ

() O

ngc li.
T hnh v ta rt ra tr s m men

Hnh 1.15

ca lc F i vi trc OZ bng hai ln

din tch tam gic OAB1.
r

1.3.1.3. Quan h gia m men lc F i vi tm O v vi trc i qua O

Trn hnh 1.16 ta thy:
r

mo( F ) = 2.din tch (OAB).

r

mZ( F ) = 2 din tch (oa1b1)

-11V oa1b1 l hnh chiu ca tam gic OAB trn mt phng vung gc vi
trc Z ti O. Nu gi l gc hp bi gia hai mt phng OAB v mt phng
r

oa1b1 th gc ny cng chnh l gc hp gia vc t m men m o (F) vi trc OZ,

ta c:
Din tch oa1b1 = din tch
B

OAB. cos.

r
F

A
d

r
r r
hay mZ( F ) = m o (F) .cos.

r
m z(F)

r
F

Kt qu cho thy m men ca lc

r
F i vi trc OZ l hnh chiu vc t
r
m men lc F ly vi im O no

trn trc OZ chiu trn trc OZ .

r
m o(F)

a
d'

Hnh 1.16

1.3.2. L thuyt v ngu lc

1.3.2.1 nh ngha v cc yu t c trng ca ngu lc

nh ngha: Ngu lc l h hai lc song song ngc chiu cng cng .
r

Hnh 1.17 biu din ngu lc ( F1 , F2 )

Mt phng cha hai lc gi l mt phng tc dng. Khong cch d gia
ng tc dng ca hai lc gi l cnh tay n. Chiu quay vng ca cc lc
theo ng khp kn trong mt phng tc dng gi l chiu quay ca ngu lc.
Tch s m = d.F gi l m men

r
m

ca ngu lc.
Tc dng ca ngu lc c
c trng bi ba yu t:

A2

A1

A2

- ln m men m
- Phng mt phng tc
dng

r
m

Hnh 1.17

A1

-12- Chiu quay ca ngu.

Thiu mt trong ba yu t trn tc dng ca ngu lc cha c xc nh.
biu din y ba yu t trn ca ngu lc ta a ra khi nim v vc
r

t m men ngu lc m . Vc t m men m c tr s bng tch s d.F c phng

vung gc vi mt phng tc dng, c chiu sao cho nhn t mt ca n xung
mt phng tc dng thy chiu quay ca ngu lc theo chiu ngc kim ng h.
r

Vi nh ngha trn ta thy vc t m men m ca ngu lc chnh l vc t

m men ca mt trong hai lc thnh phn ly i vi im t ca lc kia. Theo
hnh 1.17 c th vit:
r
r
r
r
r
r
r
m = m A1( F2 ) = m A2 ( F1 )= A1A 2 x F2 = A2A1 x F2

1.3.2.2. nh l v m men ca ngu lc

Trong mt ngu lc, tng m men ca hai lc thnh phn i vi mt
im bt k l mt i lng khng i v bng vc t m men ngu lc.
r r

Chng minh: Xt ngu lc ( F1 , F2 ) biu din trn hnh 1.18. Chn mt

r

im O bt k trong khng gian, tng m men ca hai lc F1 , F2 ly vi O c th

r

vit: mo (F1 ) + m o (F2 ) =

r

= OA1 x F1 + OA2 x F2 ;
= OA1 x F1 - OA2 x F2 ;
r

A1

r
F1

r
F2

A2

= (OA1 - OA2) x F1 ;
Hnh 1.18

r
r
= A2A1 x F1 = m .

Trong nh l trn v im O l bt k do c th kt lun rng tc dng

ca ngu lc s khng thay i khi ta ri ch trong khng gian nhng vn gi
r

nguyn ln, phng chiu ca vc t m men m .

Cng t nh l trn rt ra h qu v cc ngu lc tng ng sau y.

-13H qu 1: Hai ngu lc cng nm trong mt mt phng c cng tr s m

men m cng chiu quay s tng ng.
H qu 2: Hai ngu lc nm trong hai mt phng song song cng tr s
m men, cng chiu quay s tng ng vi nhau.
Tht vy trong hai trng hp ny cc ngu lc u m bo c vc t m
r
men m nh nhau.

1.3.2.3. Hp hai ngu lc

r

nh l: hp hai ngu lc c m men m 1 v m 2 cho ta mt ngu lc c

m men M bng tng hnh hc cc vc t m men ca hai ngu lc cho. Ta
r

c M = m 1 + m 2
r

Chng minh: Xt hai ngu lc c m men m 1 v m 2 nm trong hai mt

phng 1 v 1. Trn giao tuyn ca hai mt phng 1 v 2 ly mt on thng
r r

A1A2 ngu lc c m men m thay bng ngu lc ( F1 F2 ) nm trong mt phng 1

r

v t vo A1A2. Ngu lc c m men m 2 thay bng ngu lc ( p 1 p 2) nm trong

mt phng 2 v cng t vo A1A2 (hnh 1.19).
r
m
r
m1

r
m2
r
F1

2
r
P2

r
F2

r
P1

r
R1

r
R2

Hnh 1.19
r

r r

Ti A1 hp hai lc F1 , P1 c lc R 1
Ti A2 hp hai lc F2 P2 c lc R 2
r

Do tnh cht i xng d dng nhn thy hai vc t R 1 v R 2 song song

-14r

ngc chiu v c cng cng . Ni khc i hai lc R 1 R 2 to thnh mt

ngu lc. chnh l ngu lc tng hp ca hai ngu lc cho.
r

Gi M l m men ca ngu lc ( R 1 R 2) ta c:
r
r
r
M = A1A2 x R 2 = A1A2 x R 1

Thay R 1 = F1 + P1 v R 2 = F2 + P2 , suy ra:

r
r
r
r
r
M = A1A2 x ( F2 + P2 ) = A1A2 x F2 + A1A2 x P2 ,
r
r
r
r
r
r
r
M = m A1 ( F2 ) + m A1( P2 ) = m 1 + m 2.

Trng hp hai ngu lc cng nm trong mt mt phng. Khi cc m

men ca ngu lc c biu din bi cc m men i s. Theo kt qu trn, ngu
lc tng hp trong trng hp ny cng nm trong mt phng tc dng ca hai
ngu lc cho v c m men bng tng i s 2 m men ca ngu lc thnh
phn:

M = (m1 m2)

-15Chng 2
L thuyt v h lc
Trong tnh hc c hai bi ton c bn: thu gn h lc v xc nh iu
kin cn bng ca h lc. Chng ny gii thiu ni dung ca hai bi ton c
bn ni trn.
2.1 c trng hnh hc c bn ca h lc

H lc c hai c trng hnh hc c bn l vc t chnh v m men chnh.

2.1.1. Vc t chnh
r

Xt h lc ( F1 , F2 ,.. Fn ) tc dng ln vt rn (hnh 2.1a).

Vc t chnh ca h lc l vc t tng hnh hc cc vc t biu din cc
lc trong h (hnh 2.1b)

r
F2

r
F1

r b
F2

r
F1

r
F3

r
Fn
r
R n

r
R

r
Fn

r
F3

a/

Hnh 2.1

r
r
r
r
R = F1 + F2 + ... Fn =

F i

b/

(2-1)

i=1

Hnh chiu vc t R ln cc trc to oxyz c xc nh qua hnh chiu

cc lc trong h:
r
R x = x1 + x2 +...+ xn =

Xi;
i=1

-16r
R y = y1 + y2 +...+ yn =
r
R z = z1 + z2 +... +zn =

Yi;
i=1

Zi.
i=1

T c th xc nh ln, phng, chiu vc t chnh theo cc biu

thc sau:
r
R =

R 2x + R 2 y + R 2z ;

cos(R,X) =

Rx
;
R

cos(R,Y) =

Ry
R

cos(R,Z) =

Rz
.
R

Vc t chnh l mt vc t t do.
2.1.2. M men chnh ca h lc
Vc t m men chnh ca h lc i vi tm O l vc t tng ca cc vc
t m men cc lc trong h ly i vi tm O (hnh 2.2). Nu k hiu m men
r

chnh l M o ta c
r
Mo =

r r
m
o( F i)
n

(2 -2)

i=1

r
F1

A1

r
z1

m2

r
M0

r
m 30

r
m 20

r
z2

A2
r
F2

r
z3

r
m 10

A3

r
F3

Hnh 2.2
r

Hnh chiu ca vc t m men chnh M o trn cc trc to oxyz c

xc nh qua m men cc lc trong h ly i vi cc trc :

-17r

mx( F i);
i=1

My = my( F1 ) + my( F2 ) +...+ my( Fn ) =

Mz = mz( F1 ) + mz( F2 ) +... +mz( Fn ) =

Mx = mx( F1 ) + mx( F2 ) +...+ mx( Fn ) =

my( F i);
i=1

mz( F i).
i=1

Gi tr v phng chiu vc t m men chnh c xc nh theo cc biu

thc sau:
Mo = M 2 x + M 2 y + M 2 z
cos(Mo,x) =

Mx
;
Mo

cos(Mo,y) =
r

My
Mo

cos(Mo,z) =

Mz
.
Mo

Khc vi vc t chnh R vc t m men chnh M o l vc t buc n ph

thuc vo tm O. Ni cch khc vc t chnh l mt i lng bt bin cn vc
t m men chnh l i lng bin i theo tm thu gn O.
2.2. Thu gn h lc

Thu gn h lc l a h lc v dng n gin hn. thc hin thu gn

h lc trc ht da vo nh l ri lc song song trnh by di y.
2.2.1. nh l 2.1 : Tc dng ca lc ln vt rn s khng thay i nu ta
ri song song n ti mt im t khc trn vt v thm vo mt ngu lc ph
r
F
r
F'

A
B

d
r
F ''

Hnh 2.3

-18c m men bng m men ca lc cho ly i vi im cn ri n.

r

Chng minh: Xt vt rn chu tc dng lc F t ti A. Ti im B trn vt

r

t thm mt cp lc cn bng ( F ', F '')

trong F ' = F cn F '' = - F . (xem

hnh 2.3).

r r r
r
Theo tin 2 c: F ( F , F ', F '').
r r r
r r
H ba lc ( F , F ', F '') c hai lc ( F , F '') to thnh mt ngu lc c m
r

men m = m B(F) (theo nh ngha m men ca ngu lc).

r

Ta chng minh c F F ' + ngu lc ( F , F '')

2.2.2 Thu gn h lc bt k v mt tm
a. nh l 2.2: H lc bt k lun lun tng ng vi mt lc bng vc
t chnh t ti im O chn tu v mt ngu lc c m men bng m men
chnh ca h lc i vi tm O .
r

Chng minh: Cho h lc bt k ( F1 , F2 ,..., Fn ) tc dng ln vt rn. Chn

im O tu trn vt, p dng nh l ri lc song song a cc lc ca h v
r

t ti O. Kt qu cho ta h lc ( F1 , F2 ,..., Fn )o t ti O v mt h cc ngu lc

r

ph c m men l m 1 = m o( F1 ) , m 2 = m o( F2 ), ... m n = m o( Fn ) (hnh 2.4).

r

Hp tng i lc nh tin 3 c th a h lc ( F1 , F2 ,... Fn )o v tng

r

ng vi mt lc R .
C th c:
r

r
F1

( F1 , F2 ) R 1 trong R 1 = F1 + F2
r

A1

M = Mo

r
m 20
r
m 30

( R 1, F 3 ) R 2 trong R 2 = R 1 + F 3 =
r
r r
F1 + F2 + F 3

....
r
r
r
( R (n-1), Fn ) R

r A2
F2

A3

r
F1

r
m 10

O
r
r R
F2

r
F3

Hnh 2.4

r
F3

-19r

trong R = R (n-2) + Fn =

F i
i=1

Hp lc R ca cc lc t ti O l vc t chnh R 0 ca h lc.
Cc ngu lc ph cng c th thay th bng mt ngu lc tng hp theo
cch ln lt hp tng i ngu lc nh trnh by chng 1. Ngu lc tng
r

hp ca h ngu lc ph c m men M o =

m o( F i). y l m men chnh ca

i=1

h lc cho i vi tm O
Theo nh l 2.2, trong trng hp tng qut khi thu gn h lc v tm O
bt k ta c mt vc t chnh v mt m men chnh. Vc t chnh bng tng
hnh hc cc lc trong h v l mt i lng khng i cn m men chnh bng
tng m men cc lc trong h ly i vi tm thu gn v l i lng bin i
theo tm thu gn.
xc nh quy lut bin i ca m men chnh i vi cc tm thu gn
khc nhau ta thc hin thu gn h lc v hai tm O v O1 bt k (hnh 2.4a).
Thc hin thu gn h v tm O ta
r

r
M0

c R 0 v M o.

r
R0

r
R 01
r
M 01

Trn vt ta ly mt tm O1 khc O
r

sau ri lc R o v O1 ta c

O1

r
r
r
r
R o R o1 + ngu lc ( R o , R 'o1).
r

r
R '01

Suy ra ( R o, M o) R o1 + ngu lc
r

Hnh 2.4a

( R o , R 'o1) + M o
r

Nu thu gn h v O1 ta c M o1 v R o1 .
iu tt nhin phi c l :
r

( R o, M o) ( R o1 , M o1 ).
Thay kt qu chng minh trn ta c:

-20r

( R o, M o) Ro1 +( R o, R 'o1) + Mo ( R o +Mo1)

r

hay M 01 M o + ( R o, R '01)
r

(2.3)
r

Ngu lc ( R o, R 01) c m men M ' =mo1.(Ro)

Kt lun: Khi thay i tm thu gn vc t m men chnh thay i mt i
lng M' bng m men ca vc t chnh t tm trc ly i vi tm sau.
2.2.3. Cc dng chun ca h lc
Kt qu thu gn h lc v mt tm c th xy ra 6 trng hp sau
2.2.3.1. Vc t chnh v m men chnh u bng khng
r
R =0;

r
Mo=0

H lc kho st cn bng.
2.2.3.2. Vc t chnh bng khng cn m men chnh khc khng
r
R = 0;

r
Mo0

H lc tng ng vi mt ngu lc c m men bng m men chnh.

2.2.3.3. Vc t chnh khc khng cn m men chnh bng khng
r
r
R 0; M o = 0

H c mt hp lc bng vc t chnh.
2.2.3.4. Vc t chnh v m men chnh u khc khng nhng vung gc vi
nhau (hnh 2.5)
r
r
r
r
R 0; M o 0 v R M o
r

Trong trng hp ny thay th m men chnh M o bng ngu lc ( R ', R '')

vi iu kin:
r
r r
r
r
r r
R ' = R ; R '' = - R v M o = m o( R ')
r
Mo

r
R on

r
Mo

r
Ro

O
d
r

O' Rr

O' R

P
P'

-21-

Ta c ( R , M o) ( R , R ', R '' ).
r

Theo tin 1 R o v R '' cn bng do c th bt i v cui cng h cn

li mt lc bng vc t chnh nhng t ti O1. Ni khc i h c mt hp lc t
ti O1.
2.2.3.5. Hai vc t chnh v m men chnh khc khng nhng song song vi
nhau (hnh 2.6).
r
r
r
r
R o 0; M o 0 v R o // M o
r r

Trong trng hp ny nu thay M o bng mt ngu lc ( P P ') mt phng

r

ca ngu ny vung gc vi vc t chnh R .

r

H c gi l h vt ng lc. Nu vc t R song song cng chiu vi

r

vc t M o h gi l h vt ng lc thun (phi) v ngc li gi l h vt ng

lc nghch (tri). Hnh 2.6 biu din vt ng lc thun
2.2.3.6. Hai vc t chnh v m men chnh khc khng v hp lc vi nhau
mt gc bt k (hnh 2.7)
Trng hp ny nu thay th
r

r r

r
M0

vc t M o bng mt ngu lc ( P P ')

r

trong clc P t ti O cn lc
r
r
P ' t ti O1 sao cho mo(P) = M o.

R rng mt phng tc dng ca

r r
ngu lc ( P P ') khng vung gc vi
r
R o. Mt khc ti O c th hp hai
r
r
r
lc P v R o thnh mt lc R '. Nh

O1
r
P'

r
P

r
R'

r
R0

Hnh 2.7

-22r

vy a h v tng ng vi hai lc P ', R ' hai lc ny cho nhau.

2.2.4. nh l Va ri nhng
r

nh l: Khi h lc c hp lc R th m men ca R i vi mt tm hay

mt trc no bng tng m men ca cc lc trong h ly i vi tm hay trc
.
r r
m o( R ) =

m o( F i)

r r
m z( R ) =

r r
m
z( F i)

i=1
n

(2.4)

i=1

r r
r
Chng minh: Cho h lc ( F1 , F2 ,..., Fn )
r
tc dng ln vt rn. Gi R l hp lc ca h

r
F1

r
F2

r
R

(hnh 2.8).
r
R'

Ti im C trn ng tc dng ca
r

hp lc R t thm lc R ' = - R .H lc

r
Fn

cho cng vi R ' to thnh mt h lc cn

Hnh 2.8

bng:
r

( F1 , F2 ,... Fn , + R ') 0
Khi thu gn h lc ny v mt tm O bt k ta c mt vc t chnh v
mt m men chnh. Cc vc t ny bng khng v h cn bng, ta c:
r
Mo=

m o( F i) + m o( R ') = 0
i=1

Thay R ' = - R ta c:
n

m o( F i) - m o( R ) = 0
i=1

Hay mo( R ) =

r r
m
o( F i)
n

i=1

Chiu phng trnh trn ln trc oz s c:

-23r

mz( R ) =

mz( F i)
i=1

nh l c chng minh
2.2.5. Kt qu thu gn cc h lc c bit
2.2.5.1. H lc ng quy
H lc ng quy l h lc c ng tc dng ca cc lc giao nhau ti mt
im. Trong trng hp h lc ng quy nu chn tm thu gn l im ng quy
kt qu thu gn s cho vc t chnh ng bng hp lc cn m men chnh s
bng khng.
R0 0,

Mo = 0

vi O l im ng quy.

2.2.5.2. H ngu lc
Nu h ch bao gm cc ngu lc, khi thu gn h s c mt ngu lc
tng hp c m men ng bng m men chnh ca h.
n

M=

m
i =1

; mi l m men ca ngu lc th i v n l s ngu lc ca h.

2.2.5.3. H lc phng
H lc phng l h c cc lc cng nm trong mt mt phng.
Nu chn tm thu gn nm trong mt phng ca h th kt qu thu gn
r

vn cho ta mt m men chnh M o v vc t chnh R o. Vc t chnh R nm trong

r

mt phng ca h cn m men chnh M o vung gc vi mt phng ca h. Theo

r

kt qu thu gn dng chun ta thy: h lc phng khi c vc t chnh R v m

r

men chnh M o khc khng bao gi cng c mt hp lc nm trong mt phng

ca h.
2.2.5.4. H lc song song
H lc song song l h lc c ng tc dng song song vi nhau.
r

Kt qu thu gn v mt tm bt k cho ta mt vc t chnh R v mt m

r

men chnh M o . Vc t chnh c c im song song vi cc lc ca h.

-242.3. iu kin cn bng v phng trnh cn bng ca h lc

2.3.1. iu kin cn bng v phng trnh cn bng ca h lc bt k trong

khng gian
2.3.1.1. iu kin cn bng
iu kin cn bng ca h lc bt k trong khng gian l vc t chnh v
m men chnh ca n khi thu gn v mt tm bt k u bng khng.
r
R =

r
F
1=0
n

i=1

r
Mo=

m o( F 1) = 0

(2-5)

i=1

2.3.1.2. Phng trnh cn bng

Nu gi Rx, Ry, Rz v Mx, My, Mz l hnh chiu ca cc vc t chnh v m
men chnh ln cc trc to oxyz th iu kin (2-5) c th biu din bng cc
phng trnh i s gi l phng trnh cn bng ca h lc bt k trong khng
gian. Ta c:
n

Rx =

Xi = 0, Ry =

Mx =

mx( F i) = 0,

i=1

i=1

Yi =0, Rz =
i=1

My =

Zi = 0
i=1

my( F i) = 0,
i=1

Mz =

mz( F i) = 0.

(2-6)

i=1

Trong cc phng trnh trn Xi, Yi, Zi l thnh phn hnh chiu ca lc Fi;
r

mx( F i), my( F i), mz( F i) l m men ca cc lc F i i vi cc trc ca h ta

oxyz. Ba phng trnh u gi l ba phng trnh hnh chiu cn 3 phng trnh
sau gi l 3 phng trnh m men.
2.3.2. Phng trnh cn bng ca cc h lc c bit
2.3.2.1 H lc ng quy
r

Nu chn tm thu gn l im ng quy O th m men chnh M o s bng

khng do 3 phng trnh m men lun lun t nghim. Vy phng trnh cn
bng ca h lc ng quy ch cn:

-25n

Rx =

Xi = 0
i=1

Ry =

Yi =0

(2-7)

i=1
n

Rz =

Zi = 0
i=1

2.3.2.2. H ngu lc
r

Khi thu gn h ngu lc v mt tm ta thy ngay vc t chnh R 0 = 0 iu

c ngha cc phng trnh hnh chiu lun lun t nghim. Phng trnh cn
bng ca h ngu lc ch cn li ba phng trnh m men sau:
n

Mx =

i=1
n

My =

mx( F i) = mix = 0,
i=1

my( F i) =
i=1

r
Mz = mz( F i) =
n

i=1

miy = 0,

(2-8)

i=1
n

miz = 0.
i=1

y mx, miy, miz l hnh chiu ln cc trc h ta oxyz ca vc t m

r

men m i ca ngu lc th i.
2.3.2.3. H lc song song
Chn h to oxyz sao cho oz song song vi cc lc. Khi cc hnh
chiu Rx, Ry ca vc t chnh v Mz ca m men chnh lun lun bng khng.
V vy phng trnh cn bng ca h lc song song ch cn li ba phng
trnh sau:
n

Rz =

Zi = 0;
i=1

Mx =

mx( F i) = 0;
i=1

(2-9)

-26n

My =

my( F i) = 0
i=1

Trong phng trnh u l phng trnh hnh chiu cn hai phng

trnh cui l phng trnh m men.
2.3.2.4. H lc phng
r

Cn lu rng trong h lc phng vc t chnh R v m men chnh M

r

lun lun vung gc vi nhau, ngha l h lc phng lun lun c hp lc R

nm trong mt phng ca h cho. m bo iu kin hp lc ca h bng
khng tc l iu kin cn bng ca h ta c th vit phng trnh cn bng di
3 dng khc nhau.
1. Dng hai phng trnh hnh chiu mt phng trnh m men:
h lc cn bng cng nh cc trng hp khc phi c R = 0 v Mo =
0. Nu chn h to oxy l mt phng cha cc lc ca h ta thy ngay cc
n

phng trnh Rz =

zi = 0; Mx =
i=1

mx(Fi) = 0 v My =
i=1

my(Fi) = 0 l lun lun

i=1

t nghim v vy phng trnh cn bng ch cn :

n

Rx =

Xi = 0;
i=1
n

Ry =

Yi = 0;

(2-10)

i=1

Mz =

mz(Fi).
i=1

Hai phng trnh u l phng trnh hnh chiu cn phng trnh th ba

l phng trnh m men. Cn ch v cc lc cng nm trong mt phng oxy do
n

Mz

mz(Fi) chnh l tng m men i s ca cc lc i vi tm O.

i=1

Mz =

mz(Fi)
i=1

-272. Dng mt phng trnh hnh chiu v hai phng trnh m men
r

iu kin hp lc R ca h bng khng c th biu din bng ba phng

trnh sau y:
n

Rz =

Xi = 0;
i=1

MA =

mA(Fi) = 0;

(2-11)

i=1
n

MB =

mB(Fi) = 0
i=1

Vi iu kin trc x khng vung gc vi AB.

r

Tht vy t phng trnh (1) cho thy hp lc R ca h lc bng khng

hoc vung gc vi trc x.
r

Theo nh l Va ri nhng ,t phng trnh (2) ta thy hp lc R hoc

bng khng hoc qua A.
r

T phng trnh (3) ta cng thy hp lc R ca h bng khng hoc i

qua B.
Kt hp c ba phng trnh ta thy hp lc ca h hoc bng khng hoc
phi i qua hai im A,B v vung gc vi trc x (khng vung gc vi AB).
iu kin hp lc va qua A, B v va vung gc vi trc x l khng thc hin
c v tri vi gi thit.
Nh vy nu h tho mn phng trnh (2-11) th hp lc ca n s bng
khng ngha l h lc cn bng.
3. Dng ba phng trnh m men i vi 3 im
Ngoi hai dng phng trnh cn bng trn h lc phng cn c phng
trnh cn bng theo dng sau:
n

MA =

mA( F i) = 0
i=1

-28n

MB =

(2-12)

i=1
n

MC =

mB( F i) = 0
r

mo( F i) =0
i=1

Vi iu kin A, B, C khng thng hng.

r

Tht vy, nu h lc phng tho mn phng trnh MA = mA( F ) = 0 th

theo nh l Va ri nhng hp lc ca h s bng khng hoc i qua A. Cng l
lun tng t ta thy tho mn MB = 0 v Mc = 0 th hp lc phi bng khng
hoc phi i qua B, i qua C.
V chn 3 im A, B, C khng thng hng nn iu kin hp lc qua 3
im l khng thc hin c. Ch c th hp lc bng khng, c ngha l nu
tho mn h ba phng trnh (2-12) h lc phng cho s cn bng.
2.4. Bi ton cn bng ca vt rn

Vt rn cn bng khi h lc tc dng ln n bao gm cc lc cho v

phn lc lin kt cn bng.
Khi gii bi ton cn bng ca vt rn c th p dng phng php gii
tch hoc phng php hnh hc nhng ph bin v c hiu qu nht l phng
php gii tch.
Gii bi ton cn bng ca vt thng tin hnh theo cc bc sau:
1. Chn vt kho st: vt kho st phi l vt rn m s cn bng ca n
cn thit cho yu cu xc nh ca bi ton. Nu nh bi ton tm phn lc lin
kt th vt kho st phi l vt chu tc dng ca phn lc lin kt cn tm, nu l
bi ton tm iu kin cn bng ca vt th vt kho st phi chnh l vt .
2. Gii phng vt kho st khi lin kt v xem l vt t do di tc
dng ca cc lc cho v phn lc lin kt.
3. Thit lp iu kin cn bng cu vt bi cc phng trnh cn bng ca
h lc tc dng ln vt kho st bao gm cc lc cho v phn lc lin kt.

-294. Gii h phng trnh cn bng xc nh tr s v phng chiu ca

cc phn lc lin kt hoc thit lp mi quan h gia cc lc m bo iu
kin cn bng cho vt kho st .
5. Nhn xt cc kt qu thu c.
Cn ch rng chiu ca cc phn lc thng cha c xc nh v th
lc u phi t chn chiu. Da vo kt qu gii h phng trnh cn bng ta c
th xc nh chiu ca cc phn lc chn ng hay sai. Nu cc phn lc lin
kt cho tr s dng th chiu chn l ng v nu tr s m th chiu phi o li
. Mt khc cng cn lu rng bi ton c trng hp gii c (bi ton tnh
nh) khi s n s cn xc nh nh hn hoc bng s phng trnh cn bng. C
trng hp khng gii c (bi ton siu tnh) khi n s cn tm ln hn s
phng trnh cn bng.
Th d 2.1. Ct in OA chn thng ng trn mt t v c gi bi hai
si dy AB v AD hp vi ct in mt gc = 300 (xem hnh 2-8a) Gc gia
mt phng AOD v mt phng AOB l = 600. Ti u A ca ct in c hai
nhnh dy in mc song song vi trc ox v oy. Cc nhnh dy ny c lc ko
l P1 v P2 nh hnh v. Cho bit P1 = P2 = P = 100kN.
Xc nh lc tc dng dc trong ct in v trong cc dy cng AD, AB.
Bi gii:
z r

Chn vt kho st l u A ca ct in.

Lin kt t ln u A l hai si dy

R3 r
P2

r
P1

AB, AD v phn ct in cn li.

r
R1
r

Gi phn lc lin kt trong dy AB l

R2

r
r
R1, trong dy AD l R 2 v lc dc ct l R 3

vi chiu chn nh hnh v 2-8. Khi gii

phng im A khi lin kt im A s chu tc

y
D

dng ca cc lc P1, P2 v cc phn lc R1R2

Hnh 2.8a

-30r
R 3. iu kin u A cn bng l h 5 lc tc dng ln n cn bng. Ta c:
r

( P 1, P 2, R 1, R 2 , R 3) 0. H lc ny ng quy ti A do phng trnh

cn bng thit lp theo phng trnh (2.7)
trnh nhm ln ta lp bng (2-1) hnh chiu cc lc ln 3 trc ca h
ta oxyz nh sau:
Bng 2-1
F1

P1

P2

R1

R2

R3

x1

-P

R2sinsin

y1

-P

R1sin

R2sincos

z1

-R1cos

-R2cos

R3

Phng trnh cn bng vit c:

Xi =- P + R2sinsin = 0;
Yi = - P + R1sin + R2sincos = 0
Zi = -R1cos - R2cos + R3 = 0

(a)
( b)
(c)

H 3 phng trnh trn cha 3 n s R1, R2, R3 nn bi ton l tnh nh.

Gii h phng trnh trn c:
R1 = P

P
1
1 cot g
; R2 =
; R3 = P cotg(1-cotg +
);
sin sin
sin
sin

Thay cc tr s ca , v P ta nhn c:
R1 = 85kN; R2 = 231 kN; R3 = 273kN.
Kt qu u dng nn chiu cc phn lc chn l ng.
Th d 2.2: Mt xe 3 bnh ABC t trn mt mt ng nhn nm ngang.
Tam gic ABC cn c y AB = 1m, ng cao OC = 1,5m, trng lng ca xe
l P KN t ti trng tm G trn on OC cch O l 0,5m. Tm phn lc ca mt
ng ln cc bnh xe (xem hnh 2-9)

-31Bi gii:
Kho st s cn bng ca xe.

r
NB

Gii phng xe khi mt ng v

B

thay bng cc phn lc ca mt t

r
r
r
ln cc bnh xe l N A, N B, N C.

V xe t trn mt nhn nn

Xe trng thi cn bng di

r

r
NA

gc vi mt ng.
r

r
NC

cc phn lc ny c phng vung

r
P

tc dng ca 4 lc P , N A, N B, N C.

Hnh 2.9

H 4 lc ny l h lc song song.

Nu chn h to oxyz nh hnh v phng trnh cn bng ca h lc

trn theo (2-9) c dng:
Zi = NA + NB + NC - P = 0

(a)

mx(Fi) = -P.0,5 + NC.1,5 = 0

(b)

my(Fi) = - NA.0,5 + NB.0,5 = 0

(c)

H ba phng trnh trn cha 3 n s NA, NB, NC nn bi ton l tnh

nh.
Gii phng trnh trn xc nh c:
NA = NB = NC = P/3

kN

Kt qu cho cc gi tr dng nn chiu phn lc hng ln l ng.

Th d 2.3: X AB c gi
nm ngang nh lin kt nh hnh v
(2.10). Ti A c khp bn l c

nh. Ti C c treo bi dy CD

t xin mt gc so vi x. Ti B
c dy ko thng ng nh trng

D
E
2

C
1
G

Hnh 2.10

M
2

-32vt P buc u dy vt qua rng rc.

X c trng lng G t ti gia, chu mt ngu lc nm trong mt phng
hnh v v c m men M. on dm AE chu lc phn b u c cng q.
Xc nh phn lc ti A, trong si dy CD cho bit G = 10kN, P = 5kN, M
= 8 kNm; q = 0,5 kN/m; = 300. Cc kch thc cho trn hnh v.
Bi gii:
Chn vt kho st l x AB. Gii phng lin kt t ln x ta c:
r

Lin kt ti A c thay th bng phn lc R A nm trong mt phng hnh

r

v. Lin kt ti C c thay th bng lc cng T hng dc theo dy. Lin kt ti

r

B thay bng lc cng ng bng P nhng c chiu hng ln trn. Chiu ca R A

r

v T chn nh hnh v. Nh vy x AB trng thi cn bng di tc dng ca

r

cc lc ( G , M , R A, T , P ), cc lc ny nm trong mt phng thng ng tc l

mt phng hnh v (h lc phng ). Chn h to Axy nh hnh v v lp
phng trnh cn bng dng (2-10) c:
Xi = XA - Tcos300;

(a)

Yi = YA - Q - G +T cos600 + P = 0;

(b)

mA( F i) = - Q.1 - G.3 + T.4sin300 - M + 6P = 0.

(c)

Trong cc phng trnh trn

Q = 2q l tng hp lc phn b u

t ti im gia AE.
Ba phng trnh trn cha 3
n s XA, YA, v T do bi ton l
tnh nh.
Gii h phng trnh trn ta

YA

90r0
XA Q
1

1
r
G
Hnh 2.11

c:
T=

Q.1 + G.3 + M p.6 1.1 + 10.3 + 8 5.6

=
= 4,5 kN;
4.0,5
4.sin 300

r
P

r
T
C

M
2

x
B

-33XA = Tcos300 = 4,5.0,866 = 3,90kN;

YA = Q + G -T cos600 - P = 1 + 10 - 4,5.0,5 - 5 = 3,75, kN
Kt qu cho cc tr s ca T, XA, YA u dng do chiu chn ban u
l ng.
Th d 2.4: Trc truyn nm ngang t trn hai gi bn l c nh A v
B (xem hnh v 2-12). Trc nhn
chuyn ng quay t dy ai dn

z
ZA

n bnh ai C c bn knh r1 = 20
cm v nng trng vt P buc vo
cun trn trng ti c bn knh r2 =
15cm. Cho bit hai nhnh dy ai

ZB

u dy cp vt qua rng rc K v

T2

T1

YA

YB

c phng song song vi trc oy v

P

c lc cng T1 v T2 vi T1 = 2T2;
Trng vt P= 180kN; a = 40cm; b =

Hnh 2.12

60cm v = 300. Xc nh phn lc

ti hai gi A v B.
Bi gii:
Chn vt kho st l trc BC.

Lin kt ln trc l cc A, B. Cc lc tc dng cho l T 1, T 2 v F .

r

Lc F tc dng dc theo dy cp c tr s bng P . V cc l khp bn l c

nh nn phn lc lin kt ti A v B c hai thnh phn theo trc oy v oz. Gii
phng lin kt t ln trc v thay bng cc phn lc lin kt khi trc AC chu
r

tc ng ca cc lc: T 1, T 2, F , R A, R B . Cc lc ny phn b bt k trong

khng gian. Phng trnh cn bng ca h lc thit lp theo (2- 6). trnh
nhm ln ta lp bng hnh chiu v m men ca h lc i vi cc trc to
(bng 2-2) .

-34Bng 2-2
r
F1

r
F

r
T1

r
T2

r
RA

r
RB

X1

Y1

Fcos

Thp

T2

YA

YB

Z1

-Fsin

ZA

ZB

mx(F)

-F.r2

-T2r1

my(F)

Fsin.b

T1r1

-ZB(a+b)

-T2a

YA(a+b)

mz(F)

Fcos.b

45

-T1.a
Cc phng trnh cn bng thit lp c:
Yi = Pcos + T1+T2 + YA + YB = 0;
Zi = Fsin + ZA + ZB = 0;
Mx = F.r2 + T1r1 - T2r1 = 0;
My = Fsin.b - ZB(a+b) = 0;
Mz = Fcos.b - T1a- T2a + YB(a+b) = 0;
H 5 phng trnh trn cha 5 n s l YA, ZA, YB, ZB v T1 nn bi ton l
tnh nh.
Gii h phng trnh trn tm c:
T2 =

P.r2 180.15
=
= 135kN ; T1 = 2T2 = 270 kN;
r
20

ZB =

b.P sin
60.180.0,5
=
= 54 kN;
a+b
40 + 60

40.3.135 180.60.
a.3T2 Pb cos
2 = 69 kN
YB =
=
40 + 60
a+b

YA =- Pcos-3T2 - YB = -180.

3
-3.135- 69 -630KN
2

ZA = Psin - ZB = 180. 0,5 - 54 = 36kN.

-35Trong cc kt qu tm c ch c gi tr YA mang du m do chiu ca

n ngc vi chiu chn.
Th d 2.5: Cho h hai dm
AB v BE ni bng khp bn l

E
D

ti B (xem hnh v 2-13). Trng

lng ca dm AB l Q t gia
AB. Trng lng ca dm BE l P

r
P

t gia BE. Ti u A c khp

r
Q

bn l c nh, cn ti cc im
C, D l cc im ta nhn.
Xc nh phn lc ti cc

Hnh 2.13

gi A v cc im ta C,D.
Cho P = 40kN, Q = 20kN; CB =

1
1
AB; DE = BE; = 450.
3
3

Bi gii: Cn lu rng y l bi ton cn bng ca h vt. V nguyn

tc khi gii bi ton thuc loi ny phi tch ring tng vt xt. Trn h vt
cn phn bit hai loi vt chnh v vt ph. Vt chnh l vt khi tch ra c th
ng vng c. Vt ph l vt khi tch ra khng th ng vng c. Ta xt vt
ph trc sau xt vt chnh sau. Cng cn ch thm khi tch vt ti cc
khp ni s c thay th bng cc lc tc dng tng h, cc lc ny cng
phng cng tr s nhng ngc chiu.
i vi bi ton trn, h gm hai dm trong AB l dm chnh cn BE
l dm ph. Tch BE xt. Ti khp ni c phn lc lin kt RB (lc tc dng
tng h ca dm chnh ln dm BE). Phn lc RB nm trong mt phng thng
ng ( mt phng hnh v) v c hai thnh phn XB v YB ( xem hnh 2-14). Gii
r

phng lin kt ti D thay vo bng phn lc N D ( N D vung gc BE. Dm BE

r

chu tc dng ca cc lc P , N D, R B. H lc ny cng nm trong mt phng oxy

do phng trnh cn bng vit c:
X1 = XB - NDsin = 0;

-36-

r
ND

Y10 = YB - P + NDcos = 0;
D

YB

2
a
mB(F1) = ND .a - P. cos = 0.
3
2

r
P

B
XB

Gi h phng trnh trn tm c:

3
3
2
Pcos = .40.
21,2 kN;
4
4
2

ND =

Hnh 2.14
YA

3
3
XB = P sin2 = .40.1= 15kN;
8
8

XA
A

YB = P(1-

3
3 2
cos2)= 40(1)= 25kN.
4
4 4

XB

r
Q

C
YB

Hnh 2.15

Gi tr cc phn lc u dng iu ny
chng t chiu ca chng nh chn l ng.

Tip theo xt n dm chnh AB. Gii phng cc lin kt dm s trng

r

thi cn bng di tc dng ca h lc: Q , - R B, R A, N C. Cc lc ny cng nm

trong mt phng oxy. ( xem hnh 2.15 )
Phng trnh cn bng ca h lc vit c:
X1 = XA - X'B = 0;
mA(F) = - Y'B.b + NC
mC(F) = - YA.

2
b
b - Q. = 0;
3
2

2b
b
b
+ Q - Y'B. = 0;
3
6
3

Trong X'B = XB, Y'B = YB nhng c chiu ngc li.

Gii h 3 phng trnh trn tm c:
XA = XB = 15kN;
YA =

1
1
Q - YB = -7,5kN;
4
2

YC =

3
3
Q + YB = 52,5kN.
4
2

Kt qu cho gi tr ca YA mang du m c ngha chiu YA chn l sai

phi o li.

-37Chng 3
Ma st v bi ton cn bng ca vt khi c ma st
3.1. Ma st trt v bi ton cn bng ca vt khi c ma st
trt

3.1.1. Ma st trt v cc tnh cht ca ma st trt

Thc tin cho thy bt k vt no chuyn ng trt trn b mt khng
nhn ca vt khc u xut hin mt lc cn li s trt ca vt gi l lc ma st
r

trt k hiu F ms. Lm th nghim biu din trn hnh 3.1. Vt A t trn mt
r

trt nm ngang v chu tc dng ca lc P hp vi phng thng ng mt gc

r

. Phn tch P thnh hai thnh phn P 1 v P 2 nh hnh v. Nhn thy rng P 1
r

lun lun cn bng vi phn lc php tuyn N . Cn lc P 2 l lc cn y vt

A trt trn mt.
r

Khi P khng i ta nhn thy gc tng th

r
P 2 tng. Trong giai on u vt A ng yn trn
r
mt B. T iu kin cn bng ca vt A cho thy P 2

bng lc ma st nhng ngc chiu. Nu tip tc

tng gc n mt tr s th vt A bt u trt.
r

Lc ma st lc cng tin ti gii hn F n.

Tr s Fn = Ntg

r
P
r
P2

r
N

Pr

r
F ms

Hnh 3.1

(3.1)

y N = P1 l phn lc php tuyn ca mt trt. Gc gi l gc ma

st; tg = f gi l h s ma st. T (3.1) c th kt lun: lc ma st trt lun
lun cng phng nhng ngc chiu vi chuyn ng trt, c tr s t l thun
vi phn lc php tuyn (p lc) ca mt trt.
H s ma st f c xc nh bng thc nghim, n ph thuc vo vt liu
v tnh cht ca b mt tip xc. Bng (3-1) cho ta tr s ca h s ma st trt
i vi mt vi vt liu thng gp

-38Bng 3-1
Tn vt liu

H s ma st

trt trn g

0,46 0,6

G trt trn g

0,62

Kim loi trt trn g

0,62

ng trt trn gang

0,16

ng trt trn st

0,19

Thp trt trn thp

0,15

Lc ma st xut hin trong giai on vt trng thi tnh gi l ma st

tnh. Lc ma st tnh tng t khng n tr s gii hn Fn = f0N. Lc ma st xut
hin trong giai on vt chuyn ng trt ta gi l lc ma st ng. Trong trng
thi tnh lc ko (y) vt lun cn bng vi lc ma st tnh cn trong trng thi
chuyn ng lc ko (y) P2 va phi thng ma st ng va phi d mt phn
to ra chuyn ng ca vt. Nu gi lc ma st ng ca vt l Fmssd th Fmsd =
fdN, trong fd gi l h s ma st ng. Qua nhiu thc nghim thy rng lc
ma st ng thng nh hn mt cht so vi ma st tnh gii hn. H s ma st
ng khng nhng ph thuc vo vt liu v tnh cht b mt tip xc ca vt m
cn ph thuc vo vn tc trt ca vt. Trong phn ln cc trng hp cho thy
khi vn tc tng th h s ma st ng gim v ngc li. Th d h s ma st
ng gia bnh ai lm bng gang vi dy ai phanh bng thp c th xc nh
theo cng thc:
fd =

1 + 0,0112v
ft
1 + 0,006v

Trong v l vn tc trt tnh bng km/h cn ft = 0,45 khi mt tip xc

kh v ft = 0,25 khi mt tip xc t.
Trong tnh hc v ch xt bi ton cn bng nn ma st phi l ma st tnh.

-393.1.2. Bi ton cn bng ca vt khi chu ma st trt

Xt vt rn t trn mt ta (mt trt). Gi thit vt chu tc dng ca cc
r

lc F 1, F2 , ... Fn . Cc lc lin kt bao gm phn lc php tuyn N j v lc ma st

r
F msj.

Khi vt cn bng ta c h lc sau:

r

( F 1, F2 , ... Fn , N j, F msj) 0

j = 1 ....s l s b mt tip xc

vt cn bng phi c cc phng trnh cn bng nh xt chng 2.

Ngoi cc phng trnh cn bng ra m bo vt khng trt phi c cc iu
kin:
Fnj foNj.

Fnj l lc y tng hp.

Tr li s (3.1) ta thy khi khng c trt th

tg =

Fms
fo = tg
N

Ta c th pht biu iu kin khng trt nh sau:

r

iu kin vt khng trt l hp lc P tc dng ln vt nm trong mt

nn c gc nh 2 ( ta gi nn ny l nn ma st).Khi P nm trn nn ma st l
lc sp xy ra s trt ca vt A.
Th d 3.1: Xc nh iu kin
cho vt A c trng lng P nm cn bng

r
F ms

r
N

trn mt nghing so vi phng ngang mt

gc . H s ma st tnh l fo (hnh 3.2)

Bi gii: Xt vt A nm cn bng
trn mt nghing di tc dng ca cc lc
r

( P , N , F ms) V vt c xu hng trt

r
xung nn lc ma st F ms lun lun hng

v pha trn nh hnh v.

vt cn bng phi c:

Hnh 3.2

-40r

( P , N , F ms) 0 v FN foN.
Gi thit rng v tr ang xt l v tr gii hn gia cn bng v trt th lc
ma st Fms = Fn = foN. iu kin h lc tc dng ln h vt cn bng l:
Fn = Ntg
Mt khc v Fn Nf0. Suy ra tg fo.
Nh vy iu kin cho vt cn bng phi l tg fo.
Tr s ca gc = o vi tago = fo chnh bng gc ma st .
Th d 3.2: Gi treo vt nng c s nh hnh v 3-3. Vt treo c trng
lng P, h s ma st trt ti cc im ta A v B l fo. Kch thc cho theo
hnh v. Xc nh iu kin cn bng cho gi.
Bi gii:
Kho st s cn bng

ca gi. Lc tc dng ln gi

r
N'

r
ngoi trng lng P ca vt

A cn c phn lc php

r r r r
ta A v B l: N , N ', F , F '

r
R
yA

r
F

tuyn v lc ma st im

r
F'

B
r
P

b)
Hnh 3.3

bng ca gi l:
r

a)

khng i, iu kin cn
r r r

r
RB

r
N

r
P

Nu khong cch l l

( P , N , N ', F , F ') 0
v F foN; F' foN'
Ti v tr gii hn ngha l lc sp xy ra s trt ca gi trn cc im ta
ta c phng trnh cn bng nh sau:
N- N' = 0;

(1)

F=foN

(4)

F + F' -P = 0

(2)

F' = foN'

(5)

-41N.h - F.dgh - P = 0;

(3)

y dgh l khong cch gii hn ca hai im ta A v B cho php ng

vi lc bt u trt.
Gii h phng trnh trn ta c:
N = N'

F = F';

h = fodgh + 2fol hay

dgh =

P = 2foN;

h
- 2l
fo

Khong cch d cng ln p lc N cng ln v ma st cng ln, iu kin

cn bng ca gi vit c:
dgh

h
- 2l
fo

Th d 3.3: Tm iu kin khng trt ca dy ai qun trn bnh ai trn

c k n ma st trt vi h s fo (hnh 3-4) , b qua tnh n hi ca dy ai.
Bi gii:
Tm iu kin khng trt ca dy ai c ngha l tm iu kin cn bng
r

ca on ai AB ca ai di tc dng cc lc T 1, T 2 (T2 > T1) cc phn lc

php tuyn N v cc lc ma st trt F phn b lin tc trn cung AB.
Khi dy ai sp trt ta xt mt cung nh ED trn dy ai. Bn nhnh ch
r

ng c lc tc dng l T + T cn bn nhnh
r
ph ng lc tc dng l T . Gi phn lc php
r
tuyn ln cung ai ny l N v lc ma st trt

ln cung ny l F ta s c phng trnh cn bng:

- T cos

d
d
+ (T+dT)cos
-F=0
2
2

- N - Tsin

d
2

d d Nr

( T +d T )

A
r
T2

D
R d

dF

d
r
T

B
r
T1

- (T- dT) = 0
Hnh 3.4

Trong F = fN. B qua cc v cng b

-42bc hai tr ln ta c: F = dT v N = Td. Thay gi tr trn vo biu thc F =fN

ta c dT = f.T.d. Tch phn hai v tng ng vi cn t A n B ta c
lnT

A
A
T
= f o
hay ln 2 = f.
B
B
T1

l gc chn cung AB gi l gc bao ca ai.

Suy ra: T2 = T1.ef
Lc ko bn nhnh ch ng T2 cng ln hn bn nhnh b ng th kh
nng trt cng nhiu do iu kin dy khng trt phi l:
T2 T1.ef
Cng thc ny c gi l cng thc le
3.2. Ma st ln v bi ton cn bng ca vt rn khi c ma
st ln

Ma st ln l m men cn chuyn ng ln ca vt th ny trn vt th khc.

Xt mt con ln hnh tr bn knh R trng lng P ln trn mt mt phng
r

ngang, nh lc Q t vo trc con ln (xem hnh 3.5). Trong trng hp ny con

r

ln chu tc dng ca cc lc: P , Q , N , F ms. Trong cc lc hai lc Q v F ms

to thnh mt ngu lc c tc dng lm cho con ln chuyn ng ln. Cn li hai
r

lc P v N trong trng hp con ln v mt ln l rn tuyt i th chng trng

phng.Trong thc t con ln v mt ln l nhng vt bin dng hai lc P v N
khng trng phng lun song song v cch nhau mt khong cch k. Hai lc
ny to thnh mt ngu lc c tc dng cn li s ln ca con ln. M men ca
r

ngu ( P , N ) c gi l m men ma st ln. Nu k hiu m men ma st ln l

Mms th Mms = kN.
Gi k l h s ma st ln. Khc vi h s ma st trt h s ma st ln k
c th nguyn l di.

-43H s ma st ln c xc nh bng thc nghim, n cng ph thuc vo

tnh cht vt liu v b mt ln, khng ph thuc vo lc N. Sau y l h s ma
st ln ca mt vi vt thng gp.

Vt liu

H s k (cm)

G ln trn g

0,05 0,08

Thp ln trn thp

0,005

G ln trn thp

0,03 0,04

Con ln thp trn mt thp

0,001

r
N

r
Q

C
r
F

r
Nr
Q

r
F

r
P

a)

k
A

B
r
P

b)

Hnh 3.5
Bi ton cn bng ca vt khi c ma st ln ngoi iu kin h lc tc
dng ln h k c cc phn lc v lc ma st cn bng cn phi thm iu kin
khng c ln biu din bi phng trnh:
Mms Q.R
r C
F

Th d 3.4: Tm iu kin cn bng ca con ln

trng lng P, bn knh R nm trn mt phng nghing mt
gc . Cho h s ma st ln l k. (xem hnh 3-6)

r
N r
P1

r
P2

r
P

Bi gii:
r

Xt con ln v tr cn bng. Phn tch P thnh hai

Hnh 3.6

r
r
lc P 1, P 2 nh hnh v (3-6).

Ta c iu kin con ln khng ln l:P1.R = R.P.sin P2.k = P cos

Hay

R.P.sin P.cos.

tg

k
R

-44Nh vy iu kin con ln cn bng l: tg

k
R

Th d 3.5: Vt hnh tr c trng lng P bn knh R nm trn mt phng

nghing mt gc . Khi tr chu tc dng lc y Q song song vi mt phng
nghing. Tm iu kin khi tr ng yn trn mt phng nghing v iu kin
n ln khng trt ln pha trn. H s ma st ln l k v h s ma st trt l f.
y

y
r
Q

r
Q

r
N

r
P

r
N

r
P

r
F ms

a)

x
M

r
F ms

b)
Hnh 3.7

Bi gii:
i kin khi tr cn bng trn mt phng nghing l :
r

r r

( P , Q , N , F ms, M ms) 0
Mt khc khi tr khng ln (hnh3.7a ) khng trt xung phi c
thm iu kin:
Mms k.N;

Fms f.N

Nh vy phi tho mn cc phng trnh sau:

Xi = Q - Psin + Fms = 0;

(1)

Yi = - Pcos +N = 0;

(2)

mA = P.R.sin - Q.R - Mms

=0

(3)

Fms f.N

(4)

M ms k.N

(5)

-45T ba phng trnh u tm c:

N = Pcos ;

Fms = Psin - Q ;

Mms = R(Psin - Q)

Thay cc kt qu vo hai bt phng trnh cui c:

P.sin - Q f.Pcos ;

R(Psin-Q) k.Pcos

Hay: Q P(sin - f.cos)

Q P(sin Thng th

k
cos)
R

k
< f do iu kin tng qut l:
R

Q
k
sin - cos sin - f.cos
P
R

vt ln khng trt ln ( hnh3.7b ) phi c cc iu kin:

xi = Q-Psin + Fms = 0;

(1')

yi =- Pcos +N = 0;

(2')

mA = P.sin - Q.R + Mms = 0;

(3')

Fms f.N

(4')

M ms k.N

(5')

Bt phng trnh (4') m bo cho vt chuyn ng c trt ln. Cn bt

phng trnh (5') m bo cho con ln c kh nng ln ln trn.
T 3 phng trnh u ta c:
N = Pcos;

Fms = Q - Psin

Mms = R(Q-Psin)

Thay th vo hai phng trnh cui ta c:

Q - Psin f.P.cos;
R(Q-Psin) kPcos.
Vy iu kin khi tr ln khng trt ln trn l:
sin +

k
Q
cos
< sin + f cos.
R
P

iu ny ni chung c th c nghim v

k
thng nh hn f.s
R

-46Chng 4
Trng tm ca vt rn
4.1. Tm ca h lc song song
r

H lc song song ( F 1, F2 , ... Fn ) lun c hp lc R song song vi cc lc

r

cho. Theo l thuyt v h lc, hp lc R c xc nh bi biu thc:

r
r
r
r
R = F 1 + F2 +... Fn =

F i

(4-1)

i=1

Khi ta thay i phng ca h lc phng ca hp lc cng thay i theo.

Chng hn lc u h lc c hp lc l R song song vi cc lc cho , sau khi
xoay h lc cho song song vi trc oz ta s c hp lc R' c ln bng R
nhng c phng song song vi
trc oz. Mc d hp lc thay i

A2
z

phng khi phng ca h lc

A1

r
r '2

thay i nhng ng tc dng

r
r '1

ca chng u i qua im C

r
r1

im ny gi l tm ca h lc

A4

A3

song song cho.

O r

xc nh v tr ca tm C
ta vn dng nh l Va-ri-nhng.
r

Cho hp lc R ' nh hnh v ta c:

r '3

yC

zC
r
r3

r
r '4

my(Fni);
i=1

R.Xc =

Fixi;
i=1

Fi x i
hay Xc =

i =1

r
r4

xC

r
R'

r
R

My(R') =

r
r2

Hnh 4.1

-47Trong Xc l to ca im C trn trc ox, xi l to ca im Ai

trn trc ox.
Bng cch xoay phng ca h lc cho song song vi trc ox v oy ta s
nhn c cc kt qu tng t vi to ca C trn hai trc oy v oz. Ta xc
nh h to ca tm C theo cc biu thc sau:
n

Fi x i
Xc =

i =1

Fi yi
Yc =

i =1

(4-2)

Fi zi
Zc =

i =1

Nh vy c th xc nh hp lc ca h lc song song nh cc biu thc

(4-1) v (4-2)
4.2. Trng tm ca vt rn
r

Coi vt rn l tp hp ca n phn t c trng lng P 1, P 2 ... P n. Cc

trng lc Pi to thnh mt h lc song song. Tm ca h cc trng lng phn t
ny gi l trng tm ca vt.
Nh vy gi C l trng tm ca vt th to ca im C c xc nh
bng cc biu thc sau:
n

Pi x i
Xc =

i =1

Pi yi
Yc =

i =1

(4-3)

-48n

Pi zi
Zc =

i =1

Trong P i v P l trng lng ca phn t th i trong vt, v trng lng

ca c vt, cn xi, yi, zi l to ca phn t th i.
Nh vy trng tm ca vt l mt im C trn vt m tng hp trng
lng ca c vt i qua khi ta xoay vt bt k chiu no trong khng gian.
4.3. Trng tm ca mt s vt ng cht

4.3.1. Vt rn l mt khi ng cht

Gi trng lng ring ca vt l ( trng lng ca mt n v th tch)
th Pi = .vi v P = .v. Trong vi v v l th tch ca phn t th i ca vt v th
tch c vt. To trng tm ca vt lc ny c th xc nh bi cc biu thc:
n

vi x i
xc =

i =1

vi yi
;

yc =

i =1

vi z i
;

zc =

i =1

4.3.2. Vt rn l mt tm mng ng cht

Gi trng lng ring ca vt rn l ( trng lng ca mt n v din
tch) ta s c Pi = .Si v P = .S y Si v S l din tch ca phn t th i ca
vt v din tch ton vt. To trng tm ca vt trong h to oxy cha vt
xc nh theo biu thc sau:
n

Si x i
xc =

i =1

Si yi
;

yc =

i =1

4.3.3. Vt rn l mt dy hay thanh mnh ng cht

Gi trng lng ring ca vt l ( trng lng ca mt n v chiu di
vt) ta c Pi = .Li v P = .L. Trong Li v L l chiu di ca phn t th i v
chiu di ca c vt. To trng tm ca vt lc ny c th xc nh bi cc
biu thc:

-49n

Li x i
xc =

i =1

Li yi
;

yc =

i =1

Li z i
;

zc =

i =1

4.3.4. Vt rn ng cht c mt tm, mt trc hay mt mt phng i xng

Ta c nhn xt rng trn vt bao gi cng tm c hai phn t i xng
c trng lng P1, P2 nh nhau song song cng chiu qua tm i xng, trc i
xng hay mt phng i xng ca vt v nh vy hp lc ca n s i qua im
i xng nm trn trc i xng hay mt phng i xng. D dng nhn thy
r

rng hp lc ca cc P i ( i = 1...n), ngha l trng lng ca vt bao gi cng i

qua tm i xng, trc i xng hay nm trong mt phng i xng nu nh
xoay vt sao cho mt phng i xng v tr thng ng. Ni cch khc trng
tm ca vt trong trng hp c mt tm i xng, c mt trc i xng hay c
mt mt phng i xng bao gi cng nm trn tm i xng, trc i xng hay
mt phng i xng .
4.3.5. Trng tm ca vt c th phn chia thnh nhng vt nh n gin
Trong trng hp ny ta chia vt thnh

C3

cc phn c hnh dng n gin d xc nh

trng tm, sau coi mi vt nh mt phn
t nh ca c vt, mi phn t ny c trng
lng t ti trng tm. Xc nh c trng

C2

lng v trng tm cc phn nh ca vt ta s

xc nh c trng tm ca c vt nh cc

C1

biu thc xc nh to trng tm trn.

Sau y ta vn dng nhng kt qu trn

x
O

tm trng tm ca mt s vt.

Hnh 4.2

Th d 4.1: Xc nh trng tm ca tm
tn phng c hnh dng nh hnh v (4-2).
Bit rng tm tn l ng cht v kch
thc ca cc cnh tnh bng cm cho trn

xi
yi
Si

Bng 4.1
C1
C2
-1
1
1
5
4
20

C3
5
9
12

-50hnh.
Bi gii:
Trc ht chia vt thnh 3 phn, mi phn l mt hnh ch nht nh hnh
v (4-2). Cc hnh ny l cc tm phng v c tm i xng l C1, C2 v C3. To
trng tm v din tch ca n c th xc nh nh bng 4.1.
Din tch ca c vt l :
S = S1 + S2 + S3 = 36 (cm2)
p dng cng thc (4.5) ta c:
xc =

4 + 20 + 60
x1S1 + x 2S2 + x 3S3
1
=
= 2 cm
S
36
9

yc =

y1S1 + y 2S2 + y3S3

4 + 100 + 108
8
=
= 5 cm
S
36
9

Trng tm C ca vt hon ton c xc nh.

Th d 4.2. Tm to trng tm ca tm phng gii hn bi hai ng
trn bn knh R v r ( xem hnh v 4.3). Cho bit khong cch gia hai tm l
c1c2 = a.
Bi gii:
Chn h to nh hnh v. Phn tch
y

thnh hai phn mi phn l mt tm trn

nhng y tm trn c bn knh r phi coi
nh vt c tit din m. C th ta c: Phn 1
l mt tm trn c bn knh R c to
trng tm l x1 = 0 v y1 = 0. Din tch l S1
= R2. Phn 2 l tm trn c bn knh r, to

a
C2

C1
r

trng tm l x2 = a, y2 = 0 v din tch l

S2 = -r2.Din tch c vt l :
S = S1 + S2 = (R2 - r2)
Hnh 4.3

-51Ta c th tnh c to trng tm ca vt.

xc =

x1S1 + x 2S2
a.r 2
=- 2 2 ;
S
R r

yc =

y1S1 + y 2S2
= 0.
S

Th d 4-3. Tm trng tm ca mt cung trn AB bn knh R, gc tm

l AB = 2 ( hnh 4-4)
Nu chn h to nh hnh v ta thy trc ox l trc i xng do
trng tm C ca chng nm trn trc ox c ngha l yc =0. y ch cn phi
xc nh xc
Ta chia cung AB thnh N phn nh, mi phn c chiu di lk, c to
xk = Rcosk.
Theo cng thc (4.6) c:

lk x k
xc =

i =1

B
=

1
L

lkRcosk

lk

i=1

Thay lkcosk = Yk ta c:

Xc =

1
1
R Yk= R.AB
L i=1
L

R.2 sin
sin
= R.
R .2

x
xk

A
Hnh 4.4

Thay L = R.2 v AB = 2R sin ta c:

Xc =

(4-7)

Th d 4-4: Tm trng tm ca mt tm phng hnh tam gic ABC ng

cht (hnh 4-5).
Bi gii:

Chia tam gic thnh cc di nh song song

vi y BC. Mi di nh th i c coi nh mt

G
C

E
Hnh 4.5

-52thanh mnh v trng tm ca n t ti gia di. Nh vy trng tm ca cc di

s nm trn ng trung tuyn AE v trng tm ca c tam gic cng nm trn
AE.
Chng minh tng t ta thy trng tm ca tam gic phi nm trn trung
tuyn BG v trung tuyn CK. R rng trng tm ca tam gic chnh l giao im
ca ba ng trung tuyn ca tam gic .
Trong hnh hc ta bit im c xc nh theo biu thc:
CE =

1
AE
3

Th d 4-5 Tm trng tm ca vt ng nht hnh t din ABDE nh hnh

v (4-6) .
Bi gii:
E

Ta chia hnh thnh cc phn nh nh cc

mt phng song song vi y ABD. Mi tm
c coi nh mt tm phng ng cht hnh tam
gic trng tm ca mi phn c xc nh nh
th d 4-4. Lp st y s c trng tm l C1vi
C1k =

1
BK (BK l trung tuyn ca y ABD).
3

Nh vy tt c cc trng tm ca cc phn s

C2

A
C1

Hnh 4.6

nm trn ng EC1 v trng tm ca c vt cng s nm trn EC1.

Tng t ta tm thy trng tm ca vt nm trn ng BC2 vi C2 l trng
tm tam gic EAD. Kt qu l trng tm C ca hnh v nm trn im C l giao
im ca EC1 v BC2.
Theo hnh v ta c CC1C2 ng dng vi ECB mt khc C1C2 =
1
1
BE v KC1 = KB t suy ra:
3
3
CC1
CC
1
= 1 2 =
CE
BE
3

-531
3

1
4

Suy ra CC1 = CE = C1E

-54-

Phn 2

ng hc
ng hc nghin cu cc qui lut chuyn ng ca vt th n thun v
hnh hc, khng cp n khi lng v lc. Nhng kt qu kho st trong
ng hc s lm c s cho vic nghin cu ton din cc qui lut chuyn ng
ca vt th trong phn ng lc hc.
Trong ng hc vt th c a ra di hai m hnh: ng im v vt
rn. ng im l im hnh hc chuyn ng trong khng gian, cn vt rn l
tp hp nhiu ng im m khong cch gia hai im bt k trong n lun
lun khng i. Khi kho st cc vt thc c kch thc khng ng k, c th
coi nh m hnh ng im.
Chuyn ng l s thay i v tr ca vt trong khng gian theo thi gian.
n v o di l mt v k hiu m, n v o thi gian l giy vit tt l s.
Tnh cht ca chuyn ng ph thuc vo vt chn lm mc so snh ta
gi l h qui chiu. Trong ng hc h qui chiu c la chn tu sao cho
vic kho st chuyn ng ca vt c thun tin . c th tnh ton ngi ta
cn phi chn h to gn vi h qui chiu. Thng thng mun hnh v c
n gin ta dng ngay h to lm h quy chiu.
Tnh thi gian thng thng phi so snh vi mc thi im t0 chn trc.
V ni dung, ng hc phi tm cch xc nh v tr ca vt v m t
chuyn ng ca vt theo thi gian so vi h quy chiu chn.
Thng s xc nh v tr ca vt so vi h quy chiu chn l thng s
nh v. Thng s nh v c th l vc t, l to , l gc...
Qui lut chuyn ng c biu din qua cc biu thc lin h gia cc
thng s nh v vi thi gian v c gi l phng trnh chuyn ng. Trong
phng trnh chuyn ng th thi gian c coi l i s c lp. Khi kh i
s thi gian trong phng trnh chuyn ng ta c biu thc lin h gia cc
thng s nh v v gi l phng trnh qi o.

-55 biu th tnh cht ca chuyn ng ta a ra cc i lng vn tc v

gia tc. Vn tc l i lng biu th hng v tc chuyn ng ca im hay
vt.Gia tc l i lng biu th s thay i ca vn tc theo thi gian. Gia tc
cho bit tnh cht chuyn ng u hay bin i. Vn tc v gia tc l cc i
lng ph thuc vo thi gian.
Cn c ni dung ngi ta chia ng hc thnh hai phn: ng hc im v
ng hc vt rn. Khi kho st ng hc ca vt rn bao gi cng gm hai phn:
ng hc ca c vt v ng hc ca mt im thuc vt.
Chng 5
Chuyn ng ca im
5.1. Kho st chuyn ng ca im bng vc t

5.1.1. Thng s nh v v phng trnh chuyn ng

Xt ng im M chuyn ng trong

h qui chiu oxyz (hnh 5-1).

r
r

V tr ng im M c xc nh nu
r

bit vc t r = OM . Vc t r l thng s nh
v ca ng im.

(C)

r
Khi ng im chuyn ng vc t r

bin thin lin tc theo thi gian t do ta

vit c:
r
r
r = r (t)

(5-1)

Nu bit c qui lut bin thin (5-1)

ta hon ton xc nh c v tr ca ng

Hnh 5.1

im bt k thi im no. Biu thc (5-1) l phng trnh chuyn ng ca

ng im M vit di dng vc t.

-56Trong qu trnh chuyn ng, ng im vch ra mt ng gi l qu o

chuyn ng ca ng im. Phng trnh ca ng qu o cng chnh l
phng trnh chuyn ng (5-1) nhng vit di dng thng s.
Nu ng qu o l thng ta ni ng im chuyn ng thng, nu
ng qu o l cong ta ni chuyn ng ca im l chuyn ng cong.
5.1.2. Vn tc chuyn ng ca im

Gi thit ti thi im t v tr ca ng im xc nh bi vc t nh v r .

Ti thi im t1 = t + t ng im n v tr M1 xc nh bi r 1, ta c MM 1 =

r
r r r
r 1 - r = r (xem hnh 5-2). Gi t s
l vn tc trung bnh ca ng im
t
r
trong khong thi gian t v k hiu l v tb . Khi t cng nh ngha l M1 cng

gn M th v tb cng gn n mt gii hn,

gii hn gi l vn tc tc thi ti thi

v cp

im t.

M1
r

Nu k hiu vn tc tc thi ca

r
ng im l v th:
r
r
v d r
=
v = lim
t 0 t
dt

r1

M
r

(5.3)

Vn tc tc thi ca ng im bng
o hm bc nht theo thi gian ca vc t

nh v ti thi im .

V mt hnh hc ta thy vc t r

Hnh 5.2

nm trn ct tuyn MM1 v hng t M n M1 v vy khi tin ti gii hn vc t

r

vn tc v s tip tuyn vi qu o ti v tr M ang xt v hng theo chiu

chuyn ng ca im.
n v tnh vn tc l mt/giy vit tt l m/s

-575.1.3. Gia tc chuyn ng ca im

r

Gi thit ti thi im t im c vn tc v v ti thi im t1 im c vn

r
tc l v 1. T s

r r
r
v v 1 v
=
gi l gia tc trung bnh ca im trong thi gian
t
t
r

t. Gii hn t s khi t tin ti khng gi l gia tc tc thi w ca im. Ta

c:

r
r
r
v dv d 2 r
r
=
=
w = lim
(5-3)
t 0 t
dt dt 2

Nh vy gia tc tc thi ca im l

r
cp

v1

M1

vc t o hm bc nht theo thi gian cu

y

vc t vn tc hay o hm bc hai theo

thi gian ca vc t nh v. V mt hnh
r

hc vc t v bo gi cng hng v pha

lm ca ng cong (xem hnh 5-3), do

r
vc t gia tc w bao gi cng hng v

Hnh 5.3

pha lm ca ng cong. n v o gia tc l mt/giy2 vit tt l m/s2

5.1.4. Tnh cht ca chuyn ng
xem xt chuyn ng ca im l thng hay cong ta cn c vo tch

r r r
v xw= c

Nu c = 0 th v v w cng phng, ngha l vn tc v c phng khng

i. Chuyn ng lc l chuyn ng thng.

Nu c 0 th v v w hp vi nhau mt gc iu chng t vc t v
thay i phng v chuyn ng s l chuyn ng cong. xt chuyn ng

r r

ca im l u hay bin i ta cn c vo tch v hng v . w = B.

r 2
d
(
v
)
d( v2 )
r
r r
2
2
=
= 2v .w
V v = ( v ) nn
dt
dt
r

Cho nn nu B = 0 th chng t v l hng s ngha l ng im chuyn

ng u.

-58r

Nu B 0 th v l i lng bin i, chuyn ng l bin i. Nu B > 0

chuyn ng nhanh dn v B < 0 chuyn ng chm dn.
5.2. Kho st chuyn ng ca im bng to cc

5.2.1. Thng s nh v v phng trnh chuyn ng

Xt ng im M chuyn ng theo

ng cong trong h trc to cc oxyz

M

(hnh 5-4).
r

y cc to x,y,z l cc thng s

nh v ca im M.

i lin tc theo thi gian do ta c:

Khi M chuyn ng cc to ny thay

x = x(t);
Hnh 5.4
y = y(t);

(5-4)

z = z(t).
Cc phng trnh (5-4) l phng trnh chuyn ng ca im v cng l
phng trnh qu o ca im vit di dng thng s trong to cc.
5.2.2. Vn tc chuyn ng ca im
r r r

Nu gi cc vc t n v trn ba trc to l i , j , k th vc t nh v v
vc t vn tc c th vit:
r
r
r
r =xi+y j +z

r
k . Suy ra

r
r
r
r
dr
r
d
dx r dy
v =
= (x i + y j + z k ) =
i+
dt
dt
dt
dt

r
j +

dz r
k
dt

(5.5)
Biu thc trn chng t:
vx =

dx
= x& ;
dt

vy =

dy
= y& ;
dt

vx =

dz
= z& .
dt

(5.6)

-59Hnh chiu vc t vn tc ln cc trc to bng o hm bc nht theo

thi gian cc to tng ng.
Da vo cc biu thc (5.6) d dng xc nh c vc t vn tc c v
ln v phng chiu.
2

v= v

+v

cos(ox,v) =

+v

dx dy dz
= + +
dt dt dt

vx
;
v

cos(oy,v) =

vy
v

cos(oz,v) =

vz
.
v

5.2.3. Gia tc ca im
Tng t nh i vi vn tc, da vo biu thc (5.3) ta c th tm thy:
dv x
d2x
wx =
= 2 = &x& ;
dt
dt

wy =
wx =

dv y
dt

d2y
= &y& ;
dt 2

(5.7)

dv z
d2z
= 2 = &z& .
dt
dt

Gia tc chuyn ng ca im s c xc nh v ln v phng

chiu theo cc biu thc sau:
w = w 2 x + w 2 y + w 2 z = &x& 2 + &y& 2 + &z& 2
cos(ox,w) =
r

wx
;
w

cos(oy,w) =

wy
w

cos(oz,w) =

wz
.
w

Khi bit v v w ta c th xem xt c tnh cht chuyn ng ca im M.

5.3. Kho st chuyn ng ca im bng to t nhin

5.3.1. Thng s nh v v phng trnh chuyn ng

Gi thit ng im M chuyn ng theo mt ng cong AB trong h
to oxyz. (xem hnh v 5.5). Trn qu o AB ly im O lm gc v chn

-60chiu dng cho ng cong. Thng thng ta chn chiu dng ca ng

cong l chiu m ng im chuyn ng. R rng nu bit cung OM = s ta c
th bit v tr ca im M trn qu o. Ni khc i cung OM = s l thng s
nh v ca ng im, cn gi l to cong. Khi im M chuyn ng s s
bin i lin tc theo thi gian ngha l:
s = s(t)

(5.8)

Bit c quy lut bin thin (5.8) ta c th xc nh v tr ca im M

bt k thi im no. Biu thc (5.8) c gi l phng trnh chuyn ng ca
im. Theo phng php ny xc nh chuyn ng ca im phi bit:
- Qu o chuyn ng AB
- Chiu chuyn ng trn qu o
- Quy lut chuyn ng (5.8).
5.3.2. Vn tc chuyn ng ca im
Gi thit ng im chuyn ng trn ng cong AB. Ti thi im t
ng im v tr M xc nh bng to cong s. Ti thi im t1 = t + t im
v tr M1 xc nh bng to cong s1 = s + s.
T s

-0+

s
s s
= 1 = v tb gi l tc trung
t
t

z1

bnh.
Gii hn ca t s ny khi t tin ti
khng gi l tc tc thi ca im ti thi
im t v k hiu l v.

O1
y1

x1
Hnh 5.5

s ds
v= lim
= = s&
t 0 t
dt

-0+
(5.8)

s
s1

Vn tc c gi tr bng o hm bc nht
theo thi gian ca qung ng s, c phng tip
Hnh 5.6

M1
s

-61tuyn vi qu o, hng theo chiu ca chuyn ng. ( xem hnh 5.6).

5.3.3. Gia tc tip tuyn v gia tc php tuyn ca im.
5.3.3.1. H to t nhin
Gi thit cht im chuyn ng theo
n

ng cong AB nh hnh (5.7).

v1n B

M1
a

Trn ng cong ly hai im M1M1'

v1

v1 b

ln cn hai bn im M. V mt phng i
qua ba im . Khi hai im M1M1' tin

M1

gn n M th mt phng trn tin gn n

gii hn ca n l mt phng () gi l mt
b

phng mt tip. Trong mt phng mt tip

v ng M tip tuyn vi qu o (trng

Hnh 5.7

vi vc t vn tc ( v ). Mt trc khc vn
nm trong mt phng mt tip v vung gc vi M ti M k hiu l Mn gi l
php tuyn chnh. Trc Mb vung gc vi hai trc kia gi l trng php tuyn.
Ta chn chiu ca ba trc Mnb to thnh mt tam din thun v gi l h to
t nhin.
5.3.2. Gia tc tip tuyn v php tuyn ca im
Nh trn bit:
r
r
v
lim
lim
w =
=
= t 0
t 0
t

r r
v1 v
=
t

Chiu biu thc ny ln cc trc to t nhin ta c:

v t1 v t
lim
t
w = t 0 =
;
t

wn =

lim

;t 0=

vn1 vn
;
t

wb = 0;
r

Trn hnh (5.7) gi cung MM1 = s ; gc hp bi v v M l ta c:

-62-

=k=
t 0 s

lim

T s k gi l cong cn l bn knh cong ca qu o ti M.

r

Mt khc khi chiu vc t v v v 1 ln cc trc ta c:

vt = v

vt1 = v1cos;

vn = 0

vn1 = v1sin;

Thay th kt qu tm c vo biu thc ca wt v wn s c:

v1 cos v
;
t 0
t

wt = lim

wn = lim ( v1 sin ) ;
t
t 0

Khi t tin ti 0, im M1 dn ti M v tin ti 0, s tin ti 0, v1 tin

ti v; cos tin ti 1. Thay cc gi tr ny vo biu thc trn ta nhn c:

v1 v dv d 2 s
=
=
= &s& ;
w = lim
dt dt 2
t
t

sin s
v2
. . )=
.
w = lim(v1
t s t

Trong biu thc (5.9) wt v wn l gia tc tip tuyn v gia tc php tuyn
ca im ti thi im t.
r

Gia tc tip tuyn w t c tr s bng o hm bc nht theo thi gian ca

vn tc hay bng o hm bc hai theo thi gian ca qung ng i s, c
r

phng tip tuyn vi qu o, cng chiu vi v khi wt > 0 v ngc chiu vi v

khi wt <0. (hnh 5.8).
r

Gia tc php tuyn w n c gi tr bng bnh phng ca vn tc chia cho

bn knh cong, lun lun hng theo php tuyn Mn v pha lm ca ng
cong.
Gia tc ton phn ca im M c th xc nh theo biu thc :

-632
dv v
= +
dt
2

w= w

r2

+w

n2

(5.10)

Phng ca w lun lun hng v pha lm ca ng cong v hp vi

php tuyn mt gc .
tg =

wt
wn

(5.11)
n

-0+

-0+

a)

b)

Khi wt < 0

Khi wt > 0

Hnh 5.8
5.3.4. Mt s trng hp chuyn ng c bit
5.3.4.1. Chuyn ng thng
Trong trng hp ny = v wn =

v2
= 0.

r
r
r t dv
.
Khi ch cn: w = w =
dt

Gia tc bng o hm bc nht theo thi gian ca vn tc, cng chiu vi

r
r
r
r
v khi w > 0 v ngc chiu vi v khi w <0. Cn ch khi chuyn ng ca

im l thng ta mi c kt qu trn.
5.3.4.2. Chuyn ng cong u
Ta gi chuyn ng cong u l chuyn ng c tr s vn tc khng i
v = const.
Khi wt =

v2
dv
= 0 v w = wn =

dt

-64Gia tc ton phn bng gia tc php tuyn c v ln v phng chiu.

Trong chuyn ng cong u phng trnh chuyn ng c th thit lp nh sau:
Ta c:

ds
= v,
dt

ds = vdt.
S

S0

Tch phn hai v ta c: ds = vdt,

Hay s = s0 + v.t
5.3.4.3. Chuyn ng thng bin i u
Trong trng hp ny wt = wn = 0 do w = 0. Suy ra phng trnh
chuyn ng x = xo + v.t
5.3.4.4. Chuyn ng cong bin i u
Chuyn ng cong bin i u l chuyn ng c wt = const.
Ta c:

dv
= w t ; dv= wtdt
dt
v

vo

Ly tch phn hai v s c: dv = w t .dt , hay v = vo + wt.t

Phng trnh chuyn ng vit c:

ds
= v o + w t .t
dt

suy ra : ds = vodt + wt.t.dt;

wtt2
Hay: s = so + vot +
.
2
Sau y l mt s bi ton th d.
y
Th d 5.1: Xc nh qu o, vn tc

v gia tc ca im M nm gia tay bin AB

ca c cu bin tay quay OAB, (xem hnh

5.9) cho bit OA = AB = 2a v thi im

M
w

kho st tng ng vi gc ca c cu, vi

= t.
Hnh 5.9

-65Bi gii:
Chn h to oxy nm trong mt phng c cu.
Gi to ca im M l x,y ta c:
x = 2acos + a cos = 3 acos;
y = a sin.
y chnh l phng trnh chuyn ng ca im trong to cc.
xc nh qu o ca im, t phng trnh trn rt ra:
cost =

suy ra

x
;
3a

sint =
x2
9a 2

y2
a2

y
;
a

= 1.

y chnh l phng trnh Enlip nhn cc trc i xng l ox v oy ( xem

hnh v 5.9).
tm vn tc ta p dng biu thc (5.6) c:
vx =

dx
= 3a sin t ;
dt

vy =

dy
= a cos t .
dt

Cui cng xc nh c vn tc ca im M nh sau:

vM =

v 2 x + v 2 y = 9 sin 2 t + cos 2 t .a.

r
Phng chiu ca v M nh hnh v. T kt qu trn ta thy vmin = a v
vmax = 3a.
Theo biu thc (5.7) xc nh c gia tc ca im M:

d2x
wx = 2 = -3a2cost = - 2x;
dt
wy = -a2sint = - 2y;

-66Gia tc ton phn w =

4 ( x 2 + y 2 ) = 2 r.

Phng chiu ca w c xc nh nh cc gc ch phng nh sau:

cos(w,ox) =

wy
wx
y
x
= .
= ; cos(w,oy) =
w
w
r
r
r

T kt qu trn cho thy phng chiu w lun lun hng t M v O.

Th d 5.2. im M chuyn ng theo phng trnh:
x= a sint ;

y = a cost;

z=ut.

Trong a, v u l khng i.
Xc nh qu o, vn tc v gia tc ca im M.
Bi gii:
T hai phng trnh u suy ra:
sin2t + cos2t = a2

hay

x2 + y2 = a2

(a)

Kt hp phng trnh (a) vi phng trnh z = ut ta thy im chuyn

ng trn mt tr bn knh a v trc l oz.
T z = ut suy ra t = z/u v thay vo biu thc ca x ta c:
x = a sin

.z;
u

y = cos

.z;
u

Qu o ca im M l mt ng vt, c trc oz.

Gi T1 l chu k ca ng vt. T1 xc nh t biu thc:

T = 2 hay T1 =

Trong thi gian T1 ng im quay quanh trc oz c mt vng ng

thi cng tin theo dc trc oz mt on h =uT1 =

2u
; h gi l bc ca vt.

xc nh vn tc v gia tc ta p dng phng php to cc.

-67vx = a cost;
vy = a sint;
vz = u.
T xc nh vn tc v ca im.
v=

v 2 x + v 2 y + v 2 z = a 2 2 (cos 2 t + sin 2 t ) + u 2 ; = a 2 2 + u 2

Nh vy vn tc v ca im c tr s khng i v phng tip tuyn vi

qu o (xem hnh 5.10). Tng t ta xc nh c:
wx = -a2sint
wx = -a2cost;
wz = 0.
v w =

w 2 x + w 2 y = a 2 .
a

Gia tc ca im c ln khng i
cn phng chiu c xc nh bng cc
cosin ch phng.
w
x
cos(w,x) = x = sin t = ;
a
w

wy

y
= sin t = ;
cos(w,y) =
a
w
cos(w,x)

C
O
x

y
z

x
a

Hnh 5.10

wz
= 0.
w

Mt khc ta thy:

y
x
= cos ; = cos .
a
a

v biu din trn hnh v.

r

Nh vy gia tc w lun lun hng theo bn knh t ng im vo trc oz.

-68Th d 5.3: Mt bnh xe bn knh R ln khng trt trn ng thng.

Vn tc tm bnh xe v = v(t).
Lp phng trnh chuyn ng ca im M nm trn vnh bnh xe.
Kho st vn tc v gia tc ca im M .
Kho st tnh bin i chuyn ng ca im M trn qu o ng vi mt
vng ln ca bnh xe khi V=Vo = cosnt.
Bi gii:
Chn gc to l im tip xc O gia M v mt ng (xem hnh
5.11).
t gc PCM = . xc nh phng trnh chuyn ng ta tm quan h
gia cc to x.y ca im vi gc .
y

C
R

M
C0

O
M0

Hnh 5.11

A
x

-69-

Trn hnh c x = OH = OP - PH = R - R sin;

y = HM =R + Rsin(-900) = R - Rcos = R(1 - cos);
t

V bnh xe ln khng trt nn: OP = v ( t ) dt .

0

Suy ra = (t) =

1 t
v ( t ) dt
R o

Phng trnh chuyn ng ca im M c th vit c:

x= R(- sin);
y= R(1- cos);

= (t).
y l phng trnh ca ng Xycloit vit di dng thng s.
Kho st chuyn ng ca im M trn cung OA.
Vn tc v gia tc ca im xc nh nh sau:

r v x = x& = R& (1 cos );

v
v y = y& = R& sin
2
&&(1 cos );
r w x = v& x = R& sin + R
w
&& sin .
w y = v& y = R& 2 cos + R

Ti v tr chm t O v A th =0 v = 2. Khi sin = 0, cos =1.

v:

vx = 0 ; v y = 0

suy ra v = 0;

wy = R2 > 0.

wx = 0;

r
w lc ny khc khng, do im ch dng li tc thi mt t.

Trong trng hp c bit v = v0 = hng s th:

1
R

o v (o ) dt =

vot
;
R

-70-

vot
;
R

Lc ny:

o = 0;

& =

vo
;
R

vx = vo(1-cos);
v2o
wx =
sin ;
R

&& = 0.

vy = vosin;
v2o
wy =
cos .
R

xt tnh cht chuyn ng ca im trn cung OA ta c:

v
r r
v . w = vx.wx + vy.wy =

[sin (1 cos ) + sin cos ];

v3o
sin .
R

r r
r r
Nh vy v . w > 0 trong khong 0 < < v v.w < 0 trong khong <
< 2.
Trn na cung u im chuyn ng nhanh dn cn na cung sau im
chuyn ng chm dn.
r

V d 5.4. Mt vt rn bn ra theo phng ngang vi vn tc ban u v o

sau ri xung theo quy lut :

x = vot;

y=

1 2
gt
2

Tm qu o, vn tc, gia tc ton phn, gia tc tip tuyn, gia tc php

tuyn, bn knh cong ca qu o ti mt thi im t bt k.
Bi gii:
Kh thi gian t trong phng trnh chuyn ng ta c phng trnh qu
o:

y=

g 2
x .
v2o

y l phng trnh parabol. (xem hnh

5.12).

O
Vn tc ca vt xc nh c

dx
vx =
= vo ;
dt

n
n

y
Hnh 5.12

-71-

vy =

dy
= gt;
dt
v2o + g2t 2 .

v=

Gia tc ca im c xc nh nh sau:
wx =

d2x
= 0;
dt 2

d2y
= g.
dt 2

wy =

Suy ra w = g . Gia tc ca vt bng gia tc trng trng.

xc nh gia tc tip tuyn ta c:

dv
w =
=
dt
t

g2t

g2t
=
.
2
2 2
v
+
vo g t

Theo kt qu trn v2 = vo2 + g2t2 nn suy ra:

t=

1
v 2 + v o2 .
g

Thay vo biu thc ca wt ta c:

v 02
w = g 1 2 .
v
t

T kt qu ny ta thy ti thi im ban u v = vo th wt = 0

Khi v th wt g.
Tip theo ta xc nh gia tc php tuyn cn c vo biu thc:
w 2 = w 2 + w 2 n
Ta c:

suy ra :

v o2
2 vo
w n = w - w = g + g 1 2 = g 2 ;
v
v

wn = g

vo
.
v

Ti thi im u v = vo do wn = g.

-72T biu thc tm c ca wn ta c th xc nh c bn knh cong ca

qu o.
wn =

v3
v2
v2
.
suy ra =
hay =
v0g

wn

v o2
Ti thi im u v = vo ta c =
.
g
Khi v th .

-72Chng 6
Chuyn ng tnh tin v chuyn ng quay quanh
mt trc c nh ca vt rn
Chuyn ng tnh tin v chuyn ng quay quanh mt trc c nh l hai
chuyn ng c bn ca vt rn. Sau ny s r, cc chuyn ng khc ca vt rn
u l kt qu tng hp ca hai chuyn ng ni trn.
6.1. Chuyn ng tnh tin ca vt rn.

6.1.1. nh ngha
Chuyn ng ca vt rn gi l tnh tin khi mt ng thng bt k gn
vi vt c phng khng i trong qu trnh chuyn ng .
Cn phn bit gia chuyn ng tnh tin vi chuyn ng thng. Trong
chuyn ng tnh tin qu o ca mt im cng c th l thng cng c th l
cong.
Th d : Pt tng trong ng c t,
A

my ko l vt rn chuyn ng tnh tin, mi

im trn n c qu o l thng.
C2

Khu Ab trong c cu hnh bnh hnh

OABO1 (hnh 6.1) chuyn ng tnh tin, mi

Hnh 6.1

im trn n c qu o l mt ng trn.
6.1.2. Tnh cht ca chuyn ng tnh tin.
nh l 6.1: Khi vt rn chuyn ng
nh nhau ngha l qu o, vn tc v gia

r
rB

tc nh nhau.
Chng minh nh l :
Gi tit vt rn chuyn ng tnh tin

tnh tin mi im trn vt c chuyn ng

r
rA

B1

A1

Z'

Hnh 6.2

-73trong h ta oxyz (hnh 6.2). Ly hai im A v B bt k trn vt. Ti thi

r r
im t hai im A v B c vc t nh v rA , rB .
Theo hnh v ta c :
r r
rB = rA + AB

(6.1)

Trong qu trnh chuyn ng, theo nh ngha AB l vc t khng i.

Suy ra qu o im B l tp hp ca cc im nm trn qu o im A ri
i mt on thng bng v ln v phng chiu ca vc t AB . Ni khc i
nu ta di qu o AA1 ca im A theo vc t AB th AA1 s trng kht ln qu
o BB1. Ta chng minh c qu o ca im A v B nh nhau.
T biu thc ( 6.1) d dng suy ra :
r
r
d rB d rA d (AB) r
AB
r
=0
vB =
=
+
= v A , v
dt
dt
dt
dt

r
r
dv B dv A
r
r
v
=
hay w A = w B
dt
dt
V im A v B ly bt k do nh l c chng minh.
Do tnh cht trn ca chuyn ng tnh tin nn khi ni vn tc v gia tc
mt im no trn vt chuyn ng tnh tin cng c th hiu l vn tc v
gia tc ca vt.
6.2. Chuyn ng quay ca vt rn quanh mt trc c nh.

6.2.1. Kho st chuyn ng ca c vt.

6.2.1.1. nh ngha v phng trnh chuyn ng.
Chuyn ng ca vt rn c gi l chuyn ng quay quanh mt trc c
nh khi trn vt tm c hai im c nh trong sut thi gian chuyn ng.
ng thng i qua hai im c nh gi l trc quay.
Th d : Cnh ca quay quanh trc bn l ; Phn quay ca ng c in ;
Rng rc c nh....l cc vt rn chuyn ng quay quanh mt trc c nh .

-74M hnh vt rn quay quanh mt trc c nh biu din trn hnh v (6.3).
xc nh v tr ca mt vt ta dng hai mt phng : mt phng 1 cha
trc quay c nh trong khng gian , mt phng 2 cng cha trc quay nhng
gn vi vt. Khi vt chuyn ng mt phng 2
chuyn ng theo, nu xc nh c gc hp bi
gia 1 v 2 th v tr ca vt c xc nh. V vy

Z
B

gc l thng s nh v ca vt.
C

Khi vt quay gc bin i lin tc theo thi

gian ngha l :
= (t)

(6.2)

Phng trnh (6.2) chnh l phng trnh

Hnh 6.3

chuyn ng ca vt rn quay quanh mt trc c nh.

6.2.1.2. Vn tc gc v gia tc gc ca vt .
Gi tit trong khong thi gian t = t1 - t0 vt rn quay c mt gc :
= 1 - 0
Ta gi t s

l vn tc gc trung bnh ca vt trong khong thi gian

t

t k hiu l tb . Ly gii hn ca vn tc gc trung bnh khi t dn ti khng

c :

lim
t 0 t

d
=
dt

gi l vn tc gc tc thi ca vt.
Nh vy vn tc gc tc thi ca vt rn bng o hm bc nht theo thi
gian ca gc quay . Du ca cho bit chiu quay ca vt. Nu > 0 c ngha
l vt quay theo chiu dng chn v nu < 0 th vt quay ngc theo chiu
dng chn. Tr s c tnh bng rad/giy vit tt l 1/s.
biu din c v tc quay v phng chiu quay ca vt ta a ra

-75r
r
khi nim vc t vn tc gc . Vc t c xc nh nh sau : ln ca n

tc gc , hng dc theo trc quay v pha sao khi nhn t mt ca s

thy vt quay quanh trc theo ngc chiu kim ng h.
r
r
r
= . k vi k l vc t n v trn trc quay. (hnh 6.4).

Z
B

r
k

r
k

Hnh 6.4a

Hnh 6.4b

V vy vn tc gc cho bit tc quay v chiu quay ca vt do s

bin thin ca n theo thi gian phn nh tnh bin i ca chuyn ng . Ta
c nh ngha gia tc gc nh sau :
Gia tc gc ca vt k hiu l bng o hm bc nht theo thi gian ca
vn tc gc hay o hm bc hai theo thi gian ca gc quay.

d d 2
=
dt dt 2

(6.4).

n v tnh gia tc l rad/(giy)2 vit tt l 1/s2. Cng nh vn tc, gia tc

r
c th biu din bng mt vc t xc nh bng o hm theo thi gian ca
r
vc t . Ta c :

r
r
r d d r
=
=
.k = .k
dt dt
r
r
Nh vy vc t gia tc gc cng nm trn trc quay, khi > 0 th
r
r
r
cng chiu vi (hnh 6.4a) v khi < 0 th ngc chiu vi (hnh 6.4b).

-766.1.1.3. Chuyn ng quay u v bin i u.

Nu chuyn ng quay c vn tc gc khng i ta ni chuyn ng
quay l u. Khi biu thc (6.3) rt ra : d = dt.
Nu tch phn hai v theo cc cn tng ng ta c :

d = dt

hay

= 0 + (t - t0) .

t0

Vi t0 = 0 th phng trnh chuyn ng c th vit :

= 0 + t .
y 0 l gc quay ban u ng vi t = t0 = 0 .
Nu chn 0 = 0 th phng trnh cn li l :

= t .
y c th tnh n vn tc bng biu thc

(rad / s) .
t

T cng thc ny nu tnh vn tc gc cho bng n vng/pht th d dng

suy ra vn tc gc tnh theo radian/giy theo biu thc :

.n
0,1(rad / s) .
30

Nu gia tc l khng i, chuyn ng quay ca vt gi l chuyn ng

quay bin i u.T biu thc (6.4) suy ra :

t0

d = dt

hay = 0 + t.

Mt khc ta c : =

d
nn c th vit : d = 0dt + tdt.
dt

Ly phn tch hai v ta c : = 0 + 0 t +

t 2
2

-77Nu chn 0 = 0 th

t 2
= 0 t +
2

6.2.2. Kho st chuyn ng ca mt im trn vt rn chuyn ng quay

quanh mt trc.
Z

Kho st im M nm trn vt rn quay

quanh mt trc c nh, cch trc quay mt

on h. Khi vt rn quay im M vch ra mt

ng trn bn knh h nm trong mt phng

vung gc vi trc quay c tm c nm trn trc
quayAZ.

(Hnh 6.5).

h
M

VM

Bng phng php to t nhin ta c

th

vit phng trnh chuyn ng ca im M :

Hnh 6.5

S= h . (t).

S l cung m im M i c, tng ng vi gc quay (t) m vt quay

c. V l hm ca thi gian nn S cng l hm ca thi gian. Biu thc (6.5)
l phng trnh chuyn ng ca im M.
Vn tc ca im M d dng xc nh nh biu thc (5.8) ta c :

v=

ds
d
= h. = h.
dt
dt

(6.6).

Vn tc im M c tr s bng h. v c phng tip tuyn vi qu o

r
( v M MC) c chiu hng theo chiu quay ca vt (hnh 6.5) v nm trong

mt phng ca qu o.
T biu thc (6.6) ta thy vn tc
r
v ca im t l vi khong cch t im
ti trc quay v c th biu din theo hnh
v (6.6).
Cng theo phng php to t

A
C
VA

Hnh 6.6

VB
B

-78nhin ta c th xc nh c gia tc ca im M.

r
r
r
wM = wtM + wnM .
t
wM
=

dv
d
=h
= h.
dt
dt

v 2 h 2 2
w =
=
= h.2

h
n
M

r
r
r
y nu > 0 chiu ca w t M cng chiu vi v , nu < 0 th w t M
r
ngc chiu vi v . Cn chiu ca w nM lun hng t M v tm c.
Gia tc im M xc nh c c v ln ln phng chiu.

w M = w t 2 M + w n 2 M = h 2 . 2 + 2 .h 2 = h 2 + 4
r
w M hp vi bn knh MC mt gc xc nh bi biu thc :

tg =

wr

=
w n 2

C
WMn

Hnh 6.7

(xem hnh 6.7).

C WA WM

WM
v

W M

WN
I

A
WI

Hnh 6.8

T biu thc xc nh wM ta thy gia tc ca im M t l bc nht vi

khong cch t im ti trc quay. C th biu din quy lut phn b gia tc cc
im nh hnh ( 6.8.)
Th d 6.1 : Mt bnh ang quay vi vn tc n = 90 vng/pht ngi ta
hm cho n quay chm dn u cho n khi dng hn ht 40 giy. Xc nh s

-79vng quay bnh quay c trong thi gian hm .

Bi gii:
Phng trnh chuyn ng ca bnh l :
t2
= t
2

0 = 0 - t.

y ta chn gc quay ban u 0 = 0 .

0 =

Ti thi im t0 = 0

n
ti thi im t = t1 khi bnh dng
30

hn = 1 = 0. Suy ra :

= 0 =0 - t hay =

0 n
=
t
30 t

Thay vo trn ta tm c :

= 2N =
hay N =

nt 1 n
n

t1 =
t1 ,
30
60
60

nt 1
= 30 (vng)
120

T khi bt u phanh cho n khi dng hn bnh cn quay c 30

vng na.
Th d 6.2 : Trng vt B ri xung truyn chuyn ng quay cho trng c
bn knh r trn lp bnh rng 1 bn knh R1 n khp vi bnh rng 2, bn knh
R2 nh hnh v ( 6.9 ). Cho bit trng vt c th xung khng vn tc ban u
v c gia tc a khng i. Xc nh quy lut chuyn ng ca bnh rng 2, vn
tc v gia tc ca im M trn vnh bnh rng 2 ti thi im t = 2 giy.
Bi gii:
V vt B chuyn ng xung theo quy lut nhanh dn vi gia tc a nn :
VB = at.
im A c vn tc bng vn tc im B

-80VA = 1r = at.
Trong 1 l vn tc gc ca trc bnh rng 1. Suy ra :

1 =

at
r

xc nh vn tc gc 2 ca bnh rng 2 cn c vo vn tc im n
khp C ca hai bnh rng, ta c :
VC = 1R1 = 2R2,
Hay 2 =

R1
R at
.1 = 1 . .
R2
R2 r

1 r

A
R1

C
R2

Vn tc gc bnh rng 2 l hm
ca thi gian. D dng tm c gc
quay ca bnh rng 2. Ta c :

2 =

R 1 at d 2
. =
R2 r
dt

hay d 2 =

Hnh 6.9

R1
.atdt .
rR 2

Chn 0 = 0 ng vi t0 = 0 v 1 ng vi t = t1. Sau tch phn hai v ta

c :

2 =

R1
.at 2 .
2R 2 r

y chnh l phng trnh chuyn ng ca bnh rng 2.

Vn tc ca im M trn vnh bnh rng 2 bng vn tc ca im C. Ta
c :

VM = Vc = 1R 1 =

R1
.at (m/s )
r

Khi t= 2 giy gia tc ca im M cng nh gia tc im C. Ta c :

-81-

W c = R 2 . = R 2 .
t

d
2
dt

vi

d2 R 1
=
.a
dt
R 2r

Thay vo biu thc gia tc tip tuyn v php tuyn ca im C ta c :

w Ct =

w Cn

R1
r

.a

R 2 22

R 12 a 2 t 2 R 12 a 2 2
= R 2. 2 . 2 =
t
R2 r
R 2r 2

Vi t = 2 s c :

w Cn

4R 12 a 2
R 2r 2

Gia tc ton phn ca im C l ;

wc = R2

R 12 a 2 8R 14 a 4 R 1a
16R 12 a 2
+ 2 2 =
1+
R 22 .r 2
R 2r
r
R 22 r 2

6.2.3.Truyn chuyn ng quay ca vt rn quanh cc trc song song

Kho st trng hp rt ph bin trong k thut c kh l s truyn
chuyn ng quay ca cc bnh rng tr .
6.2.3.1. Truyn chuyn ng quay ca cc bnh rng tr c trc quay c nh
Trc ht ta xt hai bnh rng 1 v 2 quay quanh hai trc O1 v O2 c nh
biu din trn hnh 6.10. Hnh 6.10a l hai bnh rng n khp ngoi cn hnh
6.10.b l hai bnh rng n khp trong. Nu gi A l im n khp ca hai bnh
rng ta c nhn xt rng vn tc ca im A trn hai bnh rng bng nhau ngha
l:

1.r1 = 2.r2

-821

Trong r1 v r2 l bn knh ca hai

bnh rng 1 v 2. T kt qu trn suy ra biu

A
01

thc sau:
1
r
z
n khp ngoi = - 2 = - 2
r1
z1
2

(6.11)

1
r
z
n khp trong = 2 = 2
r1
z1
2

(6.12)

02

Hnh 6-10a

1
1

z1 v z2 l s rng ca bnh rng 1 v 2.

2
01

02
2

Tip theo ta xt trng hp h c nhiu

bnh rng tr n khp vi nhau v c trc
Hnh 6-10b

quay c nh (Hnh 6.11).

Trc ht kho st cc bnh
rng n khp ngoi. Theo biu thc
(6.1) p dng cho cc cp bnh rng

tip theo ta c:

02
03

01

1
2
... ;

Hay

n 1
n

r2
r1

= ( 1)

1
2

n 1

r2
r1

r3
r2

Hnh 6 - 11

rn
rn 1

1
3

r3
r1

; .....;

1
n

n 1 rn

= ( 1)

r1

Mt cch tng qut ta c:

1
n

k rn

= ( 1)

r1

(6.13)

y k l s cp bnh rng n khp ngoi. Nu s cp bnh rng n khp

-83ngoi l chn th n cng chiu vi 1 v s cp bnh rng n khp ngoi l l

th n ngc chiu vi 1. Ni cch khc i nu n chn th n ngc chiu vi

1 v n l th n cng chu vi 1.
Trong trng hp cc bnh rng n khp trong. Theo biu thc (6.2) p
dng cho cc cp bnh rng tip theo d dng nhn c kt qu:

1
n

rn
r1

(6.14)

iu ny chng t vn tc gc ca cc bnh rng tip theo khng i

chiu v ch ph thuc vo t s gia hai bn knh r1 v rn.
6.2.3.2. Truyn chuyn ng quay ca cc bnh rng tr c trc quay nm
trn gi di ng
Kho st s truyn chuyn ng ca cc bnh rng cho trn hnh (6.12)
y bnh rng 1 c nh cn
bnh rng 2 v 3 c trc C v B nm
trn gi AB gi ny quay quanh A vi

(2)

vn tc gc AB.

A
(1)

Bi ton t ra l phi xc nh

(3)

B
AB

vn tc gc ca 2 bnh rng 2 v 3.
a bi ton v trng hp

Hnh 6-12

xt 6.2.3. ta phi tm cch c nh gi AB. Mun vy ta cho ton b h quay

ngc li vi vn tc gc AB quanh A. Phng php ny gi l phng php
Vilt. Khi cc vn tc gc tng i K' ca cc khu s l K' = k - AB.
Trong K l vn tc gc tuyt i. R rng lc ny gi AB s c vn tc l

AB' = AB - AB = 0. Cn cc bnh rng 1 v 2 c cc vn tc tng i l:

1' = 1 - AB v 2' = 2 - AB
Vi kt qu ny ta c th tnh c 1' v 2' theo kt qu kho st
mc 6.2.3 v t xc nh c 2 v 3.

-84Th d6-3 : Kho st cc bnh rng trn hnh (6.12 ) cho bit bnh rng
1 c bn knh R1. Gi AB quay vi vn tc gc AB. Bnh rng 3 c bn knh
R3. Xc nh vn tc ca bnh rng 3.
Bi gii:
AB

Gi vn tc gc tuyt i ca cc

bnh rng l 1, 2, 3. V bnh rng 1

(2)

3
(3)

c nh nn 1 = 0.

(1)

p dng phng php Vilt vo h

B
AB
AB

ta c:
Hnh 6-13

1' = 0 - AB; 2' = 2 - AB;

3' = 3 - AB
cn AB' = 0 ngha l gi AB ng yn.

p dng cng thc (6. 13) cho trng hp ny vi k = 2 ta c:

1'
3'
Suy ra:

r3
r1

hay

AB
3 AB

r3
r1

r
3 = 1 1 .AB
r3

Nu r1 < r3 th 3 cng chiu vi AB cn r1 > r3 th 3 ngc chiu vi AB

v c bit r1 = r3 th 3 = 0 bnh rng 3 s chuyn ng tnh tin.

-85Chng 7
Chuyn ng tng hp ca im
7.1. Chuyn ng tuyt i, chuyn ng tng i v
chuyn ng ko theo.

Chuyn ng tng hp ca im l chuyn ng c to thnh khi im

tham gia hai hay nhiu chuyn ng ng thi. Ta xt bi ton trong m hnh
sau y : Kho st chuyn ng ca im M trn h to ng o1x1y1z1 gn
trn vt A. Vt A li chuyn ng
z

trong h to c nh oxyz (xem

hnh 7.1).

z1

Chuyn ng ca im M so

k1
r

vi h c nh oxyz gi l chuyn
ng tuyt i. Vn tc v gia tc ca
r
chuyn ng tuyt i k hiu l : v a
r
v w a .

y1

z1

j1 x1
o1
i1 y1

ro
O

x1

Hnh 7.1

Chuyn ng ca im M so vi h ng o1x1y1z1 gi l chuyn ng

r
r
tng i k hiu l v r v w r .
Chuyn ng ca h ng (vt A) so vi h c nh oxyz gi l chuyn
ng ko theo. Vn tc v gia tc ca im thuc vt A ( h ng ) b im M
chim ch ( trng im ) trong chuyn ng ko theo l vn tc v gia tc ko
r
r
theo ca im M v k hiu l : v e v w e .
Nh vy chuyn ng tuyt i ca im M l chuyn ng tng hp ca
hai chuyn ng tng i v ko theo ca n.

r
Th d : Con thuyn chuyn ng vi vn tc u so vi nc. Dng nc
r
chy vi vn tc v so vi b sng. y chuyn ng ca con thuyn so vi b
sng l chuyn ng tuyt i . Chuyn ng ca con thuyn so vi mt nc l
r
r
chuyn ng tng i vi vn tc v r = u. Chuyn ng ca dng nc so vi

-86r
r
b l chuyn ng ko theo, vn tc ca chuyn ng ko theo v e = v .

Theo nh ngha trn ta thy, xt chuyn ng tng i ta xem h

ng nh c nh. Khi phng trnh chuyn ng vit di dng vc t nh
r
r
r
r r
sau :
(7-1)
r1 = O1M = x 1 i1 + y1 j1 + z1k 1 .
r r r
y i1 , j1 , k 1 l cc vc t n v trn cc h ng. Khi xt chuyn
r r r
ng tng i nh trn ni cc vc t i1 , j1 , k 1 c xem nh khng i.

Cn cc to x1 , y1 , z1 l cc hm ca thi gian.
x1 = x1(t) ;

y1 = y1(t) ;

z1 = z1(t).

Mun xt chuyn ng ko theo ca im ta ch cn c nh n trong h

ng khi phng trnh chuyn ng ca M so vi h c nh oxyz l phng
trnh chuyn ng ko theo. Ta c :

r
r
r
r
r r r
r = OM = r0 + r1 = r0 + x1 i1 + y1 j1 + z1k 1

(7-2).

Trong phng trnh (7.2) v ta c nh im trong h ng nn cc to

r r r
x1 , y1 , z1 l khng i, cn i1 , j1 , k 1 l cc vc t bin i theo thi gian.
r r
r r
r r
r r
r0 = r0 ( t ) ; i = i ( t ) ; j = j ( t ) ; k = k ( t ) .
7.2. nh l hp vn tc.

Xt im M chuyn ng tng

i trong h ng o1x1y1z1 vi vn tc
r
v r ; H ng chuyn ng trong h c

c2 M
c1

z1

r1 ve

nh oxyz ko theo im M chuyn

r
ng vi vn tc ko theo v e (xem hnh

va

o1

ro

7-2). xc nh vn tc tuyt i ta

y1

vr

x1

thit lp phng trnh chuyn ng

tuyt i ca im M. Ta c :
r
r
r
r r r
r
r = r0 + r1 ( t ) = r0 + x 1 i1 + y1 j1 + z1k 1

Hnh 7.2
(7-3)

-87Phng trnh ny ging phng trnh (7-2) nhng cn lu l mi tham

s ca phng trnh u l cc hm ca thi gian.
o hm bc nht theo thi gian phng trnh (7-3) ta c :

r
r
r
r
r
d r d r0
di
dj
dk dx 1 r dy1 r dz1 r
r
va =
i1 +
j1
k1
=
+ x1
+ y1 + z1 +
dt dt
dt
dt
dt dt
dt
dt
Trong kt qu tm c, nhm s hng th nht
r
r
r
r
d r0
di
dj
dk

dt + x 1 dt + y1 dt + z1 dt

chnh l o hm bc nht theo thi gian ca phng trnh (7-2) (phng

r
trnh chuyn ng ko theo ) l vn tc ko theo v e .
Nhm cc s hng cn li :

dx 1 r dy1 r dz1 r
i1 +
j1
k1

dt
dt
dt
l o hm bc nht theo thi gian ca phng trnh (7.1) (phng trnh
r
chuyn ng tng i ) do c thay th bng vn tc tng i v r .
Thay cc kt qu va tm c vo vn tc tuyt i ta c :
r
r
r
va = ve + vr .

nh l 7.1 : Trong chuyn ng tng hp ca im vn tc tuyt i

bng tng hnh hc vn tc ko theo v vn tc tng i :
r
r
r
va = ve + vr .

(7-4)

7.3. nh l hp gia tc
thit lp biu thc ca gia tc tuyt i ta o hm bc hai theo thi
gian phng trnh chuyn ng tuyt i ca im (phng trnh 7.3). Ta c :

r
r
r
r
r
r
d 2 r dv a d 2 r0
d2 i
d2 j
d 2 k d 2 x 1 r d 2 y1 r d 2 z 1 r
r
wa =
=
=
+ x 1 2 + y1 2 + z1 2 + 2 i1 + 2 j1 2 k 1
dt
dt dt 2
dt
dt
dt dt
dt
dt

-88-

r
r
r
dx 1 d i1 dy1 d j1 dz1 dk 1

+ 2
+

dt
dt
dt
dt
dt
dt

Trong kt qu tm c nhm cc s hng th nht :

r
r
r
r
2
2
2
d 2 r0
d i
d j
d k
2 + x 1 2 + y1 2 + z 1 2
dt
dt
dt
dt

l o hm bc hai theo thi gian ca phng trnh (7.2) ( phng trnh

r
chuyn ng ko theo ) c th thay bng gia tc ko theo w e .
Nhm cc s hng th hai :
d 2 x 1 r d 2 y1 r d 2 z 1 r
2 i1 + 2 j1 2 k 1
dt
dt
dt

l o hm bc hai theo thi gian ca phng trnh (7.1) ( phng trnh

r
chuyn ng tng i ) c th thay bng gia tc tng i w r .
Nhm cc s hng cn li :
r
r
r
dx 1 d i1 dy1 d j1 dz1 dk 1

2
+

dt
dt
dt
dt
dt
dt

r
c gi l gia tc quay hay gia tc Koriolit k hiu l w k .

Thay cc kt qu tm c vo biu thc ca gia tc tuyt i ta c :

r
r
r
r
wa = we + wr + wk .
Ta i n nh l sau y gi l nh l hp gia tc.
inh l 7.2 : Trong chuyn ng tng hp ca im gia tc tuyt i bng
tng hnh hc ca gia tc ko theo, gia tc tng i v gia tc Koriolit.
r
r
r
r
wa = we + wr + wk .

(7.5)

7.4. Gia tc Koriolit.

r
Gia tc Koriolit w k c xc nh theo biu thc :

r
r
r
dx 1 d i1 dy1 d j1 dz1 dk 1
r

w k = 2
+

dt
dt
dt
dt
dt
dt

-89r r r
Khi h ng c chuyn ng quay th cc vc t n v i1 , j1 , k 1 s quay

theo khi o hm ca n theo thi gian khc khng. Trong trng hp h

ng khng tham gia chuyn ng quay th cc o hm ca n s bng khng
v do gia tc Koriolit s khng c v vy gia tc ny cn c gi l gia tc
quay. Gia tc Koriolit biu din nh hng chuyn ng quay ca h ng n
gia tc ca im.
Nu vn tc gc ca h ng (vn tc gc ko theo ) l e th khi h ng
quay quanh trc o1 vi vn tc gc e th o hm bc nht theo thi gian ca
r r r
cc vc t n v i1 , j1 , k 1 chnh l vn tc u mt ca chng trong chuyn
ng quay quanh trc o1. (xem hnh 7.3).
z

Ta c :
r
d i1 r r
= e i1
dt
r
r
dk 1 r
= e k 1
dt

r
d j1 r r
= e j1
dt

e
vA

k1
j1
O
i1
x

Thay cc kt qu biu thc trn vo biu

r
thc ca w k ta c :

Hnh 7.3

r
r
r

dx
d
i
dy
d
j
dz
d
k
r
w k = 2 1 1 + 1 1 + 1 1
dt dt
dt dt
dt dt

r dy r
r dz r
r
dx r
= 2 1 C x i + 1 C x j + 1 C x k
dt
dt
dt

r dx r dy r dz r
r
r
= 2 e x 1 i1 + 1 j1 + 1 k 1 = 2 e v r
dt
dt

dt

Nh vy gia tc Koriolit bng hai ln tch hu hng gia vn tc gc ko

theo v vc t vn tc tng i.

-90r
r
r
w k = 2 e v r .

( 7.6)

T (7.6) ta c th xc nh ln ca gia tc Koriolit theo biu thc :

w k = 2 e .v r sin ( e .v r ) .
Ta thy ngay gia tc Koriolit bng khng trong trng hp sau :
- Khi h ng chuyn ng tnh tin ngha l khi e = 0 ;
- Khi ng im ng yn trong h
r
ng, ngha l khi v r = 0 ;

- Khi chuyn ng tng i theo

phng dc theo trc quay ca chuyn ng
r
r
ko theo ngha l khi gc hp gia e v v r

wk

r
vr

Hnh 7.4

bng khng hoc bng 1800 .

Theo (7.6) gia tc Koriolit c phng
r
vung gc vi mt phng cha hai vc t e
r
v v r c chiu sao cho khi nhn t mt ca
r
n xung mt phng s thy e quay

vr

Hnh 7.4
e

v'r

wK

ngc chiu kim ng h i mt gc nh

r
hn 1800 s n trng vi v r (xem hnh 7.4).
Hnh 7.5
Trong thc hnh ta c th xc nh
r
phng chiu ca w k nh sau :
r
Chiu vc t vn tc tng i v r ln mt phng vung gc vi trc quay
r
ca chuyn ng ko theo. Sau quay hnh chiu v r i mt gc 900 theo

chiu quay ca e trong mt phng trn (xem hnh 7.5) ta s xc nh c

phng chiu ca gia tc Koriolit.
Sau y s gii thiu mt s v d vn dng cc nh l hp vn tc v
hp gia tc trong chuyn ng tng hp ca im.

-91-

Th d 7.1: Tay quay OA ca c cu tay quay cu lit quay quanh trc O

vung gc vi mt phng ca c cu. u A ca tay quay ni bng khp bn l
vi con trt B. Con trt B c th trt trong mng BC ca cu lit. Mng BC c
th chuyn ng tnh tin ln xung nh rnh hng dn
D

E. Xc nh vn tc, gia tc ca mng BC cng nh vn

tc gia tc ca con trt so vi cu lit BC.
B

Cho bit tay quay c chuyn ng quay u vi

C
A

vn tc gc n = 120 vng/pht. di OA = 1 = 30cm

(xem hnh 7.6).

Hnh 7.6

Bi gii:

Nu chn h ng gn vi cu lit (mng BC) v h c nh gn vi trc

quay O th chuyn ng ca con trt A trong mng l chuyn ng tng i.
Chuyn ng ca mng tnh tin ln xung l chuyn ng ko theo cn chuyn
ng ca A quay quanh O l chuyn ng tuyt i.
Trc ht ta c th xc nh c vn tc tuyt i v gia tc tuyt i
ca im A.
Vn tc ca tay quay OA.
=

.n .120
=
= 4(rad / s) .
30
30
D

V tr ca c cu c xc nh bng

C3

B3

gc quay ca tay quay OA :

A3

= t = 4t (rad).

O
B

u A ca tay quay thc hin chuyn

ng trn tm O bn knh OA = 1.
Vn tc ca im A : Va = .1 = 4.30

B1

r
r
v
wa r e
we

r
wr A

A1

= 120 3,77 m/s.

Hnh 7.7

r
v
r
vr

C1

-92r
v a c phng vung gc vi OA hng theo chiu quay (xem hnh 7.7).
r
v a chnh l vn tc tuyt i ca im A : va = vA.

V tay quay quay u nn gia tc im A ch c mt thnh phn php

tuyn.

r
r
w A = w nA

v ln

wA = 2.1 = 162.1
= 162.30 4733 cm/s2 ;
= 47,33 m/s2
r
Gia tc w A c chiu hng t A vo O. Gia tc tuyt i ca im A l
r
wA .

tm vn tc ca mng (vn tc ko theo) v vn tc ca con trt A

trong mng (vn tc tng i) ta p dng nh l hp vn tc. Ta c :
r
r
r
va = ve + vr
r
r
r
y v a = v A bit c ln v phng chiu. v e l vn tc ca mng
r
chuyn ng tnh tin ln xung do c phng thng ng. Cn v r l vn tc

ca con trt dc theo mng BC nn c phng nm ngang. T nh l hp vn

r
tc ta c th nhn c mt hnh bnh hnh m ng cho l v a cn hai cnh l
r
r
r
r
v e v v r . D dng tm c cc vc t vn tc ko theo v e v v r nh trn hnh
(7.7). Ta c :
v e = v A .sin = 3,77.sin 4.t ( m / s)
v r = v A . cos = 3,77. cos 4.t ( m / s)
r
r
Phng chiu ca cc vn tc v e v v r nh hnh v.

xc nh gia tc ko theo v tng i (gia tc ca mng v gia tc ca

con trt trong mng) ta p dng dnh l hp gia tc.

-93r
r
r
r
wa = we + wr + wk .
r
Trong bi ton ny h ng chuyn ng tnh tin nn w k = 0 ta ch cn

biu thc :
r
r
r
wa = we + wr .
r
y gia tc tuyt i c xc nh. Gia tc ko theo w e c phng
r
thng ng cn gia tc tng i w r c phng nm ngang. Cng d dng nhn
r
r
thy cc vc t gia tc ko theo w e v gia tc tng i w r l hai cnh ca hnh
r
bnh hnh nhn gia tc w a lm ng cho (xem hnh 7.7). Ta c :

w e = w A . cos = 47,33. cos 4.t

w r = w A .sin = 47,33.sin 4.t

r
r
Phng chiu ca gia tc w e v w r nh trn hnh v 7.7 .

Kt qu trn cho thy vn tc, gia tc ca mng BC ( ve, wed ) v vn tc,

gia tc con trt trong mng ( vr , wr ) l hm ca thi gian. Ta c th xc nh
chng ti cc v tr c bit sau :
Khi 1 = 4t = 0 ta c ve = 0
We = 47,33 m/s
Khi

vr = 3,77 m/s
wr = 0

2 = 4t = / 2 ta c ve = 3,7 m / s
we= 0 m / s

; vr = 0

; wr = 3,77 m / s

Th d 7.2 : ng im M chuyn ng bt u t nh O ca nn dc
theo ng sinh OC vi vn tc khng i vr = 24 cm / s . Nn cng ng thi
quay bt u cng thi im xut pht ca im M theo quy lut = 0,125t2.
Xc nh vn tc tuyt i v gia tc tuyt i ca ng im M ti thi im t =
4 giy. (xem hnh 7.8). Cho bit gc nh nn l 600.

-94Bi gii
Trong bi ton ny chuyn ng ca im M dc
B

theo ng sinh OC l chuyn ng tng i. Nh vy

vn tc tng i ca im bit.

r
ve

Vr = 24 cm / s = 0,24 m / s c phng chiu t O

r
va

n C.

r
vr

Chuyn ng quay ca nn quanh trc AB vi

quy lut = 0,125t l chuyn ng ko theo.

2

xc nh c vn tc ko theo ca im ta

Hnh 7.8

phi xc nh v tr ca n ti thi im t1 trn nn.

Ta c OM = vr.t = 24.4 = 96 cm
Khong cch t ng im ti v tr ang xt ti trc quay AB l :
MK = OM.sin300 = 96.0,5 = 48 cm.

z
B

Vn tc ko theo ti thi im t1 l :
d
e =
= 0,25t
dt

Gia tc gc trong chuyn ng ko theo l :

d 2
= 0,25(rad / s 2 )
2
dt

vi t = t1 = 4 giy

et1 = 0,25.4 = 1 rad / s ;

e =

r
e
r
e
A

wn e

M
vr

we

wk

Hnh 7.9

Cc vc t e v e biu din trn hnh v (7.9).

r
r
Cc vc t vn tc ko theo v e v vn tc tng i l v r ti thi im t1 =
4s c biu din trn hnh 7.8.
V ln vn tc ko theo xc nh c :
ve = MK . e = 48,1 cm / s 0,48 m / s .

-95r
r
r
p dng nh l hp vn tc ta c : v a = v e + v r

V ln vn tc tuyt i ca M ti thi im t1 l :
Va = VM = v e2 + v 2r = 48 2 + 24 2 = 53,64(cm / s) = 0,5364(m / s) .
xc nh gia tc tuyt i ca M, t nh l hp gia tc ta c :
r
r
r
r
r
wa = wM = we + wr + wk

r
r
r
Chuyn ng ko theo l chuyn ng trn nn w e = w en + w er .
r
Trong : w en c phng chiu hng t M v K (xem hnh 7.9), c
ln :

w en = MK.e2 = 48.1 = 48(cm / s 2 ) .

r
r
w er c phng chiu trng vi phng chiu v e c ln :
w er = MK. e2 = 48.0,25 = 12(cm / s 2 ) .
r
Gia tc tng i w r trong trng hp ny bng khng cn gia tc
r
Koriolit w k c phng chiu nh trn hnh v. C ln :

wk = 2e . vr .sin300 = 2.1.24.0,5 = 24 (cm / s2) .

Chiu biu thc trn ln hai trc Mxy nh trn hnh ta c :
wx = wer + wk = 12 + 24 = 36 cm / s2 = 0,36 m/ s2.
wy = wen = 48 cm / s2 = 0,48 m / s2.
Gia tc tuyt i ca im

w M = w 2x + w 2y = 36 2 + 482 = 60c(cm / s 2 ) .
Phng v chiu ca wM c th xc nh bng cc gc ch phng xc
nh nh sau :
cos(w M x ) =

wx
wM

= 0,6

cos(w M y ) =

wy
wM

= 0,8

Th d 7.3. : C cu iu chnh ly tm biu din nh hnh v 7.10. Ti

-96thi im ang xt qu cu quay quanh im treo O cng vi thanh OM vi vn

tc gc v gia tc gc 1 = 2 rad / s v 1 = 0,2 rad / s2. C cu quay quanh trc
thng ng vi vn tc gc v gia tc gc 2 =4 rad / s v 2 = o,8 rad / s2. Xc
nh vn tc tuyt i v gia tc tuyt i ca qu cu M ti thi im . Cho
bit kch thc ca c cu ti v tr ang xt l :
l = 40 cm

e = 5 cm

= 300.

Bi gii

Trong bi ton ny, chuyn ng ca c cu quay

quanh trc thng ng l chuyn ng ko theo. Vn tc gc
ko theo e = 2 = 4 rad / s v gia tc gc trong chuyn ng
ko theo l e = 2 = 0,8 rad / s .

2
2

ll

ze e
o 1

C R

ve
M

vM = vA
vr

Chuyn ng ca qu cu M quay quanh O l chuyn

ng tng i.Vn tc gc trong chuyn ng tng i l

Hnh 7.10

r = 1 = 2 rad / s v gia tc gc trong chuyn ng tng i

l r = 1 = 0,2 rad / s2.
Qu o chuyn ng tng i ca M l ng trn bn knh 1 v tm 0
Qu o chuyn ng ko theo ca M l ng trn nm trong mt phng
vung gc vi trc quay AB v c bn knh :
CM = R = e+1sin300 = 5+40.0,5 = 25 cm.
Vn tc tuyt i ca im M c xc nh nh sau :
r
r
r
r
va = vM = ve + vr ;
ve = R.e = 25.4 = 100 cm / s
ve c phng tip tuyn vi qu o ca chuyn ng ko theo , h theo
chiu quay ca c cu ; Vr tip tuyn vi qu o ca chuyn ng tng i c
ngha l vung

-97gc vi thanh OM hng theo chiu quay ca r , c tr s Vr = l.r =

40.2 = 80 cm/s
r
r
Nh vy hai vc t v e v v r vung gc vi nhau v vy ln vn tc

tuyt i xc nh c :
v M = v e2 + v 2r = 100 2 + 80 2 = 128(cm / s) .
Phng chiu ca VM xc nh nh trn hnh v 7.10.
V chuyn ng tng i v chuyn ng ko theo u l chuyn ng
trn nn biu thc gia tc tuyt i ca im M ta c th vit :
r
r
r
r
r
r
w M = w r e + w n e + w k + w rr + w nr .
(a)
Sau y xc nh ln v phng chiu ca cc thnh phn gia tc v phi .
Wet = R . e = 25 . 0,8 = 20 cm / s2 . Wet cng phng chiu vi vn tc
ko theo .
r
w en = R. 22 = 25.16 = 400cm/s2. Hng t M vo C
wrr = 1 . r = 40 . 0,2 = 8 cm / s2.
wrn = 1 . 2r = 40 . 4 = 160 cm / s2.

r
w rr hng theo chiu ca vr .
r
w nr hng t M vo O

wk = 2e . vr sin(etvr) = 2 . 4. 80 .0,866 = 554 cm / s2

r r
y gc < (e , v r ) = 60 0
nn sin(e,vr) = 0,866.
r
Phng chiu ca w k xc nh theo phng php
thc O hnh s tm thy nh hnh v (7.11) .
r
xc nh gia tc tuyt i w M ta chiu phng
trnh (a) ln 3 trc xyz chn nh hnh v.

r
r
e
e
C

O
Z

wn r

wtc

Kt qu chiu ln cc trc thu c :wx = - wk - wen = -

wr

wn e
R

M
x

r
r
Vi cch chn h trc trn ta thy gia tc w k v w er
r
r
r
nm trn trc x cc gia tc w en , w rr , w nr nm trong mt
phng yMz.

wK

Hnh 7.11

-98554 - 20 = -574 cm / s2.

wy = wer . cos300 - wrn . sin300 - wen ;
= 8 . 0,866 - 160 . 0,5 - 400 = -473 cm / s2 ;
Cui cng ta c :
w M = w 2x + w 2y + w 2z =

( 574 )2 + ( 473)2 + (142 )2

= 869 cm / s2 = 8,69 m / s2
xc nh phng chiu ca M ta phi xc nh cc gc ch phng ca
chng i vi cc trc :
cos(w M x ) =
cos(w M z ) =

wx
wM
wz
wM

574
=
869
=

142
.
869

; cos(w M y ) =

wy
wM

473
869

-99Chng 8
Chuyn ng song phng Ca vt rn
8.1. Phng trnh chuyn ng, vn tc v gia tc ca c
vt.

8.1.8.nh ngha v phn tch chuyn ng song phng.

Chuyn ng song phng ca vt rn l chuyn ng khi mi im thuc
vt lun lun chuyn ng trong mt mt phng c nh song song vi mt
phng quy chiu chn trc ( mt phng c s ). Ni cch khc chuyn ng
song phng l chuyn ng ca vt khi mi im ca n trong qu trnh chuyn
ng c khong cch n mt phng c s l khng i .
Trong k thut c nhiu chi tit my chuyn ng song phng nh bnh
xe ln trn mt ng thng, thanh bin trong c cu bin tay quay, rng rc
ng ..v..v...
.Xt vt rn A chuyn ng song

phng c mt phng c s (hnh 8.1 )

(s)

ng thng ab thuc vt vung gc

M'

vi mt phng c s, s thc hin chuyn

thng ny c chuyn ng nh nhau v c
c trng bi chuyn ng ca im M nm

ng tnh tin. Mi im nm trn ng

Hnh 8.1
y
y1

trn ab. Nu xem vt l tp hp v s cc

ng ab nh vy suy ra chuyn ng ca

vt c c trng bi tit din S trn mt

phng oxy. M hnh bi ton chuyn ng

song phng ca vt rn c a v nghin

xA

cu chuyn ng ca mt tit din (S) trong

mt phng oxy ca n (hnh 8.2) gi tt l

(S)

Hnh 8-2

x1
x

-100chuyn ng phng ca tit din S.

V tr ca tit din (S) trong mt phng oxy c xc nh khi ta bit c
v tr ca mt on thng AB thuc tit din (S).
Xt chuyn ng ca tit din (S) t

B'1

(S)

n v tr (2) xc nh bi v tr ca on
thng A2B2 ( hnh 8.3).

B2

B1

v tr (1) xc nh bi v tr on thng A1B1

A'1

A1

A2

D dng thy rng ta c th thay th

chuyn ng ca tit din (S) bng hai
Hnh 8-3

chuyn ng c bn sau :

Cho tit din (S) chuyn ng tnh tin theo cc A hay cc B t v tr A1B1
n v tr A'1B2 hay A2B'1 . Tip theo ta quay tit din S quanh A2 hay B2 mt gc
1 hay 2. V A2B'1//A'1B2 nn y 1 = 2 = .
C th i n kt lun ; chuyn ng ca tit din (S) trong mt phng ca
n (chuyn ng song phng ) lun lun c th phn tch thnh hai chuyn ng:
tnh tin theo mt tm cc v chuyn ng quay quanh tm cc . Chuyn ng
tnh tin ph thuc vo tm cc nhng chuyn ng quay khng ph thuc vo
tm cc. Nh vy chuyn ng song phng chnh l chuyn ng tng hp ca
vt rn khi n ng thi tham gia hai chuyn ng quay quanh mt trc c
phng khng i v tnh tin theo phng vung gc vi trc quay.
8.1.2. Phng trnh chuyn ng, vn tc v gia tc ca vt .
Xt tit din (S) chuyn ng trong
mt phng oxy cha n. Nu chn A l tm

cc v dng on thng AB trn tit din ta

s thy v tr ca tit din (S) trong mt phng

yA

oxy s c xc nh nu ta bit v tr ca cc
A v phng ca AB so vi trc ox. Ni khc
i, thng s nh v ca tit din (S) trong
mt phng oxy l xA, yA, v (hnh 8.4).

(S)

xA

Hnh 8-4

-101Trong thi gian chuyn ng cc thng s ny bin i theo thi gian ta

c :
xA = xA(t)
yA = yA(t)

(8.1)

= (t)
Bit quy lut bin i (8.1) ta c th xc nh v tr ca tit din (S) bt
k thi im no. Cc phng trnh (8.1) l phng trnh chuyn ng ca tit
din phng (S) trong mt phng ca n (phng trnh chuyn ng song phng ).
T phng trnh chuyn ng (8.1) ta thy vn tc v gia tc ca vt c
biu din bi hai thnh phn : vn tc v gia tc trong chuyn ng tnh tin theo
r r
tm cc A l : v A , w A . Vn tc gc v gia tc gc ca tit din trong chuyn
ng quay quanh tm cc A l , .
V chuyn ng tnh tin phu thuc tm cc A nn vn tc v gia tc trong
chuyn ng tnh tin ph thuc vo tm cc A. Ta c :
r
r
r
v A1 v A 2 v Ai
r
r
r
w A1 w A 2 w Ai

Chuyn ng quay khng ph thuc vo

tm A nn c :
A1 = A2 = Ai =
A1 = A2 = Ai =

Hnh 8.5

Vn tc gc v gia tc gc c th bin din bng vc t vung gc vi

tit din (S) nh hnh( 8.5) . Khi hai vc t ny cng chiu ta c chuyn ng
quay nhanh dn v nu chng ngc chiu c chuyn ng quay chm dn.

-1028.2. Phng trnh chuyn ng, vn tc v gia tc ca im

Trn vt chuyn ng song phng

8.2.1. Phng trnh chuyn ng

Xt im M bt k trn tit din. Gi thit chn tm cc A c to xAyA
(hnh 8-6).
K hiu gc hp gia AM vi phng

M
r'

ox l v khong cch AM = b.To ca

A

im M trong chuyn ng tuyt i so vi h

quy chiu oxy c th xc nh :

rA

xM = xA +b.cos ;

Hnh 8.6
yM =yA + b.sin ;
Cc thng s xA, yA v l cc hm ca tthi gian, ngha l :
xA = xA(t)

yA = yA(t)

= (t)

Do xM, yM cng l hm ca thi gian . Ta c :

xM =xM(t) = xA (t)+b.cos(t) ;
yM =yM(t)=yA (t)+ b.sin (t);

(8.2)

(8.2) l phng trnh chuyn ng ca im M.

Cng c th thit lp phng trnh chuyn ng ca im M di dng
vc t. Trn hnh 8-6 c : r =r(t)=rA + r'

(8.2a)

y r' =AM c ln khng i bng b, v quay quanh trc A vi vn

tc gc l .
8.2.2. Cc nh l vn tc ca im
8.2.2.1. Cc nh l vn tc ca im trn vt chuyn ng song phng
nh l 8-1: Vn tc ca mt im bt k trn tit din chuyn ng song
phng bng tng hnh hc ca vn tc tm cc A v vn tc gc ca im
trong chuyn ng ca tit din quay quanh trc A vi vn tc gc . Ta c :

-103r
r
r
v M = v A + v MA .

Chng minh nh l : T phng trnh chuyn ng (8-2a) ta c :

r
r
r
d r d rA d r '
r
=
+
vM =
.
dt
dt
dt
r
d rA r drr ' r
r
= vA ;
= v MA = AM
Thay
dt
dt
r
r
r
Ta s c v M = v A + v MA , nh l c chng minh. Cn ch vc t vn
r
tc ca im M quay quanh A k hiu l v AM c phng vung gc vi AM, c

chiu hng theo chiu quay ca vn tc (hnh 8-6).

nh l 8-2 : nh l v hnh chiu vn tc hai im
Trong chuyn ng song phng ca tit din S (chuyn ng song phng)
hnh chiu vn tc ca hai im bt k trn tit din ln phng ni hai im
lun lun bng nhau.
(vr A )AB = (vr B )AB
Chng minh nh l : Theo nh l 8-1, nu chn A lm tm cc th vn
tc im B xc nh theo biu thc :
r
r
r
r
v B = v A + v BA vi v BA vung gc
vB

AB. Chiu biu thc trn ln phng AB ta

r
r
r
c : (v B )AB = (v A )AB + (v BA )AB . Trong :

(vr BA )AB = 0 v

r
v BA AB .

vBA
90

vA

vA

nh l c chng minh.
Ta c th minh ha nh l trn bng

Hnh 8.7

hnh v( 8-7). Trn hnh v ta c :

Aa = Bb hay vAcos = vBcos.
8.2.2.2. Tm vn tc tc thi - Xc nh vn tc ca im trn tit din
chuyn ng phng theo tm vn tc tc thi
- Tm vn tc tc thi l im thuc tit din c vn tc tc thi

-104bng khng. Nu gi P l tm vn tc tc thi th : vP = 0.

nh l 8-3 : Trong chuyn ng song phng ca vt rn ti mi thi
im lun lun tn ti mt v ch mt tm vn tc tc thi.
Chng minh nh l :
r
Xt tit din (S) chuyn ng phng vi vn tc ca tm cc A l v A v

vn tc gc trong chuyn ng quay l . Quay vc t V i mt gc bng 90

theo chiu quay ca ta s dng c tia

. Trn tia ly mt im P cch A mt

on AP =

vA

A
A

vA

(hnh 8.8)

Theo biu thc (8-2) ta c

d
:

v
r
r
r
v P = v A + v PA . y v PA = .PA = A

(S)
P vA

Hnh 8.8
vPA

= vA.
r
Phng ca v PA vung gc vi AP

r
hng theo chiu quay vng ca ngha l v PA c ln bng vi ln ca
r
vA, cng phng nhng ngc chiu vi v A .

r
Thay vo biu thc tnh v P ta c vP = vA - vA = 0 chnh l tm vn tc
tc thi.
Chng minh tnh duy nht ca tm vn tc tc thi :
Gi thit ti thi im trn vt c hai tm vn tc tc thi P1 v P2 vi vP1 =
0 v vP2 = 0.
r
r
r
r
Theo nh l 8-1 ta c : v P 2 = v P1 + v P 2 P1 hay 0 = 0 + v P 2 P1 .

Thay vP2P1 = . P2P1 ta thy vP2P1 = 0 khi = 0 hoc P2P1 = 0. V vt

chuyn ng song phng nn 0 vy ch c th P2P1 = 0. iu ny c ngha
P1 trng vi P2. Khng th c hai tm vn tc tc thi khc nhau cng tn ti
mt thi im.

-105- Xc nh vn tc trn vt chuyn ng song phng theo tm vn tc tc

thi P.
Xt vt chuyn ng song phng c vn tc gc v tm vn tc tc thi
P. Theo biu thc (8-2) nu ly P lm tm cc ta vit biu thc vn tc ca im
M nh sau :
r
r
r
v M = v P + v MP

r
r
Thay vP = 0 ta c : v M = v MP

Nh vy vn tc tc thi ca im M c

900

P
a

vA
B

(S)

tnh nh vn tc ca im M trong chuyn ng ca

vt quay tc thi quanh tm vn tc tc thi P.

900

vB

Hnh 8.9

r
v M c phng vung gc vi PM, hng

theo chiu quay vng ca quanh P, c ln vM =PM .

Ta c kt lun : vn tc ca im bt k trn vt chuyn ng song phng
lun lun hng vung gc v t l thun vi khong cch t tm vn tc tc
thi n im. Quy lut phn b vn tc cc im biu din trn hnh ( 8-9.).
Trong thc hnh c th xc nh tm vn tc tc thi P theo mt s trng hp
sau :
Trng hp 1 : Vt chuyn ng ln khng trt trn mt ng thng
hay ng cong phng c nh (hnh 8-10a) c th xc nh ngay im tip xc
chnh l tm vn tc tc thi v rng im c vn tc bng khng.
Trng hp 2: Khi bit phng vn tc hai im hay qu o chuyn ng
ca hai im trn vt chuyn ng song phng th tm vn tc tc thi l giao
im ca hai ng thng k vung gc vi hai phng vn tc hay hai phng
tip tuyn ca qu o ti hai im (hnh 8-10b). Trong trng hp ny nu
hai ng song song vi nhau c ngha tm P xa v cng, ta ni vt tc thi
chuyn ng tnh tin (hnh 8-10b).
Trng hp 3: Khi bit ln v phng chiu vn tc hai im nm trn
cng mt ng thng vung gc vi vn tc hai im (hnh 8-10c), tm P l

-106giao im ca ng thng i qua hai mt vc t vn tc v ng thng i qua

hai im .
S

vA

vA

vB

vB

P
a)

vA

A
B

vB
vB

P
B

c)

b)

vA

Hnh 8.10
r r
Th d 8.1: C cu phng biu din trn hnh (8-11) c vn tc v A , v B ca

hai con trt A v B bit. Xc nh vn tc ca khp C.

Bi gii:
Khi c cu hot ng th cc thanh bin

AC v BC chuyn ng song phng. xc

nh vn tc ca im C ta p dng nh l hnh
chiu vn tc cho thanh AC v BC. V vA v vB

C1

C
a

bit nn d dng xc nh c hnh chiu

ca chng ln phng AC v BC l Aa v Bb .

vc

C2

b
vB

vA

Ti C ko di cc on thng AC v BC, Trn

Hnh 8.11

ly cc im C1, C2 vi CC1 = Aa, CC2 = Bb.

Cc on ny l hnh chi ca VC ln hai phng AC v BC. Ta v t gic

vung gc ti C1 v C2 (hnh 8-11) ng cho CC' ca t gic chnh l vn
tc VC.
2
Th d 8-2 : Tay quay OA
quay quanh trc O vi vn tc gc

A
O

khng i n =60 vng / pht v

dn ng cho thanh bin AB gn
vi bnh xe 2 (hnh 8-12). Bnh xe
B

2 truyn chuyn ng cho bnh xe

Hnh 8.12

-1071 khng gn vi tay quay OA nhng quay quanh trc O.

Xc nh vn tc con trt B; Vn tc gc ca bnh xe 1 ti thi im khi
tay quay OA song song v vung gc vi phng ngang.
Cho bit c cu cng nm trong mt mt phng v r1 = 50 cm ; r2 = 20 cm;
AB = 130 cm.
Bi gii :
C cu c 5 khu : bnh xe 1 chuyn ng quay quanh trc O; con trt B
chuyn ng tnh tin theo phng ngang; Thanh AB chuyn ng song song
phng; Bnh xe 2 chuyn ng song phng; tay quay OA chuyn ng quay
quanh O.
1) Xt trng hp tay quay OA v tr song song vi phng ngang (hnh
8-12a).
Vn tc gc thanh OA l :

n 60
=
= 21 / s .
30 30

Vn tc im A : vA =OA . = 2 . (r1 - r2) = 60 = 188,5 cm / s.

Trn thanh AB c phng vn tc hai im A v B bit nn xc nh
c tm vn tc tc thi P1 (hnh 8-12a).
vC

vA
vC
II
O I

C
A

vA
P2

C
A
O II

PAB

I
a)

B
Hnh 8.12

b)

vB
B

-108T hnh v xc nh c :
P2B = r1 = 50cm

P2 A = AB 2 PAB B 2 = 130 2 + 50 2 = 120cm

P2C = PAB - r2 = 120 - 20 = 100cm
Xc nh vn tc ca cc im A, B, C theo tm vn tc tc thi P2 v vn
tc 1 ca thanh AB ta c ;
VA = 2 . P2A;
VB = 2 . P2B;
Vc = 2. P2C;
Trong : 2 =

VA 60
=
= (1 / s)
P2 A 120 2

Thay vo cc biu thc ca VB v VC ta c :

VB = .50 = 25(cm / s)
2

VC = .100 = 50(cm / s)
2
V bnh xe 2 n khp vi bnh xe 1 nn vn tc im C cn c th xc
nh theo cng thc :
VC = 1 . r1

suy ra : 1 =

VC
=
r1

(1/s)

2) Tay quay OA v tr thng ng (hnh 8-12b).

Ti v tr ny vn tc hai im A v B song song vi nhau v th theo nh
r
r
l hnh chiu ta c : VAcos = VBcos suy ra VA = VB . Thanh AB tc thi
chuyn ng tnh tin. Mi im trn n v bnh xe 2 gn vi n c chuyn
ng nh nhau. Ta c :

-109-

VB = VC = VA =

60
= 188,5(cm / s) .
50

Phng chiu ca cc vn tc biu din trn hnh v .

Vn tc gc ca bnh xe 1 d dng tm c :

r =

v c 60 6
=
=
r1
50 5

(rad/s)

Th d 8-3: tay quay OA quay quanh O vi vn tc gc oA, truyn

chuyn ng cho bnh rng I n khp vi bnh rng II c nh. Hai bnh rng c
bn knh nh nhau v bng R. Thanh truyn BD c u B lin kt vi bnh xe I
bng khp bn l cn u D ni

II
I

bng khp bn l vi tay quay CD

P

(hnh 8-13).

Xc nh vn tc gc ca

vA
P

thanh truyn BD ti thi im c

B
450

gc BDC = 45 . Cho BD = 1 (cm).

450

vB

C
900

Bi gii :

P1

45
Trong c cu bnh rng I v
thanh truyn BD chuyn ng song

900

phng. Bnh rng 1 c tm vn tc

tc thi P. Vn tc im A c

Hnh 8.13

tnh nh sau :
VA=OA . 2R.

r
VA hng vung gc vi OA theo chiu quay vng ca OA. Suy ra vn
tc gc ca bnh rng 1 :

1 =

VA 2R.OA
=
= 2OA .
R
R

Vn tc im B c ln :

-110VB = PB.1 = 2R.1 = 2 2ROA .

VB C phng vung gc vi vi PB c chiu theo chiu quay ca bnh

rng 1 quanh P (hnh v 8-13).
Thanh BD chuyn ng song phng, u B c vn tc xc nh, u D
c phng vn tc vung gc vi CD do nhn c tm vn tc thc thi P1
nh trn hnh v .
Trn hnh ta c P1B =

1 2
. Vn tc im B c xc nh theo P1:
2

VB = P1.B.BD

suy ra : BD =

VB
R
= 4. OA
P1B
1

Chiu quay ca BD nh hnh v.

8.2.3. Gia tc ca im
8.2.3.1. nh l 8-3 : Gia tc ca im M bt k thuc tit din (S)
chuyn ng song phng, bng tng hnh hc gia tc ca tm cc A v gia tc
ca im M trong chuyn ng ca tit din quay quanh A (hnh 8-14).
r
r
r
w M = w A + w MA

(8-4)

r
r
r
Trong : w MA = w MA + w nMA
Vi : WMA = .AM

v WnMA = 2.AM

Chng minh nh l :
o hm bc hai theo thi gian phng trnh chuyn ng (8-2) ta c :

r
r
r
d 2 r d 2 rA d 2 r '
r
wM = 2 = 2 + 2
dt
dt
dt
r
r
d 2 rA r
d2 r' d r
r
=
w
=

AM
=
w
Thay
cn
A
MA
dt 2 dt
dt 2

w MA

r
r
r d
r
d
=
AM + AM = AM + VMA
dt
dt

-111Vi ch AM c ln khng i nn

( )

r
r
d
AM = AM = VMA
dt

r
r r
r
r
Ta c : w M = w A + AM + VMA
r
AM l gia tc php tuyn ca M trong chuyn ng ca (S) quay
quanh A.

r r
VMA l gia tc php tuyn ca M trong chuyn ng ca (S) quay
quanh A. Ta chng minh c :

r
r
r
r
w M = w A + w MA
+ w nMA
V cc vc t c phng vung gc vi mt phng ca tit din ngha l
r
vung gc vi AM v VMA nn d dng tm c :
WMA = AM . cn WMAn = AM . 2
Suy ra : w MA = AM. 2 + 4

r
Vc t w MA c phng hp vi AM mt gc vi tg = 2 (hnh 8.14).

8.2.3.2. Tm gia tc tc thi

im trn tit din c gia tc tc thi bng khng gi l tm gia tc tc

thi. K hiu tm gia tc tc thi l J . Ta c : Wj = 0.
nh l 8-4 :
Ti mi thi im trn tit din chuyn ng song phng lun tn ti mt
v ch mt tm gia tc tc thi J.
Chng minh tnh tn ti ca tm gia tc tc thi : gi thit tit din chuyn
ng song phng vi vn tc gc v gia tc gc l v . Trn tit din c im
A bit gia tc WA (hnh 8-15). Xoay WA theo chiu quay ca quanh A i mt
gc vi tg =

. Dng na ng thng Ax theo phng .v ly trn Ax

2

-112mt im J cch A mt on AJ =

wA
+ 4
2

im J c gia tc :
r
r
r
w J = w A + w JA

Trong WJA c ln bng w JA = AJ. 2 + 4 .'

Thay AJ =

wA
2 + 4

. Ta c : w JA =

w A 2 + 4
2 + 4

= wA .

r
w JA hp vi AJ mt gc vi tg = 2 hng theo chiu quay ca

r
r
quanh A. Nh trn hnh v (8-15) ta thy hai vc t gia tc w A v w JA c ln
bng nhau song song v ngc chiu do :
r
r
r
w J = w A + w JA = 0

wM

wA

wM

wA

wM

Hnh 8.14

wA

wB A
wC
B
C

wA

A
wA
Hnh 8.15

J
Hnh 8.16

im J chnh l tm gia tc tc thi ca tit din .

Tip theo ta chng minh tnh duy nht ca tm gia tc tc thi J : gi thit
ti thi im trn tit din c hai tm gia tc tc thi J1 v J2.
Khi WJ1 = 0 v WJ2= 0.
Theo biu thc (4-8) ta c th vit :
r
r
r
w J 2 = w J1 + w J 2 J1 .
Thay WJ1 = 0 v WJ2= 0 vo biu thc trn ta c WJ2J1= 0.

-113V w J 2 J1 = J 2 J1 2 + 4 trong 0

nn WJ2J1 ch c th bng khng khi J2J1 = 0 ngha l J2 trng vi J1.

Khng th c hai tm gia tc cng mt thi im trn tit din chuyn ng
phng.
Nu trn tit din c mt tm gia tc tc thi J v chn J l tm cc th
gia tc ca im M trn tit din c th xc nh theo biu thc :
r
r
r
w M = w J + w MJ .

V wJ = 0 nn c th vit :

r
r
r
r
w M = w MJ = w MJ + w nMJ .
V tr s w M = MJ. 2 + 4 c phng hp vi MJ mt gc vi

tg =

theo chiu quay ca quanh J (hnh 8-16). Nh vy ta nhn thy gia

2

tc ca cc im trn tit din chuyn ng song phng lun lun hp vi

phng ni t im n tm gia tc tc thi mt gc c ln t l vi
khong cch t im n tm gia tc tc thi J. V cc tnh cht quy lut phn
b gia tc cc im trn tit din biu din nh trn hnh (8-16). Cng t cc
tnh cht trn c th xc nh tm gia tc tc thi trong mt s trng hp biu
din trn cc hnh (8-17), (8-18) , (8-19), (8-20), (8-21), (8-22).

wB

wA

wB

wA

A
B

B
J
wB

wA
Hnh 8.17

Hnh 8.18

Hnh 8.19

-114-

wB

wA
Hnh 8.20

A wA B wB

wA
wB
J -->

B
Hnh 8.22

Hnh 8.21

Trn hnh (8-17) v (8-18) khi 0<<900; 0, 0

Trn hnh (8-19) v (8-20) khi =900; 0, 0
Trn hnh (8-21) v (8-22) khi = 0; 0, = 0
r
r
Trn hnh (8-23) w A = w B .

Th d 8-4 : Bnh xe tu ho, bn knh vnh ngoi R bn knh vnh ln l

r ln khng trt trn ray thng. Cho bit vn tc v gia tc ca tu l Vc = 0,4
m/s v WC = 0,2 m/s2. Xc nh gia tc

ca cc im M1, M2, M3, M4 trn vnh

ngoi ca bnh xe ti thi im ang

wnMC

xt nh hnh (8-23). Bit r = 40cm, R =

wMC

50cm.
Bi gii :
Bnh xe chuyn ng song

M2 wC wMC

M1 wC

n
MC

w4

phng bit vn tc v gia tc tm C.

Trc ht xc nh vn tc gc

w2

w1

wMC

wC wnMC
C

w3

wC
M3
wMC

MC

M4 wC

v gia tc gc ca bnh xe.

Hnh 8.23
C th xc nh vn tc gc theo
vC. V tm vn tc tc thi l im tip xc gia bnh xe vi ng ray nn c :

v C v C 0,4
=
=
= 1(rad / s).
PC r 0,4

Gia tc gc :

-115-

d d v C 1 dv C w C 0,2
=
=
= 0,59(rad / s 2 )
= = .
dt dt r r dt
r
0,4

Xc nh gia tc cc im M theo biu thc :

r
r
r
r
w M = w C + w rMC + w nMC y nhn tm C l tm cc.
r
r
Cc vc t w rMC , w nMC ca cc im c tr s nh nhau, ch khc nhau v
phng chiu.
V ln ta c :

WMC = CM. = R. =0,5.0,5 = 0,25 m/s2;

WMCn = CM.2 = R.2 = 0,5.12 = 0,5 m/s2;

Phng chiu cc vc t ny cc im biu din trn hnh v. Cn c vo

hnh v v tr s thu c ta c th tnh gia tc cc im M1, M2, M3, M4 nh
sau :

w1 =

(w

+ w nMC ) + w MC =

(0,2 + 0,5)2 + 0,252

= 0,74m / s 2

w2 =

(w

+ w MC ) + w nMC =

(0,2 + 0,25)2 + 0,52

= 0,67 m / s 2

w3 =

(w

n
CM

+ w C ) + w MC =

(0,5 + 0,2 )2 + 0,252

= 0,39m / s 2

w4 =

(w

CM

+ w C ) + w nMC =

(0,25 + 0,2 )2 + 0,52

= 0,50m / s 2

Th d 8-5 : Tay quay OA quay u vi vn tc gc OA. Tm gia tc ca

con trt B v gia tc gc ca thanh AB trn c
cu hnh v (8-24). Cho bit ti thi im kho
0

st gc BOA = 90 ; di OA = r ; AB = 1.

vA

r
wA

Thanh AB tc thi chuyn ng tnh

l
r
0

Bi gii :
Ti v tr kho st c :vA = vB

wB

vB

B
Hnh 8.24

tin: AB = 0
Gia tc im A bng : WA = WAn = r02 c phng chiu hng t A vo O.

-116Gia tc im B lun c phng nm ngang.

xc nh tm gia tc tc thi ta xc nh gc :

=
2

tg =

do = 900

D dng tm c tm gia tc tc thi ca thanh AB l giao im ca hai

ng thng h vung gc vi phng WA v WB ti A v B.
V AB = 0 nn c th vit : WA=JA.AB

; WB =JB.AB

wA wB
=
,
JA JB

Suy ra :

y JB = r cn JA = l r nn w B =
2

r2
l2 r 2

.2 rad / s 2

r
Phng ca w B theo phng ngang, chiu hng theo chiu quay vng

ca AB quanh J nh hnh v.
T biu thc :

WA = JA.AB suy ra AB =

Thay WA = r.02 ta c : AB =

r
l2 r 2

wA
w
= 2 A 2 .2 rad / s 2
JA
l r

.2 rad / s 2

Th d 8-6 : Cho c cu gm hai bnh rng n khp vi nhau. Bnh rng

1 bn knh r1 = 0,3 m c nh; Bnh
2

rng 2 bn knh r2 = 0,2 m ln trn vnh

2
2 wA
D vA wAn
P

bnh rng 1 v nhn chuyn ng t

tay quay OA quay vi vn tc gc l

OA v gia tc gc OA (hnh 8-25a).

Xc nh gia tc im D trn
vnh bnh rng 2 ti thi im c ;

OA =1 rad/s

v OA = =4 rad/s2.

a)

y
w D
2
w nD
A
D
x
wA
2
wAn

b)
1
Hnh 8.25

-117Bi gii : Bnh rng 2 chuyn ng song phng. Vn tc v gia tc ca

tm A c xc nh :
vA = OA.OA = 0,5 m/s ;
WA = OA.OA = -2 m/s2;

WAn = OA.2 = 0,5 m/s2.

Ta c th xc nh c vn tc gc 2 ca bnh rng 2 :

2 =

v A 0,5
=
= 2,5rad / s
r2 0,2

Chiu quay ca 2 nh hnh v (8-25).

Gia tc gc 2 ca bnh rng 2 c xc nh theo biu thc :

d2
l dv A w a 2
2 =
= 2.
=
=
= 10rad / s 2
dt
r dt
r2
0,2
iu ny chng t bnh rng 2 chuyn ng chm dn, chiu ca 2 ngc
chiu vi 2.
Gia tc im D c th vit :

r
r
r
r
r
w D = w A + w nA + w DA + w nDA

(a)

Ti thi im kho st c :
WDA = DA.2 = r22 = 0,2.(10) = 2 m/s2;
WDAn = DA.2 = r222 = 0,2.(2,5)2 = 1,25 m/s2.
Chiu hai v ng thc (a) ln hai trc Dx v Dy (hnh 8-25b) ta c :
WDx = WA + WDAn = 2 + 1,25 = 3,25 m/s2;
WDy = WDA - WAn = 2 - 0,5 = 1,5 m/s2.
Suy ra :

w D = w 2Dx + w 2Dy = 3,252 + 1,5 2 3,58m / s 2

-118Chng 9
Chuyn ng quay ca vt rn quanh mt im c nh
- chuyn ng tng qut ca vt rn
9.1. Chuyn ng quay ca vt rn quanh mt im c nh

9.1.1 nh ngha
Chuyn ng ca vt rn c mt im lun lun c nh c gi l
chuyn ng quay quanh mt im c nh
Th d: Con quay ti ch, bnh

xe t chuyn ng khi t li trn

ng vng; cnh qut ca my bay

khi my bay ln vng .v

M hnh nghin cu vt rn
chuyn ng quay quanh mt im

c nh biu din trn hnh 9.1.

Hnh 9 - 1
9.1.2 Thng s nh v.
Vt rn quay quanh mt im c
nh c th biu din bng tit din( S)
ca vt quay quanh im O ( hnh 9.2 ).
1

Tit din ny khng i qua im c nh

O v chuyn ng trong h to c
nh Oxyz. xc nh thng s nh v
ca vt ta dng trc oz, vung gc vi
tit din (S). Dng mt phng cha hai
trc oz v oz1 . Mt phng ny ct mt
phng oxy theo ng OD. V ng
thng ON vung gc vi mt

y1
0
y

N
x

x1
N
Hnh 9-2

-119phng khi c gc DON =

. ng ON nm trong mt phng Oxy

2

v gi l ng mt.
xc nh v tr ca vt trong h to oxyz trc ht phi xc nh c v
tr ca trc oz1, ngha l phi xc nh c cc gc v . Tip theo phi xc
nh c v tr ca vt so vi trc oz1 ngha l phi xc nh c v tr ca n
so vi mt phng ONz1, nh gc = NIA. Nh vy ta c th chn ba gc , v
l ba thng s nh v ca vt., y gc cn c th thay th bng gc =

.
2
Ba gc , , gi l 3 gc le.
Gc gi l gc quay ring; gc gi l gc tin ng v gc gi l
gc chng ng.
9.1.2.2. Phng trnh chuyn ng
Trong qa trnh chuyn ng ca vt cc gc le thay i theo thi gian v
th phng trnh chuyn ng ca vt rn quay quanh mt im c nh c
dng:
= (t).
= (t).

(9.1 )

= ( t).
Cn c vo kt qu trn c th pht biu cc h qu v s tng hp v
phn tch chuyn ng ca vt rn quay quanh mt im c nh nh sau:
H qu 9. 1: Chuyn ng ca vt rn quay quanh 1 im c nh bao gi
cng c th phn tch thnh ba chuyn ng quay thnh phn quanh ba trc giao
nhau ti im c nh O. Cc chuyn ng l: chuyn ng quau ring quanh
trc Oz1 vi phng trnh = ( t); Chuyn ng quay chng ng quanh trc
ON vi phng trnh = ( t) v chuyn ng quay tin ng quanh trc Oz vi

-120phng trnh = (t).

H qu 9.2: Tng hp hai hay nhiu chuyn ng quay quanh cc trc
giao nhau ti mt im l mt chuyn ng quay quanh mt im c nh .
9.1.2.3. Vn tc gc v gia tc gc ca vt.
- Vn tc gc.
Gi vn tc gc ca cc chuyn ng quay ring, quay tin ng v quay
chg ng ln lt l 1, 2 v 3 ta c:

& ;
1= & ; 2=

3 = &

Theo h qu 9.2 d dng suy ra vn tc gc tng hp ca vt

= 1 + 2 + 3

(9.2).

V cc vect 1, 2, 3 thay i theo thi gian nn cng l vect thay

i theo thi gian c v ln ln phng chiu.
Nh vy vect l
vect vn tc gc tc thi
Ti mt thi im c th

xem chuyn ng ca vt
rn quay quanh mt im

c nh nh l mt chuyn

ng quay tc thi vi vn
tc gc quanh trc quay
tc thi i qua mt im

c nh O.( hnh 9.3).

- Gia tc gc:

Hnh 9-3

Gi gia tc gc tuyt i ca vt c xc nh bng o hm bc nht

r
theo thi gian ca vc t

-121-

r d r .
= =
dt

N
(9.3)

V phng din hnh hc c th xc nh

r
vc t nh l vc t vn tc ca im u N
vc t vn tc gc (hnh 9.4).
Xt trng hp c bit chuyn ng quay

tin ng u.
Hnh 9-4
Chuyn ng ca vt rn quay quanh 1
im c nh c chuyn ng quay ring v chuyn ng quay tin ng l u
cn chuyn ng quay chng ng khng c , ngha l 1 = const ; 2 = const;

3 = 0
Trng hp c bit ny gi l chuyn ng quay tin ng u.
Trong trng hp chuyn ng quay tin ng u vn tc gc c xc
nh:

= 1+2 = r+ e

(9.4)

V gia tc gc:

= VN

vi N l im mt ca .

Nhng y theo hnh v 9.4 hnh bnh hnh vn tc gc c gn vi

mt phng ( Oz v Oz1) v quay quanh Oz vi vn tc 2( e).
Do :
VN= e x ON = e x = e x ( e x r) = e x r
ngha l trong trng hp chuyn ng quay tin ng u th:

= e x r = 2 x

(9.5).

-1229.1.3. Kho st chuyn ng ca mt im trn vt

9.1.3.1. Qu o chuyn ng ca im
Khi vt chuyn ng, v mi im c khong cch ti im O c nh l
khng i v th qu o ca chng lun nm trn mt mt cu c tm l O v
bn knh bng khong cch t im kho st ti im c nh O. Chnh v th
ngi ta cn gi chuyn ng quay ca mt vt quanh mt im c nh l
chuyn ng cu.
9.1.3.2. Vn tc ca im
Xt im M trn vt. Ti mt thi im vt c chuyn ng quay tc thi
r
vi vn tc gc quanh trc quay thc

thi i qua O v th vn tc ca im M
c th xc nh theo biu thc:

r
r
VM = OM

vM

(9.6)

r
Vc t VM hng vung gc vi

mt phng cha trc v im M v c

ln VM = .h. Trong h l khong

cch t im kho st M n trc quay

Hnh 9-5

tc thi (hnh 9.5).

9.1.3.3. Gia tc ca im
Gia tc ca im M trn vt

rn quay quanh mt im c nh
W

c xc nh nh sau:

WM =

d
d r
VM = . OM
dt
dt

r
r d
d
= OM +
OM
dt
dt

h M
r

h1
0

Hnh 9-6

-123-

r r r
= V + M OM
r
r
t VM = WM v OM = WM
Cui cng ta c :

WM = WM + WM

(9.7)

Trong : WM hng t M v H v c ln WM = h.2; WM hng

r
vung gc vi mt phng cha vc t v im M c ln WM = h1. . Vi h1
l khong cch t im M ti vct .
Ch : V hnh thc cc vc t WM v WM ging nh gia tc php
tuyn W nM v gia tc tip tuyn WM ca im M khi n quay quanh trc c
r
nh nhng thc cht l chng khc nhau v y hai vc t v khng
trng phng nh trong chuyn ng quay quanh mt trc c nh.
Th d 9.1: Kho st
chuyn ng quay tin ng u

ca con quay c hai bc t do

cho trn hnh v (hnh 9 -7). Cho

bit chuyn ng quay tng i

ca con quay quanh trc Oz, c

vn tc gc r = 200.

1
v
s

r
1

chuyn ng quay ko theo ca

trc Oz1 quanh trc Oz c vn

Hnh 9-7

1
tc gc C = 2 . Hai trc Oz v Oz1 hp vi nhau mt gc = 300. Tm vn
S
tc gc v gia tc gc ca con quay.
Bi gii:
Chuyn ng ca con quay l tng hp ca 2 chuyn ng tng i v
ko theo . Hai chuyn ng ny l cc chuyn ng quay quanh hai trc ct nhau

-124ti mt im O c nh. Nh vy chuyn ng ca con quay l chuyn ng

quay quanh im O c nh. y chuyn ng tng i vi vn tc gc r l
r
r
chuyn ng quay ring 1 = r; cn chuyn ng ko theo vi vn tc l
chuyn ng quay tin ng cn 3 =0. Con quay thc hin chuyn ng quay
tin ng u .
r
r
Theo (9.4) ta c vn tc gc tuyt i = r = e
r
Vc t c biu din bng ng cho hnh bnh hnh m hai cnh l

r v e.
V r hp vi e mt gc 30 do d dng tm c:

2 = r2 + e2 + 2e.r.cos300
hay: =

2r + e2 + 2e .r . cos 30 0

Thay s ta c = 202

1
.
S

Gia tc gc tuyt i c xc nh theo (9.5).

r r
= VN = e ON = e r
= e ( e + r) = e r
Vc t hng vung gc vi mt phng Ozz1 nh hnh v v c gi tr:

= e.r sin300 = 200 2.

1
S2

Th d 9.2: Kho st chuyn ng

ca bnh xe t khi n chuyn ng u

Wp W

trn ng trn bn knh R =10m.

0

Cho bit bn knh bnh xe r = 0,5m;

vn tc tm bnh xe (vn tc t) l V0 =
36 km/h.
Xc nh vn tc gc, gia tc gc

Hnh 9-8

-125tuyt i ca bnh xe v vn tc, gia tc ca im P trn vnh bnh xe (hnh

9.8).
Bi gii:
Chuyn ng ca bnh xe c hp thnh t hai chuyn ng thnh phn:
Chuyn ng quay ca bnh xe quanh trc Oz ca n vi vn tc gc 1 v
chuyn ng ca trc bnh xe Oz1 quay quanh trc Oz thng ng vi vn tc
gc 2. Hai trc z v z1 giao nhau ti im c nh I v th c th ni chuyn
ng tng hp ca bnh xe l chuyn ng quay quanh mt im I c nh.
Trong trng hp ny 1 l vn tc gc ca chuyn ng quay ring, 2 l vn
tc gc ca chuyn ng quay tin ng. Chuyn ng quay chng ng c
vn tc bng khng.
r
- Xc nh vn tc gc tuyt i ca bnh xe. Theo cng thc (9.2) ta

c:
r
r
r
= 1 + 2
r
r
V hai trc quay Iz v Iz1 lun lun vung gc do : 1 vung gc 2.

Mt khc v bnh xe ln khng trt trn ng nn vn tc im P l

VP=0.
Suy ra ng IP chnh l trc quay tc thi ca bnh xe. Cn c vo hnh
v xc nh c 1 = 2.cotg.
Trong : 2 =
V =

V0
r
v tg = .
R
R

12 + 22

Thay s tm c: 1 = 20 (1/s), 2 = 1 (1/s) v = 20 (1/s).

Chuyn ng ca bnh xe l chuyn ng tin ng u do xc nh
gia tc gc tuyt i.nh sau:
r
r
r
r
= VN = 2 IN = 2 1

-126V tr s: = 2 1 sin

u
= 20 1/s2 hng vo trong v vung gc vi mt
2

phng hnh v.
- Xc nh vn tc im P
Do P nm trn trc quay tc thi nn vn tc ca n Vp = 0.
- Xc nh gia tc im P
Theo (9.7) W P = W P + W P
r
V P nm trn trc quay tc thi nn W P = OP =0
r
Cn P hng vung gc vi mt phng cha vc t vo im P nh

hnh v vi tr s:
WP = IP. = 10.20 = 200 m/s2.

9.2. Chuyn ng tng qut ca vt rn (chuyn ng t do

ca vt rn)

9.2.1. Phng trnh chuyn ng

Kho st vt rn chuyn ng t do trong h trc to c nh Oxyz.
thit lp phng trnh chuyn ng ca vt ta chn mt im A bt k trn vt
lm tm cc v gn vo vt h trc Ox1y1z1 c cc trc song song vi Ox, Oy,
Oz. Khi v tr ca vt s c xc nh bi v tr ca h Ax1y1z1 so vi h
Oxyzv vi tr ca vt so vi h di ng o x y z. T suy ra thng s nh v ca
vt so vi h Oxyz s l to xA, yA, zA ca im A v 3 gc le , v ca
vt. Suy ra phng trnh chuyn ng ca vt s l:
xA = xA (t)

yA = yA (t)

= (t)

= (t)

zA = zA (t)

= (t)

( 9.7 )

Chuyn ng t do ca vt lun lun c th phn tch thnh 2 chuyn

ng:

-127- Tnh tin theo mt tm cc A

- Chuyn ng quay quanh tm cc A
9.2.2. Vn tc v gia tc ca c vt

v
Vn tc ca c vt c biu din qua vn tc ca tm cc A l VA v vn
tc gc tc thi ca vt quay quanh trc quay tc thi i qua cc A.
Tng t gia tc ca vt cng c biu din bi gia tc ca tm cc A l
r
w A v gia tc gc tc thi trong chuyn ng quay tc thi quanh trc quay
tc thi i qua A.
9.2.3. Vn tc v gia tc ca mt im trn vt
Xt im M bt k trn vt rn chuyn ng t do. Vn tc ca im M s
r
r
r
c xc nh theo biu thc: VM = VA + VMA .
( 9.8 )

v
v
Vi VA l vn tc tm cc A cn VMA l vn tc ca im M trong
chuyn ng quay quanh im A. Ta c:

r
v
VMA = AM ; l vn tc gc tc thi ca vt trong chuyn
ng quay quanh A.
Tng t gia tc ca im M cng c xc nh theo bi thc:
r
r
r
WM = WA + WMA
( 9.9 )
Trong : W MA = W
Vi: W

MA =

MA

MA

+W

MA

r
r
VMA

r
r
= VMA

Cui cng ta c:
r
r
r
r
WM = WA + WMA
+ WMA
.

( 9. 10 )

-128Chng 10
HP chuyn ng ca vt rn

Trong chng ny m hnh kho st

l vt rn ng thi tham gia hai chuyn

ng tng i so vi h ng o1x1y1z1 v
chuyn ng ko theo ca h ng

01
y1

o1x1y1z1 chuyn ng so vi h c nh

x1

oxyz (Hnh 10.1).

0
y

Sau y s kho st chuyn ng

tng hp ca cc trng hp thng gp.

Hnh 10-1
10.1. Hp hai chuyn ng tnh tin

Kho st vt rn tham gia hai chuyn ng tng i v ko theo u l

chuyn ng tnh tin.
Do tnh cht ca chuyn ng tnh tin mi im trn vt rn s c chuyn
ng tng i v ko theo nh nhau v th chuyn ng tuyt i ca chng
cng nh nhau.
T i n kt lun: Hp hai chuyn ng tnh tin ca mt vt rn l
mt chuyn ng tnh tin. Vn tc v gia tc mi im trong chuyn ng tng
hp c tnh bng tng hnh hc cc vct vn tc hoc cc vect gia tc ca
hai chuyn ng thnh phn.
r r
r
V = V1 + V2

W = W1 + W2

(10.1)
(10.2)

r
Trong : V v W l vn tc v gia tc ca chuyn ng tnh tin tng

-129r
r
hp; V 1, V 2 v W 1, W 2 l vn tc v gia tc ca hai chuyn ng tnh tin
thnh phn.
10.2. HP hai chuyn ng quay quanh hai trc

Kho st vt rn ng thi tham gia hai chuyn ng: chuyn ng quay

r
tng i vi vn tc gc l 1 quanh trc quay Aa v chuyn ng quay ko
r
theo l chuyn ng ca trc Aa quay quanh trc Bb vi vn tc gc 2 .Ta s
kho st chuyn ng tng hp ca vt rn trong cc trng hp sau.
10.2.1. Khi hai vc t 1 v 2 song song cng chiu.

Xt vt rn l mt a phng chuyn

b'

ng tng i quay quanh trc Aa vi vn tc

a'

gc 1 vung gc vi mt a. Trc Aa li
B

quay quanh trc Bb song song vi vn tc gc

2 cng chiu vi 1 (hnh 10.2).

Ta c nhn xt rng trong qu trnh

chuyn ng mt phng ca a c phng

khng i ngha l chuyn ng tng hp ca

Hnh 10-2

n l chuyn ng song phng. Vn tc ca

im A v B trn a c th xc nh:
VA = 2.AB ;

c'

VB = 1.AB

Phng chiu biu din trn hnh

tc thi cu a l im C v trc Cc i qua

C song song vi Aa v Bb l trc quay tc
thi ca a. T vn tc ca im A v B ta
r
c th xc nh c vn tc gc tuyt i ca a.
=

VA VB
=
AC BC

1
A

(10.3).
D dng xc nh c tm vn tc

a'

b'

B
vB

vA
2

1
(S)

Hnh 10-3

-130hay: =

VA + VB VA + VB
=
AC + BC
AB

Thay VA = 2.AB v VB = 1.AB vo biu thc trn ta c:

= 1 + 2

(10.3)

Kt lun: Hp hai chuyn ng quay cng chiu quanh hai trc song song
l mt chuyn ng quay tc thi vi vn tc gc bng tng vn tc gc hai
chuyn ng thnh phn quanh trc quay tc thi song song vi hai trc quay
cho v i qua im C chia trong on AB theo t l:
1 2

=
=
BC AC AB
10.2.2. Khi hai vc t 1 v 2 song song ngc chiu

Khi hai vc t 1 v 2 song song

ngc chiu ,vi cch biu din nh trn
chuyn ng ca a vn l chuyn ng

VA = 2.AB v VB = 1.AB nhng hai vc

r
r
t V A v V B song song cng chiu.
Trn a lc ny c th xc nh

b'
B

song phng biu din trn (hnh 10.4). Gi

thit rng 1 > 2 khi vn tc hai im

c'

a'

2
B
vB

A 1

(S) vA

c tm vn tc tc thi C l im chia
ngoi on AB theo t l

1 2

=
=
BC AC AB

v vn tc gc ca a c xc nh:
=

V VA
VB VA VB VA
=
=
= B
BC AC BC AC
AB

Thay gi tr ca VA v VB vo biu thc trn ta c:

= 1 - 2 (10.4)

Hnh 10-4

-131Kt lun: Hp hai chuyn ng quay ngc chiu quanh hai trc song
song l mt chuyn ng quay tc thi vi vn tc gc bng hiu s vn tc gc
hai chuyn ng thnh phn quanh trc quay tc thi song song vi hai trc
quay cho v i qua im C chia ngoi on AB theo t l:
1 2

=
=
BC AC AB

Trng hp c bit nu 1 = 2 ngha l 2 vc t 1 v 2 to thnh

mt ngu vc t, khi theo (10.4) ta c =
0. iu ny chng t vt s c chuyn ng
tng hp l tnh tin.

Th d bn p ca xe p (hnh 10.5).

Bn p quay quanh trc ca n vi

ny song song ngc chiu do chuyn

ng tng hp ca bn p s l chuyn

vn tc 1 trc bn p li quay quanh trc

gia ca xe vi vn tc 2 = 1, hai vc t

V
B

Hnh 10- 5

ng tnh tin.
10.2.3. Khi hai vc t 1 v 2 giao nhau ti mt im

Kho st vt rn tham gia ng thi hai chuyn ng quay quanh hai trc
Oa v Ob ct nhau ti O v c vn tc gc l 1, 2.
Nh bit trong chng 9 chuyn ng tng hp ca vt trong trng
hp ny l chuyn ng quay quanh mt im c nh chnh l giao im O ca
2 vc t vn tc gc 1, 2. Ni cch khc chuyn ng tng hp ca vt rn
khi n ng thi tham gia hai chuyn ng quay quanh hai trc ct nhau s l
mt chuyn ng quay tc thi quanh trc quay tc thi i qua giao im O
ca hai trc quay trong chuyn ng thnh phn vi vn tc gc tuyt i =

1 + 2.
Theo (9.6) v (9.7) th vn tc v gia tc ca mt im bt k trn vt s

-132c xc nh nh sau:

r
VM = + OM ; W M = W M + W M

Th d: Xc nh vn tc gc tuyt i ca bnh rng nn 1 biu din trn

(hnh 10.6) cho bit tm A ca bnh xe chuyn ng vi vn tc VA v kch

thc AC = R; OA = l.
Bi gii: Chuyn ng ca bnh
xe c hnh thnh t hai chuyn ng

quay: tng i quanh trc OA ca bnh

xe v chuyn ng ko theo do trc OA

quay quanh trc OB. Nu gc 1 l vn

tc gc ca chuyn ng tng i , 2

l vn tc gc ca chuyn ng ko theo
th hai vect 1 v 2 giao nhau ti O l

Hnh 10-6

im c nh trn trc OB. Chuyn ng

tng hp ca bnh xe s l chuyn ng quay quanh im O c nh. V bnh xe

(1) n khp vi bnh xe 2 c nh nn im C c vn tc VC= 0. D dng nhn
thy OC l trc quay tc thi ca bnh xe. Nu gi vn tc gc tuyt i ca
bnh xe l theo (9.7) ta c:
= 1 +2.
2=

Trong 2 c phng OB hng xung di v c tr s

VA
.
l
2
vi
sin

D dng tnh c:

sin =

Cui cng nhn c:

VA
R2
1+ 2 .
=
R
l

R
l +R
2

10.3. Hp hai chuyn ng tnh tin v chuyn ng quay.

Kho st vt rn tham gia ng thi hai chuyn ng tnh tin vi vn tc

v v quay quanh mt trc Aa vi vn tc gc .

-133Bi ton c th gp phi cc trng hp sau:

10.3.1 Khi vn tc chuyn ng tnh tin vung gc vi vn tc gc
ca chuyn ng quay.

Khi vn tc chuyn ng tnh

p

tin vung gc vi vn tc gc ca
chuyn ng quay.

(hnh 10.7) d

dng nhn thy rng chuyn ng

(S)

tng hp ca vt l chuyn ng song

A

phng. C th xc nh c trc

quay tc thi Pp ca vt bng cch

quay VA i mt gc 900 theo chiu

Hnh 10-7

quay vng ca trong mt phng

vung gc vi vect v ly trn im P cch A mt on AP=

VA

10.3.2. Khi vn tc chuyn ng tnh tin v vn tc gc song song vi

nhau .

Xt vt rn tham gia 2 chuyn ng, quay quanh trc Aa vi vn tc gc

v tnh tin vi vn tc v theo chiu Aa (hnh 10.8).

Chuyn ng tng hp ca vt lc ny gi l chuyn ng vt. Nu v v

Cng chiu ta c chuyn ng vt
a

thun v v, ngc chiu ra c chuyn

ng vt nghch.
vM

Kho st 1 im trn vt trong qu trnh

v M

chuyn ng qu o ca n nm trn mt tr
c trc Aa bn knh bng khong cch gia

im n trc. Dng ca ng qu o l
ng xon vt. Sau khi quay c mt vng
th im ng thi cng di theo trc Aa mt

A
Hnh 10-8

-134on h = 2.

v
gi l bc vt.

Khi vt chuyn ng vt vn tc ca mt im M bt k c xc nh
theo cng thc:
VM =

v 2 + r 2 .

Trong r l khong cch t M ti trc quay. Phng tip tuyn vi qu

o ( ng vt), ngha l hp vi ng sinh mt gc ( tg =

h
).
2..r

10.3.3 Khi v v hp vi nhau 1 gc bt k.

Xt chuyn ng ca vt quay

quanh trc Aa vi vn tc gc v ng
thi chuyn ng tnh tin vi vn tc v

theo phng hp vi Aa 1 gc .( Hnh

10.9). Trong trng hp ny nu phn
r
r
tch vect v thnh hai thnh phn v 1
r
theo phng v v 2 vung goc vi
r r
r
ngha l v = v1 + v 2 . Theo kt qu

v
v1

a)

v2

Hnh 10 - 9

r
mc 10.3.2 chuyn ng ca vt c v v 2 c thay th bng chuyn ng
quay tc thi quanh trc C (trc quay tc thi) vi cng vn tc . Kt qu
r
chuyn ng ca vt s thc hin hai chuyn ng: tnh tin vi vn tc v 1 v
quay quanh trc C vi vn tc gc song song vi v1 v cch A mt on AP =
v2/ = v.sin/. Ta gi chuyn ng ny l chuyn ng vt tc thi.

b)

-135Phn 3

ng lc hc

Chng 11
Cc nh lut ca niu-tn v phng trnh vi phn
chuyn ng
11.1. Cc khi nim c bn

ng lc l phn tng qut ca c hc. ng lc hc nghin cu chuyn

ng ca vt th di tc dng ca lc. ng lc hc thit lp cc nh lut lin
h gia lc tc dng vi nhng c trng ng hc v p dng cc nh lut
c th gii cc bi ton k thut.
Vt th trong ng lc hc c xt di dng m hnh : cht im, c h,
vt rn.
Cht im l mt im hnh hc c mang khi lng. Cht im l m
hnh n gin nht v c bn nht ca vt th trong ng lc hc.
C h l tp hp nhiu cht im chuyn ng ph thuc ln nhau.
Vt rn l c h c bit khi khong cch gia hai cht im bt k trong
lun lun khng i.
Khc vi tnh hc, lc trong ng lc hc c th l khng i, c th bin
i c v ln v phng chiu.
Lc ph thuc vo thi gian nh lc ko u my, ph thuc vo v tr ca
vt nh lc hp dn, lc n hi ca l xo, ph thuc vo vn tc nh lc cn ca
khng kh. Mt cch tng qut trong ng lc hc lc l mt hm ca thi gian,
r r r r
v tr v vn tc. Ta c : F = F(t, r , v ) .
Trong ng lc hc cc lc c phn chia thnh ni lc, ngoi lc hay
r r
hot lc v phn lc lin kt. Ni lc k hiu l Fi . Fi l lc tc ng tng h

-136gia cc cht im trong mt c h.

r
Ngoi lc k hiu Fe l cc lc do cht im hay vt th ngoi h tc dng
r
vo h. Phn lc lin kt k hiu N l lc tc dng do cc vt gy lin kt ln c
h kho st. Hot lc l cc lc tc dng ln c h khng k phn lc lin kt,
r
thng k hiu l Fa
kho st chuyn ng ca vt bao gi cng chn trc mt h quy
chiu. H quy chiu khng ph thuc vo thi gian gi l h quy chiu qun
tnh, ngc li h quy chiu ph thuc vo thi gian gi l h quy chiu khng
qun tnh .
11.2. Cc nh lut ca Niu -Tn

C s l lun ca ng lc hc ch yu l cc nh lut ca NIU - TON.

I-sc Niu Tn (1643-1727) l nh bc hc li lc t nn mng cho c
hc c in v xy dng l thuyt c hc hon thin cn i. V th c hc c
in cn gi l c hc Niu - Tn.
Sau y gii thiu cc nh lut ca Niu - Tn v xem nh l h tin
ca c hc.
nh lut 1(nh lut qun tnh)
Cht im khng chu tc dng ca lc no s ng yn hoc chuyn
ng thng u.
Trng thi ng yn hoc chuyn ng thng u l trng thi chuyn
ng theo qun tnh. Khi chuyn ng theo qun tnh cht im s c :
r
r
v = const v w = 0 .
nh lut 2 (nh lut c bn ca ng lc hc )
Di tc dng ca lc cht im s chuyn ng vi gia tc cng phng
chiu vi lc (hnh 9-1)
r
r
F = m.W

v
M
F
W

Hnh 11.1

-137m l h s t l, ph thuc vo lng vt cht c trong cht im.

Theo nh lut ny lc l nguyn nhn lm cho cht im chuyn ng c
gia tc.

r
r
Biu thc (11-1) cho thy : Nu lc F khng i m cng ln W cng nh
v ngc li, iu chng t kki lng m l s do qun tnh ca vt (tnh
ca vt)
T h thc (11-1) nu lc l trng lng ca vt s c :P = mg. y g
c gi l gia tc trng trng.
H thc (11-1) gi l phng trnh c bn ca ng lc hc.
nh lut 3 (nh lut v tnh c lp tc dng ca lc)
Di tc dng ng thi ca mt h lc cht im s chuyn ng vi gia
tc bng tng hnh hc cc gia tc m cht im thu c khi n chu tc dng
c lp tng lc mt .
r r
r
r
w = w 1 + w 2 + ..... + w n .

(11-2)

r
w l gia tc ca cht im khi h lc cng tc dng ng thi ;
r r r
w 1 , w 2 , w n l gia tc ca cht im khi n chu tc dng tng lc:
r r
r
F1 , F2 ,....Fn c lp .
T h (11-2) nu nhn hai v vi khi lng m s c :
r
r
r
r
mw = mw 1 + mw 2 + ..... + mw n

Theo nh lut hai th :

n r
r
r r r
Do ta c : mw = F1 + F2 + ..... + Fn = F

(11-3)

i =1

H thc (11-3) l phng trnh c bn ca ng lc hc khi cht im

chu mt h lc tc dng.
nh lut 4 (nh lut tc dng v phn tc dng )

-138Lc tc dng tng h gia hai cht im l nhng lc cng phng, cng
ln v ngc chiu.
nh lut ny m t tc dng tng h gia hai cht im v l c s
nghin cu cho ng lc hc ca h.
Cn ch rng hai lc tng h khng phi l mt cp lc cn bng v
chng t ln hai cht im khc nhau.
11-3. Phng trnh vi phn chuyn ng ca cht im
v c h.

Xt cht im chuyn ng trong h quy chiu qun tnh oxyz, di tc

r r r
r
dng ca cc lc F1 , F2 , F3 ,....Fn . i vi cht im t do cc lc ny l cc hot
lc t ln cht im. i vi cht im khng t do cc lc ny bao gm c
hot lc v phn lc lin kt. Cn c vo phng trnh c bn ca ng lc hc
ta c th thnh lp phng trnh vi phn chuyn ng ca cht im di cc
dng khc nhau.
11.3.1.Dng vc t

r
Gi vc t nh v ca cht im l r ta c :
r
r d2r
w = 2 = &r&
dt

Khi phng trnh c bn vit cho cht im nh sau :

r
d2 r n r
m 2 = F1
dt
i =1

(11-4)

Phng trnh vi phn (11-4) c gi l phng trnh vi phn chuyn ng

ca cht im di dng vc t.
11.3.2. Dng to cc
Chiu phng trnh (9-4) ln cc trc to oxyz s c :

-139n

m&x& = X i ;
i =1
n

m&y& = Yi ;

(11-5)

i =1
n

m&z& = Z i .
i =1

y x, y, z l to ca cht im trong h oxyz, cn Xi, Yi, Zi l hnh

r
chiu ca lc Fi ln cc trc ox, oy, oz.
H phng trnh (11-5) c gi l h phng trnh vi phn chuyn ng
ca cht im di dng to cc.
11.3.3. Dng to t nhin
Gi W, W, W l hnh chiu ca gia tc im v Fi, Fi, Fi l hnh
chiu ca Fi ln cc trc ca h to t nhin. Sau khi chiu phng trnh (114) ln cc trc ca h to t nhin ta c :
n

mw = m&s& = Fi ;
i =1

v2 n
mw = m = Fi ;
i =1

(11-6)

mw = 0 = Fi .

i =1

i vi c h chng ta c th tch mt cht im trong h ra xt. Gi

r
hp cc ngoi lc tc dng ln cht im th k c tch ra l Fke v hp cc ni
r
lc tc dng ln n l Fki .
Phng trnh vi phn chuyn ng ca cht im vit di dng vc t :
r
r
r
m k w k = Fki + Fke
r
Trong mk v w k l khi lng v gia tc ca cht im th k .

-140Khi xt tt c cc cht im ta s thu c N phng trnh sau :

r
r
r
m1 w 1 = F1i + F1e ;

r
r
r
m 2 w 2 = F21i + F2 e ;

(11-7)

...........................
r
r
r
m n w n = Fni + Fne .
H phng trnh (11-7) c gi l h phng trnh vi phn chuyn ng
ca h di dng vc t. Nu chiu h phng trnh (11.7) ln cc trc ca h
to cc hoc h to t nhin ta s c h phng trnh vi phn chuyn
ng ca c h di dng to cc v h to t nhin.
11-4. Hai bi ton c bn ca ng lc hc

T phng trnh vi phn chuyn ng ca cht im ta thy trong ng

lc hc c hai bi ton c bn sau y :
- Bi ton c bn th nht: Cho bit chuyn ng ca cht im xc nh
lc gy ra chuyn ng . Bi ton ny gi l bi ton thun.
- Bi ton c bn th hai: Cho bit cc lc tc dng ln cht im v iu
kin ban u ca chuyn ng xc nh quy lut chuyn ng ca cht im. Bi
ton ny gi l bi ton nghch.
Sau y gii thiu cch gii hai bi ton c bn ni trn.
i vi bi ton th nht ta thit lp phng trnh vi phn ca chuyn
ng cht im. T phng trnh vi phn ta xc nh c lc tc dng ln tng
cht im. iu c bn ca bi ton l xc nh gia tc ca cht im iu ny
c gii quyt trong ng hc.
i vi bi ton th hai, ta thay lc vo v phi ca phng trnh vi phn
sau tch phn phng trnh vi phn tm c. tm dng chuyn ng c th
ta xc nh hng s tch phn cn c vo cc iu kin ban u ca chuyn ng.
Nu phng trnh vi phn vit di dng to cc sau khi ly tch phn hai

-141ln s xut hin 6 hng s tch phn, ngha l cc nghim x, y, z thu c l cc

hm ca thi gian v 6 hng s tch phn :
x=f1(t,C1,C2....C6)
y= f2(t,C1,C2....C6)
z= f3(t,C1,C2....C6)
Cc hng s tch phn trn c xc nh t cc iu kin ban u ;
Khi t=0 x=x0 ; y=y0;

z=z0 ;

x& = x& 0 ; y& = y& 0 ; z& = z& 0

Th d 11-1:
Cht im c khi lng m chuyn ng theo ng enlip x=acoskt v
y=bsinkt hy tm lc tc dng ln cht im (hnh 11-2).
Bi gii :
Bi ton ny thuc bi ton c bn th
nht. Cn c vo phng trnh chuyn ng

y
b
O

v
F

M
r

x=acoskt
y=bsinkt
Hnh 11.2
Xc nh c :

&x& = ak 2 cos kt = k 2 x ;
&y& = bk 2 sin kt = k 2 y ;
Ta c phng trnh vi phn chuyn ng nh sau :

&x&m = Fx = mk 2 x

&y&m = Fy = mk 2 y
Lc tc dng ln cht im s l F vi :

F = Fx2 + Fy2 = mk 2 x 2 + y 2 = mk 2 r

-142-

r
Cc gc ch phng ca F l :
cos(F, x ) =
cos( F, y) =

Fx x
=
F
r
Fy
F

y
r

Mt khc ta cng c :

cos(r, x ) =

x
r

cos(r, y) =

y
r

r
D dng nhn thy F cng phng nhng ngc chiu vi vc t nh v
r
r ca cht im.
r
r
Ta c : F = mkr .
Th d 11-2 : phn loi ht ngi ta cho ht i qua mt sng dao ng
ngang c nhiu l. Bit rng vn tc ca ht khi bt u chuyn ng qua l
r
v 0 (hnh 11-3). Ht c hnh dng cu, bn knh R. B qua lc cn ca khng kh
xc nh di b nht b ca l ht c th ri qua l c.

-143Bi gii:

vo

ht ri qua l sng trng

tm ca ht ti v tr bt u chm
b

mp bn kia ca l phi nm di

mt phng ngang ca sng. gii

Hnh

quyt c iu kin ta xc
nh qung ng ht i c theo phng ngang (phng ox) khi tm ht ri
xung c mt on x=R. Lc tc dng ln ht coi nh bit l trng
lng bn thn ca n. Bi ton y thuc loi bi ton c bn th hai.
Chn h to oxy gn vi sng (hnh 11-3) coi sng ng yn cn ht
chuyn ng so vi sng. Lc tc dng ln ht c :
Fy = 0 Fx = +mg.
Phng trnh vi phn chuyn ng ca ht vit c :

m&x& = mg ;

hay

&x& = g ;

m&y& = 0 ;

hay

&y& = 0 ;

Tch phn hai v phng trnh trn ta c :

gt 2
+ C1 t + C 2
2

x& = gt + C

x=

y& = C 3

y = C3 t + C 4

xc nh hng s tch phn ta da vo iu kin u cho ca chuyn

ng.
Khi t = 0 x& = x& 0 suy ra C1=0
x=x0 suy ra C4=0.
Thay vo nghim tm c ta c :
x=

gt 2
2

y = v0 t

-144Phng trnh qu o thu c :

2x
g

y = v0

Khi x=R th y = b R = v 0

2R
g

2R
g

Suy ra b = R + v 0

ht chc chn ri qua l ta phi c :

b R + v0

2R
g

Th d 11.3 :
Mt cht im c khi lng m chuyn ng trong mt phng ngang di
r
r
r
tc dng ca lc ht v tm O l F = k 2 mr . y r l vc t nh v cn k l
h s t l. Hy tm phng trnh chuyn ng v qu o ca cht im. Cho
bit ti thi im ban u t0 = 0 , x0 = 1 , y0 = 0 , x& = 0 , y& = v 0 (hnh 11-4)
Bi gii:
Bi ton ny thuc bi ton c bn th hai. Phng trnh vi phn chuyn
ng ca cht im vit di dng vc t :
r
r
mW = k 2 m r
ch h to oxy nh hnh v ta c th thit lp phng trnh vi phn di
dng to cc nh sau :

m&x& = k mx
2

m&y& = k 2 my

y
F
O

Kh khi lng m hai v

phng trnh trn ta c :
Hnh 11.4

l
x

-145-

&x& = k 2 x = 0
&y& = k 2 y = 0
Nghim tng qut ca hai phng trnh c dng:
x=c1coskt + c2sinkt
y=c3coskt + c4sinkt
Cc hng s tch phn c1, c2, c3, c4 c xc nh t cc iu kin u ca
chuyn ng.
Ki t =t0 = 0 c :
x = x0 = l = C1;

x& = 0 = kC 2

y = y0 = 0 = C3;

y& = v 0 = kC 4

Suy ra :
C1 = 1; C2 = 0; C3 = 0; v C4 = v0/k
Phng trnh chuyn ng cht im c vit :
x=lcoskt;

y = (v0sinkt)/k

Kh t trong phng trnh trn s tm c phng trnh qu o dng

x2
y2
+
=1
l 2 v 02 / k 2
y l phng trnh ng enlip nhn cc trc ox, oy l trc
Th d 11-4: Con lc ton hc gm cht im M c khi lng m treo vo
u si dy khng dn v khng trng lng, chuyn ng trong mt phng
thng ng. Xc nh phn lc N ca dy (hnh
v 11-5). Cho bit lc u con lc v tr M0 v

c vn tc v0
Bi gii :
h

Xt chuyn ng ca cht im M. Cc
M

Hnh 11.5

Mo
vo

-146lc tc dng ln n gm P v N. C th thit lp phng trnh vi phn vit di

dng ta t nhin nh su :

m&s& = P sin = mg sin

m

(a)

V2
= P cos + N = mg cos + N (b)

Thay l = s vo phng trnh (a)

Ta c :

&& = mg sin
ml

hay :

g
&& + sin = 0

Xt dao ng l nh ly sin , ta c

&& + k 2 = 0

(c)

Trong : k 2 =

g
l

Nghim tng qut ca phng trnh ny l : = Asin(kt + )

A, l hng s c xc nh bng iu kin u ca chuyn ng .
tm N cn c vo phng trnh (b).
Ta c :
mv 2
N=
+ mg cos
l
2

tnh v ta ch :

d 2 d d d
d
=
=
=
dt
dt d dt
d

Thay kt qu trn vo phng trnh ( c) ta c :

g
&& + sin = 0 ta c :

d
g
= sin
dt
l

g
d = cos + c
l

-147Hng c c xc nh t iu kin ban u. Gi gc ban u v vn tc

gc ban u k 0 v 0 ta s c :
02 g
v 02 g
c=
cos 0 = 2 cos 0
2l
l
2
l

Thay c vo biu thc (c) ta c :

v 02 g
2g
= cos + 2 cos 0 ;
l
l
l
2

v 2 = l 2 2 = v 02 + 2gl(cos cos 0
Cui cng nhn c :
N = P(

v 02
+ 3 cos 2 cos 0 )
gl

Nh vy phn lc N ph thuc vo iu kin ban u v v tr ca im M.

Kt qu ny cng ng cho c khi dao ng l khng nh.

-148-

Chng 12
Cc nh l tng qut ca ng lc hc
Cc nh l tng qut ca ng lc hc l h qu ca nh lut c bn ca
Niu-Tn. N thit lp mi quan h gia cc i lng do chuyn ng ca cht
im hay c h vi cc i lng o tc dng ca lc.ln cht im hay c h
. Cc nh l tng qut ca ng lc hc cho php ta nghin cu tnh cht
quan trng ca chuyn ng m khng cn bit chi tit chuyn ng . V th
n cho php ta gii thun li mt s bi ton ca ng lc hc c bit l bi
ton v ng lc hc ca c h m nu p dng phng trnh vi phn gii th
s gp rt nhiu kh khn.
12.1. Cc c trng hnh hc khi ca c h v vt rn.

Khi kho st ng lc hc ca c h ngi ta phi n khi lng ca

chng v s phn b khi lng y trong khng gian. Cc c trng lin quan
n phn b khi lng ca c h hay vt rn l khi tm v m men qun tnh.
12.1.1. Khi tm ca h
Xt h N cht im M1, M2,...Mn c khi lng m1, m2, ...m.N. Vc t nh
r r
r
v chng l: r 1, r 2,.... r N.( Hnh 12.1) .Ta c nh ngha sau:
Khi tm ca h l im C xc nh

r
r2

bng biu thc:

M1

r
m k rk
N

r
rC =

k =1

r
r1

mk .
k =1

Chiu biu thc (12-1) ln cc trc

Mn
r
rC r
rn

(12-1)
Vi M =

M2

y
x
Hnh 12.1

-149to oxyz (hnh 10-1) ta c:

N

mk xk
xc =

k =1

M
N

mk yk
yC =

k =1

(12-2)

mkzk
zC =

k =1

Trong xC, yC, zC l to khi tm C; xk, yk, zk l to ca cht im

th k trong c h. Trng hp c bit trong trng trng lc h l vt rn khi
tm s trng vi trng tm ca vt.
12.1.2. M men qun tnh ca vt
12.1.2.1. M men qun tnh ca vt i vi mt tm
M men qun tnh ca vt i vi mt tm k hiu l Jo bng tng cc tch
s gia cc khi lng ca mi cht im vi bnh phng khong cch gia
cht im vi im O (hnh 10-1)
N

Jo =

mk rk2

(12-3)

k =1

12.1.2.2. M men qun tnh ca vt i vi mt trc

M men qun tnh ca vt i vi mt trc z k hiu l Jz bng tng cc
tch khi lng mk ca mi cht im trong vt vi bnh phng khong cch dk
t cht im n trc (hnh 12-1).
N

Jz =

mkd2k

(12-4)

k =1

Gi to cc cht im Mk trong h to oxyz l xk,yk, zk th m men

qun tnh ca h i vi cc trc to l ox, oy, oz v i vi gc to O vit
c:

-150Jx =

m k ( y 2k

+ z 2k );

Jy =

m k ( x 2k

+ z 2k );

Jz =

m k ( y 2k

+ x 2k );

Jo =

m k rk2 = m k ( x 2k

(12-5)

+ y 2k + z 2k ).

T suy ra:
J x + J y + J z = J o.

(12-6)

Trong k thut ta tnh m men qun tnh ca vt i vi mt trc theo

biu thc:
Jz = M.2
M l khi lng ca vt, gi l bn knh qun tnh ca vt vi trc z.
12.1.2.3. M men qun tnh ca mt s vt ng cht
- Vt l mt thanh mng ng cht
Gi chiu di ca thanh l l, khi lng ca n l M. Chn trc Ax dc
theo thanh (hnh 12-2).
Xt mt phn t ca thanh c
chiu di dx v tr cch A mt on
xR, c khi lng dm = 1.dx y

y
mk

A
xk

1 l khi lng ring trn mt n

v chiu di ca thanh = M/l
Biu thc m men qun tnh

dx
Hnh 12-2
D

ca thanh ly i vi trc Az vung gc vi

y
x

thanh ti A l:
JAz
(127)

l3 1 2
2
2
x
dm
=

x
dx
=

= Ml
i 0
0
3 3
l

dx

C
Hnh 12.3

-151- Vt l mt tm phng hnh ch nht (hnh 12-3)

Gi cc cnh ca hnh l a, b, khi lng ca tm phng l M. Chia hnh
thnh nhiu gii nh song song vi trc o mi gii c b rng l dx, c m men
qun tnh i vi trc Ax l Jk =

1
m k a 2 (theo hnh 12-3)
3

Trong mk l khi lng ca gii ang xt.

M men qun tnh ca c hnh i vi trc Ax l :
Jx =

n
1
1 2 n
2
J
=
m
a
=
a mk ;
kx 3 k
3 k =1
k =1
k =1

Jx =

1 2
a M
3

(12-8)

Tng t suy ra:

Jy =

1 2
b M
3

(12- 9)

- Vt l mt vnh trn ng cht

Gi bn knh v khi lng ca vnh l R v

M. Tnh m men qun tnh ca vnh i vi trc

Cz vung gc vi mt phng ca vnh v i qua
Hnh 12.4

tm C. (hnh 12-4).
Ta c:
n

Jcz =

k =1

y
m k rk2

= mkR ;
2

drk

k =1

Jcz = R 2 m k = MR 2 .

(12-10)

k =1

rk
O

Cng thc (12-10) cng dng tnh m

men qun tnh ca mt ng trc trn ng cht i
vi trc ca n.

Hnh 12.5

-152- Vt l mt tm phng trn ng cht

Gi bn knh v khi lng ca tm l R v M. Ta c th tnh m men
qun tnh i vi trc Cz k hiu l Jcz v m men qun tnh i vi trc Cx hay
Cy trng vi ng knh ca n k hiu l Jx, Jy.
Chia tm thnh nhiu vnh nh cng tm C bn knh mi vnh th k l rk.
B rng ca mi vnh th k l drk. Khi lng ca lp vnh th k l :
mk = .2.rk.drk
Trong l khi lng ring ca tm trn mt n v din tch =

M
.
R 2

Theo cng thc (12-10) m men qun tnh ca lp vnh th k ny i vi

trc Cz vit c.
Jkcz = mkrk2 = 2.rk3drk
M men qun tnh ca c tm i vi tc Cz vit c:
Jcz =

k =1

k =1

J czk = 2rk3 drk

hay: Jcz =

2rk3 drk =

1
R 4 .
2

Cui cng ta c:
Jcz =

1
MR 2
2

(12-11)

tnh Jcz v Jcy ta c nhn xt mi im ca tm c zx = 0, v th theo

(12-5) vit c:
n

Jcx =

Jcy =

m k (y
k =1

2
k

+ z ) = m k y 2k ;
2
k

k =1

k =1

k =1

m k ( x 2k + z 2k ) = m k x 2k ;

-153n

Jcz =

m k ( x 2k
k =1

+ y 2k ).

T cc biu thc trn suy ra trong trng hp ny:

Jcz = Jcx + Jcy.
Do i xng nn s phn b khi lng ca tm i vi trc cx v cy hon
ton nh nhau. Ta c:
Jcx = Jcy = Jcz/2= MR2/4.

(12-11)

Cng thc (10-11) cng c th tnh m men qun tnh cho vt l mt trc
trn ng cht i vi trc ca n.
12.1.2.4. M men qun tnh i vi cc trc song song.
-nh l Huy-Ghen: M men qun tnh ca mt vt i vi mt trc z1
no bng m men qun tnh ca n i vi trc z song song vi trc z1 i qua
khi tm ca vt cng vi tch khi lng ca vt vi bnh phng khong cch
gia hai trc.
Jz1 = Jcz + Md2

(12-12)

Chng minh:
Theo nh ngha Jz1 =

m k d' 2k

z'

(a)

B
k dk

K trc cz song song vi z1 v i qua khi

Mk

tm c (hnh 12-6)

d'k

Ta c:

xk

yk
C

d' 2k = dk2 + d2 - 2dkdcosk.

Gi to ca im Mk l xk, yk, zk.

xk = dkcosk suy ra:

d'k2 = dk2 + d2 - 2dxk
Hnh 12.6
Thay kt qu vo biu thc (a) s c:
Jz1 =

mk(dk2 + d2 - 2xkd) = mkdk2 + mkd2 - 2 mkdxk),

-154trong :

mkdk2 = Jcz;

mkd2 = Md2

cn

mkdxk = d mkxk = dMxC

Do gc to trng vi khi tm c nn xC =0.

Do :

mkdxk = 0

Cui cng c:

Jz1 = Jcz + Md2.

nh l c chng minh.
12.2. nh l ng lng v nh l chuyn ng ca
khi tm

12.2.1. nh l ng lng
12.2.1.1. ng lng ca cht im v ca h

r
ng lng ca cht im l mt i lng vc t k hiu l k bng tch

gia khi lng v vc t vn tc ca cht im.

r
r
k = m v.

(12-14)

r
ng lng ca h l i lng vc t k hiu K bng tng hnh hc
ng lng cc cht im trong h.

r
K=

k=1

r
kk =

mv v k.

(12-15)

k=1

n v o ng lng l kgm/s
Ta cng c th biu din ng lng ca h qua khi lng v vn tc
khi tm ca h.
T (12-1) suy ra:
r

mk r k = M

r
r c.

o hm hai v theo thi gian nhn c:

r

mk v k = M v o.
ng lng ca h bng tch gia khi lng v vc t vn tc khi tm
ca h.

-15512.2.1.2. Xung lng ca lc (xung lc)

Lc tc dng trong mt khong thi gian nh b dt th i lng vc t o
bng tch gia lc vi khong thi gian v cng b l xung lng phn t ca
r
r r
(12-17)
lc F k hiu l d s = F .dt.
r

Nu lc F tc dng trong khong thi gian hu hn t to n t th i

lng vc t tnh bng tch phn cc xung lc phn t trong khong thi gian
r
r
gi l xung lng ca lc F trong khong thi gian t to n t v k hiu l s .
r
s =

r tr
d
to s = to Fdt
t

(12-18)
r

Theo (10-18) nu lc F = const th:

r r
s = F .

y = t - to
12.2.1.3. nh l ng lng
nh l 12.1: o hm theo thi gian ng lng ca cht im bng hp
lc cc lc tc dng ln cht im.

d
r
(mv) =
dt

Fi

(12-19)

i =1

Chng minh: Xt cht im c khi lng m chuyn ng vi vn tc v

r

di tc dng ca h lc ( F 1, F 2,... F n). Phng trnh c bn vit cho cht im:

r
mW =

Fi
i =1

r
r
dv
Thay W =
vo biu thc trn s c:
dt
n r
r
d
r
m W = (mv) = Fi
dt
i =1

nh l c chng minh.
Biu thc (12-19) thc cht l phng trnh c bn vit di dng ng
lng cho cht im.

-156nh l 12.2: Bin thin ng lng ca cht im trong khong thi gian
t to n t1 bng tng hnh hc xung lng ca cc lc tc dng ln cht im
trong khong thi gian .
r

n r
r
F
dt
=
to k
Sk
n

mv1 - mvo =

t1

k =1

(12-20)

k =1

Chng minh: T phng trnh (10-19) suy ra:

n

r
d(m v ) =

to Fk dt
t1

k =1

Tch phn hai v phng trnh ny tng ng vi cc cn ti to v t1 s c:

n
t1 n r
t1 r
r
d
(
m
v
)
=
F
dt
=
to Fdt;
mvo
to k
mv1

k =1

mv1 - mvo =

k =1

Sk
k =1

nh l c chng minh.
nh l 12.3: o hm theo thi gian ng lng ca h bng vc t
chnh ca cc ngoi lc tc dng ln h.
r
dK N r
= Fke
dt k =1

(12-21)

Chng minh: Xt h gm N cht im. K hiu hp ngoi lc v hp ni

r

lc t ln cht im th k l F ke v F ki.
Phng trnh c bn ca ng lc hc vit cho cht im l:
r
r
r
(a)
mk( Wk ) = F ke + F ki
Vit cho N cht im ca h ta s c N phng trnh (a) ngha l k = 1...N
Cng v vi v ca N phng trnh trn vi nhau ta s c:
N r
N r
r
m
W
=
F
+
k k ke Fki
N

k =1

k =1

k =1

Theo nh lut Niu Tn cc lc tc dng tng h bng nhau v ln,

-157cng phng nhng ngc chiu v vy tng hnh hc cc ni lc ( cc lc tc

dng tng h cu cc cht im trong h) lun lun bng khng.
r

F ki = 0

Ta c:

Cn li:
N r
r
m k Wk = Fke
N

k =1

k =1

r
N
N
r
dv k
d v
r
Thay m k Wk = m k
= m k v k = K,
dt
dt
k =1
k =1
k =1
N

d v N r
Ta c: K = Fke .
dt
k =1
nh l c chng minh.
nh l 12.4: Bin thin ng lng ca h trong khong thi gian t to
n t1 bng tng hnh hc xung lng cc ngoi lc tc dng ln h trong
khong thi gian .
r
r
k1 - k0 =

S ke

(12-22)

k =1

Chng minh:
T phng trnh (12-10) suy ra:
r
dk =

Fke dt
k =1

Tch phn hai v biu thc ny tng ng vi cc cn ti thi im u v

cui s c:

r
t1
t1 r
dk
=
F
dt
=
ko
to ke to Fke dt ;
k1

r
r
k1 - ko =

s ke .

nh l c chng minh.
Ch rng cc biu thc (10-19); (10-20), (10-21) v (10-22) l cc biu

-158thc vc t, nu chiu cc biu thc ny ln ba trc to oxyz ta s c cc

biu thc hnh chiu tng ng phn nh s bin thin ng lng ca cht im
v h theo hng cc trc to .
nh lut bo ton ng lng ca h
T biu thc (12-21) suy ra:
r

Khi

F ke = 0 th K = const.

Khi

Xk = 0 th Kx = const.

Ngha l khi vc t chnh ca ngoi lc hoc tng hnh chiu ca cc

ngoi lc ln mt trc no bng khng th ng lng ca h hoc hnh chiu
ng lng ca h ln trc bo ton.
Cui cng ch rng trong cc biu thc khng c ni lc iu ny chng
t ni lc khng c tc dng lm thay i ng lng ca mt h.
Th d 12-1: Mt ht ng cc c trng lng P trt trong rnh nm
nghing mt gc so vi phng ngang. Bit h s ma st gia cc ht v rnh
l f, vn tc ban u ca ht l vo. Tnh xem sau bao lu th vn tc ht tng ln
gp i. (hnh 12-7)
Bi gii
r
N

Xem ht nh mt cht im. Lc tc dng

r
F ms

ln ht gm trng lng P, lc ma st Fms v

phn lc php tuyn N.
Vit biu thc hnh chiu ln trc ox ca

r
P

nh l ng lng ta c:
Hnh 12.7

m x& 1 mx& o = x i = 0 (P sin Fms )dt

t

x& 1 = v;

x& 0 = v o ; Fms = P.cos.f

mv-mvo = (Psin-fPcos)t.
Khi v = 2vo th thi gian cn thit l:

ta c:

-159-

t=

mv o
vo
.
=
mg sin fmg cos g (sin f cos )

Th d 12-2: Nc chy ra t mt vi vi vn tc u = 10m/s v p thng

gc vo mt tng chn (hnh 10-8). ng knh ming vi d = 4cm. Xc nh
p lc ca nc ln tng. Ly khi lng
ring ca nc l = 1000kg/m3
Bi gii:
Xt chuyn ng ca khi nc aabc

a1

b1

b1
R

(xem hnh v 12.8). Ngoi lc tc dng ln

h gm:

ut1

a1
c
c1

Trng lng P, hp lc ca p lc ti
mt ct ca khi nc v p lc do phn lc

c
c1

Hnh 12.8

ca tng ln nc.
Theo biu thc (12-22) ta c:
k1x - kox =

Skk

(a)

Gi thit sau thi gian t1 khi nc chuyn n v tr a1a1b1c1. T hnh v

ta thy phn nc c nh hng n s bin i ng lng ca khi nc ln
phng x l phn nm trong on aa1. V vy c th thy:
k1x - kox = -mu
y m l khi lng ca phn nc nm trong on aa1
m=

d 2
ut 1
g 4

Cn

Sx l xung lc ca cc lc tc dng ln khi nc theo phng x.

Nu gi cc hp lc theo phng x ny l Rx ta s c:

Skx = Rxt1 = Rt1.

Thay vo biu thc (a) cc kt qu tm c s c:

-160mu = Rt1
R=
Nh vy ta tm c p lc ca nc ln tng cng bng R = 12,8kN c
phng vung gc vi tng theo chiu hng vo mt tng.
12.2.2. nh l chuyn ng ca khi tm
- nh l 12.5:Khi tm ca h chuyn ng nh mt cht im mang
khi lng ca c h di tc dng ca lc bng vc t chnh ca h cc ngoi
lc tc dng ln h.
n
r
M WC = Fke

(12-23)

i =1

Chng minh: Xt c h N cht im c khi lng l m1, m2, ...mN chuyn

r

ng di tc dng ca h ngoi lc F 1e, F 2e, ... F Ne v h cc ni lc F 1i, F 2i, ...

r
r
r
F Ni. y F ke v F kil hp lc ca ngoi lc v ni lc tc dng ln cht im

th k.
Phng trnh chuyn ng vit cho h l:
n

mk W = Fke + Fki
k=1
k =1

(a)

k =1

Mt khc t cng thc xc nh khi tm ca h ta c:

n

mk rrk = M r C

k=1

Ly o hm theo thi gian hai v c:

2r
r
r
d 2 rC hay n m W
d
r
m
=
M
W
k
k k
=M
C
k=1
k=1
dt
dt

Thay vo biu thc (a) trn v lu rng F ki = 0 ta c:

k=1

n r
r
M W C = F ke.
k=1

-161nh l c chng minh.

T phng trnh vc t (12-21) khi chiu ln cc trc to oxyz ta c
phng trnh vi phn chuyn ng ca khi tm vit di dng sau:
M

d2XC
dt 2

d 2 YC

k=1

dt 2

= Xk ; M

d 2 ZC

k=1

dt 2

= Yk ; M

= Zk .
k=1

(12-22)

- nh lut bo ton chuyn ng ca khi tm:

T biu thc (12-21) suy ra:
n

Nu F k = 0 th Wc = 0 v vc = const.
k=1

Ngha l: nu vc t chnh ca cc ngoi lc tc dng ln h bng khng

th chuyn ng khi tm ca h c bo ton. y l nh lut bo ton
chuyn ng ca khi tm.
Tng t t biu thc (12-20) suy ra:
n

Nu Xk = 0 th Wx =0 v vx = const.
k=1

Ngha l nu tng hnh chiu cc ngoi lc tc dng ln h ln mt trc x

no bng khng th chuyn ng ca khi tm theo trc x c bo ton.
y l nh lut bo ton chuyn ng ca khi tm theo mt trc.
Ch trong cc nh l v chuyn ng ca khi tm khng cp n
ni lc v vy c th kt lun ni lc khng lm thay i chuyn ng ca khi
tm.
Sau y l mt vi v d vn dng nh l chuyn ngca khi tm v
nh lut bo ton chuyn ng ca khi lng.
Th d 12-3:
Trng tm phn quay ca ng c in t lch tm so vi trc quay A
mt on AB =a. Trng lng ca phn quay l P, trng lng ca v ng c
(phn khng quay) l Q. (hnh 12-9)

-162Tm quy lut chuyn ng ca phn v ng

c trn sn nm ngang. Cho bit vn tc gc
ca phn quay khng i.

Nu ta c

nh v ng c trn sn bng bu lng D th

lc ct ln bu lng c xc nh nh th no.
Coi ma st gia nn v ng c khng ng
k.

m
Br

A r

r
N

m1

Bi gii:

1. Khi ng c t do trn sn. Ngoi

lc tc dng gm trng lng P v Q ca

Hnh 12.9

ng c, phn lc php tuyn N ca sn ln

ng c. Cc lc ny u vung gc vi sn nn c:

Xk
vox = const.

= 0. Theo nh lut bo ton chuyn ng ca khi tm ta c

Lc u ng c ng yn nn suy ra xo = const.

Chn h to sao cho khi thi im t no gc quay = t cn cc

im A v B c cc to tng ng sau:
xA = x; xB = x + asin.
ta c: xC =

Qx + P( x + a sin )
=0
Q+P

Hay: Qx + Px + Pasin = 0
Suy ra x =

P.a.s sin
P+Q

y chnh l phng trnh chuyn ng dao ng ngang ca v ng c

trn sn quanh v tr ban u.
2. Khi c nh ng c trn sn bng bu lng D.
Gi Rx l lc ct bu lng theo phng ngang ta c phng trnh vi phn
chuyn ng ca khi tm:

-163-

d2xc

= Rx;

dt 2

y : xc =

Qx A + Px B
.
P+Q

V v ng c c nh nn xA = const = 0 cn xB = asin.
Ta c:
Rx = M
Rx =

d2xC
dt 2

P+Q P
a 2 sin t;
g P+Q

P 2
a sin t;
g

y l lc do bu lng tc dng ln ng c, ngc li ng c cng tc

dng mt lc ct bu lng bng tr s nhng ngc chiu vi Rx.
Lc ct ny s ln nht khi sint = 1 v bng Pa2/g, tng ng vi gc
quay =900.
Th d 12-4: Tay quay AB c
chiu di r c trng lng P quay
u vi vn tc gc v truyn

Rz
A

D a
Q

x
P

chuyn ng cho cu lt gn lin vi

pt tng D c trng lng chung l

G. Pt tng D chu tc ng lc Q

Hnh 12.10
theo phng ngang (hnh 12-10). Xc nh phn lc Rx ln gi A theo phng
ngang. Cho bit khong cch t trng tm chung ca cult v pt tng t cch cu
lt mt on a.
Bi gii:
Xt c h gm tay quay AB v cm cu lt pt tng. B qua ma st cc
r

mt trt, ngoi lc tc dng ln h gm : trng lng P v G , phn lc ti gi

r

R A. Cc phn lc php tuyn mt trt N 1, N 2 v lc Q . Cc lc P , G ,

-164r
r
N 1, N 2 vung gc vi mt ngang nn phng trnh vi phn chuyn ng khi

tm ca h theo phng ngang vit c:

M

d2Xc
dt 2

m1 =

= R x Q,

P
,
g

Suy ra:

x1 =

y: Mxc = m1x1 + m2x2,

r
cos t
2

Mxc =

G
;
g

x2 = a rcost

Pr
G
cos t + (a + r cos t )
g2
g

Thay vo biu thc ta c:

Hay :

m2 =

Rx = Q + M

d2Xo
dt 2

r 2 P
( + G ) cos t.
Rx = Q g 2

y chnh l phn lc theo phng ngang ti gi A. Phn lc ny c tr

s cc i bng:

r 2 P
( + G)
Rx = Q +
g 2

khi = t= 1800

12.3. nh l m men ng lng

Trong phn ny s kho st mi quan h gia i lng o chuyn ng

quay l mmen ng lng vi i lng o m men lc.
12.3.1. M men ng lng
M men ng lng ca mt cht im ly i vi tm O hay i vi trc
z l i lng k hiu lo hay lz bng m men ca vc t ng lng cht im y
ly i vi tm O hay trc z . Ta c:
r
r
r r
r
lo = m o ( m.v) = r xm.v;
r
l z = m z ( m.v) = m.v'.h

(12-23)
(12-24)

r
Trong cc biu thc (12-23), (12-24) th m l khi lng, v l vn tc

-165-

r
cht im, v' l hnh chiu ca v trn mt phng vung gc vi trc z. Biu thc
(12-24) ly du + khi nhn t chiu dng ca trc z s thy v' c chiu quay
vng quanh z theo chiu ngc chiu km ng h v ly du - trong trng hp
ngc li.
Tng t nh m men lc d dng suy ra rng:
r
r
r
r
lo z = [m o (m.v)]z = m z .(m.v) = l z .

[ ]

Ngha l: hnh chiu trn trc z vc t m men ng lng ca cht im

ly i vi mt im trn trc bng m men ng lng ca cht im i vi
trc .
Nu biu din m men ng lng ca cht im i vi 3 trc to
oxyz l hm theo to v hnh chiu ca cc ta ln cc trc ta c:
r
r
r
i
j
k
r
r
r r
r
r r
r
l = m o (m.v) = r xm.v = x
y
z =m(yz-zy) i +m(zx-xz) j +m(xyx) k ;

mx

my

r
r
r
lo = lx i + ly j + lz k .

mz

Suy ra :

lx = m(yz-zy);
ly = m(zx-xz);

(12-25)

lz = m(xy- yx).
i vi mt h ta c cc nh ngha sau:
M men ng lng ca h i vi mt tm hay mt trc l tng m men
ng lng ca cc cht im trong h ly i vi tm hay trc . K hiu m
men ng lng ca h i vi tm O v i trc z l lo v lz ta c:

r
lo=

r
r
m o (m k v k ) =
n

k =1

r kxmk v k;

k=1

k=1

lz = mz(mk v k) = lkz = mkkkv'k

k=1

(12-26)

k=1

(12-27)

-166Khi h l vt rn quay quanh mt trc z vi vn tc gc (hnh 12-11) ta

c:

z
B

lkz = r2kmk.
Gi = z ta c :

lkz = r kmkz.
2

Thay vo biu thc (12-27) ta c:

lz =

k=1

k=1

k=1

r
rm v
vk k k

rk

lzk = r2kmkz = z. mkr2k.

A
n

Thay mkr2k = Jz ta c:

Hnh 12.11

k=1

Jz = Jz. z
Thng ngi ta chn hng dng ca trc quay z = khi ta c:
lz = Jz. (12-28)
12.3.2. nh l m men ng lng
nh l 12-6: o hm bc nht theo thi gian m men ng lng ca
cht im ly i vi mt tm hay i vi mt trc bng tng hnh hc hay
tng i s m men ca cc lc tc dng ln cht im ly i vi tm (hay trc
).

( )

(12-29)

( )

(12-29)

n r
r
d r
r
m o (mv ) = m o Fi ;
dt
i =1
n
r
d
r
m z (mv ) = m z Fi ;
dt
i =1

Chng minh: Gi thit cht im chu tc dng ca cc lc: F 1, F2 ,.. Fn .

Phng trnh c bn ca ng lc hc vit c:

r
mW =

Fi
i=1

-167-

r
r
d (mv)
Ta c th bin i thnh:
= Fi .
dt
r

Nhn hu hng hai v biu thc trn vi vc t nh v r ni t tm o ti

cht im v lu rng:

r
dr
r r r
r r
r
r
xm.v = vxmv = 0 v r xm v = m o(m v ) ta c :
dt
r
r
r
n
rr
r d r r
r d (mv ) r d (mv ) d r
rx
=r
+
xmv = ( r xmv ) = r Fi .
dt
dt
dt
dt
i =1
Biu thc (12-29) c chng minh.
Chiu biu thc (12-29) ln trc z ta s c biu thc (12-30).
nh l 12-7: o hm theo thi gian m men ng lng ca h i vi
mt tm hay mt trc bng tng m men ca cc ngoi lc tc dng ln h i
vi tm (hay trc ).
n
r
d r
lo = m o ( Fke );
dt
k =1

(12-31)

n r
r
d r
lz = m z ( Fke );
dt
k =1

(12-32)

Chng minh: Xt c h c N cht im. Tch mt cht im th k xt.

r

Gi mk, v k l khi lng v vn tc ca n; gi F ki, F ke l ni lc v ngoi lc

tc dng ln cht im. p dng biu thc (12-29) cho cht im ny ta c:

r r
r r
d r
lok = m o Fki + m o Fke .
dt

( )

( )

Cho k t 1 n N ta c h phng trnh dng trn. Nu cng v vi v

h phng trnh trnh trn ta c:
N r
N r
r
r
d r
lok = m o Fki + m o Fke .
i =1 dt
k =1
k =1
N

trong :

( )

( )

-168d r
d Nr
d r
lok = lok = lo .
dt
dt i =1
i =1 dt
N

( )

r r
m
o Fki = 0 (theo tnh cht ca ni lc)
N

Cn

k =1

cui cng

N
r r
d r
lo = m o Fke
dt
k =1

( )

Ta d chng minh c biu thc (12-31)

Chiu biu thc (12-31) ln trc z s c biu thc (12-23).
nh l 12-7 c chng minh.
Ch : Ni lc khng c trong nh l 12-7 nn c th ni rng ni lc
khng lm thay i m men ng lng ca h.
12.3.3. nh lut bo ton m men ng lng
T biu thc (12-31) v (12-32) ta thy
r
r r
khi m o( F ke) = 0 th l o = const
n

khi m z( F ke) = 0 th l z = const

k=1

iu ny c th pht biu thnh nh lut gi l nh lut bo ton m

men ng lng ca h nh sau:
Nu tng m men cc ngoi lc tc dng ln h ly i vi mt tm o hay
vi trc z bng khng th m men ng lng ca h vi tm o hay i vi trc z
c bo ton.
Th d 12-5: Mt a trn ng cht trng lng P bn knh R quay
quanh trc cz thng ng t vung gc vi a. Trn vnh a c mt vin bi
trng lng Q. Ti thi im u to = 0 vin bi ng yn trn a quay vi vn
tc o. Tnh vn tc ca a ti thi im vin bi chuyn ng tng i so vi
a vi vn tc u. (xem hnh 12-12)
Bi gii: Xt h gm a v vin bi.

-169r

Ngoi lc tc dng ln h gm: trng lng P , phn lc ti cc trc R A,

r
R B.

r
RB

c im ca cc lc ny c mz( F ke) = 0
Do m men ng lng ca h c bo
ton. Ta c:

lz(o) = lz(1).

y:

r
P

Mo

Lz(0)= Jzo +

Q 2
P
Q
R o = ( R 2 + R 2 ) o
g
2g
g

r
ve

RM r
u
r
Q

r
RA

Cn:

Hnh 12.12
Lz(1)=

Jz1

Q
(Ru + R 2 1 )
g

P 2
Q
R 1 + (uR + R 2 1 )
2g
g
Suy ra:
(

P 2 Q 2
P 2
Q
R + R ) o =
R 1 + (uR + R 2 1 )
2g
g
2g
g

Hay: 1 = o -

Q
u
(0,5P + Q ) R

Vn tc gc ca a ti thi im t1 nh hn vn tc ban u. Vn tc ny
cng nh khi vn tc u ca bi cng ln.
V d 12-6: Ti nng hng gm trng ti bn knh r, trng lng P, trn
n c cun lp dy cp. u ca dy cp mc vo vt c trng lng Q. B qua
khi lng ca dy, b qua ma st. Xc nh gia tc trng ti khi vt nng ri
xung thng ng. Bit bn knh qun tnh ca trng ti l . (Hnh 12-13).
Bi gii:

-170Xt c h gm trng ti v vt nng.

r

Cc ngoi lc tc dng ln h gm trng lc P ,

r
r
Q v phn lc R o.

r
Ro

Chn chiu dng ca trc quay oz hng vo

mt sau hnh v.

p dng nh l m men ng lng ta c:

A

r
r
r
r
r
d lz
= m z (Fke ) = m z (P) + m z (Q) + m z (R o )
dt

Q
Hnh 12.13

y ta c:
lz = l(trng) +l (vt) = Jz+

Q
r (r) .
g

P
Q
lz = ( 2 + r 2 )
g
g
mz(P) = 0;

mz(Q) = rQ;

mz(Ro) = 0.

Thay vo biu thc trn ta c:

d
d P
Q
l z = 2 + r 2 = rQ.
dt
dt g
g

Suy ra: =

Qrg
d
=
2
dt P + Qr 2

12.4. nh l ng nng

12.4.1. ng nng
ng nng ca cht im l mt i lng v hng k hiu t bng na
tch s gia khi lng v bnh phng vn tc ca cht im :
t=

1 2
mv
2

(12-33)

-171ng nng ca h l mt i lng v hng k hiu T bng tng ng

nng ca tt c cc cht im trong h :
N

T=

2 m k v 2k

(12-34)

k =1

Khi h l mt vt rn c th xc nh ng nng trong mt s trng hp

sau y:
12.4.1.1. Vt rn chuyn ng tnh tin
V mi im trn vt u c vn tc nh nhau v bng vn tc khi tm
ngha l vk = vo. Do :
N

T=

1
1 2 N
1
2
m
v
=
2 k c 2 v c m k = 2 Mv c2
k =1
k =1

(12-35)

ng nng ca mt vt rn chuyn ng tnh tin bng na tch khi

lng ca vt vi bnh phng vn tc khi tm.
12.4.1.2. Vt rn quay quanh mt trc c nh
Nh bit trong ng hc, vn tc mt im trn vt bng vk = rk.
trong rk l khong cch t cht im th k n trc quay cn l vn tc gc
ca vt. Ta c:

1 N
1 N
1 N
2
2 2
T = m k v k = m k rk = m k rk2
2 k =1
2 k =1
2 k =1
N

Thay

m k rk2 =
k =1

Jz l m men qun tnh ca vt i vi trc quay z ta

c:
T=

1
J z 2
2

(12-36)

ng nng ca vt rn quay quanh mt trc bng na tch gia m men

qun tnh ca vt i vi trc quay v bnh phng vn tc gc.
12.4.1.3. Chuyn ng song phng
Nh thy trong ng hc vt rn chuyn ng song phng lun lun c
th thay th bng chuyn ng tnh tin ca vt theo khi tm C v chuyn ng

-172quay quanh khi tm C. Nu gi vn tc khi tm l vc v vn tc gc ca vt l

d dng tm c:
T=

1
1
Mv c2 + J c 2
2
2

(12-37)

trong M l khi lng ca c vt, Jc l m men qun tnh ca vt i

vi trc quay qua khi tm C.
ng nng ca vt rn chuyn ng song phng bng ng nng ca n
trong chuyn ng tnh tin theo khi tm cng vi ng nng ca n trong
chuyn ng quay quanh trc i qua khi tm
z

v vung gc vi mt phng c s.
12.4.2.1. Cng nguyn t ca lc F (vi phn
cng)
Cng nguyn t ca lc F khi im t

M1

M2

r
r

di chuyn mt on v cng nh ds l i
O

lng v hng k hiu dA bng tch gia

r
hnh chiu F ca F ln phng tip tuyn vi

M v

r
F

y
x

vi phn di ds.
Hnh 12-14

r r
dA = F d s
r

Thay F = Fcos
r r
d s = v dt

ta c: dA = F.v.cosdt
r r

V F.v.cos = F . v nn
r

dA = F.V.dt = F .d r .

(12-39)
r

Nu gi X,Y,Z l hnh chiu ca F v dx, dy, dz l hnh chiu ca d r ln

cc trc ta c th vit:
dA = Xdx + Ydy + Zdz

(12-40)

-17312.4.2.2. Cng ca lc trn qung ng hu hn

r

Khi im t ca lc F di chuyn trn mt qung ng hu hn th cng

r

ca lc F l mt i lng v hng k hiu A bng tch phn cng nguyn t

ca lc trn on ng MoM1
AMoM1 =

MoM1 dA

(12-41)

n v tnh cng l jun k hiu l J.

J = Niu tn x mt
Sau y tnh cng ca mt s lc thng gp
- Cng ca trng lc

M1(xo,yo,zo)

z
xt mt cht im M c trng lng P

r
P'

di ch theo ng cong C trong khng gian.

(C)

Nu chn h to c trc oz thng ng th

M1(x1,y1,z1)
r
P

trng lng P s c cc hnh chiu l:

O

X= 0, Y = 0, Z= -P (hnh 12-15)
p dng cng thc tnh cng ta c:
AMoM1 =

y
x

dA = M 0 M1 (Xdx + Ydy + Zdz) =

Hnh12-15

M 0 M1

z1

= Pdz =P(z0-z1) = P.h

(12-42)

z2

y h l hiu cao im u v im cui ca qung ng , ly

du + khi vt chuyn ng t cao xung thp v ly du (- ) khi vt chuyn ng
t thp ln cao.
T biu thc (12-42) ta thy cng ca trng lc khng ph thuc vo qu
o m ch ph thuc vo cao ca im u v im cui.
- Cng ca lc n hi tuyn tnh
Cc lc n hi tuyn tnh (lc n hi l xo, lc n hi ca cc thanh
chu un, xon) c tnh theo biu thc :

-174z

r
r
F = -c r

M1
M

Trong c l h s t l c gi l h
r

s cng, cn r l vc t nh v ca cht im
so vi tm ca lc n hi (hnh 12-16).

Mo

r
r

r
r1

r
ro

Cng ca F r trn on ng M0M1 c

y
x

th vit :
Hnh 12-16
AM0M1

r1

c r1
2
dA = F.dr = crdr 2 d(r ) .
M 0 M1
r0
r0
r0
AM0M1 =-

r1

c
c
c r1
d (r ) 2 = (r12 r02 ) = (r02 r12 )

2
2
2 r0

(12-43)

Nu gi l bin dng ca l xo v chs rng lc n hi c chiu

ngc vi chiu chuyn ng cng ca lc n hi l xo t v tr cha bin dng
n khi bin dng l:

c
A = - 2 .
2

Nh vy cng ca lc n hi tuyn tnh

r
F

khng ph thuc vo dng qu o m ch ph

C d
r
r
F
ds

thuc vo v tr im u v im cui cu
chuyn ngv lun c du m .

- Cng ca lc t ln vt rn chuyn
O

ng quay quanh mt trc c nh (hnh12-17).

dA = F2.dr = F.dr.cos = Fcos.r.d
dA = mz(F)d

Hnh 12-17

(12-44)
r

trong mz(F) = F.cos.r = Fr l m men ca lc F i vi trc quay z.

r

- Cng ca lc F tc dng ln im M thuc vt rn chuyn ng song

-175phng (hnh 10-18)

r

Theo ng hc ta c: v M = v A + v MA nu vt c vn tc gc l th :
r r
r
r
r
v M = v A + .x. r vi r = AM .

Thay vo biu thc tnh vi phn cng ta c:

r

dA = F.V.dt = FvAdt + F ( x r )dt.

r r
r r
dA = F .d r + ( r xF) dt ;

r r
r
r
= F .d r + m A (F). dt

r
vA

r
F

r
r

Nu gi gc hp bi gia mA(F) vi trc quay

l th
Hnh12-18

r
r
r r
m A(F) = m A( F ) . .cos.

Hay mA(F)cos = mz(F) ta c:

r r

dA = F d r A + mz( F ).d.
Vi d = dt.
Trong trng hp chn ca A trng vi khi tm C ta c:
r

dA = F .d r C + mc( F )d.

(12-45)

Cng ca lc tc dng ln vt rn chuyn ng song phng bng tng

cng nguyn t ca lc trong chuyn ng tnh tin theo khi tm v cng
nguyn t ca lc trong chuyn ng quay
quanh trc i qua khi tm v vung gc vi mt
phng c s.
- Cng ca lc ma st:
i vi ma st trt do tnh cht ca lc

r
F ms

r r
v Q

r
N

Mms

r
P

ma st l cn li s trt, d dng tnh:

Hnh 12-19
dA = - Fms.ds

(12-46)

ds

-176i vi ma st ln, m men ma st Mms chng li s chuyn ng ln ca

vt nn cng tnh c :
dA = -Mmsd

(12-47)

Nh vy cng ca lc ma st l nhng cng m.

- Cng ca cc ni lc trong vt rn
Xt hai cht im M1 M2 c cc lc tc dng tng h l F12 v F21. Cc
lc ny hng theo ng M1M2 v ngc chiu nhau F12 = - F21. Tng cng
nguyn t ca hai lc ny l:
r

dA11 + dA21 = F 12 d r 1 + F 21d r 2 = F 12d r - F 12d r 2

r

= F 12(d r 1 - d r 2) = F 12( v 1 - v 2)dt.

Theo ng hc c:
r
r
r
r
r
r
VM1 = V M2 + V M1M2 hay V 1 = V 2 + V M1M2

r
r
r
suy ra V 1 - V 2 = V M1M2. Vc t ny lun lun vung gc vi M1M2
V th ta c F12.VM1M2 = 0.
Ngha l :

dA11 + dA21 = 0.

Suy ra tng cng ca tt c cc ni lc trong vt rn vi bt k chuyn

ng no cng bng khng.
n

dAki = 0
k=1

Cn ch rng nu h khng phi l vt rn th VM1M2 s khng vung gc

vi M1M2 do F12.VM1M2 0 v suy ra:
dAki 0.
12.4.3. nh l ng nng
nh l 12-7. Vi phn ng nng ca cht im bng tng cng nguyn
tc ca cc lc tc dng ln cht im .

-177mv 2
d(
)=
2

dA i

(12-48)

i =1

Chng minh: Xt cht im khi lng m chu tc ng ca cc lc ( F 1,

r
r
F 2,... F n). Phng trnh c bn ca ng lc hc vit c:

r
mW =

Fi

hay

i=1

r
dv
m =
dt

Fi

Nhn v hng hai v vi d r ta c :

i=1

r r
r dv
md r
= m vdv =
dt

r r
Fi d r =
N

i=1

dA1.
i=1

mv 2
Thay m.v.dv = d(
) ta c biu thc:
2

mv 2
d(
)=
2

dA1.
i=1

nh l c chng minh.
nh l 12-8: Bin thin ng nng ca mt cht im trn mt on
ng bng tng cng ca cc lc tc dng ln cht im trn on ng .

mv12 mv 02

=
2
2

dAi

(12-49)

i=1

Chng minh: Gi thit cht im chuyn ng trn on ng M0M1. Ti

r
r
v tr ban u Mo cht im c vn tc V o.v ti v tr M1 c vn tc V 1. Theo
nh l 12-7 ta c:
mv 2
d(
)=
2

dAi
i=1

Nu ly tch phn hai v phng trnh ny theo cc cn tng ng ti v tr

u v v tr cui ca qung ng ta c:
N
mv 2
dA i
( 2 ) = M 0 M1
i 1
vo
v1

-178-

Hay:

mv 12 mv 02 N

= dA i
2
2
i =1

y chnh l biu thc (12-49)

nh l 12-9: Vi phn ng nng ca h bng tng vi phn cng ca
ngoi lc v ni lc tc dng ln h.
N

dT =

dAk

k=1

dAke

k=1

Chng minh: Xt h N cht im. Gi ni lc v ngoi lc tc dng ln

r

cht im th k l F ki v F ke.
Theo nh l 12-7 vit c:
m k v 2k
d(
) = dAki + dAek.
2

Vit phng trnh trn cho N cht im ca h, ngha l cho k = 1...N ta

c h N phng trnh. Cng v vi v ca cc phng trnh s c:
m k v 2k
d( 2 ) =
k=1
N

Hay: d
k=1

dAik +
k=1

m k v 2k
=
2

dT =

dAik +
k=1

dAke
k=1

dAik
k=1

dAke
k=1

dAke
k=1

y l kt qu cn chng minh.
nh l 12-10: Bin thin ng nng ca h trn mt on ng hu hn
MoM1 no bng tng cng ca ni lc v ngoi lc tc dng ln h trn on
ng .
N

T1 - T0 =

Aik +
k=1

Ake

(12-51)

k=1

Chng minh: Ly tch phn hai v biu thc (12-50) theo cc cn ng vi

-179v tr ban u v cui on ng MoM1 ta c:

T1

i
e
dT = dA k + dA k
k =1 MoM1

To

k =1 MoM1

Hay T1 - To =

Aik +
k=1

A ke
k=1

Ch : khc vi cc nh l khc trnh by nh l ng nng i vi

h c k n ni lc. Tr trng hp c h l vt rn tuyt i mi c th b qua
nh hng ca ni lc n bin i ca ng nng.
Th d 12-7: Vt nng treo vo u si dy c chiu di l (hnh 12-20)
c th t v tr Mo tng ng c gc hp gia dy vi ng thng ng o v
khng c vn tc ban u. Tm vn tc ca vt ti thi im khi si dy hp vi
ng thng mt gc .
Bi gii:
Xt chuyn ng ca vt nng M. Cc lc

tc dng ln vt gm trng lc P, lc cng T ca

dy.
p dng nh l bin thin ng nng ca

r
T

M0

vt rn trn on ng t M0 n M ta c:

mv 02 N
mv
=
= A M 0 M1
2
2
i =1

M
r
P

Hnh 12-20

y vo = 0; cng ca lc cng T bng

khng v lc ny lun vung gc vi phng tip tuyn. Cng ca trng lc P
theo biu thc (10-42) vit c A(P) = + hP trong h l cao ca im u
so vi im cui ca qung ng.
T hnh v ta c:
h = l(cos - coso)
Do A(P) = Pl(cos - cos0). Biu thc bin thin ng nng trong

-180trng hp ny vit c:
mv 2
= lP(cos - coso)
2

Suy ra:
v=

2gl(cos cos o )

Th d 12-8: Mt vt nng c th t cao H so vi mt ngang ca x

n hi vi vn tc ban u bng khng v im ri l ga x (hnh 12-21). Khi
vt nm tnh trn x th x vng xung mt on ft. Hi vng fd ca x khi
vt ri xung x nu nh b qua trng lng
ca x v gi thit rng khi vt nng ri

Mo

xung khng b bn ln v khng b mt

nhit.
A

Bi gii:

Kho st chuyn ng ca mt vt
nng (coi nh mt cht im chuyn ng).
Trn on ng ri t do H n chu tc

M1

ft

Hnh 12-21

dng ch c trng lc P. Khi chm x n

chuyn ng cng vi x trn on ng ny lc tc dng ln vt ngoi trng
lc cn c phn lc n hi F.
p dng nh l bin thin ng nng trn c on ng t lc bt u
ri cho n khi x vng xung ta c:

mv12 mv 02

= A(P) + A(F)
2
2

(a)

trogn vo = 0; v1 = 0.
A(P) = P(H+fd) y fd l vng ca x cn phi xc nh.
A(F) = -

1 2
cf d vi c l cng ca x.
2

-181 xc nh c ta ch rng khi vt t tnh ln x vng ca x nh

cho l ft. T iu kin cn bng trng thi tnh ta c:
P = c.ft suy ra c = P/ft
Thay kt qu tm c vo biu thc (a) ta c:
P(H+fd) -

P 2
f d = 0.
2f t

Hay fd2 - 2ftfd- 2Hft = 0;

fd = ft +

f t2 + 2Hf t

fd c gi l vng ng, n ln gp nhiu ln so vi vng tnh ft.

T biu thc xc nh fd ta thy ngay cao H =0 c fd = 2ft. H cng ln fd
cng ln , th d khi ng vng tnh ft = 1mm, cao H = 20m th fd = 21mm =
21.ft ngha l gp 21 ln ft.
v

Th d 12-9: Mt t c trng
lng k c bnh l Q. Mi bnh xe c

RC

Mm

Md

Mm

trng lng l P bn knh r v bn knh

qun tnh l . Trn bnh xe ch ng

Fms

Fms

nhn mt m men ch ng t ng c l

Hnh 12-22

Md lm cho t chuyn ng t trng

thi ng yn. Cho bit trong mi trc ca bnh xe chu mt m men ma st l
Mms; Lc cn ca khng kh t l bc hai vi vn tc ca t Rc = - v2. Xc
nh vn tc ti hn ca t (hnh 12-22).
Bi gii:
xc nh vn tc ti hn ca t ta p dng nh l vi phn ng nng.
ng nng T ca t xc nh c theo biu thc:

1Q 2
1
1
2 2
2
T=
v + 4( J o ) =
(Q + 4 P 2 ) v 0
2g 0
2
2g
r
vo l vn tc ca tm bnh xe v cng l vn tc t.

-182r

Ngoi lc tc dng ln t gm: trng lc P , phn lc php tuyn ca

r

mt ng N , lc ma st F ms, lc cn R C. Trong cc lc trn ch c lc cn R C

sinh cng do :
dA = - RCdso = -v2. dso
Ni lc trong h gm c m men ch ng Md v m men ma st Mms.
Cng ca cc lc ny tnh c:
dAi = (Md-Mms) d = (Md - Mms)

ds
r

Thay cc kt qu tm c vo biu thc (12-50) s c:

dv
1
1
ds
2
(Q + 4P 2 ) v 0 o = (M d M ms v 2 r )
g
dt
r
dt
r
Thay vo =

ds
v rt gn ta c:
dt

g
2
(Q + 4P 2 ) w 0 = (M d M ms v 2 r )
r
r
Khi vo t ti gi tr ti hn th c nghi l gia t wo =0 do suy ra:
Md = Mms- rv2gh = 0
Hay

vgh =

Md 4M ms
r

y chnh l vn tc ti hn ca t.
Th d 12-10: B truyn ai c s nh hnh v (12-23). Bnh ai A
quay vi vn tc gc o. Trng lng
chung ca hai bnh ai A v B l P. Trng
lng ca dy ai l Q. hm h thng
dng li ta dng mt lc phanh F tc dng
vo m phanh, cho bit h s ma st gia
m phanh v bnh ai A l f. Xc nh s

r
F

r
PA

r
F ms

r
Q

Hnh 12-23

r
PB

-183vng quay ca bnh ai A t lc bt u phanh cho ti khi n dng hn.

Bi gii:
Xt chuyn ng ca h bao gm h hai bnh ai A,B v dy ai. p dng
nh l bin thin ng nng cho h trong khong thi gian t khi bt u phanh
cho n khi c cu dng hn ta c:
T - To = Aek + Ak1

(a)

ng vi thi im cui l T = 0. Ti thi im u.

To = TA + TB + Td
Gi thit ai khng c trt ta c vn tc ai l V = R0 vn tc gc B
ca bnh ai B l:
B =

R o
r

Trong r l bn knh bnh ai B

Ta c: TA=

1 P 2 2
( R ) 0 ;
2 2g

2 2
1 PB 2
1 PB 2 R o 1 PB 2 2
R o .
TB= ( r ) B = ( r ) 2 =
2 2g
4 g
2 2g
r

ng nng dy ai:
Td =

1Q 2 1Q 2 2
v =
R o .
4g
4g

Thay kt qu tm c vo biu thc ng nng ca c h v ch rng

PA + PB = P ta c:
To =

1 P + 2Q 2 2
R o
4 g

Cc lc tc dng ln h gm trng lc, lc ma st Fms phanh. Trong

ch c lc ma st Fms l sinh cng, ta c:

-184Ai = 0 v
Ae = A(Fms) = -(f.F.R). = - f.F.R.2N (vng)
Thay vo (a) ta c:
To =

1 P + 2Q 2 2
R o = f.F.R.2.N
4 g

Suy ra: N =

1 P + 2Q 2 2
R o (vng).
4 2gfF

Th d 12-11: Mt xe gong c ko ln dc bi lc F = 16KN. Trng

lng cha k 4 bnh l P = 18KN. Trng lng mi bnh xe gong l Q = 2KN
(hnh 12-24).

r
F

Xc nh vn tc ca gong ti
thi im khi xe gong i c mt

on s = 4m. Cho bit lc u xe gong

ng yn tc vo = 0. Xc nh gia tc

r
r
P +4 Q

ca xe gong. Gi thit cc bnh xe

chuyn ng ln khng trt v ma st

Hnh 12-24

trong cc trc l khng ng k, gc

nghing = 300.
Bi gii:
xc nh vn tc v1 ca xe gong ta p dng nh l bin thin ng
nng cho xe trn on ng s. Ta c:
T1 - To = A0k
T1 =

vi To = 0

1P 2
3Q 2
1
v 1 + 4(
v1 ) =
(P + 6Q) v 12 .
2g
4g
2g

Ngoi lc tc dng ln xe gong gm : lc ko F, trng lng P v 4Q, lc

ma st Fms ca mt ng ln bnh xe. Trong cc lc trn lc ma st khng sinh
cng v bnh xe ln khng trt.

-185Ta c: Ao = A(F) + A(P) + 4A(Q)

= QS - (P+4Q)h = FS + (P+4Q)sin
Thay vo biu thc ban u c:

1
(P + 4Q) v12 = [F + (P+4Q)sin]S
2g

(b)

Suy ra:
v1 =

2g[F + (P + 4Q)]S
= 9,445 m/s
P + 6Q

xc nh gia tc ta o hm bc nht theo thi gian hai v phng trnh

(b) s c:

ds
1
dv
( P + 4Q ) v
= [F + (P + 4Q) sin ]
dt
g
dt
Thay

ds
dv
= W v
= v ta suy ra
dt
dt

W=

F (P + 4Q) sin
g = 0,98 m/s2
P + 6Q

12.4.4. nh lut bo ton c nng

12.4.4.1. Trng lc v trng lc c th
Trng lc l khong khng gian vt l m cht im t trong s chu
tc dng mt lc ch ph thuc vo v tr cu cht im. Trng lc th l trng
lc m cng ca cc lc t ln cht im khng phc thuc vo dng qu o
ca chuyn ng m ch ph thuc vo v tr u v v tr cui qung ng di
chuyn ca cht im. Lc trong trng lc th gi l lc c th. Trng trng
lc, trng lc n hi l nhng v d v trng lc c th; Trng lc v lc n
hi l cc lc c th.
12.4.4.2 Th nng
Xt cht im M t trong trng lc c th. Nu gi v tr M0 l " v tr

-186khng" hay cn gi l mc, v v tr ang xt l M(1) ( Hnh 12.25 ) ta c nh

ngha sau:
Th nng ca cht im ti v tr M(1) bng cng ca lc c th tc dng
ln cht im khi n di ch t v tr M(1) v

v tr M . K hiu th nng v tr M l .
0

(1)

(1)

z1

Ta c: (1) = A1-0.

M
H

Theo nh ngha v trng lc th thi

cng ca lc c th ph thuc vo to ca
im ang xt do suy ra (1) = (x1,y1,z1).

h
z

Hm c gi l hm th.
Ch rng v im M0 l v tr chn

Hnh 12-25

tu do khi chn v tr M khc nhau th

nng ca cht im ti mt v tr no s sai khc nhau mt hng s.
T kt qu trn ta c th vit biu thc tnh th nng ca lc trng trng
v lc n hi.
i vi lc trng trng T ta c: (1) = AM1M0(P) = Ph
Trong h l cao ca im cui so vi im u v th ta chn h to
c gc O trng vi v tr khng cn trc oz l trc hng thng ng xung
di v k hiu H l cao ca im o, z1 l to cu im ang xt ta c:
h = H - z1
Suy ra biu thc tnh th nng:
(1) = P(H-z1)

(12-52)

Theo biu thc (12-52) nu chn im M0 nm trn mt t th th nng

ca vt cao z1 s tnh bng:
(1) = Pz1.
i vi l xo: lc c th

F = - cx.

vi c l h s cng ca l xo.

-187Chn v tr M(0) l v tr m l xo trng thi t nhin (khng b nn hay

gin). Khi vt v tr M(1) ta c :
AM1M0 =

1 2
cx
2
r
F

Do suy ra:
(1)

1 2
cx
2

(12-53)

x
A
Mo

M1

Hnh 12-26

Trn y chng ta tnh th nng qua

cc biu thc tnh cng, ngc li chng ta cng c th biu din cng qua th
nng nh sau:
Xt cht im t trong trng lc th v di ch t v tr M(1) n v tr
M(2). Khi ta c:
A1-2 = A1-0 + A0-2 = A1-0 - A2-0
Thay A1-0 = 1 , A2-0 = 2 th A1-2 = 1 - 2.
Nh vy cng ca lc c th t vo cht im chuyn di trn mt on
ng no bng hiu th nng ca cht im v tr cui ca on ng .
Mt khc thy rng nu hai im M(1) v M(0) gn nhau ngha l:
M(1)(x1,y1,z1) v im M(2)(x1 + dx,y1 + dy,z1 + dz) th c th vit:
dA = (1) - (2) = - d. Thay dA = Xdx + Ydy+ Zdz trong X,Y,Z l cc
thnh phn ca lc c th hng theo cc trc to oy.
Mt khc v = (x,y,z) nn ta c:
d =

dx +
dy +
dz
x
y
z

i chiu gia cc biu thc dA v d ta rt ra:

X=

;Y=
;Z=
x
y
z

(12-55)

-18812.4.4.3 nh lut bo ton c nng

Xt h t trong trng lc th. nh l ng nng vit c:
n

k=1

k=1

k=1

T1 - To = Aek + Aki = Ak.

Khi h chuyn ng t v tr khng n v tr 1 ta c :
n

Ak = o - 1.

k=1

Trong l th nng ca h ni v ngoi lc. Ta c:

T1 - To = 0 - 1.
Hay To + 0 = T1 + 1
Khi h chuyn ng trong trng lc th tng ng nng v th nng ca
h mi v tr l khng i v k hiu l E.
E=T+
H cc cht im nghim ng nh lut bo ton c nng c gi l h
bo toan, lc c th tc ng ln h gi l lc bo ton.
Th d 12-12: Kho st con lc
(hnh v 12-27), chuyn ng t v tr

ban u xc nh bi gc 0 vi vn tc
bng khng v c th nng o = Pz0.
Trong P l trng lng ca con lc,

Co

zo l to trng tm ca con lc ti

thi im ban u. B qua lc cn, bit

m men qun tnh ca con lc i vi
im treo A l JA.
Xc nh vn tc gc ca con lc
ti v tr khi tm C c cao z.
Bi gii:

zo

Hnh 12-27

-189p dng nh lut bo ton c nng cho con lc ta c:

To + o = T1 + 1 (a)
To v o l ng nng v th nng ca con lc ti thi im u tng ng
vi v tr tm c c cao zo. T1 v 1 l ng nng v th nng ca con lc ti v
tr kho st.
Theo bi To = 0; 0 = Pz0;1 = Pz; T1 = JA2/2
Thay vo (a) ta c:
Pzo = JA2/2 + Pz
Suy ra:
=

2P
(z o z)
JA

Kt qu cho thy gi tr ph thuc vo v tr ca con lc.

-190Chng 13
L thuyt va chm
13.1. Cc c im v gi thit v va chm

13.1.1. nh ngha
Va chm l mt qu trnh ng lc hc c bit trong vn tc ca vt
bin i r rt v c ln v phng chiu trong mt thi gian v cng b.
Th d: Qu bng p vo tng lp tc bn tr li, ba p vo e s
dng li hn hay ny ln.v.v.
13.1.1.2. Cc c im v cc gi thit n gin ho
- Thi gian va chm: Theo nh ngha thi gian va chm l rt nh, thc t
thi gian va chm thng bng 10-2 giy, 10-3 giy hoc 10-4 giy tu thuc vo
c l tnh ca vt va chm. V thi gian va chm rt nh nn c xem l mt
i lng v cng b.
Vn tc v gia tc: cng theo nh ngha th vn tc ca vt thay i t
ngt v do lng bin i vn tc v ca vt trong thi gian va chm l gii
ni. Mt khc theo gi thit thi gian va chm l v cng b nn gia tc trung
bnh trong qu trnh va chm wtb = v/ l i lng rt ln. Trong l thi
gian va chm.
Nu gi l l on ng dch chuyn trong thi gian va chm ca vt th:

r
r
l = vdt = v tb .
0

V l i lng v cng b nn l cng l i lng v cng b. n

gin ngi ta a ra gi thit trong qu trnh va chm c h khng di chuyn v
tr.
- Lc v xung lc va chm

-191Khi va chm ngoi cc lc thng nh trng lc, lc cn.v.v. vt cn chu

tc dng ca phn lc ni tip xc (Lc tc dng tng h). Chnh lc ny l
nguyn nhn to nn gia tc chuyn ng ca vt
trong qu trnh va chm. Lc gi l lc va
r
chm k hiu N .

N
N(t)

Lc va chm N khc vi lc thng F n N*

ch xut hin trong qu trnh va chm, khng tn
ti trc v sau va chm.
Thng kh xc nh trc c lc va

chm nhng quy lut bin i ca n c th biu

Hnh 13-1

din trn hnh (13. 1).

r

V gia tc trong va chm l rt ln nn lc va chm N cng rt ln. Thng

r

thng lc va chm ln hn rt nhiu so vi lc thng F . Mt khc lc va chm

li bin i rt r trong thi gian va chm v cng nh nn ngi ta nh gi
tc dng ca n qua xung lc.
p dng nh l bin thin ng lng cho h trong thi gian va chm c
th vit:
r
r
mkvk = Fk dt + Ndt
0

(k = 1...n).

r
F
k dt l rt nh so vi xung lc va

Trong xung lc ca lc thng

chm v nh hng ca n n lng bin i ng lng ca h khng ng k.

Ngi ta a ra gi thit l b qua tc dng ca lc thng. Ta c th vit biu
thc bin thin ng lng ca h trong va chm nh sau:
r
r
mkvk = Ndt = s

(13-1)

Biu thc (13-1) l phng trnh c bn trong qu trnh va chm.

- Bin dng v h s hi phc

-192Quan st qu trnh va chm ngi ta chia ra hai giai on: giai on bin
dng v giai on hi phc.
Giai on bin dng trong thi gian 1 t lc bt u va chm cho n khi
vt thi bin dng. Giai on hi phc ko di trong thi gian 2 t khi kt thc
giai on bin dng n khi ly li hnh dng ban u n mc nht nh tu
thuc vo tnh cht n hi ca vt. Cn c vo mc hi phc ca vt ta c
th chia va chm thnh ba loi: va chm mm l va chm m sau giai on bin
dng vt khng c kh nng hi phc tc l khng c giai an hi phc.
Va chm hon ton n hi l va chm m sau khi kt thc va chm vt
ly li nguyn hnh dng ban u.
Va chm khng hon ton n hi l va chm m sau khi kt thc va
chm vt ly li mt phn hnh dng ban u.
phn nh tnh cht hi phc ca vt giai on hai ( gia on hi
phc) ta a ra khi nim h s hi phc k. k bng t s gia xung lc giai on
2 v xung lc giai on 1 ta c:
k=

S2
S1

Vi khi nim trn ta thy ng vi va chm mm k = 0; vi va chm hon

ton n hi k =1 v va chm khng hon ton n hi 0 < k < 1.
13.2.

Cc nh l tng qut ca ng lc hc p dng vo

va chm

Cn c vo cc gi thit v phng trnh c bn c th thit lp cc nh l

tng qut trong qu trnh va chm nh sau:

-19313.2.1. nh l bin thin ng lng

Xt va chm ca mt c h gm cc cht im M1, M2, ... Mn c khi tm
n

c v vn tc v c. Gi khi lng ca h l M = mk , vi mk l khi lng ca

k=1

cht im th k. Ta c biu thc ng lng ca c h l:

r n
r
r
K = mk v k = M v C
k=1

r
Gi tng xung lng va chm ngoi tc dng ln cht im mk l S ke v
n r
r
tng xung lng va chm trong S ki ta c S ki = 0.
k=1

Nu b qua xung lng ca lc thng th nh l bin thin ng lng

cho h vit c:
n r
r
r
M V C(2) - M V C(1) = S ke

(11-2)

k=1

r
r
Trong V C(2) v V C(1) l vn tc khi tm ca h sau v trc lc va
chm.
Th d 13.1. Qa cu c trng lng P = 1KN ri cao H = 3m xung
mt phng nhn. Cho bit h s hi phc k = 5/9.
Xc nh xung lc va chm s trong thi gian va
chm v vn tc ca qu cu sau va chm (hnh 13.2).
Bi gii: p dng nh l bin thin ng lng H

ta c:
r r r
M( u v) = s

r r
u, v l vn tc ca qu cu lc va chm vo mt

Hnh 13.2

phng. Cc vc t ny c phng thng ng. Chiu biu thc ln phng thng

ng ta c:
M (u + v) = S

(a)

-194Vn tc ca qu cu trc lc va chm l:

v=

2gH = 2.9,81.3 7,7 m / s

xc nh vn tc u sau va chm ta p dng nh l bin thin ng lng

cho tng giai on bin dng v phc hi. Gi v' l vn tc ca qu cu ng vi
cui giai on bin dng ta c:
M(u+v') = S1
S1 l xung lng va chm trong giai on bin dng, y v' bng vn tc
mt sn nn bng khng, v' = 0 ta c:
Mv = S1
i vi giai on hi phc ta cng c:
M(u+v') = S2

Mu = S2

Theo nh ngha v h s hi phc ta c:

k=
Suy ra u = kv =

s2 Mu u 5
=
= =
s1 M v v 9

5
.7,7 = 4,3 m/s
9

Thay vo biu thc (a) ta c:

s=

P
.v.(1 + k ) 1,2 KNS
g

Nu ly thi gian va chm = 0,0005 giy th lc va chm trung bnh l

Ntb =

S
= 2400 KN .

13.2.2. nh l bin thin mmen ng lng

Tch mt cht im th k trong h l Mk xt. Ta c th vit biu thc
bin thin mmen ng lng ca cht im nh sau:
r
r r
r r
r
r
m 0 .(m k .u k m k v k ) = m 0 s ke + m 0 s ki

( )

( )

Thit lp cho c h ta s c:

( )

( )

N r
N r
r
r
re
r
r
r
(
)
(
)
m
m
.
u

m
m
v
=
m
s
+
0 k k 0 k k 0 k m 0 s ki
i =1

i =1

-195N

( )

( )

N r
r ri
r
m
s
=
0
.
Nu
b
qua
lc
thng
th
m 0 s ke l mmen c

0 k

k =1

k =1

xung lc va chm ngoi i vi tm O.

Ta c:

( )

N
r
r
r r
L 0(2 ) L 0(1) = m 0 S ek
k =1

(13-13)

r
r
Trong L 0(2 ) ; L 0(1) l mmen ng lng ca h i vi tm O ti thi
im sau v trc lc va chm.
Chiu biu thc (13-3) ln mt trc Ox no ta c:

( )

N
r
Lx(2) - Lx(1) = m x s ke
k =1

(13-3)'

Trong biu thc (13-3), Lx(2) v Lx(1) l mmen ng lng ca h i vi

( )

N
r
trc Ox, cn m x s ke l tng m men ly i vi trc Ox c xung lc va chm
k =1

ngoi Ske.
Biu thc (13-3)' c p dng cho va chm ca cc vt chuyn ng quay.
Th d 13-2: Hai bnh rng c lp vi nhau quanh cng mt trc vi vn
tc gc l 1 v 2. Cho bit mmen qun tnh ca chng i vi trc quay l 1
v 2. Cho bit mmen qun tnh ca chng i vi trc quay l J1 v J2. Cho hai
bnh rng t ngt n khp vi nhau. Xc nh vn tc gc sau va chm ca
hai bnh rng.
Bi gii:
B qua tc dng ca trng lng v

J1.1

J2.2

lc ma st. Xt h gm c hai bnh rng,

khi xung lc va chm ti rng n khp

J.

l xung lc trong (ni xung lc).

Nh vy xung lc va chm ngoi

Ske = 0. p dng nh l bin thin

mmen ng lng ta c:

Hnh 13.3

-196Lx(2) - Lx(1) = 0

(a)

Mmen ng lng ca h trc lc va chm l:

Lx(1) = J11 + J22
Mmen ng lng ca h sau va chm l:
Lx(2) = (J1 + J2)
Thay vo biu thc (a) ta c:
J11 + J22 = (J1 + J2)
Suy ra:

J 11 + J 2 2
J1 + J 2

13.2.3. nh l ng nng
nh l bin i ng nng i vi cc bi ton va chm khng th p dng
c. Nguyn nhn trong qu trnh va chm ta gi thit di chuyn l khng
ng k. Mt khc thc t cho thy khi va chm ng nng ca vt thng b
mt mt chuyn ho thnh nhit nng v gy ra bin dng d (i vi va
chm khng hon ton n hi). Nu gi lng ng nng l T th r rng

T = T1 - T2 > 0.
Trong T1 v T2 l ng nng ca h ngay trc v sau va chm. Lng
mt ng nng T ph thuc vo nhiu yu t: Trng thi chuyn ng, tnh
cht c l ca vt. Trong k thut tu thuc vo yu cu ca bi ton t ra m ta
cn tng hay gim lng mt ng nng.
Th d khi s dng va chm vo vic gy bin dng nh rn, dp vt liu ta
phi tm cch tng lng mt ng nng T. Tri li khi cn s dng va chm
vo vic gy chuyn ca vt th nh ng cc, ng inh th phi tm cch gim
lng mt ng nng T.
13.3. Hai bi ton c bn v va chm

13.3.1. Va chm thng xuyn tm ca hai vt chuyn ng tnh tin

13.3.1.1. nh ngha

-197Xt hai vt c khi lng my bin p v m2 chuyn ng tnh tin vi vn

tc v1 v v2 va chm vo nhau (hnh 13-4).
n
C1

v2

C2

v1

n'

v2

I
v1

C1

n'
C2

a)
b)
Hnh 13.4
- Va chm thng: L va chm trong cc vn tc v1 v v2 u song song
vi php tuyn chung nn'. ng nIn' gi l ng va chm.
- Va chm xuyn tm: l va chm trong ng va chm nIn' trng vi
ng xuyn tm c1Ic2 ca vt (hnh 13-4b).
13.3.1.2. Bi ton va chm thng xuyn tm ca hai vt chuyn ng tnh tin
Cho hai qu cu c khi lng M1 v M2 chuyn ng tnh tin theo ng
r r
r r
xuyn tm c1c2 vi cc vn tc v1 , v 2 va chm nhau. Cho bit M1, M2, v1 , v 2 v
r r
h s hi phc k, tm vn tc u 1 , u 2 ca hai qu cu sau va chm, ng thi thit
lp biu thc mt ng nng T ca h.
M hnh c hc c m t trn hnh (13-5).
Hi phc

Bin dng
v1
C1

v2

I
C2

C1

N12
N21

I u
C2

v1
C1

C2

Nmax
N'max
Hnh 13.5

u2

N'12
N'21

-198p dng nh l bin thin ng lng cho mi qu cu giai on bin

dng v giai on hi phc ta c:
M1 (u - v1) = S21 = - S

(a)

M2 (u - v2) = S1 = S

(b)

Giai on hi phc:
M1 (u1 - u) = S'21 = - S'

(c)

M2 (u2 - u) = S'12 = S

(d)

Theo nh ngha v h s hi phc ta c thm phng trnh:

S' = k.S

(e)

Trong 5 phng trnh trn c 5 n s l u, u1, u2, S, S' ta c th gii v tm ra

kt qu sau:
u=

M 1 v1 + M 2 v 2 M 1 u 1 + M 2 u 2
=
M1 + M 2
M1 + M 2

u1 = V1 - (1+k).

u2 = V2 - (1+k).

S=

S=

M1M 2
M1 + M 2
M1M 2
M1 + M 2

M2
M1 + M 2
M2
M1 + M 2

.(V1 V2 )
.(V1 V2 )

(13-4)

V1 V2
u1 u 2

Trong trng hp ny lng mt ng nng T c xc nh nh sau:

T = T1 - T2
Vi T1 =

M1u 1 M 2 v 2
+
l ng nng ca h sau va chm.
2
2

Ta c:

T =

M1
M
. V12 u 12 + 2 V22 u 22
2
2

Thay gi tr ca u1 v u2 t biu thc (11-4) ta c:

-199-

T =

M1M 2
2
. 1 k 2 (v 1 v 2 )
2(M 1 + M 2 )

(13-5)

M1 v12
So vi ng nng ban u ca ba T0 =
2
Ta c:

M2
T
1 k2
= 1 k2
=
=
M1
T0
M1 + M 2
1+
M2
gi l hiu sut ca ba. R rng mun tng hiu sut ca ba ta phi
tng khi lng ca e.
Nu p dng biu thc (13-5) vo ba ng cc ta s thy kt qu ngc
li. V phi gim lng mt ng nng nn hiu sut ca ba c tnh theo biu
thc:

T0 T
T
= 1
T0
T0

Suy ra:

1 k2
=1M
1+ 1
M2
Mun tng hiu sut ca ba ta phi tng t s

M1
ngha l phi tng khi
M2

lng ca ba m bo khi lng ba ln hn nhiu

ln so vi khi lng cc.

13.3.2.2. Va chm ca vt rn chuyn ng quay quanh
mt trc
Kho st vt rn quay quanh trc (hnh 13-6). Ti thi
r
im no vt chu tc dng xung lc va chm S . Khi p
dng nh l bin thin mmen ng lng c:

Lz(1) - Lz(2) = mz (S)

Nu gi vn tc gc ca vt trc v sau va chm l

Hnh 13.6

-200-

0 v 1 ta s c:
Jz (1 - 0) = mz (S)

(13-6)

T (13-6) c th tnh vn tc c vt sau va chm:

1 = 0 +

m z (S)
Jz

(13-7)

y Jz l mmen qun tnh ca vt i vi trc quay z.

r
r
Trong va chm ca vt quay cc xung lc, phn lc l s A v s B rt

c hi v n lm tiu hao nng lng v gy h hng trc. Nhim v ca

r
r
bi ton l tm cch hn ch cc xung lc s A v s B .
Gii quyt vn trn ta p dng nh l ng lng i vi vt. n
gin ta gi thit lc u vt ng yn tc l =0, ta c:
r r
r
r
r
K1 K 0 = S + SA + SB
r
V 0 = 0 nn K 0 = 0 phng trnh cn li:
r r
r
r
r
K 1 = Mu c = S + S A + S B
(a)
r
M l khi lng ca vt, u 0 l vn tc khi tm ca vt sau va chm.
r
r
r
r
cho s A = s B = 0 t (a) ta phi c iu kin S = Mu c .
V vt quay quanh trc z nn u0 c phng
z

vung gc vi OC v nm trong mt phng

B

vung gc vi trc quay i qua C. (Xem hnh

SB

13-7). Mt phng l mt phng oxy.

Ta suy ra iu kin th nht

r
s B trit tiu l xung lc S phi nm trong mt

phng vung gc vi trc quay v song song

vi vn tc u ngha l cng vung gc vi OC.
V tr s S = Muc = M.a.1.
Thay 1 =

r
s A v

m Z (S)
S.h
ta c: S = M. a.
JZ
JZ

uC
C

h
x

y
S

A
SA
Hnh 13.7

-201-

Suy ra:

J
M.a.h
= 1 hay h = Z
M.a
JZ

Kt lun: xung lng va chm cc bng khng cn phi tho mn

cc iu kin sau:
1. Xung lc va chm S phi t trong mt phng oxy qua khi tm c ca vt
v vung gc vi trc quay z.
2. Xung lc S phi t vung gc vi ng OC ni t trc quay qua c ti
im k t cch trc quay mt on h.
h=

JZ
M.a

im K c xc nh nh trn gi l tm va chm.
T biu thc (13-8) ta nhn thy rng khi khi tm C nm trn trc quay th
im K xa v cng v khi h = . Trong trng hp ny lun lun nhn
xung lc va chm khc khng.
Th d 13-3: Thanh AB c khi lng M, mmen qun tnh i vi trc
quay A l Jk. Chuyn ng vi vn tc 0 va p vo vt C c khi lng m ang
t ng yn trn rnh k (hnh 13-8). Xc nh vn tc sau va chm ca thanh
AB v vt C cng nh xung lc ti trc A. Kch thc cho trn hnh v.
Bi gii:
r
Gi xung lc va chm tc dng ln vt C l S 2 v xung lc tc dng ln vt
r
AB l S 1 ta c:
y
S =S= S
1

Phng trnh biu din nh l bin

thin mmen ng lng cho thanh AB vit

B
D

S2

c:

JA (1 - 0) = -S.b

b (a)

Phng trnh biu din nh l bin

thin ng lng cho vt C vit c:

S1

2
x

S2

a
A

muc - mvc = S y v0 = 0
do ch cn:

Hnh 13.8

-202muc = S

(b)

Xt c h s:

( )

r
LA(1) - LA(0) = mA ( S c = 0

suy ra: LA(1) = LA(0) hay

JA 0 = JA.1 + m.u.b = JA 1 + m.1.b2

1 (JA + mb2) = JA.0 suy ra:

1 =

J A . 0
J A + mb 2

u = 1b =

0
mb 2
1+
JA

0 b
1+

mb 2
JA

S = M.u =

0 b
1 b2
+
m JA

-203-

Phn 4

Cc nguyn l c hc
Cng vi hai vn nghin cu l phng trnh vi phn ca chuyn
ng v cc nh l tng qut ca ng lc hc; cc nguyn l c hc trnh by
di y s cho ta mt phng php tng qut khc gii quyt c hiu qu v
nhanh gn nhiu bi ton ng lc hc ca c h khng t do.
Cc nguyn l c hc l phn c s ca c hc gii tch. Cn c vo ngun
nng lng v c im kt cu ca c h, c hc gii tch s dng cng c gii
tch ton hc thit lp phng trnh vi phn chuyn ng v tm cch tch
phn cc phng trnh . Trong phn ny ch gii thiu mt s vn c bn
nht ca c hc gii tch c th l ch thit lp phng trnh vi phn chuyn ng
cho c h khng t do v nu ln mt s tnh cht ca n m ta khng i su vo
phng php tch phn cc phng trnh .

Chng 14
Nguyn l di chuyn kh d
14.1. Cc khi nim c bn v c h

lm c s cho vic thit lp cc nguyn l c hc trc ht nu mt s

khi nim c bn v c h khng t do.
14.1.1. Lin kt v phn loi lin kt
14.1.1.1. C h khng t do
C h khng t do l mt tp hp nhiu cht im m trong chuyn ng
ca chng ngoi lc tc dng ra v tr v vn tc ca chng cn b rng buc bi
mt s iu kin hnh hc v ng hc cho trc.

-20414.1.1.2. Lin kt v phn loi lin kt

Lin kt l iu kin rng buc chuyn ng ln cc cht im ca c h
khng t do. Cc biu thc ton hc m t cc iu kin rng buc gi l
phng trnh lin kt. Dng tng qut ca phng trnh lin kt c th vit :
fi(rk,vk,t) 0

j = 1...m ; k = 1...n

j l s th t cc phng trnh lin kt.

k l s th t cc cht im trong h.
Phn loi lin kt
Cn c vo phng trnh lin kt ta c th phn loi lin kt thnh : lin
kt dng hay khng dng ,lin kt gi hay khng gi , lin kt hnh hc hay
ng hc
Nu lin kt m phng trnh khng cha thi gian t gi l lin kt dng.
Ngc li phng trnh lin kt cha thi gian t gi l lin kt khng dng hay
hu thi
Nu lin kt m phng trnh m t bng ng thc ta gi l lin kt gi
hay lin kt hai pha. Nu lin kt c phng trnh m t bng bt ng thc gi
l lin kt khng gi hay lin kt mt pha.
Nu lin kt c phng trnh khng cha vn tc v gi l lin kt hnh hc
hay lin kt h n nm. Ngc li nu lin kt c phng trnh cha yu t vn
tc v gi l lin kt ng hc hay khng h n nm.
Sau y nu mt vi th d v cc loi lin kt.
C cu bin tay quay OAB biu din trn hnh (14-1) c phng trnh lin
kt :
xA2 + yA2 = r2 ;
(xB + xA)2 + yA2 = l2 ;
yB = 0 .
Cc phng trnh lin kt trn th hin lin kt dng, gi v h n nm.

-205Bnh xe bnh knh R ln khng trt trn ng thng (hnh 14-2) c

phng trnh lin kt :
y0 R ;
VP = 0 ;
Lin kt ny l lin kt dng, khng gi v khng h n nm.
Vt A treo vo u si dy vt qua rng dc c nh B. u kia ca dy
c cun li lin tc theo thi gian. Gi cho vt dao ng trong mt phng oxy
thng ng (hnh 14-3). Phng trnh lin kt c vit :
xA2 + yA2 = l2(t) ;
zA = 0 .
Lin kt ny khng dng, khng gi v h n nm.

y
A
1

P(t)

R
O

A
x
C

P
B

Hnh 14.1

Hnh 14.2

Hnh 14.3

14.1.2. To suy rng.

To suy rng l cc thng s nh v ca c h. K hiu to suy
rng l qj ; qj c th o bng n v di, n v gc quay, in lng...
Nu s cc to suy rng xc nh v tr ca h ta gi l to suy
rng . Nu s to d tha ngha l vt qu s to cn thit xc nh
v tr ca h gi l to d. S cc to d c lin h vi nhau bng biu
thc dng :
fi(qk,qk,t) 0

gi l phng trnh lin kt.

-206C cu tay quay thanh truyn biu din trn hnh 14-1 nu chn q1 = v
q2 = th gia q1 v q2 c phng trnh :
rsinq1 - lsinq2 = 0.
Nu chn q1 = xA v q2 = yA th gia q1 v q2 c phng trnh :
q12 + q22 = r2 ;
q1 = Rcosq3 .
14.1.3. Di chuyn kh d ca c h
Di chuyn kh d l di chuyn v cng nh ca c h ti v tr ang xt
sang v tr ln cn m c h c th thc hin ph hp vi lin kt t lin h.
phn bit vi di chuyn thc dr ta k hiu di chuyn kh d l r .

r
r
Nu gi rk v rk' l vc t nh v ca cht im th k trong h ti v tr
r r r
ang xt v ti v tr ln cn th rk = rk rk' ta c :
fj(rk',vk',t) - fj(rk,vk,t) = 0 (j = 1...m).
Vi nh ngha trn ta thy di chuyn thc khc vi di chuyn kh d
ch :
r
Di chuyn thc d r ph thuc vo lc tc dng v iu kin u v lin kt

t ln h cn di chuyn kh d ch ph thuc
vo lin kt t ln h m thi. Chnh v th di

chuyn thc ch c mt cn di chuyn kh d

c th c mt hoc nhiu. i vi h chu lin
kt dng di chuyn thc s trng vi mt
trong s cc di chuyn kh d. Trong c cu

Hnh 14.4

tay quay thanh truyn (hnh 14-1) di chuyn kh d ca h l mt tp hp cc vc

t rA v rB tho mn iu kin lin kt nh sau : Hnh chiu ln AB ca
rA bng hnh chiu ln Ab ca rB . Cht im t ln mt cong (hnh 14-4) c
r
di chuyn kh d l tp hp cc vc t r tip tuyn vi mt cong ti v tr ang

xt.

-20714.1.4. Bc t do ca c h
Di chuyn kh d ca c h l c nhiu tuy nhin mc nhiu c hn
ch. Trong s cc di chuyn kh d ca c h c th c mt hay mt s m di
chuyn c s. Cc di chuyn cn li c biu din qua cc di chuyn c s ni
trn. Cc di chuyn c s c lp tuyn tnh vi nhau v ng bng thng s
nh v ca c h tc l bng s to suy rng . Ta goi cc s di chuyn kh
d c s ca h l s bc t do m ca h.
Trong c cu tay quay thanh truyn r rng s bc t do m = 1, v c th
chn mt trong hay lm di chuyn c s.
S bc t do ca h cng cao th mc tu ca cc di chuyn kh d
cng ln c th xc nh s bc t do ca c h bng biu thc : m = r - s.
Trong r l s to d v s l s phng trnh lin kt.
14.1.5. Lin kt l tng - Lc suy rng
14.1.5.1. Lin kt l tng
Nu tng cng nguyn t ca phn lc lin kt trong mi di chuyn kh d
ca c h u trit tiu th lin kt t ln c h c gi l lin kt l tng.
r
Gi N k l phn lc lin kt tc dng ln cht im Mk; rk l vc t di
chuyn kh d ca cht im th theo nh ngha trn ta c :
n

N
k =1

r
. rk = 0

(14-1)

Trong thc t nu cn b qua lc ma st v tnh n hi ca vt th to

thnh c h th a s cc c h tho mn biu thc trn vsf nh vy chng chu
cc lin kt l tng. Khi phi k n cc lc ma st v tnh n hi ca vt th
ta vn dng dc khi nim lin kt l tng trn y nhng phi xem cc lc do
ma st hoc do tnh n hi ca vt th tc dng ln c h nh l cc hot lc.
Vt rn tuyt i t do l mt c h chu lin kt l tng.

-208Qu vy nu ta xt mt cp cht im M, N bt k trong vt th lc tc

dng tng h gia chng l F, F' vi F = -F'. Gi r v r' l cc vc t di
chuyn kh d ca cht im M, N, ta c :

r r r r
r r
r
' r'

=
r + r ' .
N
r
F
.
r
F
r
F
k k
2

k =1

Theo ng hc vt rn ta c :

r
r
r
r
r = r ' + MN ngha l : r r ' = MN . Vc t MN c ln khng
r
r r r
r
r
i nn MN = r r ' vung gc vi F . Cui cng suy ra F.(r r ' ) = 0 ,

r r
hay N k rk = 0 , iu ny chng t vt rn t do l c h chu lin kt l tng.
n

k =1

Hai vt rn c b mt trn nhn tip xc vi nhau to thnh mt c h chu

lin kt l tng.
Cng d dng nhn thy hai vt rn c b mt trn nhn tip xc vi nhau
to thnh mt c h chu lin kt l tng.
Dy mm khng dn vt qua rng rc khi b qua s trt ca dy v b
qua ma st trc cng l mt c h chu lin kt l tng.
14.1.5.2. Lc suy rng
Xt c h N cht im, c m to suy rng q1q2...qm. Biu thc tng
cng ca cc hot lc trong mt di chuyn kh d no ca c h c th vit:
n r
r
a

A
=
k Fka rk .
n

k =1

(a)

k =1

r
Trong Fka l tng cc hot lc tc dng ln cht im Mk ; rk l di
chuyn kh d ca cht im Mk ti v tr ang xt.

r
r
Biu din vc t nh v r k v di chuyn kh d r k qua cc to suy
rng ta c :
r r
rk = rk (q1q 2 ,......... .q m ) ;

-209-

r
r
r
rk
rk
rk
r
rk =
q +
q + .........
q .
q 1 1 q 2 2
q m m
Thay kt qu vo biu thc (a) trn ta c
N

k =1

A ak

r
r
r
r rk

rk
rk
= Fk
q 1 +
q 2 + .........
q m
q 2
q m
k =1
q 1

r
r
r
N r
N r
r a rk

r
= Fk
q 1 + Fka k q 2 + ......... Fka k q m
q 1
q 2
q m
k =1
k =1
k =1
N

Q1q1 + Q 2 q 2 + ................Q n q n = Q jq j
j=1

r a rrk
i lng Q j = Fk
c gi l lc suy rng tng ng vi to
q j
k =1
N

suy rng qj .
Ta c nh ngha : Lc suy rng Qj ng vi to suy rng qj l i lng
v hng biu th bng h s ca bin phn tng ng trong biu thc tng cng
ca cc hot lc tc dng ln c h trong di chuyn kh d bt k ca c h .
Bn cht vt l ca lc suy rng ph thuc vo bn cht vt l ca to
suy rng tng ng. Chng hn ta thng gp :
To suy rng qj l di th Qj l lc; l gc quay th Qj l m men lc
; qj l in lng th Qj l in th. qj l in th th Qj l in lng.
Trong thc hnh xc nh lc suy rng Qj ta c phng php sau y.
Cho h mt di chuyn kh d vi qj cn cc bin phn khc ca to suy
rng cho bng khng, sau tnh cng ca cc lc trong di chuyn ca h.
Theo nh ngha trn ta c :
N

k =1

j=1

A ak = Q jq j
V cc bin phn q qj u trit tiu nn biu thc trn vit c :

-210N

k =1

j=1

A ak = Q jq j
T y suy ra biu thc xc nh lc suy rng Qj ;
N

Qj =

A
k =1

a
k

q j

Th d 14.1 : Xc nh lc suy rng tng ng vi to suy rng ca h

con lc vt l kp biu din trn hnh (14-5). Cho bit trng lng ca mi con
lc u bng P v t ti im gia C1, Chng t ca cc con lc ; di ca
mi con lc l 1.
Bi gii :
Chn to suy rng ca h l cc gc 1 2

nh trn hnh v. Gi cc lc tnh nh l Q1, Q2. Trc

C1
A

P1

ht xc nh Q1, ta cho h mt di chuyn kh d sao cho y

1 0 cn 2 = 0. Cng ca cc hot lc P1, P2 trong di

C2

P2

Hnh 14.5

chuyn tnh c :

A
k=

1
= P. sin 1 , 1 P2 l sin 11 ;
2

a
k

3Pl
l sin 11 = Q11 .
2

Suy ra :

Q1 =

3Pl
l sin 1 .
2

tnh Q2 cho h mt di chuyn kh d vi 1 = 0 cn 2 0. Khi

ch c con lc AB di chuyn v cng ca hot lc trong di chuyn ny l :
N

A
k =1

a
k

1
1
= P2 . sin 2 2 = P. sin 2 2 = Q 2 2 .
2
2

1
Suy ra : Q 2 = P. sin .
2

-21114.2.1. Nguyn l di chuyn kh d

Khi c h chu lin kt dng v l tng th iu kin cn v n cn
bng ti v tr ang xt l tng cng ca cc hot lc trong mi di chuyn kh d
ca h ti v tr ng xt bng khng.
N
r r
a

A
=
F
k ka .rk = 0 .
k =1

Trc ht ta chng minh iu kin cn. Xt c h chu lin kt dng v l

tng. Gi s v tr ang xt h can bng. Ta phi chng minh iu kin cn c
r
l Fka . rk = 0 . Tht vy, v h cn bng nn cht im Mk trong h cng cn
r
r
bng. Nu gi Fka v N k l hot lc v phn lc lin kt tc dng ln cht im kho
st ta s c :

r
r
Fka + N k = 0 .

r
Cho h mt di chuyn kh d ti v tr ang xt v gi rk l di chuyn ca

cht im Mk ta cng c th vit :

r r r r
Fka . rk + N k . rk = 0 .
Vit cho c h, ngha l cho k tin t 1 n N sau cng v vi v ca
cc biu thc s c :
N r
N r
r
r
Fka . rk + N k . rk = 0 .
k =1

k =1

r r
N
k . rk = 0 do cn phi c
N

V lin kt l l tng nn

k =1

r r
Fka . rk = 0 .
Sau y chng minh iu kin .
N

Gi thit c h tho mn iu kin

ra r

F . r
k =1

= 0 ta phi chng minh rng

iu kin ny cho h t cn bng v tr ang xt. Tht vy nu c h tho

mn iu kin trn m khng cn bng th chng t n phi khi ng ti v tr
ang xt . Nh vy bin thin ca h phi dng. dT > 0. Theo nh l ng
nng ta c :

-212N r
r r
r
dT = dA ak = Fka . rk + N k . rk .
k =1

Vi h chu lin kt dng th di chuyn thc dr s trng vi mt trong cc

r
di chuyn kh d. Ta c dr = rk .
Thay vo biu thc trn ta c :
N r
N r
r
a r
dT = Fk . rk + N k . rk > 0
k =1

k =1

V h chu lc lin kt l tng nn :

N r
r
+ N k . rk = 0 .
k =1

N r
r
Ch cn li : dT = Fka. rk > 0 .
k =1

iu ny tri vi gi thit nu, chng t c h khng th khi ng ti

N

v tr ang xt ngha l khi tho mn iu kin

N k .rk = 0 th chc chn c h

k =1

s cn bng.
14.2.2. Phng trnh cn bng tng qut ca c h khng t do
r r
N
k . rk = 0 c th thit lp phng trnh tng
N

T iu kin cn bng

k =1

qut cho c h di hai dng to cc v to suy rng.

- Dng to cc .

r
Gi Xka, Yka, Zka l hnh chiu ca hot lc Fka v xk, yk, zk, l hnh
r
chiu ca di chuyn rk ln cc trc to oxyz. Ta c th vit phng trnh cn
bng ca h di dng phng trnh sau y:
N r
N
r
A k = Fka .rk = (X ak x k + Yka y k + Z ak z k ).
k =1

(14-3)

k =1

Phng trnh ny gi l phng trnh cn bng tng qut ca h di dng

to cc.
- Dng to suy rng.
Xt h c m to suy rng q1q2....qm. iu kin cn bng ca h c
th vit :

-213N r
N
r
s

A
=
F
.

r
=
k k k Q jq j = 0 .
k =1

k =1

Nu h chu lin kt hnh hc (h n nm) th cc qj l c lp vi nhau

v d dng suy ra cc iu kin cn bng sau y :
Q1 = 0 ; Q2 = 0 ; ......Qm = 0.

(14-4)

Cc phng trnh (12-3) v (12-4) chnh l iu kin cn bng tng qut

ca c h chu lin kt dng, h n nm l l tng.
Sau y l cc bi ton th d.
Th d 14 .1
X kp gm hai on AC v chuyn ng ni vi nhau bng khp bn l
C. Trn on chuyn ng c lc tp trung P tc dng theo phng vung gc
vi x ti E. Xc nh phn lc ti gi di ng B. Kch thc kt cu x cho
trn hnh (14-6a).
P

NB
A

sB

A
B

b
l1

sC
C

sE

l2

Hnh 14.6a

Hnh 14.6b

Bi gii :
xc nh phn lc NB ta gii phng lin kt (gi ta di ng) ti B v
thay vo phn lc NB.
Cho h di chuyn kh d vi SB, Sc, ScE nh hnh v.
Phng trnh cn bng tng qut cho h vit c :

A
SE =

a
k

= N B SB P.SE = 0 . Trong :

b l1
SB .Phng trnh cn bng cn vit c :
a l2

b l
bl
N B SB P. . 1 SB = 0 hay N B P. 1 = 0
a l2
a l2

-214Suy ra :

N B = P.

b l1
.
a l2

Kt qu cho ta gi tr dng chng t chiu ca phn lc NB chn nh

hnh v l ng.
Th d 142: Cho c cu chu tc dng cc lc cn bng biu din trn
hnh (14-7).
Xc dnh bin dng h ca l xo nu cho Q = 100N; cng l xo c = 5N/cm;
r1 = 20cm; r2 = 40cm; r3 = 10cm; OA = 50cm; = 300; = 900.

y
1

A
r2
O1
s

r1
1

s1
K

o2

r3

G1

sB

G3

sA

x
B

Hnh 14.7

Bi gii:
Xt h bao gm vt D n con trt B. b qua ma st trc v mt trt
lin kt t ln h l dng, mt pha, h n nm v l tng.
r r r r
Hot lc tc dng ln h gm trng lng Q, G 1 , G 3 , P v cc lc n hi
r
r
r
F ca l xo. Trong cc lc trn ch c lc Q v F l sinh cng.
Cho h mt di chuyn kh d vi s l di chuyn ca vt D lm c s. Ta
c th tm c ci chuyn ca im B nh sau :

-215Ta c : 1 =

s
r1

im tip xc K gia hai bnh rng 2 v 3 c di chuyn s1 vi :

s1 = r11 =
3 =

r2
s . di chuyn gc quay ca bnh rng 3 s l
r1

s1 r2
.
r1 r3

V thanh O3A gn vi bnh rng A nn im A c di chuyn :

s A = O 3 A.3 = l

r2
s .
r1r3

Ta c th xc nh di chuyn ca B thng qua sA. V thanh AB chuyn

ng song phng vi P l tm vn tc tc thi nn suy ra :

PA
PA s B
s A .
, hay : a B =
=
PB
PB s A
Trong tam gic APB ta c :
Nn : s B =

PB
1
.
=
PA cos 30 0

r2
s .
r1 r3 cos 30 0

Thit lp iu kin cn bng cho h nh nguyn l di chuyn kh d. Ta

c:

r r
F
k rk = Qs Fs B = 0 Thay F = c . h
ta c : Qs c.h

r2
s = 0 .
r1r3 cos 30 0

Q r1r3 cos 30 0
100.20.10.0,87
Suy ra : h =
s =
= 1,74cm .
c
r2
5.40.50

Nh vy h cn bng khi l xo b nn mt on h = 1,74cm.

-216Chng 15
nguyn l da lam be
15.1. Lc qun tnh v nguyn l Da lam be i vi cht im

r
Xt cht im c khi lng m chuyn ng vi gia tc W di tc dng
r r
r
cc ca lc F1 , F2 .....Fn (hnh 15-1).
Phng trnh c bn ca ng lc hc
vit cho cht im :
N r
r r r
r
mW = F1 + F2 + ......Fn = Fi .

F1

Fqt
M

i =1

F2
Fn

Chuyn cc s hng ca phng trnh trn

sang mt v c :
r
r
F
+

m
W
= 0.
i

Hnh 15.1
(1)

r
S hng mW c th nguyn ca lc bng tch s gia khi lng m
vi gia tc w, cng phng nhng ngc chiu vi gia tc c gi l lc qun
r
tnh ca cht im v k hiu l Fqt .
r
r
Ta c Fqt = mW .
Thay vo phng trnh (1) ta c :
N r
r
F
+
F
i qt = 0 .
i =1

r
r
Cc lc Fi v lc Fqt ng quy ti cht im v vy c th vit :
rr
r r
F1F2 ......Fn , Fqt = 0 .
(15-1)

Biu thc (15-1) biu din nguyn l a Lam Be cho cht im v c

pht biu nh sau :
Khi cht im chuyn ng, cc lc thc s tc dng ln cht im (bao
gm cc hot lc v phn lc lin kt) cng vi lc qun tnh ca n to thnh
mt h klc cn bng.

-217iu kin cn bng ca h lc biu din nguyn l a Lam Be cho cht

im vit c :

Xi = X1 + X2 + ....... + Xn +Xqt = 0.
Yi = Y1 + Y2 + ....... + Yn +Yqt = 0.
Zi = Z1 + Z2 + ....... + Zn +Zqt = 0.
Trong :
Xi , Yi , Zi v Xqt , Yqt , Zqt l cc hnh chiu ca lc Fi thc s rc ng len
r
cht im ca lc qun tnh Fqt ln cc trc oxyz.
Ch :

r
1. Lc qun tnh Fqt khng t ln cht im, l lc tng tng thm
vo c nguyn l a Lm Be. Thc t lc qun tnh t vo lin kt ca cht
im. Th d khi buc mt vt nng vo u mt si dy v quay th lc thc s
tc dng ln vt trong trng hp ny ch c trng lc, lc cng ca dy, lc cn
khng kh, cn lc qun tnh ca vt li t ln si dy v c xu hng t dy.
2. Khi cht im chuyn ng cong, gia tc ca cht im c hai thnh
phn tip tuyn v php tuyn do lc qun tnh cng c hai thnh phn tng
ng. Ta c :
r
r
r
W = W + Wn .
r
r
r
r
r
r
Fqt = mW = mW mW n = Fqt + Fqtn .
r
Trong lc qun tnh tip tuyn Fqt c phng tip tuyn vi qu o c
chiu ph thuc vo tnh cht chuyn ng ca cht im. Nu W =

dv
> 0 th
dt

lc qun tnh tip tuyn ngc chiu vi vn tc ca cht im.

W =

dv
< 0 th lc qun tnh tip tuyn cng chiu vi vn tc ca cht
dt

im. V vy gia tc php tuyn Wn lun lun cng hng vo tm ca ng

r
conh ti v tr ang xt nen Fqtn lun lun c chiu hng t tm ng cong ra
r
ngoi v th Fqtn c gi l lc qun tnh ly tm (hnh 15-2)

-218-

Fqtn

Fqtn

Fqt

v
M

M
W

Fqt
Wn

Wn

Hnh 15.2
Nh nguyn l a Lm Be ta c th gii thch cc bi ng lc hc ca
cht im bng phng php gii bi ton cn bng ca h lc ng quy bit
trong tnh hc.
Th d 15-1
W

Mt bng n c trng lng P treo

trn trn ca toa tu ang chy. Ti mt thi

i so vi phng ng mt gc . Tnh gia

im no ngi ta thy dy treo n lch

Fe

qt

M
P

Fqt

tc ca tu ti thi im . Tnh lc cng

ca dy (hnh 15-3).
Hnh 15.3
r
Xt chuyn ng ca bng n. Gi gia tc ca bng n l W ta c : cc
r
r
lc thc s tc dng ln bng n l trng lc P , lc cng T ca dy. Lc qun
Bi gii :

tnh ca bng n l :

r
P r
Fqt = W .
g
Theo nguyen l a Lm Be c :
r r r
P, T, Fqt
0

H lc ny gm 3 lc ng quy ta c th thit lp iu kin cn bng ca

chng bng tam gic khp kn nh trn hnh (15-3b).
T tam gic lc ny suy ra : Fqt = Ptg.
Hay

mw = ptg = mgtg;

-219w = gtg.
Ti thi im xt coi bng n l cn bng tng i trong toa tu do
gia tc ca bng n cng chnh l gia tc ca toa xe.
Cui cng lc cng T tnh c ; T =

P
1
=
P.
cos cos

Ta c phng chiu biu din nh hnh v.

Th d 15-2 : Mt bnh hnh tr cha cht lng
quay quanh trc thng ng vi vn tc khng i 0.

Tm dnh mt thong cht lng v tr cn bng tng

i (hnh 15-4).

Fqt

Bi gii:

B
N
M
P

Xt mt phn t cht lng M nm trn mt

thong.
Gi thit mt phng oxy ct mt thong theo
Hnh 15.4
giao tuyn AOB di qua im M (hnh 15-4). Cc lc
r
r
thc s tc ng ln cht im M gm : Trng lc P phn lc N ca phn cht
lng cn li tc dng ln cht im c hng theo php tuyn Mn.
r
r
Lc qun tnh ca cht im l Fqt = mW v khi lng quay u quanh
r
r
trc quay nn gia tc W ch gm thnh phn php tuyn W n v lc qun tnh
r
Fqt c phng chiu nh hnh v :
Fqt = Fqtn = m2.x ,
y x l to ca im M.
p dng nguyn l a Lm Be cho cht im M ta c :
r r r
P, N, Fqt 0.

Phng trnh cn bng ca h lc ny trn trc tuyn M vit c :

m x 2cos - mgsin = 0 ;

l gc nghing ca ng tip tuyn vi trc x.

Suy ra tg =

2
.x
g

-220-

dy
dy 2
= .x
Thay tg =
ta c :
dx
dx g
2
Hay dy = .x.dx .
g
Ly tch phn hai v theo cc cn tng ng c :

2
0 dy = 0 g .x.dx ,
y

2 2
Hay y = .x .
2g
Nh vy ng AOB l ng parabol v mt thong ca cht lng l mt
mt paraboloit trn xoay nhn trc oy l trc i xng.
15.2. Nguyn l a Lm Be i vi h

15.2.1. Nguyn l
Xt h gm n cht in : M1,M2, ........Mn.
r
r
Tch mt cht im Mk ra xt. Gi Fki v Fke l tng cc ni lc v tng
cc ngoi lc tc dng ln cht im. Nu cht im chuyn ng vi gia tc
r
r
r
Wk th lc qun tnh ca cht im s l Fqtk = m k Wk .
p dng nguyn l a Lm Be cho cht im ta c :
r r r
Fki , Fke , Fqtk 0.

Cho k tin t 1 ... n ta c n h lc cn bng vit theo dng trn. Tt c

cc h lc hp li thnh mt h lc cn bng :
r r r
(k = 1.... n)
Fki , Fke , Fqtk 0.

(15-3)

Biu thc (15-3) biu din nguyn l a Lm Be i vi h v c pht

biu nh sau :
Khi h chuyn ng cc lc thc s tc dng ln h (k c ni lc v
ngoi lc) cng vi lc qun tnh ca h to thnh mt h lc cn bng.
H lc biu din bi biu thc (15-3) l h lc bt k trong khng gian v
vy iu kin cn bng ca h c th vit nh sau :

-221-

(Fki + Fke + Fqtk ) = 0 ;

r

ki =1
N

[r

m 0 (Fki ) + m 0 (Fke ) + m 0 (Fqtk ) = 0 .

ki =1

ri

F
ki =1

r
(
F

ki =1

e
k

= 0 nn phng trnh cn li :

r
+ R qt = 0 ;

[m 0 (Fke ) + M qt0 ] = 0
N

ki =1

(15-4)

r
r
Trong R qt v M qt0 l vc t chnh v m men chnh lc qun tnh ca
h.
Nu vit di dng hnh chiu ta c 6 phng trnh sau :

X ke + X qt = 0 ;
Y ke + Y qt = 0 ;
Z ke + Z qt = 0 ;
m x (Fke ) + M qtx = 0 ;
m y (Fke ) + M qty = 0 ;

m z (Fke ) + M qtz = 0 .
Trong : Xke, Yke , Zke , Xqt , Yqt , Zqt l cc thnh phn hnh chiu ln
r
r
cc trc oxyz ca ngoi lc Fk0 v vc t chnh ca lc qun tnh R qt cn
r
r
r
m x ( Fke ), m y ( Fke ), m z ( Fke ) v Mxqt , Myqt , Mzqt l m men i vi ba trc oxyz
r
ca ngoi lc Fk0 v m men chnh ca lc qun tnh i vi ba trc.
Cng nh i vi cht im nguyn l a Lm Be i vi h cho ta
phng php gii cc bi ton ng lc hc cho h theo phng php tnh hc v
c gi l phng php tnh ng....Phng php tnh ng c p dng rng
ri gii cc bi ton ng lc hc c bit l nhng bi ton xc nh cc
phn lc lin kt. Khi s dng phng php kh khn chnh l vic xc nh vc

-222-

r
t chnh R qt v m men chnh, Mcqt. Sau y s trnh by kt qu thu gn h lc
qun tnh trong mt s trng hp c bit.
15.2.2. Thu gn h lc qun tnh
15.2.2.1. Thu gn h lc qun tnh ca vt rn chuyn ng tnh tin
Cc cht im trong vt c gia tc nh nhau v bng gia tc khi tm :
r
r
Wk = Wc (k = 1....n ) .
Khi thu gn h lc qun tnh v khi tm C ta c :
r
r
r
R qtc = m k Wc = MWc ;
r
r
r
r
r r
M qt
=

m
m
W
=

r
xm
W
=
M
rcc xWc = 0 .
c k k
k k c
c
r
V rcc = 0 do ta chn C lm tm thu gn.

Nh vy trong trng hp vt chuyn ng tnh tin hp lc ca cc lc

r
r
qun tnh bng vc t chnh R qtc = MWc v i qua khi tm C.
15.2.2.2. Thu gn h lc qun tnh ca vt rn chuyn ng quay quanh mt
trc c nh i qua khi tm C
Gi vn tc v gia tc ca vt l v ta c :
r
r
r
r
R qtc = m k Wk = MWc = 0 v Wc = 0 .

( )

( )

( )

N
N
N
r
r qt
r qt
M qtk = m cz F qt = m cz F + m cz Fn .
k =1

k =1

k =1

Cc lc qun tnh php tuyn lun lun i qua trc quay do :

( )

r
m cz F nqt = 0 . Ta c :

( )

N
r qt
M qt
=
m
F
= d k m k d k = J oz .

cz
cz
k =1

Mczqt = - Joz.
Vi Joz l m men qun tnh ca vt i vi trc quay.
Kt qu thu gn h lc qun tnh ca h chuyn ng quay quanh mt trc
i qua khi tm l :
r
R qtc = 0 v Mczqt = - Joz.

-22315.2.2.3. Thu gn h lc qun tnh ca vt rn chuyn ng song phng

Theo ng hc chuyn ng song phng ca vt c th phn tch thnh hai
chuyn ng c bn l tnh tin theo khi tm v chuyn ng quay quanh trc z
i qua khi tm C vung gc vi mt phng c s. Thu gn h lc qun tnh vi
tng chuyn ng c bn c trnh by trong hai trng hp trn. D
dng nhn thy khi thu gn cc lc qun tnh ca h chuyn ng song phng c
kt qu sau :
r
r
R qtC = MWc v Mczqt = - Joz.
trong M v Joz l khi lng v m men qun tnh ca h i vi trc
quay cz. Wc v l gia tc khi tm v gia tc gc ca h.
Sau y gii mt s bi ton c vn dng nguyn l a Lm Be cho h.
Th d 15-3:
Hai vt A v B c trng lng P1 v P2 lin kt vi nhau bng mt si dy
khng dn trng lng khng ng k. Hai vt chuyn ng trn mt phng nm
ngang c h s ma st f nh tc dng lc Q vo vt B theo phng ngang ( hnh
15-5 ). Xc nh gia tc ca hai vt v lc cng ca si dy.
Bi gii :
Xt h gm c hai vt. Cc lc ngoi tc dng ln h gm trng lng
r r
r r
r r
P1 , P2 , phn lc php tuyn N1 , N 2 , lc ma st trt F1 , F2 v lc ko Q.
N2
qt
2

F
F2

N1
qt
1

B F
P2

F1

A Q

P1

N2
qt
2

F
F2

P2

b)

a)
Hnh 15.5

r r
Gi lc qun tnh t ln vt A v B l F qt1 , F2qt ta c :

r
P r r
P r
F1qt = 1 W1 ; F2qt = 2 W2
g
g

-224-

r
r
r
vi W1 = W2 = W .
Theo nguyn l a Lm Be ta c :
r r r r r r r r r
P1 , P2 , N 1 , N 2 , F1 , F2 , Q, F1qt , F2qt = 0

Cc lc ny c biu din trn hnh (15-5a). Phng trnh cn bng theo

phng trc ox nm ngang vit c:
r
r
r
r
Q F1qt F2qt F1 F1 = 0 ,
hay Q =

P2 + P1 r
W (P2 + P1 )f = 0 .
g

Suy ra gia tc hai vt :

Q
W =
f .g

P2 + P1

T kt qu tm c nhn thy vt chuyn ng khi :

Q
.
f <
P2 + P1

tnh lc cng T ca dy ta phi tch mt trong hai vt ra xt chng

r r r
r
hn xt vt B. Cc lc thc s tc dng ln vt B l : P2 , N 2 , F2 , Q, T . lc qun
r
tnh l F2qt . Cc lc ny c biu din trn hnh (15-5b).

p dng nguyn l a Lm Be ta c :
r r r r r r
( P , N , F2 , Q , T , F qt2 ) 0.
Vit phng trnh ca h cn bng ny ln phng ngang ta c:
Q - T - F2 - F2qt = 0
Q - T - p2.f - p2 w = 0
g
Thay gi tr tm c ca w vo phng trnh trn tnh c :
T=

QP1
.
P1 + P2

Kt qu cho thy lc cng ca dy khng ph thuc lc ma st.

-225-

Th d 15-4:
r

Thanh ng cht c chiu di l, trng lng P . u A c gi bng khp

r

bn l v u B c gi bng si dy (hnh 15.6). Xc nh lc cng T ca dy

BD khi trc quay u vi vn tc o.
Cho bit gc hp bi gia thanh AB v trc quay AD l .
Bi gii:
Xt chuyn ng ca thanh AB. Cc lc ngoi tc dng ln thanh l:
r

Trng lc P , phn lc R A v lc cng T ca dy. Gi hp lc ca cc lc qun

r

tnh l R qt . Theo nguyn l a lam be ta c:

r r r

( P , T , R A, R

qt

) 0.
r

Ta c nhn xt: Lc qun tnh F

qt
k

ca cc phn t trn thanh c cng

phng chiu v t l vi to xk ca n.
iu ny cho php v biu phn b

cc lc qun tnh theo hnh (15-6). Ta nhn

Rn

ngha l i qua im F cch A mt on

+ R qt = 0 ;

yA

bng 21/3. D dng tm thy phng trnh h

cn bng cho h lc:
A

r
W c v i qua trng tm ca tam gic ABE,

X = T + X

r
thy rng hp lc ca h lc ny R qt = M.

2xdm

xA

Y=YA - P = 0 ;

Hnh 15.8
2
1
m A (Fi ) = T.l.cos R . 3 cos P 2 sin = 0
Pl
sin 2 v gii h phng trnh trn ta c :
.Thay R qt = M.Wc =
g2
qt

l2
1
T = P 0 sin + tg ;
2

3g

l02
Pl
1
sin + tg
sin 02 .
YA = P v X A = P
2
3g
g2

-226Chng 16
Phng trnh tng qut ca ng lc hc Phng trnh lagrang loi 2
16.1. Phng trnh tng qut ca ng lc hc

Nh bit chng 12 v chng 13, nguyn l a Lm Be cho ta

phng php tnh gii quyt cc bi ton ng lc hc, cn nguyn l di
chuyn kh d cho ta phng php tng qut gii cc bi ton cn bng ca c h
t do. Kt hp hai nguyn l trn cho chng ta thit lp phng trnh vi phn
chuyn ng ca c h t do gi l phng trnh tng qut ca ng lc hc.
Xt c h chu lin kt dng v l tng chuyn ng di tc dng ca
r r
cc hot lc v phn lc lin kt. Gi Fka , N k l hot lc v phn lc lin kt tc
dng ln cht im Mk . Nguyn l a Lm Be cho cht im Mk c th vit ;
r
r
r
Fk + N k m k Wk = 0 .
(a)
r
Cho h di chuyn kh d, gi rk l di chuyn ca cht im Mk . Nhn hai
r
v ca phng trnh (a) vi rk ta c
r r r r
r r
Fka rk + N k rk m k Wk rk = 0 .
(b)
Vit phng trnh (b) cho tt c cc cht im trong h ngha l cho k = 1
... N ta s c h N phng trnh :

r r r r
r r
F a r1 + N1 r1 m1 W1 r1 = 0 ;
ra r r r
r r
F r2 + N 2 r2 m 2 W2 r2 = 0 ;

..............................................
r r r r
r r
Fna rn + N n rn m n Wn rn = 0 .
Tin hnh cng v vi v ca h N phng trnh trn ta c :
N r
N r
N
r r
r
a r
F

r
+
N

m
W
k k k k k k rk = 0 .
k =1

k =1

(c)

k =1

V lin kt t ln h l lin kt l tng nn s hng th hai trong phng

N r
r
trnh (c) trit tiu : N k rk = 0 .
k =1

-227Cui cng ta c :
N r
N
r r
a r
F

m
W
k k k k rk = 0
k =1

k =1

Hay :

ra

(F
k =1

r r
m k Wk ) rk = 0

(16-1)

Phng trnh (16-1) l phng trnh vi phn chuyn ng ca h c gi

l phng trnh tng qut ca ng lc hc di dng vc t.
Cng c th vit phng trnh ny di dng to cc sau y.
N
N
r
r
r
a
a
.(
X

m
x
)

x
+
.(
Y

m
y
)

y
+
k
k
.( Z ak m k z k )z k = 0 (16-2)
k k
k
k k
k
N

k =1

k =1

k =1

T cc phng trnh tng qut ca ng lc hc ta thy khi c h chu lin

kt dng v l tng tng vi phn cng ca cc hot lc v cc lc qun tnh
lun lun bng khng. Ta c :
N

k =1

k =1

.A ak + .A qak = 0

(16-3).

Th d 16-1
Trc ca b iu chnh ly tm t
thng ng v quay vi vn tc gc

(hnh 16-1). Trng lng ca mi qu

O1

vng l P1 = P2 = P. Trng lng ca con

B1

trt CC1l Q. Xc ng gc ca thanh

y
O2

B2

A1O1 v A2O2 hp vi trc quay l hm F1n

F2n

theo vn tc gc . Cho A1O1 = A2O2 =

1; O1B1 = O2B2 = B1C1 = B2C2 = a
Bi gii :
Xem b iu chnh bao gm qu
vng A1A2 v con trt l mt c h. Nu

A1 C
1

C2

P1

A2
P2

Q3
x

Hnh 16.1

b qua lc ma st cc trc v cc
khp ni ta c th xem c h ny chu lin kt dng v l tng. Cc hot lc tc
r r
dng ln h bao gm trng lng ca cc qu vng v con trt l P1 , P2 v Q.
Khi h quay n nh vi vn tc gc th lc qun tnh ca h ch bao gm cc

-228-

r r
lc qun tnh ly tm F1qt , F2qt ca hai qu vng. Do i xng cc lc qun tnh ny
c tr s bng nhau v bng :

r
r
P
F1qt = F2qt = 2 l sin .
g
Phng trnh tng qut ca ng lc hc vit di dng to cc
chn nh hnh v l :
P1x1 + P2x2 - F1qty1 + F2qty2 + Qx0 = 0.
xc nh cc bin phn ca to t hnh v ta c :
x1 = x2 = lcos ;
y1 = -y2 = -lsin ;
xc = 2acos.
Suy ra: x1 =x2 = -lsin.;

y1 =-y2 = -lcos.;
xc = -2a.sin.;
Thay cc kt qu va tm c vo phng trnh thit lp trn :

2P.2a sin +

2P 2
l sin .l cos 2Q. sin = 0 .
g

Suy ra :

cos =

Pl + Qa
g,
Pl 2 2

Hay : = arccos

Pl + Qa
g.
Pl 2 2

V cos 1 nn cng t kt qu ny suy ra :

Pl + Qa
g.
Pl 2 2

c gc tch cho trc vn tc gc ca trc bao gi cng ln hn

hoc bng

Pl + Qa
Pl 2 2

g.

-229Th d 16-2
2

C cu nng h c kt cu biu
din trn hnh (16-2). Bnh xe 1 c
trng P1, bn knh qun tnh 1. Bnh xe

1
1

2 c trng P2, bn knh qun tnh 2. Xc

Mtqt

nh gia tc ca vt nng A c trng

s1

lng Q khi ta tc ng ln bnh xe mt

m men quay M.

M
M2qt
2

A
FAqt

Bi gii :

Xt h gm bnh xe 1, bnh xe 2

Hnh 16.2

v vt nng A. Coi ma st trong trc

bnh xe l khng ng k th lin kt t ln h l lin kt dng v l tng.
Phng trnh vi phn chuyn ng ca h c vit di dng phng trnh tng
qut ca ng lc hc.
N
r r
a r
.
F

.
m
W
k k k k rk = 0
n

k =1

k =1

r r
Hot lc tc dng ln h bao gm m men M v cc trng lc P1 , P2 , Q .
r
Khi h chuyn ng, cc lc qun tnh tc dng ln h bao gm FAqt , M1qt , M qt2 .
Lc qun tnh ca vt A c th xc nh :
Cc m men lc qun tnh ca bnh xe

r
Q r
FAqt = WA
g
M1qt =

P1 2
P
1 1 ; M qt2 = 2 22 2 .
g
g

r
y WA l gia tc ca vt A ; 1 v 2 l gia tc ca gc ca bnh xe 1
v 2. Theo kt cu ca h ta c:

1 =

WA
r
; 2 = 1 WA .
r
rr2

Cho h mt di chuyn kh d vi di chuyn sA ca vt A lm c s. Theo

kt cu ta cng suy ra di chuyn ca cc bnh xe l :

1 =

s A
r

; 2 =

r1
r s
= 1 A
r2
r2 r

Phng trnh tng qut ca h ng lc hc vit c th s l :

-230- Qs A

s
P
P
r
r s
Q
WA s A 1 12 1 A 2 22 2 1 s A + M 1 A = 0 .
g
g
r
g
rr2
r2 r

Hay : Q(1

WA
P
W
P
r2
r
) 1 12 2A 2 22 21 2 W A + M 1 = 0 .
g
g
r
g
r r2
rr2

Suy ra :

r1
M rQ
r2
.
WA =
12
22 r12
rQ + P +
P1
r
r r22
16.2. Phng trnh Lagrang loi II

Phng trnh trnh tng qut ca ng lc hc vit di dng to suy

rng dc gi l phng trnh Lagrang loi 2.
Xt h chu lin kt dng v l tng. Phng trnh tng qut ca h l :
N
N r
N
r r
ra
r
r
a r
.(Fk = m k Wk ) rk = 0 , hay : .Fk rk .m k Wk rk = 0 .
k =1

k =1

k =1

m
ra r
.
F

r
=
k k .Q jq j
N

Nh bit chng 14 ta c th thay :

k =1

j=1

y Qj l lc suy rng ng vi to suy rng qj .

c phng trnh Lagrang loi 2 ta cn phi bin i trc tip s hng
N
r r
.
m
W
k k rk sang to suy rng. ta c :
k =1

N
m
N
r r
r m rrk
r rrk
.m k Wk rk = .m k Wk ( .
q j ) = .( m k Wk
)q j .

q j
k =1
k =1
j=1 q j
j=1
k =1
r
r
r
rk
rk
rk
r
trn thay : rk = (
q j +
q j + .......
q j + k )
q1
q 2
q m
t
r
N
r rk
t m k Wk
= Zj ta s a phng trnh v dng:
q j
k =1
N

.m k Wk rk = .Z j q j

k =1

j=1

Sau y tm biu thc ca Zj :

-231-

r
r
N
r rrk d N
r rk
r d rk
Z j = .m k Wk
= ( .m k v k
.m k v k (
) .
dt q 1
q1 dt k =1
q 1 k =1
k =1
r
r
r
r
r
rk
rk
rk
d rk rk
r
=
q& +
q& + ......
q& +
;
Thay v k =
t
dt q 1 1 q 1 2
q 1 m
r
r
m r

r
r
v k = k q& j + k .
t
j=1 q j
N

T kt qu ny suy ra hai biu thc sau :

r
r
rk v k
=
q j q& j

(e)

Thay :
r
r
r
r
r
2 rk
2 rk
2 rk
2 rk
d rk
(
)=
q& +
q& + ........ +
q& +
dt q j
q j q 1 1 q j q 2 2
q j q m m tq 1

r
r
r
rk
v k
m rk
= .
=
q& j +
( .
q& j +
)=

q
q
t
q

t
q j
j=1
j j=1
j
j
j
j
r
r
v k
d rk
(g)
Suy ra : (
)=
.
q j
dt q j
m

r
2 rk

r
2 rk

Thay kt qu tm c t biu thc (e) v (g) vo biu thc ca Zj ta c :

r
r
N
d N
r v k
r v k
Z j = ( .m k v k
) .m k v k
;
dt k =1
q& j
q j
k =1
2
v 2k
d N
r vk
( .m v
.
( .m k
) .
= .
dt q& j k =1 k k 2 q j
2

Hay : Z j =

d T
T
(
)
dt q& j
q j

Thay kt qu tm c vo phng trnh (d) ta c :

m
m
N
N r
r r
a r
.
F

.
m
W

r
=
.
Q

k 2 k k k j j .Z j .q j = 0 .
k =1

Hay :

k =1

j=1

j=1

d T
T
(
)
= Q j ( j = 1....m)
dt q& j
q j

(16-4).

-232H phng trnh dng (16-4) c gi l phng trnh Lagrang loi 2.

Trong T l ng nng ca h. Qj l lc suy rng ng vi to suy rng qj .
Trong trng hp lc hot ng l lc c th Q j =

th phng trnh
q j

(16-4) tr thnh :

d T
T

(
)
=
dt q& j
q j
q j
Cn ch rng

( j = 1....m) .

(16-5)

= 0 , do :
q j

d T
T

)(

)= 0
dt q& j q j
q j q j
Nu t T - = L ( qj , q& j ,t) th phng trnh Lagrang loi 2 c dng :

d L
L
(
)
= 0 ( j = 1...m) .
dt q& j
q j

(16-6)

Th d 16-1
Mt tr trn ng cht c khi lng M chuyn ng ln khng trt trn
mt phng nghing ca lng tr hnh tam gic c khi lng m v c gc
nghing vi mt ngang l . Lng tr c th trt trn mt ngang nhn
(hnh 16-3). Lp phng trnh vi phn chuyn ng ca c h.
Xt h lng tr v tr trn.
C h chu lin kt dng, gi, h

n nm v l tng. Hot lc tc
dng ln h gm c : Trng lc
r
r
P v Q ca tr trn v lng tr

P
Q

tam gic. Cc lc ny l lc c O1

th. Nu chn h to suy rng

ca h l q1 = x v q2 = s (hnh

Hnh 16.3

16-3) ta thy h c hai bc t do v phng trnh Lagrang loi 2 c th vit di

dng :

-233-

d T
T

(
)
=
dt x& j
x j
x j

(a)

d T

T
=
( )
s j
dt s& j
s j

(b)

r
Th nng ca h ng vi lc P tnh nh sau :
(P) = -Mg.sin.s + C1 vi C1 l hng s.
Th nng ca h ng vi lc Q l mt hng s

(Q) = const = C2
Th nng ca c h = - Mg.S.sin + C ; C l hng s
Suy ra :

= 0 v
= Mg sin
x
s

ng nng ca h bao gm ng nng ca tr trn v ng nng ca lng

tr.
Lng tr chuyn ng tnh tin nn ng nng ca n c th vit :

mV 2 mx& 2
T1 =
=
.
2
2
Tr trn chuyn ng song phng nn ng nng tnh c :

2
MV 2
= J0
Ttr =
2
2
V0 l vn tc tuyt i ca trc tr trn.
r
r
v
V0 = Vc + Vr
Suy ra :

V0 x = Vcx + Vrx = x& + S& cos

V0 y = Vcy + Vry = y& + S& sin
2
2
V02 = Vox
+ Voy
= ( x& + S& cos ) 2 + ( y& + S& sin ) 2

= x& 2 + S& 2 + 2 x& 2S& 2 cos

Vor Vr S&
s& 2
MR 2
=
=
=
v 2 = 2 cn J 0 =
R
R R
4
R
Thay cc kt qu trn vo biu thc ca ng nng h ta c :

-234Th =

mx& 2 M
MR 2 s&
+
( x& + S& cos ) 2 + ( y& + S& sin ) 2 +
w
2
4 R2

x& 2 3M s& 2
= ( M + m) +
+ M x& S& cos .
2
2 2
Suy ra :

T
T
T
=0;
=0;
= (M + m) x& + MS& cos
x
s
x&

d T
( ) = (M + m)&x& + M&S& cos
dt x&
T 3M &
d T 3M &&
=
S + Mx& cos ; ( ) =
S + M&x& cos
s&
2
dt s&
2
Phng trnh vi phn chuyn ng ca h phng trnh Lagrang loi 2
nhn c :

&& cos = 0 ;
(M + m)&x& + MS

3M &&
S + M&x& cos = Mg sin .
2
T h phng trnh trn ta tm c :

&x& =

Mg sin 2
<0
3(M + m) 2M cos 2

&& =
S

2(M + m)g sin

>0
3(M + m) 2M cos 2

Nu ban u h ng yn th sau tr trn ln xung cn lng tr trt

qua phi. Cc chuyn ng u l chuyn ng bin i u.
Th d 16-2
Con lc eliptic gm con trt A v qu cu B z
ni vi A bng mt thanh treo AB. Cho bit khi
lng ca con trt m1, khi lng ca qu cu l
m2, khi lng thanh treo khng ng k. Con trt

A c th trt theo phng AY trn mt phng

ngang nhn. Con lc AB c th quay trn quanh trc

A trong mt phng thng ng oxy (hnh 16-4).

Thit lp phng trnh vi phn ca h.

l
B

Hnh 16.4

-235Bi gii
Xt h gm con trt A v con lc AB.
C th chn hai to suy rng ca h l :
q1 = y v q2 = .
Phng trnh vi phn ca h c th vit di dng :

d T
T
( )
= Qy ;
dt y&
y

d T T
( )
= Q .
dt &

Vi T l ng nng ca h, Qy v Q l cc lc suy rng ng vi to

suy rng l y v .

r
r
Cc hot lc tc dng ln h gm P1 v P2 u l cc lc c th nn c th
vit :

Qy =

; Q =
.
y

Th nng ca h c th tnh nh sau :

= -m2g.x + const = -m2glcos + const.

Suy ra :

= Q = m 2 gl sin
= Q y = 0 v

y
T = TA + TB.

ng nng ca h

m1VA2 m1 y& 2
ng nng ca con trt : TA =
=
.
2
2
m1VB2 m1 2
=
( x& B + y& 2B ) .
ng nng ca qu cu : TB =
2
2
Vi xB = lcos v x& B = l sin ; yB = y + lsin v y& B = y& + l& cos
Ta c :
TB =

m2
2

[(l sin )

+ ( y& + l& cos ) 2 =

Biu thc ng nng ca h thu c :

m2 2 2
(l & + y& 2 + 2ly& & cos ) .
2

-236T = TA + TB =

T suy ra :

m 1 y& 2
2

m2
2

(l 2 & 2 + y& 2 + 2ly& & cos ).

T
= m 2 l 2 & + m 2 ly& cos ;

d T
&& + m 2 l&y& cos m 2 ly& & sin ;
( ) = m 2l2
dt &
T
= (m 2 + m1 ) y& + m 2 l& cos ;
y&
d T
&& cos & 2 sin ) ;
( ) = (m1 + m 2 )&y& + m 2 l(
dt &
T
=0;

T
= m 2 l o & y& sin .

Thay cc gi tr tm c vo phng trnh vi phn ca h ta c :

&& + m 2 l&y& cos m 2 ly& & sin + m 2 ly& & sin = m 2 gl sin ;
m2l2
&& cos m 2 l& 2 sin = 0 .
(m1 + m 2 )&y& + m 2 l
Sau khi rt gn c phng trnh vi phn chuyn ng ca h :

&& + cos &y& + g sin = 0 ;

l

&& cos m 2 l& 2 sin

(m1 + m 2 )&y& + m 2 l