C HOC LY THUYET

(Tom tat ly thuyet & Bai tap mau)

Trnh Anh Ngoc
15/10/2009

i
Li khuyen

We are what we repeatedly do. Excellence, then, is not an act, but a habit.
Aristotle

Khong ai hy vong hoc bi ma khong b t. Cung khong co ai hy vong

hoc bi ma ch nh oc sach hay nhn ngi khac bi. Bi loi khong the hoc
ma khong co thc hanh. Ch co mot cach hoc la t "nem" mnh xuong nc
va tap luyen hang tuan, tham ch hang thang, cho en khi bai tap luyen tr
thanh phan xa nhe nhang. Tng t nh vay, c hoc khong the c hoc
mot cach thu ong. Khong giai quyet nhieu bai toan co tnh thach thc,
ngi sinh vien khong co cach nao khac e kiem tra nang lc hieu biet cua
mnh ve mon hoc. ay la ni sinh vien gat hai c s t tin, cam giac thoa
man va loi cuon nay sinh nh s hieu biet xac thc ve cac nguyen ly an tang.
Kha nang giai cac bai toan la chng minh tot nhat s nam vng mon hoc.
Nh trong bi loi, ban giai cang nhieu bai toan, ban cang sac xao, nam bat
nhanh cac ky nang giai toan. e thu li ay u t cac th du va bai tap c
giai trong tai lieu nay (cung nh sach bai tap ma ban co), tranh tham khao
ngay li giai qua sm. Neu ban khong the giai bai toan sau nhng no lc ban
au, hay th co gang lan na! Neu ban tm oc li giai ch sau nhieu lan
no lc, no se c gi lai trong tr ban mot thi gian dai. Con neu ban tm
ra c li giai cua rieng mnh cho bai toan, th nen so sanh no vi li giai
trong sach. Ban co the tm thay o li giai gon hn, cach tiep can thong
minh hn.
Tai lieu on tap nay khong the thay the cho sach ly thuyet va sach bai
tap ve c hoc. No ch co tac dung giup ban on tap co chu iem ve mot so
van e quan trong trong chng trnh mon c hoc ly thuyet. Mot ieu quan
trong: v mot cuon sach bai tap noi chung thng cha ng nhieu, rat nhieu
cac th du va bai tap, ban tuyet oi nen tranh co gang nh nhieu ky thuat
va li giai cua no; thay v the, ban nen tap trung vao s hieu biet cac khai
niem va nhng nen tang ma no ham cha. Hay bat au HOC va TAP.
Chuc ban thanh cong.

Muc luc

1 ONG HOC
1
Phng phap mo ta chuyen ong . . . . .
1.1
He toa o . . . . . . . . . . . . . . .
1.2
Luat chuyen ong - Van toc - Gia
1.3
Vai chuyen ong quan trong . . .
2
Chuyen ong cua co the . . . . . . . . . .
2.1
Trng van toc cua co the . . . . .
2.2
Hp chuyen ong . . . . . . . . . .

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1
1
1
3
4
5
5
6

2 ONG LC HOC
1
Cac nh luat Newton . . . . . . . . . . . . . . . . . . . . . . . . .
1.1
Lc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2
Hai bai toan c ban cua ong lc hoc . . . . . . . . . .
1.3
Cac nh ly tong quat cua ong lc hoc . . . . . . . . .

8
8
8
9
10

3 C HOC GIAI TCH

1
Cac khai niem c ban . . . . . . . . . . . . . . . .
2
Phng trnh Lagrange . . . . . . . . . . . . . . . .
2.1
Phng trnh tong quat ong lc hoc . .
2.2
Phng trnh Lagrange loai hai . . . . . .
2.3
Trng hp he bao toan . . . . . . . . . .
2.4
Thu tuc thiet lap phng trnh Lagrange

15
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16
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16
17
18

BAI TAP

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loai hai

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19

ii

CHNG 1. ONG HOC

goi la van toc, gia toc tuyet oi cua M.

He quy chieu ong (T1) = O1 x1y1z1 ((T1) chuyen ong oi vi (T )),
chuyen ong cua M oi vi (T1) goi la chuyen ong tng oi. vr , wr
- van toc, gia toc cua M oi vi (T 1), goi la van toc, gia toc tng oi
cua M.
Chuyen ong cua (T1) oi vi (T ) goi la chuyen ong theo. Chuyen
ong cua iem P , gan vi (T1) trung vi M tai thi iem ang xet, oi
vi (T ) goi la chuyen ong theo cua M. ve , we - van toc, gia toc cua P
oi vi (T ), goi la van toc, gia toc theo cua M.
? Cong thc cong van toc:
va = vr + ve .

(1.21)

wa = wr + we + wc ,

(1.22)

wc = 2~ vr

(1.23)

? Cong thc cong gia toc:

trong o

la gia toc Coriolis sinh ra do chuyen ong quay cua (T1) oi vi (T ).

Phan loai bai toan hp chuyen ong
Bai toan th nhat: Bai toan tong hp chuyen ong.
Bai toan th hai: Bai toan phan tch chuyen ong.
? Chuyen ong song phang la chuyen ong trong o co the co ba iem
khong thang hang thuoc co the luon luon chuyen ong trong mot mat phang
co nh. Chuyen ong song phang c xet bang cach khao sat chuyen ong
cua hnh phang S thuoc co the nam trong mat phang co nh. Giao iem
cua truc quay tc thi cua co the vi mat phang co nh goi la tam quay hay
tam van toc tc thi.
Phan loai bai toan chuyen ong song phang
Tnh van toc goc cua hnh phang, tnh van toc cua mot iem bat ky
tren hnh phang.
Tnh gia toc goc cua hnh phang, tnh gia toc cua mot iem bat ky tren
hnh phang.
Th du ve chuyen ong song phang sinh vien oc ky li giai cac bai tap
3.2, 3.3, [1].

CHNG 2. ONG LC HOC

11

trong o dk la khoang cach t chat iem th k en .

? Tenx quan tnh la ma tran

Jx Jxy Jxz
Jy Jyz ,
J = Jyx
Jzx Jzy
Jz

(2.11)

trong o Jx , Jy , Jz la momen quan tnh cua he oi vi cac truc Ox, Oy, Oz;
Jxy , Jxz , . . . la cac momen quan tnh ly tam cua he
Jxy = Jyx =

mk xk yk , Jyz = Jzx =

mk yk zk , Jzx = Jxz =

mk zk xk (.2.12)

Neu n = [cos , cos , cos ]T la vect n v cua truc th J = nT Jn.

nh ly 4 (nh ly Huygens).
J = JC + Md2 ,

(2.13)

trong o d la khoang cach gia hai truc.

? Cong thc tnh momen quan tnh can nh
1. Thanh manh ong chat chieu dai l, khoi lng M oi vi truc qua khoi
tam va vuong goc vi thanh

JC =

1
Ml2 .
12

(2.14)

2. Vong ong chat ban knh R, khoi lng M oi vi truc qua tam va
vuong goc vi mat phang cha vong
JC = MR2 .

(2.15)

3. a tron ong chat ban knh R, khoi lng M oi vi truc qua tam va
vuong goc vi a
1
JC = MR2 .
2

(2.16)

CHNG 1. ONG HOC

+ He toa o Descartes:
M(x, y, z) r = xi + yj + zk
dr = (dx)i + (dy)j + (dz)k

(1.1)
(1.2)

+ He toa o tru:
M(r, , z) r = rer + zez
dr = (dr)er + (rd)e + (dz)ez

(1.3)
(1.4)

trong o er , e , ez la cac vect c s a phng cua toa o tru tai M.

+ He toa o cau:
M(r, , ) r = rer
dr = (dr)er + (rd)e + (rd)e

(1.5)
(1.6)

trong o er , e , e la cac vect c s a phng cua toa o cau tai M.

He toa o Quan he vi toa o
Descartes
Tru
x = r cos
(r, , z)
y = r sin
z=z
Cau
x = r sin cos
(r, , )
y = r sin sin
z = r cos

Vect c s a phng
er = cos i + sin j
e = sin i + cos j
ez = k
er = sin (cos i + sin j) + cos k
e = sin ( sin i + cos j)
e = cos (cos i + sin j) sin k

Hnh 2: Vect c s a phng cua toa o t nhien.

Tren ng cong C, chon iem M0 va mot chieu dng tren C. Hoanh
o cong cua iem M tren C la so ai so s co tr tuyet oi bang chieu dai cung
_

M0 M va lay dau cong neu chieu t M0 en M la chieu dng, dau tr neu

ngc lai.

CHNG 1. ONG HOC

Hnh 2 the hien cac vect c s a phng cua he toa o t nhien

(hoanh o cong s) cua ng cong co phng trnh tham so r = r(s).
Vect tiep tuyen n v t:
t=

dr
.
ds

(1.7)

Vect phap tuyen n v n c xac nh sao cho

1
dt
= kn = n,
ds

(1.8)

trong o k = 1/ la o cong, la ban knh cong (cua ng cong) tai M. Chu

y, vect phap tuyen n v n luon hng ve be lom cua ng cong C.
Vect lng phap tuyen n v:
b = t n.

(1.9)

M(s) r = r(s)

(1.10)

+ Toa o t nhien:

dr = (ds)

1.2

dr
= (ds)t
ds

(1.11)

Luat chuyen ong - Van toc - Gia toc

Phng phap
Vect
Descartes
{i, j, k}
Tru
{er , e , k}
Cc
{er , e}
T nhien
{t, n, b}

Luat chuyen ong

r = f(t)
x = f(t)
y = g(t)

z = h(t)
r = f(t)
= g(t)

 z = h(t)
r = f(t)
= g(t)
s = f(t)

Van toc
r

Gia toc
r

(x,
y,
z)

(
x, y, z)

(r,
r,
z)

(
r r 2 , 2r + r,
z)

(r,
r)

(
r r 2 , 2r + r)



v2
v,

(v, 0), v = s

CHNG 1. ONG HOC

Toc o v = |v|.
Trong toa o t nhien, toc o v = s,
gia toc tiep wt = v,
gia toc phap
2
wn = v /.
Cong thc tnh ban knh cong (ky hieu w = |w|):
= p

v2
w2 wt2

(1.12)

Tch vo hng v w cua van toc va gia toc the hien s nhanh cham
cua chuyen ong

> 0 nhanh dan

v w = v v
< 0 cham dan

= 0 eu

1.3

(1.13)

Vai chuyen ong quan trong

? Chuyen ong tron. iem chuyen ong tron trong Oxy quanh O. Ky hieu: r
- vect nh v iem, - goc quay, = - van toc goc, ~ = k - vect van
toc goc. Van toc cua iem
v = ~ r.

(1.14)

2
w = ~| {z
}r
| {z }r,

(1.15)

Gia toc cua iem

wt

wn

trong o ~ = d~ /dt ( = d/dt) la vect gia toc goc.

Neu chuyen ong eu th v = R ( = const) va gia toc hng tam
w = 2 R (R - ban knh cua quy ao).
? Chuyen ong co gia toc xuyen tam
gia toc xuyen tam r v = c (const) Quy ao phang

van toc dien tch d~

= 12 r v = 12 c (const).
dt

CHNG 1. ONG HOC

Cong thc Binet:


 

1
mc2 d2 1
+
= F.
r2 d2 r
r

(1.16)

Phan loai bai toan ong hoc iem

Bai toan th nhat: Tm phng trnh chuyen ong (luat chuyen ong),
phng trnh quy ao, van toc, gia toc, gia toc tiep, gia toc phap, ban knh
cong cua quy ao.
Bai toan th hai: Khao sat chuyen ong nhanh dan eu, cham dan eu
va eu.

2 Chuyen ong cua co the

Co the la c he ma khoang cach gia cac iem cua no khong thay oi trong
qua trnh chuyen ong. V tr cua co the c xac nh bi ba iem khong
thang hang cua no.

2.1

Trng van toc cua co the

nh ly 1. Trng van toc cua mot co the (S) la trng ang chieu
-

v(M) MN= v(N) MN

M, N (S).

(1.17)

? Chuyen ong tnh tien

Co the (S) chuyen ong tnh tien khi vect noi hai iem bat ky cua
no luon luon cung phng vi chnh no.
Trng van toc, gia toc trong chuyen ong tnh tien la trng eu.
Chuyen ong cua (S) dan ve chuyen ong cua mot iem thuoc (S).
? Chuyen ong quay quanh mot truc co nh
Co the (S) chuyen ong quay quanh truc co nh khi no co hai iem
co nh. Truc quay la ng thang i qua hai iem co nh nay. Cac iem
nam ngoai truc quay chuyen ong tron vi tam nam tren truc quay.
Goi k la vect n v cua truc quay (Oz), la goc quay.

CHNG 1. ONG HOC

Phng trnh chuyen ong: = (t).

Trng van toc:
v(M) = ~ r,

(1.18)

w(M) = ~ r + ~ (~ r),

(1.19)

trong o ~ = k
la vect van toc goc.
Trng gia toc:

trong o ~ = k
la vect gia toc goc. Gia toc tiep w t = ~ r, gia toc phap
wn = ~ (~ r).

? Chuyen ong tong quat. Chuyen dch bat ky cua co the t v tr nay
sang v tr khac, trong khoang thi gian vo cung be (chuyen ong tc thi),
co the c thc hien nh chuyen ong tnh tien, tng ng vi chuyen dch
cua mot iem, va chuyen ong quay quanh truc i qua iem ay.
Trng van toc cua co the trong chuyen ong tong quat (cong thc
Euler):
-

v(M) = v(C) + (t) CM .

(1.20)

? Chuyen ong song phang

Co the (S) chuyen ong song phang khi co ba iem khong thang hang
luon luon chuyen ong trong mat phang () co nh. Khi khao sat chuyen
ong song phang ta ch can xet chuyen ong cua mot tiet dien cua no (phan
giao cua co the vi ()). Chuyen ong tc thi cua co the gom: chuyen
ong chuyen ong quay quanh mot truc vuong goc vi (), va chuyen ong
tnh tien xac nh bi chuyen ong cua giao iem truc quay tc thi vi mat
phang () goi la tam van toc tc thi.
Phan loai bai toan ong hoc co the
Bai toan th nhat: Khao sat chuyen ong quay cua co the quanh truc co
nh. Van e: tm , ,  cua co the; van toc, gia toc cua mot iem nao o
tren co the.
Bai toan th hai: Bai toan chuyen ong.
Bai toan th ba: Ket hp vi chuyen ong quay vi chuyen ong tnh
tien.

2.2

Hp chuyen ong

He quy chieu co nh (T ) = Oxyz, chuyen ong cua M oi vi (T ) goi

la chuyen ong tuyet oi. va , wa - van toc, gia toc cua M oi vi (T ),

CHNG 1. ONG HOC

goi la van toc, gia toc tuyet oi cua M.

He quy chieu ong (T1) = O1 x1y1z1 ((T1) chuyen ong oi vi (T )),
chuyen ong cua M oi vi (T1) goi la chuyen ong tng oi. vr , wr
- van toc, gia toc cua M oi vi (T 1), goi la van toc, gia toc tng oi
cua M.
Chuyen ong cua (T1) oi vi (T ) goi la chuyen ong theo. Chuyen
ong cua iem P , gan vi (T1) trung vi M tai thi iem ang xet, oi
vi (T ) goi la chuyen ong theo cua M. ve , we - van toc, gia toc cua P
oi vi (T ), goi la van toc, gia toc theo cua M.
? Cong thc cong van toc:
va = vr + ve .

(1.21)

wa = wr + we + wc ,

(1.22)

wc = 2~ vr

(1.23)

? Cong thc cong gia toc:

trong o

la gia toc Coriolis sinh ra do chuyen ong quay cua (T1) oi vi (T ).

Phan loai bai toan hp chuyen ong
Bai toan th nhat: Bai toan tong hp chuyen ong.
Bai toan th hai: Bai toan phan tch chuyen ong.
? Chuyen ong song phang la chuyen ong trong o co the co ba iem
khong thang hang thuoc co the luon luon chuyen ong trong mot mat phang
co nh. Chuyen ong song phang c xet bang cach khao sat chuyen ong
cua hnh phang S thuoc co the nam trong mat phang co nh. Giao iem
cua truc quay tc thi cua co the vi mat phang co nh goi la tam quay hay
tam van toc tc thi.
Phan loai bai toan chuyen ong song phang
Tnh van toc goc cua hnh phang, tnh van toc cua mot iem bat ky
tren hnh phang.
Tnh gia toc goc cua hnh phang, tnh gia toc cua mot iem bat ky tren
hnh phang.
Th du ve chuyen ong song phang sinh vien oc ky li giai cac bai tap
3.2, 3.3, [1].

Chng 2
ONG LC HOC
1 Cac nh luat Newton
Noi dung cac nh luat, xem Muc 1.2, [1].

1.1

Lc

Quan he gia lc va chuyen ong la noi dung cua nh luat th hai

F = mw.

(2.1)

? Lc hap dan. Hai vat khoi lng m 1, m2 hut nhau bi lc co phng

la ng noi khoi tam cua chung va o ln bang

F =G

m1 m2
,
d2

(2.2)

trong o d la khoang cach hai khoi tam va G 6, 67 10 11 m3/s2 kg la hang

so hap dan.
Trong lng cua mot vat la moun cua lc hut do trai at tac dung len
vat.
? Lc ma sat. Lc ma sat nam trong mat phang tiep xuc gia cac vat,
ngc hng vi chieu chuyen ong cua vat hay chieu cua lc tac dung vao
vat. Ve o ln lc ma sat t le vi phan lc phap tuyen
Fms = Rn ,
8

(2.3)

Bai tap

30

Hnh 19: Bai tap 44

Hnh 20: Bai tap 45

45. ? Mot hat P khoi lng m trt tren mat trong trn cua hnh non tron
xoay co goc nh bang 2. Truc oi xng cua hnh non thang ng qua
nh O hng xuong. Chon cac toa o suy rong: r, khoang cach OP , va ,
goc phng v oi vi mat phang co nh i qua truc hnh non. Viet he
phng trnh Lagrange. Chng to rang la toa o cyclic va tm mot tch
phan au. Giai thch y ngha c hoc cua tch phan au nay.
46. ? Xet vat khoi lng m trt tren mot mat ben trn nghieng goc cua
nem khoi lng M, nem nay lai trt tren mat phang trn nam ngang nh
hnh 21. Toan bo chuyen ong la phang. Viet phng trnh Lagrange loai

Hnh 21: Bai tap 46

hai cho he nay va suy ra (i) gia toc cua nem, va (ii) gia toc tng oi cua vat
(oi vi nem).

CHNG 2. ONG LC HOC

1.3

10

Cac nh ly tong quat cua ong lc hoc

Noi dung cac nh ly, xem Muc 1.5, 2.1, 2.2 va 2.3, [1]. Lu y mot so khai niem
va cong thc can thiet di ay.
? Khoi tam cua mot he la iem hnh hoc C xac nh bi

rC =

1 X
m k rk ,
M

trong o rk la vect nh v chat iem th k, M =

toan he.
? ong lng cua he
P=

(2.6)
P

mk la khoi lng cua

mk vk = MvC .

nh ly 2 (nh ly ong lng cua he).

P =

(e)

Fk .

(2.7)

nh ly 3 (nh ly chuyen ong khoi tam).

MrC =

(e)

Fk .

(2.8)

? Momen quan tnh cua he oi vi iem O:

JO =

mk rk2 ,

(2.9)

trong o rk la khoang cach t chat iem th k en O.

? Momen quan tnh cua he oi vi truc :
J =

mk d2k ,

(2.10)

CHNG 2. ONG LC HOC

11

trong o dk la khoang cach t chat iem th k en .

? Tenx quan tnh la ma tran

Jx Jxy Jxz
Jy Jyz ,
J = Jyx
Jzx Jzy
Jz

(2.11)

trong o Jx , Jy , Jz la momen quan tnh cua he oi vi cac truc Ox, Oy, Oz;
Jxy , Jxz , . . . la cac momen quan tnh ly tam cua he
Jxy = Jyx =

mk xk yk , Jyz = Jzx =

mk yk zk , Jzx = Jxz =

mk zk xk (.2.12)

Neu n = [cos , cos , cos ]T la vect n v cua truc th J = nT Jn.

nh ly 4 (nh ly Huygens).
J = JC + Md2 ,

(2.13)

trong o d la khoang cach gia hai truc.

? Cong thc tnh momen quan tnh can nh
1. Thanh manh ong chat chieu dai l, khoi lng M oi vi truc qua khoi
tam va vuong goc vi thanh

JC =

1
Ml2 .
12

(2.14)

2. Vong ong chat ban knh R, khoi lng M oi vi truc qua tam va
vuong goc vi mat phang cha vong
JC = MR2 .

(2.15)

3. a tron ong chat ban knh R, khoi lng M oi vi truc qua tam va
vuong goc vi a
1
JC = MR2 .
2

(2.16)

Li giai mot so bai tap

39

e y rang khi t +, y mg
(van toc gii han). Van toc gii han nay
k
cung co the tm t phng trnh P + FC = 0.
Tch phan (c) va dung ieu kien au y(0) = 0 ta c phng trnh
chuyen ong (luat chuyen ong):



kt
mgt
m2 g
y = 2 1 exp

.
k
m
k
Cach 2. Phng trnh (a) la phng trnh vi phan tuyen tnh cap hai khong
thuan nhat. Nghiem tong quat cua phng trnh thuan nhat



kt
y = C1 + C2 exp
.
m
Tm nghiem phng trnh khong thuan nhat di dang



kt
y = C1 (t) + C2(t) exp
.
m
C10 (t), C20 (t) thoa he

0
kt
C10 (t) + exp m

C20 (t) = 0
k
m
exp kt
C2 (t) = g
m
Giai ra C10 (t), C20 (t), roi tch phan theo t, cuoi cung ta c


kt
y = C2 exp
m

m2g mgt

+ C1 ,
k2
k

trong o C1, C2 la cac hang so tch phan phu thuoc ieu kien au. Phan con
lai sinh vien t lam.
33 a) Lc tac dung len vien an la trong lc P. Phng trnh vi phan chuyen
ong (nh luat th hai cua Newton)
mw = P.

CHNG 2. ONG LC HOC

13

? Cong
Cong phan to cua lc F lam chat iem thc hien chuyen dch vo cung
be dr, ky hieu W ,
W = F dr.

(2.24)

Cong (toan phan) lam chat iem chuyen dch t iem A en iem B, ky
hieu W ,

W =

C(A,B)

F dr,

(tch phan ng loai 2)

(2.25)

trong o C(A, B) la ng cong nh hng t A en B.

Lc F goi la lc bao toan neu ton tai ham V (x, y, z) (ch phu thuoc v
tr) sao cho
F = 5 V.

(2.26)

Ham V c goi la ham the hay the nang. Ham U = V goi la ham lc.
? Vai cong thc tnh cong cua lc va ham the

1. Cong cua trong lc (truc z thang ng hng len):

W = mg dr = mgdz.

(2.27)

Cong toan phan (t A en B)

W = mg(zA zB ).

(2.28)

Ham the cua trong lc: V = mgz + C.

2. Cong cua lc an hoi gay ra do lo xo o cng k co o gian x (lo xo nam
ngang theo phng x, goc toa o c chon v tr can bang)
W = kxdx.

(2.29)

Cong toan phan (t A en B)

W =

k 2
(x x2B ).
2 A

Ham the cua lc an hoi: V = k2 x2 .

(2.30)

CHNG 2. ONG LC HOC

14

3. Cong cua lc ma sat

W = Rn dx.

(2.31)

Cong cua lc ma sat luon luon am (cong can). Lc ma sat khong co the.
4. Cong cua lc trong chuyen ong quay quanh truc
W = M (F)dt,

(2.32)

trong o M (F) la chieu cua momen lc F xuong truc , con goi la

momen cua lc oi vi truc .
nh ly 6 (nh ly ong nang cua he).
dT =

(e)

Fk rk +

(i)

Fk rk .

(2.33)

Phan loai bai toan ap dung cac nh ly tong quat

Bai toan th nhat: Dung nh ly bao toan ong lng va nh ly bao toan
momen ong lng e tm chuyen dch cua mot vai bo phan trong toan he.
Bai toan th hai: Dung nh ly ong lng e xac nh phan lc tai cac
lien ket.
Bai toan th ba: Dung nh ly momen ong lng va nh ly ong nang
e xac nh cac ac trng ong hoc cua chuyen ong.

Li giai mot so bai tap

47

ong nang cua hat la (xem hnh 19)

1
T = m(r2 + r2 2 ).
2
The nang cua hat (oi vi vo cung) la

V =

GMm
.
r

Ham Lagrange L = T V :
1
GMm
L = m(r2 + r2 2 ) +
.
2
r
Tnh cac ao ham roi thay vao he phng trnh Lagrange, ta c:


MG
2
= 0,
m
r m r 2
r
= 0 d (r2 )
= 0.
m(2rr + r2 )
dt
Tch phan au: r 2 =const.
Chu y, ta co the nhan ra chuyen ong co mot tch phan au t nhan xet
L/ (ham Lagrange khong phu thuoc , ngha la la toa o cyclic). Tch
phan au nay chnh la momen ong lng cua hat mr 2 c bao toan.
45 He la hat. V vect ban knh cua hat:
r = rer ,
trong o er = (sin cos , sin sin , cos ), nen he co 2 bac t do. Toa o
suy rong: r, . Van toc cua hat:
r = re
r + re r .
e y rang,
e r = sin ( sin , cos , 0) = sin e .

CHNG 3. C HOC GIAI TCH

16

Ta goi cac chuyen dch xk , yk , zk thoa (3.2) la chuyen dch kha d

(chuyen dch xay ra di tac dung cua lc cho trc - chuyen dch thc
- la mot trong so cac chuyen dch kha d).
Hieu cua hai chuyen dch kha d bat ky goi la chuyen dch ao, ky hieu
xk , yk , zk , chung thoa ieu kien
X  f
k

f
f
xk +
yk +
zk
xk
yk
zk

= 0.

(3.3)

2 Phng trnh Lagrange

Cac phng trnh Lagrange c rut ra t nguyen ly cong ao, con goi la nguyen
ly chuyen dch ao.

2.1

Phng trnh tong quat ong lc hoc

nh ly 7 (Nguyen ly cong ao). Trong trng hp lien ket at len he la ly tng,

tong cong phan to cua cac lc chu ong va lc quan tnh tac dung len c he tren
chuyen dch ao bat ky bang khong tai moi thi iem
X
k

[(Fxk mk xk )xk + (Fyk mk yk )yk + (Fzk mk zk )zk ] = 0.

(3.4)

Phng trnh (3.4) goi la phng trnh tong quat ong lc hoc.

2.2

Phng trnh Lagrange loai hai

T
d T

= Qs
dt qs qs

(s = 1, 2, . . . , d),

trong o T la ong nang cua he, Qs (s = 1, 2, . . . , d) la lc suy rong.

(3.5)

CHNG 3. C HOC GIAI TCH

17

Trong thc hanh, lc suy rong c rut ra t he thc

X
s

Qs qs =

(Fxk xk + Fyk yk + Fzk zk )

(3.6)

(tong cong phan to cua lc chu ong tac dung len he).

2.3

Trng hp he bao toan

Tat ca cac lc chu ong eu co the (he c goi la he bao toan hay he ong
lc), ngha la ton tai ham U = U(xk , yk , zk ) sao cho
Fkx =

U
U
U
, Fky =
, Fkz =
xk
yk
zk

(k = 1, 2, . . . , N)

U
qs

(s = 1, 2, . . . , d).

Qs =

Khi o phng trnh Lagrange co the viet lai

d L
L

= 0 (s = 1, 2, . . . , d),
dt qs qs

(3.7)

trong o L = T + U la ham Lagrange. Ky hieu V = U la the nang cua he

th L = T V .
Trng hp he bao toan ong thi ham lc va ong nang khong phu
thuoc hien vao thi gian th nang lng toan phan cua he c bao toan
T + V = const.

(3.8)

Toa o cyclic la toa o suy rong qc khong co mat trong ham Lagrange, ngha
la
L
= 0.
qc
Khi o ta co mot tch phan au
L
= const.
qc

CHNG 3. C HOC GIAI TCH

2.4

18

Thu tuc thiet lap phng trnh Lagrange loai hai

1. Xac nh bac t do va chon cac toa o suy rong.

2. Tnh ong nang cua he T , bieu dien ong nang theo cac toa o va van
toc suy rong.
3. Tnh tong cong phan to cua lc chu ong, bieu dien no theo cac toa
o suy rong, t o suy ra cac lc suy rong da vao he thc (d).
4. Tnh cac ao ham T / q s, d(T / qs )/dt, T /qs.
5. Thay vao phng trnh Lagrange loai hai.

PHU LUC A. E THI MAU

53

Hnh 2: Cau 3
vuong goc vi a. Neu khong them va khoi lng m th truc phai di song
song en iem nao tren a e momen quan tnh van bang nh trng hp
trc?
Cau 4 (2.5) Mot a tron khoi lng M ban knh a co the quay khong ma

Hnh 3: Cau 4
sat quanh truc nam ngang i qua tam cua no. Mot con bo khoi lng m chay
vi van toc khong oi u quanh mep a. Ban au a c gi trang thai
ngh va c tha ra khi con bo v tr thap nhat. Tnh momen ong lng
cua he (gom a va con bo) oi vi truc quay. Viet phng trnh bien thien
ong lng cua he. Chng to rang

2 =

4mg
u2
(cos 1) + 2 .
a(M + 2m)
a

trong o la goc xac nh v tr con bo so vi phng thang ng hng

xuong.
Cau 5 (2.5) Mot ong tru ban knh a, trong lng P1 co cuon xung quanh
bang mot si day. Day vat qua rong roc co nh O roi noi vi vat nang A
trong lng P2 . Vat A trt tren mat phang ngang co he so ma sat f. Bo qua
ma sat o truc O. Viet phng trnh Lagrange loai hai cho he. Tm gia toc
cua A va tam C cua ong tru.
Chu thch
e thi gom 5 cau c cau truc nh sau:
Cau 1 - ong hoc iem; kiem tra kien thc va ky nang tnh toan cac

Bai tap

20

2. Tm goc gia hai ng cheo khoi lap phng tren hnh 1.

3. Cho ABCD la hnh bon canh tong quat (lech) va cho P, Q, R, S la cac
trung iem cua cac canh AB, BC, CD, DA tng ng. Chng minh P QRS
la hnh bnh hanh.
4. Trong hnh t dien, ve cac ng noi trung iem cua moi canh vi trung
iem cua canh oi dien. Chng to rang ba ng nay cat nhau tai mot iem
chia oi chung.
5. Cho t dien ABCD va cho P, Q, R, S la trong tam cua cac mat oi dien
vi cac nh A, B, C, D tng ng. Chng to rang cac ng AP, BQ, CR, DS
ong quy tai mot iem goi la trong tam (centroid) cua t dien, no chia moi
ng theo t so 3 : 1.
H.D. iem M chia oan AB theo t so k MA:MB= k.
6. Chng to rang ba ng cao cua tam giac ong quy tai mot iem.
H.D. Chon O la giao iem cua hai ng cao.
7. Chng minh cac ong nhat thc:
a) (a b) (c d) = (a c)(b d) (a d)(b c).
b) (a b) (c d) = [a, b, d]c [a, b, c]d.
c) a (b c) + c (a b) + b (c a) = 0 (ong nhat thc Jacobi).
8. Cho vect v la ham cua thi gian t va k la vect hang. Tm ao ham theo
k].
thi gian cua: a) |v|2; b) (v k)v; c) [v, v,
b) (v k)v + (v k)v;
c) [v, v
, k].
.S. a) 2v v;
9. Tm vect tiep tuyen n v, vect phap tuyen n v va o cong cua vong
tron: x = a cos , y = a sin , z = 0 tai iem co tham so .
S. t = sin i + cos j, n = cos i sin j, k = 1/a.
10. Tm vect tiep tuyen n v, vect phap tuyen n v va o cong cua
ng xoan oc: x = a cos , y = a sin , z = b tai iem co tham so .
.S. t = (a sin i + a cos j + bk)/(a2 + b2)1/2, n = cos i sin j, k =
a/(a2 + b2 ).
11. Tm vect tiep tuyen n v, vect phap tuyen n v va o cong cua
parabol x = ap2 , y = 2ap, z = 0 tai iem co tham so p.
.S. t = (pi + j)/(p2 + 1)1/2 , n = (i pj)/(p2 + 1)1/2, k = 1/2a(p2 + 1)3/2.
Bai tap ve van toc, gia toc va van toc goc

Bai tap

21

12. Mot iem P di chuyen doc theo truc x chuyen dch cua no tai thi iem
t c cho bi x = 6t2 t3 + 1, trong o x o bang met, t o bang giay. Tm
van toc, gia toc cua P tai thi iem t. Tm nhng thi iem P dng va v tr
cua P tai nhng thi iem o.
13. Mot iem P di chuyen doc theo truc x vi gia toc tai thi iem t c
cho bi a = 6t 4 ms2 . Ban au P iem x = 20 m va co van toc 15 ms 1
ve pha x am. Tm van toc va chuyen dch cua P tai thi iem t. Tm thi
iem P dng va chuyen dch cua P tai thi iem o.
14. ? Mot hat P chuyen ong sao cho vect nh v cua no, r thoa phng
trnh vi phan
r = c r,

trong o c la vect hang. Chng minh P chuyen ong vi toc o khong oi

tren mot ng tron.
15. ? Cho c cau thc ve elip gom thanh OA quay quanh O vi goc = t,
thanh BC co hai au chuyen ong tren hai truc x, y. Cho OA = AB =
AC = 2a. Viet phng trnh chuyen ong, phng trnh quy ao cua iem
M (AM = MB) (hnh 2). Xac nh van toc, gia toc, gia toc tiep, gia toc phap
cua iem M tai thi iem bat ky.

Hnh 2: Bai tap 15

16. ? Mot banh xe ban knh R chuyen ong lan khong trt tren ng
thang vi van toc tam bang v 0 . Viet phng trnh chuyen ong cua iem
M nam tren vanh banh xe. Xac nh van toc, gia toc iem M, ban knh
cong cua quy ao. Khao sat s nhanh cham cua chuyen ong.
17. iem M chuyen ong theo phng trnh
x = at, y = bt2 (a, b la hang so).
Xac nh quy ao, luat chuyen ong cua iem tren quy ao. Tnh van toc,
gia toc cua iem va ban knh cong cua quy ao tai thi iem t = 0.

Bai tap

22

Hnh 3: Bai tap 16

18. Mot banh a ban knh R = 2 m quay nhanh dan eu t trang thai ng
yen. Sau 10 s mot iem tren vanh banh xe co tr so van toc v = 100 m/s 2.
Xac nh van toc va gia toc cua iem tren vanh banh a thi iem t = 15 s.
19. Mot au si day khong gian buoc vao vatA, con au kia quan vao rong
roc ban knh R = 10 cm quay quanh truc O co nh. Cho iem A chuyen
ong i xuong vi phng trnh x = 100t2 , (x(cm), t(s)). Xac nh van toc
goc va gia toc goc cua rong roc, ong thi xac nh gia toc cua iem B tren
rong roc (OB = 5 cm).

Hnh 4: Bai tap 19

20. ? Cho c cau chuyen ong nh hnh 5. Biet vat (1) chuyen ong vi
phng trnh x = 70t2 + 2 (x(cm), t(s)), R2 = 50 cm, r2 = 30 cm, R3 = 60 cm,
r3 = 40 cm. Xac nh van toc, gia toc tiep, gia toc phap va gia toc toan phan
cua iem M khi vat (1) i c mot oan s = 40 cm.
Chu thch. Bai toan chuyen ong gom cac banh xe quay quanh cac truc va
co lien he vi nhau (an khp bang rang, tiep xuc khong trt, noi vi nhau
bang cac ai chuyen). T so chuyen ong gia chung

K12 =

R2
z2
1
=
= ,
2
R1
z1

(3.9)

Bai tap

23

trong o i , Ri va zi lan lt la van toc goc, ban knh va so rang cua banh
xe th i.

Hnh 5: Bai tap 20

Bai tap ve hp chuyen ong
21. ? Mot hnh non quay eu quanh truc OA vi van toc goc . iem M
chuyen ong eu theo ng sinh cua hnh non t nh en ay vi van toc
vr ; goc MOA = . Tai thi iem au t = 0, iem M v tr M 0 (OM0 = a).
Tnh gia goc cua M tai thi iem t.

Hnh 6: Bai tap 21

22. Tam giac ABC vuong tai A quay quanh canh AB thang ng co nh
vi van toc goc =const. Mot iem M chuyen ong tren canh BC theo
phng trnh BM = s = 20t2 . Xac nh van toc, gia toc cua iem M khi M
nam trung iem BC. Biet BC = 40 cm, = 30o , = 2 s1 .
23. ? C cau cam co dang hnh nem vi = 30o chuyen ong tnh tien trong
mat phang nam ngang, vi van toc khong oi v1 = 30 cm/s. Cam ay thanh
AB chuyen ong thang ng trong ranh co nh K (hnh 7). Xac nh van
toc tuyet oi cua thanh AB va van toc tng oi cua no so vi cam.
24. ? Mot c cau bon khau gom tay quay O 1 A = 10 cm quay quanh O1 vi
van toc goc 1 = 10s1 , tay quay O2 B = 30 cm quay quanh O2 va thanh AB
chuyen ong song phang. Cho O1 O2 = 50 cm. Xac nh van toc goc thanh
AB, van toc iem B va van toc goc tay quay O 2 B khi = = 60o .

Phu luc B
e thi mon C hoc ly thuyet
Thi gian: 120 phut
Ngay thi: 4/6/2009
(Sinh vien c phep tham khao tai lieu ch nh)
Cau 1 (2) iem chuyen ong tren ng cycloid,
x = a( sin ),

y = a(1 cos ),

theo luat = bt/a, trong o a va b la nhng hang so dng. thi iem bat
ky, xac nh van toc, gia toc cua iem va ban cong cua quy ao tai v tr cua
iem.
Cau 2 (2.5) Mot vat khoi lng m trt khong ma sat tren mat phang
nghieng mot goc (0 < < /2) so vi phng ngang. Cho biet vat chu sc
can khong kh co o ln t le vi bnh phng van toc, kv 2. Ban au vat
nh doc O va c buong ra khong van toc au. Viet phng trnh vi phan
chuyen ong cua vat. Chng minh van toc cua vat bien thien theo quy luat

v=

mg sin
(1 e2kx/m ),
k

trong o x la khoang cach t vat en nh doc. Tm van toc gii han cua
vat.
Cau 3 (1) Mot qua lac ong ho gom: thanh ong chat chieu dai 2a, khoi
lng m va a tron ong chat ban knh a/2, khoi lng M gan vi nhau nh
hnh 1. Tnh momen quan tnh cua qua lac oi vi truc i qua O (iem gia
cua thanh), cho biet OC = 3a/4.
60

Bai tap

25

Hnh 9: Bai tap 27

28 (Muc 1.3.2 Chuyen ong thang, [1]). Xac nh chuyen ong thang cua chat
iem di tac dung cua lc:
a) Phu thuoc thi gian F (t);
b) Phu thuoc v tr F (x);
c) Phu thuoc van toc F (x).

29 (Muc 1.4.2 Dao ong thang, [1]). Mot vat khoi lng m treo vao au mot
lo xo co o cng k.
a) Xac nh chuyen ong cua vat khi lo xo c keo gian mot oan
va buong ra khong van toc au.
b) Vi ieu kien au nh cau a), tm chuyen ong cua vat trong trng
hp vat chu lc can cua moi trng co o ln t le vi van toc x.
Chuyen
ong cua vat se nh the nao neu vat con chu them lc kch ong tuan hoan
Q(t) = Q0 sin pt.
30. May bay bo nhao thang ng at c van toc 1000 km/h, sau o ngi
lai a may bay ra khoi hng bo nhao va vach thanh mot cung tron ban
knh R = 600 m trong mat phang thang ng. Trong lng ngi lai la 800 N.
Hoi ngi lai a ep len ghe ngoi mot lc cc ai bang bao nhieu.
31. ? Mot qua cau khoi lng m ri thang ng trong moi trng chat long
va chu lc can t le vi van toc, F C = kv, k la he so can, gia toc trong
trng g. Xac nh van toc, phng trnh chuyen ong cua qua cau. Gia thiet
v(0) = 0, y(0) = 0.
32. ? Mot vat nang P ri t do khong van toc au. Sc can cua khong kh
le vi bnh phng van toc, R = k 2 P v 2 (k la hang so). Xac nh van toc vua
vat tai thi iem t va van toc gii han cua no.
33. ? Mot vien an chuyen ong trong mat phang Oxy t goc O vi van toc
au V0 lech so vi phng ngang goc . Gia s bo qua lc can khong kh.
a) Tm van toc, quy ao chuyen ong cua vien an.
b) Xac nh e vien an ban trung muc tieu M(v 02/2g, V02 /4g).
Bai tap ve cac nh ly tong quat

Bai tap

26

34. Chng to rang, neu mot he di chuyen t trang thai ngh en trang thai
khac trong khoang thi gian nao o, th trung bnh cua lc ngoai toan phan
trong khoang thi gian nay phai bang khong. Ap dung:
Mot ong ho cat khoi lng m at tren mat san co nh. Ap lc do
ong ho len mat san la so o trong lng bieu kien cua ong ho. Cat trang
thai ngh trong khoang tren, luc t = 0, bat au chay xuong khoang di. Cat
en trang thai ngh khoang di sau khoang thi gian . Tm trung bnh
theo thi gian trong lng bieu kien cua ong ho trong khoang thi gian
[0, ].
Trong lng bieu kien cua ong ho khong phai la hang so! Hay chng
minh, khi cat ang chay, trong lng bieu kien cua ong ho ln hn trong
lng thc (trong lng tnh).
35. ? Mot tia nc chay t mot voi phun vi van toc v = 10 m/s va trc
giao vi tng cng. ng knh voi d = 4 cm. Bo qua s nen c cua nc.
Hay xac nh ap lc cua tia nc len tng. Coi cac phan t nc sau khi va
cham co van toc hng doc theo tng.

Hnh 10: Bai tap 35

36. ? Hai vat A va B co khoi lng lan lt la m 1 va m2 c noi vi nhau
bi si day khong gian khong trong lng vong qua rong roc. Vat A trt
tren mat KL va vat B trt tren mat EK cua lang tru DEKL co khoi lng
m3 va nam tren mat nhan nam ngang. Xac nh dch chuyen s cua lang tru
khi vat A trt xuong mot oan l. Biet ban au he ng yen.
37. Mot chiec thuyen khoi lng M ng yen tren mat nc yen tnh va
mot ngi an ong khoi lng m mui thuyen. Ngi nay ng day i xuong
uoi thuyen roi ngoi xuong. Neu nc can chuyen ong vi lc t le vi van
toc cua thuyen, chng to rang thuyen se en va dng v tr ban au cua no.
[Ket qua nay oc lap vi hang so can va chi thiet chuyen ong cua ngi.]

Bai tap

27

Hnh 11: Bai tap 36

Hnh 12: Bai tap 37

38. ? Mot tam tron ong chat nang Q ban knh r co the quay khong ma
sat quanh truc thang ng Oz trc giao vi mat phang a. Mot ngi trong
lng P i theo mep tam tron vi van toc tng oi u khong oi. Ban au he
ng yen, hoi tam tron quay quanh truc vi van toc goc bang bao nhieu?

Hnh 13: Bai tap 38

39. ? Truc hnh tru trong lng P ban knh R quay c xung quanh truc
nam ngang nh qua can A co trong lng Q treo vao si day quan quanh hnh
tru (xem hnh 14). Bo qua khoi lng cua day va ma sat o truc. Hay xac

Bai tap

28

nh gia toc goc trong chuyen ong quay cua hnh tru khi vat A co chuyen
ong thang ng.

Hnh 14: Bai tap 39

40. ? Hai vat A va B nang P 1 va P2 c noi vi nhau bang si day mem
khong gian khong trong lng va vat qua rong roc O ban knh r trong lng
Q. Cho P1 > P2 , khoi lng rong roc phan bo eu tren vanh. Xac nh gia
toc vat A.

Hnh 15: Bai tap 40

41. ? Cho tay quay OA chieu dai r trong c cau thanh truyen quay vi van
toc goc 0 . Thanh truyen OB cung co chieu dai r. Tay quay va thanh truyen
la ong chat va co khoi lng rieng la (tren n v dai). Tnh ong nang
cua c he.

Hnh 16: Bai tap 41

Bai tap

29

42. ? Mot day khong gian, khong trong lng c quan vao au a tron
ong chat khoi lng m ban knh r, con au kia buoc vao iem co nh A.
Khi day li ra, hnh tru ri xuong khong van toc au. Xac nh van toc v
cua tam a tron khi no ri xuong mot oan h. Xac nh gia toc tam C va
sc cang day.

Hnh 17: Bai tap 42

43. Mot hnh tru trong lng P1 co cuon xung quanh bang mot si day. Day
vat qua rong roc co nh O roi noi vi vat A nang P 2 . Vat A trt tren mat
phang nam ngang co he so ma sat f. Bo qua ma sat o truc O, tm gia toc
cua vat A va cua tam C hnh tru.

Hnh 18: Bai tap 43

C hoc giai tch

Bai tap ve phng trnh Lagrange
44. ? Mot hat khoi lng m di chuyen di tac dung cua lc hap dan do khoi
lng M co nh at tai goc. Lay toa o cc r, lam toa o suy rong, viet
phng trnh Lagrange loai hai cho chuyen ong cua hat. Tm mot tch phan
au va giai thch y ngha c hoc cua no.

Bai tap

30

Hnh 19: Bai tap 44

Hnh 20: Bai tap 45

45. ? Mot hat P khoi lng m trt tren mat trong trn cua hnh non tron
xoay co goc nh bang 2. Truc oi xng cua hnh non thang ng qua
nh O hng xuong. Chon cac toa o suy rong: r, khoang cach OP , va ,
goc phng v oi vi mat phang co nh i qua truc hnh non. Viet he
phng trnh Lagrange. Chng to rang la toa o cyclic va tm mot tch
phan au. Giai thch y ngha c hoc cua tch phan au nay.
46. ? Xet vat khoi lng m trt tren mot mat ben trn nghieng goc cua
nem khoi lng M, nem nay lai trt tren mat phang trn nam ngang nh
hnh 21. Toan bo chuyen ong la phang. Viet phng trnh Lagrange loai

Hnh 21: Bai tap 46

hai cho he nay va suy ra (i) gia toc cua nem, va (ii) gia toc tng oi cua vat
(oi vi nem).

Bai tap

31

47. ? Hnh 22 ve mot hnh tru tam G ban knh a lan khong trt tren mat
trong cua mot mat tru co nh tam O ban knh b > a. Viet phng trnh
Lagrange loai hai, suy ra chu ky dao ong be cua hnh tru quanh v tr can
bang.

Hnh 22: Bai tap 47

48.

Cho he nh hnh 23. ng ray trn va lc cho trc F (t) tac ong

Hnh 23: Bai tap 48

len vat P2 . Bo qua trong lc. Viet he phng trnh Lagrange loai hai cho he.
Trng hp tnh en trong lc th sao?
49. Tm quy luat chuyen ong cua vien bi B chuyen ong doc trong ong OA
ang quay eu trong mat phang nam ngang vi van toc goc . Tai thi iem
ban au vien bi cach O mot oan bang A va co van toc doc theo ong bang
khong.

Hnh 24: Bai tap 49

50. Viet phng trnh Lagrange loai hai cho chuyen ong cua con lac kep
phang (xem hnh 25). Gia s khoi lng cua A va B bang nhau va bang m.

Bai tap

32

Hnh 25: Bai tap 50

51. Viet phng trnh Lagrange loai hai cho chuyen ong cua con lac gom
chat iem khoi lng m treo tren day quan vao hnh tru co nh ban knh r
(xem hnh 26). o dai cua phan day buong thong tai v tr can bang la l. Bo
qua khoi lng cua day.

Hnh 26: Bai tap 51

52. Cac au mut cua thanh ong chat AB, co khoi lng m, dai 2a trt
khong ma sat theo cac thanh nam ngang va thang ng cua mot khung quay
quanh thanh thang ng (xem hnh 27). Viet phng trnh Lagrange loai hai
cho chuyen ong cua thanh khi khung quay vi van toc goc khong oi .

Hnh 27: Bai tap 52

Li giai mot so bai tap

Trong Li giai mot so bai tap thnh thoang chung toi co chua them giai thch, nhan
xet, hoac bnh luan. Cac noi dung nay c at trong dau ngoac vuong va c in
nghieng e phan biet.
14 T phng trnh vi phan ta suy ra

r r

dr2
= 2r r = 0 r = R (const)
dt

(a)

r c

d(r c)
= r c = 0 r c = const
dt

(b)

T ang thc (b) ta thay hnh chieu cua P len truc i qua O co vect
ch phng c la iem co nh, goi la Q; hay noi cach khac, P luon luon nam
tren mat phang co nh i qua iem Q va nhan c lam phap vect. Cung vi
ang thc (a) ta rut ra quy ao cua P la ng tron.
Ky hieu v = r la van toc va w = r la gia toc. Ta co [bang cach lay ao
ham hai ve phng trnh vi phan]
r = r c v w = 0.
Vay P chuyen ong vi toc o khong oi.
15 [Chu y en cac moi lien he gia iem M (can khao sat) vi cac iem ma gia
thiet cua bai toan cho biet chuyen ong. Dung toa o descartes.]
Ta co:
-

OA = (2a cos t, 2a sin t),

-

OB = (2xA , 0) = (4a cos t, 0).

33

Li giai mot so bai tap

34

Suy ra
- 1 OM = (OA + OB) = (3a cos t, a sin t).
2

Phng trnh chuyen ong cua M:



x = 3a cos t
y = a sin t

Quy ao (kh t t phng trnh chuyen ong):

x2
y2
+
= 1.
9a2 a2
Van toc:
Gia toc:

x = 3a sin t,
x = 3a 2 cos t,

y = a cos t.
y = a 2 sin t.

e tnh gia toc tiep ta can tnh toc o (moun vect van toc)
p
v = a|| 1 + 8 sin2 t.

Gia toc tiep:

4a|| sin 2t
wt = v =
.
1 + 8 sin2 t
e tnh gia toc phap ta can en moun vect gia toc:

w = a 2 1 + 8 cos2 t.
Gia toc phap:
wn =

p
2
a
9 12 sin2 2t

w2 wt2 =
.
1 + 8 sin2 t

Li giai mot so bai tap

35

Chu y, gia toc phap luon luon la so dng!

16 Chuyen ong cua tam C la chuyen ong thang eu van toc v 0. Do banh
xe lan khong trt nen R = v0t (gia thiet luc t = 0 iem M nam goc toa
o O).
He thc lien he OM vi OC
-

OM =OC + CM .
Chieu he thc vect xuong cac truc toa o


x = xC + R cos 3
2
y = yC + R cos( )

x = v0t R sin vR0 t

y = R R cos vR0 t

Van toc:
s 



v0 t
v0 t
v0 t
x = v0 1 cos
v = v0 2 1 cos
, y = v0 sin
.
R
R
R
Gia toc:

x =

v02
v0 t
v2
v0 t
v2
sin
, y = 0 cos
w = 0.
R
R
R
R
R

e tnh ban knh cong ta can biet gia toc tiep,

wt = v =

sin vR0 t
v02
q
,
R 2 1 cos v0 t

R

gia toc phap

wn =

s 

v0 t
2
2
w wt =
2 1 cos
.
2R
R
v02

Li giai mot so bai tap

36

Suy ra
s 



 v0 t 
v2
v0 t
.
=
= 2R 2 1 cos
= 4R sin
wn
R
2R 
20 Van toc cua (1): x = 140t (cm/s).
Do ai chuyen, banh xe (2) chuyen ong quay vi van toc goc 2 thoa
2 r2 = 140t suy ra 2 = 14t/3 (s1 ) [van toc cua iem tren vanh banh xe (2)
bang van toc cua vat (1)].
Banh xe (3) chuyen ong quay vi van toc goc 3 thoa 2 R2 = 3 R3
suy ra 3 = R2 2 /R3 = 35t/9 (s1 ) [banh xe (3) va banh xe (2) noi vi nhau bang
ai chuyen. Dung cong thc chuyen ong].
iem M gan vi banh xe (3) chuyen ong quay quanh truc. Van toc
cua M la v = 3 r3 = 1400t/9 (cm/s). Gia toc goc cua banh xe (3) la  3 =
35/9 (1/s2 ) nen gia toc tiep cua M la wt = 3r3 = 1400/9 (cm/s2 ) va gia toc
phap cua M la w n = 32 r3 = 19000t2 /81 (cm/s2) [xem lai cac cong thc lien
quan en chuyen ong cua co the quanh mot truc].

Thi iem (1) i c s = 40 (cm) la t = 2/ 7, thay vao cac bieu thc

tren ta c ket qua can tm.
[Chu y, ket qua tnh van toc, gia toc tiep, gia toc phap cua iem M ch la o
ln. e xac nh hng cua cac vect nay ta can xet them chieu quay cua cac banh
xe lien ket vi nhau!]
21 Chuyen ong tng oi cua M oi vi hnh non (he toa o ong) la
chuyen ong thang eu nen gia toc tng oi wr bang khong.
Chuyen ong theo la chuyen ong tron vi van toc goc khong oi
nen van toc theo cua M la v e = ~ r, trong o ~ = k, r =OM . Gia toc
theo (dung cong thc Gibbs):

we =

dve
= (~ r)~ 2 r.
dt

e y rang ~ r = r cos nen

we = 2r cos k 2 rr0 ,
trong o r0 la vect n v cua r. Neu phan tch vect r 0 thanh
r0 = cos k + sin u

Li giai mot so bai tap

37

vi u la vect n v trc giao vi k (truc z) va nam trong mat phang (AOM),

th
we = 2 r sin u.
Gia toc Coriolis cua M:

wc = 2~ vr = 2vr sin v,
trong o v la vect n v cua vect k v r , vect nay vuong goc vi mat
phang (AOM).
Ap dung cong thc cong gia toc,
wa = 2 r sin u + 2vr sin v,

gia toc nay nam trong mat phang vuong goc vi OA. Tai thi iem t, r =
vr t + a,
wa = 2 (vr t + a) sin u + 2vr sin v.

23 He toa o co nh Oxy gan vi nen. He toa o ong Cs gan vi mat

nghieng cua nem. Hnh 28 ve hai v tr cua nem, trong o hnh ve khong

Hnh 28: Hai v tr trc va sau cua nem (bai tap 23).
lien net ng vi v tr ban au cua nem.
Thanh AB chuyen ong tnh tien, van toc cua thanh c cho bi
van toc cua A. iem A0 la v tr ban au cua A (trong he co nh). Ta co:
HA = x, yA = HA tan = x tan , suy ra van toc tuyet oi cua thanh
AB: va(A) = v tan , hng thang ng len tren. Ket qua nhan c bang cach
chia hai ve cho t, roi qua gii han, t 0.
iem A00 la v tr ban au cua A tren nem. Ta co: A 0A00 = s cos ,
A0A00 = HA = x, suy ra van toc tng oi cua A: v r (A) = v/cos, hng
ngc chieu vi s. Dung d lieu so:

va (A) = 30 tan 30o = 10 3 (cm/s), vr (A) = 30/ cos 30o 20 3 (cm/s).

Li giai mot so bai tap

38

Ta co the giai bang cong thc hp van toc. Trc het, e y rang van toc cua nem v
la van toc theo cua A, ve (A) = v. Tnh van toc tng oi cua A, vr (A) (nh tren)
roi dung cong thc hp van toc tnh van toc tuyet oi cua A, va (A).
24 Goi I, AB lan lt la tam quay tc thi, van toc goc tc thi cua thanh
AB. iem I chnh la giao iem cua O1 A va O2 B. v tr = = 60o
tam giac O1 IO2 la tam giac eu, suy ra: IA = O 1 I O1 A = 40 (cm), IB =
O2 I O2 B = 20 (cm). T cong thc van toc cua chuyen ong quay cua thanh
O1 A va thanh AB ta co
10 10 = 40AB AB = 2, 5 (1/s).

iem B chuyen ong vi van toc VB = 20 2, 5 = 50 (cm/s).

Van toc goc cua thanh O2 B sinh vien t lam.
31 Qua cau chu tac dung cua: trong lc P = mg, lc can cua moi trng
FC = kv (bo qua lc ay Archimede). nh luat th hai cho
mw = P + FC .
Chon he truc o Oy thang ng hng len. Chieu he thc vect len truc Oy,
ta c:
m
y = mg k y y +

k
y = g.
m

(a)

Giai phng trnh vi phan (a) - cach 1. Tach bien (xem y la an ham),
dy
= dt,
+g

k
y
m

tch phan hai ve




m  k
ln  y + g  = t + C.
k
m

Dung ieu kien au y(0)

= 0, ta c C =
bien oi, ta thu c van toc cua qua cau:

m
k

(b)

ln g; thay vao (b), sau mot so





mg
kt
y =
exp
1 .
k
m

(c)

Li giai mot so bai tap

39

e y rang khi t +, y mg
(van toc gii han). Van toc gii han nay
k
cung co the tm t phng trnh P + FC = 0.
Tch phan (c) va dung ieu kien au y(0) = 0 ta c phng trnh
chuyen ong (luat chuyen ong):



kt
mgt
m2 g
y = 2 1 exp

.
k
m
k
Cach 2. Phng trnh (a) la phng trnh vi phan tuyen tnh cap hai khong
thuan nhat. Nghiem tong quat cua phng trnh thuan nhat



kt
y = C1 + C2 exp
.
m
Tm nghiem phng trnh khong thuan nhat di dang



kt
y = C1 (t) + C2(t) exp
.
m
C10 (t), C20 (t) thoa he

0
kt
C10 (t) + exp m

C20 (t) = 0
k
m
exp kt
C2 (t) = g
m
Giai ra C10 (t), C20 (t), roi tch phan theo t, cuoi cung ta c


kt
y = C2 exp
m

m2g mgt

+ C1 ,
k2
k

trong o C1, C2 la cac hang so tch phan phu thuoc ieu kien au. Phan con
lai sinh vien t lam.
33 a) Lc tac dung len vien an la trong lc P. Phng trnh vi phan chuyen
ong (nh luat th hai cua Newton)
mw = P.

Li giai mot so bai tap

40

Chieu xuong cac truc toa o:

x = 0
y = g
Tch phan he phng trnh tren, ta c van toc cua vien an (dung ieu
kien au, van toc):
x = V0 cos
y = gt + V0 sin
Tch phan lan na (dung ieu kien au, v tr) ta c phng trnh chuyen
ong cua vien an:
x = V0 t cos
y = 12 gt2 + V0 t sin
Kh t trong hai phng trnh tren ta c phng trnh quy ao cua vien
an:
y=

2V02

g
x2 + x tan .
cos2

b) e vien an ban trung iem M ta phai co

V02
1
V2 V2
1
3
= (1 + tan2 ) 0 + 0 tan tan2 2 tan + = 0.
4g
2
4g
2g
2
2
Nghiem: tan = 1, tan = 3.
35 C he: khoi nc, ban au c gii han bi a b, sau khoang thi gian
t gii han bi a0 b0 (hnh 10).
Lc ngoai tac dung: trong lc P, phan lc R cua tng tac dung len
khoi nc.
Chon truc x nam ngang va ap dung nh ly bien thien ong lng theo
phng x.
P2x P1x = Rt.
(a)

Li giai mot so bai tap

41

Khoi nc ban au va khoi nc luc sau co phan chung (2). Neu gia thiet
chuyen ong cua khoi nc la dng th
(1)

P2x P1x = P1x = mv,

(b)

(1)

trong o P1x la ong lng luc au cua phan (1) con m la khoi lng cua no.
Ket qua nay nhan c la do cac phan (3) co van toc vuong goc vi truc x.
Thay (b) vao (a) ta suy ra
R=

mv
.
t

(c)

Neu nc co mat o khoi la th khoi lng cua phan (1) la

m=

d2
vt
4

va nh vay ( = 1),
R=

d2v 2
= 125, 6 N.
4

36 He quy chieu: truc Ox nam ngang co chieu t trai qua phai.

C he: gom A, B, si day va lang tru. Chu y, ay ta khong ke day va
rong roc v chung khong co khoi lng nen ch co tac dung rang buoc (lien
ket) cac vat trong he (xem hnh 11).
Lc ngoai tac dung: cac trong lc P, PA , PB , va phan lc N cua mat
san tac dung len lang tru.
e ap dung nh ly bien thien ong lng tren phng Ox, trc het,
ta tm lien he gia cac thanh phan van toc theo phng x cua A, B va lang
tru. Neu goi v la van toc cua lang tru oi vi O, v 0 la thanh phan van toc
theo phng x cua B oi vi lang tru. Th thanh phan van toc theo phng
x cua A oi vi lang tru (van toc tng oi) se la v 0 cos (do day khong gian).
T cong thc cong van toc, ta co thanh phan van toc theo phng x cua A,
B oi vi O (van toc tuyet oi) lan lt la v 0 cos + v, v 0 + v.
Do ban au he ng yen nen ong lng bang khong, P1x = 0. ong
lng luc sau (khi A a trt xuong mot khoang l doc theo canh KL cua lang

Li giai mot so bai tap

42

tru):
P2x = m1(v 0 cos + v) + m2(v 0 + v) + mv = (m1 cos + m2)v 0 + (m1 + m2 + m)v.
V day khong trong lng nen momen ong lng cua no bang khong.
Nh vay, theo nh ly bien thien ong lng tren phng Ox,

(m1 cos + m2)v 0 + (m1 + m2 + m)v = 0 v =

(m1 cos + m2)v 0

.
m1 + m2 + m

Ve phai cua phng trnh tren bang khong do tat ca cac lc ngoai eu trc
giao vi Ox. Lay tch phan hai ve t 0 en thi iem ang xet, ta c:

s=

(m1 cos + m2)l

.
m1 + m2 + m

Dau tr trong phng trnh ch th lang tru di chuyen ngc hng di chuyen
cua B.
38 C he: tam tron va ngi.
Lc ngoai tac dung: P, Q la trong lc cua ngi va tam tron, R A , RB
phan lc lien ket tai cac o truc (xem hnh 13).
P
(e)
Ta co
mz (Fk ) = 0 nen momen ong lng cua he c bao toan
theo phng z. V ban au he ng yen nen Lz = 0 tai moi thi iem.
Tai thi iem bat ky, gia nh van toc cua ngi va vect van toc goc
cua tam tron nh hnh ve. Luc o van toc tuyet oi cua ngi v = r + u.
Momen ong lng cua he oi vi truc z:
r2
P
P
Lz = Jz + r(r + u) = (Q + 2P ) + ru,
|{z}
g
2g
g
|
{z
}
tam tron
ngi

trong o ta a dung cong thc tnh momen quan tnh cua tam tron oi vi
truc z, Jz = Qr2 /2g.
T Lz = 0 ta suy ra
=

2P u
.
r(Q + 2P )

Li giai mot so bai tap

43

Chu y, dau tr trong bieu thc chng to van toc goc co chieu ngc vi
chieu gia thiet.
39 Xem hnh 14. ay, v ly do tiet kiem, chung toi khong ve hnh lai cung nh
khong them nhng chi tiet bo sung trong qua trnh giai, chang han nh s o cac lc
ngoai tac dung len he, he toa o c dung. Nhng trong khi trnh bay li giai cac
ban nen ve ra e li giai c ro rang hn.
C he: hnh tru, si day va qua can A.
Lc ngoai: trong lc P va phan lc N tac dung len hnh tru, trong lc
Q tac dung len qua can A.
He toa o: Goc O "tam" cua hnh tru, truc Ox hng xuong di, truc
Oy nam ngang hng t phai qua trai, va nh vay truc Oz vuong goc va
hng vao trong mat phang hnh ve. Chon he toa o nh the nay th hnh tru se
quay theo chieu thuan (ngc chieu kim ong ho).
Momen ong lng cua he oi vi truc z:
R2 (P + Q)
Q
.
Lz = Jz + vA R =
|{z}
g
g
| {z }
hnh tru
qua can A

ay ta a dung cong thc tnh momen quan tnh cua hnh tru J z = P R2 /g,
va lien he gia van toc qua can A vi van toc goc cua hnh tru, v A = R (do
day khong gian). V day khong trong lng nen momen ong lng cua no
bang khong.
Momen cua lc ngoai oi vi truc z (hai lc P, N co ng tac dung cat
truc z nen momen cua chung bang khong):
Mz (Q) = RQ.
Ap dung nh ly bien thien momen ong lng (dang vi phan) ta c:
R2 (P + Q)
= RQ.
g
Suy ra gia toc goc cua hnh tru:
=

gQ
.
R(P + Q)

Li giai mot so bai tap

44

40 C he: rong roc, si day va hai vat A, B.

Lc ngoai tac dung: P1 , P2 , Q va phan lc R (hnh 15).
He toa o: Oxyz vi Ox nam ngang hng t trai qua phai, Oy thang
ng hng len va Oz vuong goc vi mat phang hnh ve hng ra ngoai
(trang giay).
e y rang, neu vat A (B) co van toc v th rong roc co = v/r.
Momen ong lng cua he oi vi truc z vuong goc vi mat phang hnh
ve
P1
P2
rv(Q + P1 + P2 )
Lz = Jz + vr + vr =
.
|{z}
g
g
g
|
{z
}
|
{z
}
rong roc
vat A

vat B

ay ta a dung cong thc J z = Qr2/2 tnh momen quan tnh cua rong roc.
V day khong trong lng nen momen ong lng cua no bang khong.
Ap dung nh ly bien thien momen ong lng oi vi truc z, ta co
r(Q + P1 + P2 )
L z = (P1 P2 )r
w = (P1 P2 )r (w = v),

g
suy ra
w=

(P1 P2 )g
.
Q + P1 + P2

41 Thanh OA thc hien chuyen ong quay quanh O vi van toc goc 0
nen ong nang bang
1
1
J1 02 = r3 02 .
2
6
ay, ta a dung cong thc J 1 = 13 Mr2 vi M = r.
Thanh AB chuyen ong song phang. Chuyen ong tc thi cua no la
chuyen ong quay quanh tam quay tc thi I (hnh ve) vi van toc goc 1 .
Ta thay A la trung iem canh huyen cua tam giac vuong OBI vuong tai
B, nen IA = OA = r. V v(A) = OA0 = r0 (trong chuyen ong cua thanh
OA), v(A) = IA1 = r1 (trong chuyen ong cua thanh AB) nen 1 = 0 .
e tnh ong nang cua thanh AB ta can tnh momen quan tnh J2 cua no

Li giai mot so bai tap

45

oi vi truc i qua I. Trc het, xac nh IJ vi J la khoi tam (trung iem)

cua AB. Ap dung cong thc cosin cho tam giac IAJ , ta co:
2

IJ = IA + AJ 2AI AJ cos IAJ = r


5
cos 2 .
4

Do o theo cong thc Huygens

1
J2 = r3 + r3
12

5
cos 2
4

= r


4
cos 2 .
3

ong nang cua thanh AB bang

1 3
r
2


4
cos 2 02 .
3

Tom lai, ong nang cua he bang

1 3 2 1 3
r 0 + r
6
2




4
5 1
2
3
cos 2 0 = r
cos 2 02 .
3
6 2

42 C he: a va day.
Lc ngoai tac dung: P trong lc at len a.
He toa o c chon co goc at tai A, Ax thang ng hng xuong di,
Ay nam ngang hng t trai qua phai, Az vuong goc vi mat phang hnh ve
(au bai) hng t ngoai vao trong (trang giap). Vi cach chon he toa o nay
th a quay theo chieu thuan.
e tnh momen ong lng cua he ta dung he toa o Konig Cx0y 0z 0
(hnh tnh tien cua Axyz theo vect AC). e y rang, a thc hien chuyen
ong song phang, do day khong gian, co chuyen ong tc thi la chuyen ong
quay quanh truc i qua "iem tiep xuc" cua da vi truc Ax vi van toc goc
, vC = r. Neu xet chuyen ong cua iem nay oi vi he Konig (xem nh
ng yen), th no chuyen ong quay quanh C vi cung van toc goc. Nh vay,
3
Lz = mrvC + JC = mr2 ,
2

Li giai mot so bai tap

46

trong o JC la momen quan tnh cua a oi vi truc i qua C va cung hng

vi Az. ay ta a dung cong thc J C = mr2 /2. V day khong trong lng
nen momen ong lng cua no bang khong.
Momen cua lc ngoai (at tai C): mgr.
Ap dung nh ly bien thien momen ong lng:
2g
3 2
mr = mgr  = = .
2
3r
V C chuyen ong thang ng nen gia toc cua C: wC = v C = 2g/3.
e tm lc cang ta xet he ch gom a. Khi o, lc ngoai tac dung len
he gom P va lc cang day T. Ap dung nh ly chuyen ong khoi tam, ta co:

mwC = mg T T = mg

2mg
mg
=
.
3
3

Cach giai khac

Phan au cua bai tap nay co the giai bang cach dung nh ly bien thien
ong nang. ay ta cung dung he toa o Konig khi tnh ong nang. ong
nang cua he:
1
1
3
T = mvC2 + JC 2 = mr2 2 .
2
2
4
Cong suat cua lc ngoai:
W = mgvC = mgr.
Ap dung nh ly bien thien ong nang:
3 2
2g
mr = mgr  = = .
2
3r
44 He la hat ch chuyen ong trong mat phang qua goc nen co 2 bac t do
[Chuyen ong cua hat dc tac dung cua lc xuyen tam la chuyen ong phang. ay
la rang buoc cua hat]. Toa o suy rong (dung toa o cc co goc at tai goc).

Li giai mot so bai tap

47

ong nang cua hat la (xem hnh 19)

1
T = m(r2 + r2 2 ).
2
The nang cua hat (oi vi vo cung) la

V =

GMm
.
r

Ham Lagrange L = T V :
1
GMm
L = m(r2 + r2 2 ) +
.
2
r
Tnh cac ao ham roi thay vao he phng trnh Lagrange, ta c:


MG
2
= 0,
m
r m r 2
r
= 0 d (r2 )
= 0.
m(2rr + r2 )
dt
Tch phan au: r 2 =const.
Chu y, ta co the nhan ra chuyen ong co mot tch phan au t nhan xet
L/ (ham Lagrange khong phu thuoc , ngha la la toa o cyclic). Tch
phan au nay chnh la momen ong lng cua hat mr 2 c bao toan.
45 He la hat. V vect ban knh cua hat:
r = rer ,
trong o er = (sin cos , sin sin , cos ), nen he co 2 bac t do. Toa o
suy rong: r, . Van toc cua hat:
r = re
r + re r .
e y rang,
e r = sin ( sin , cos , 0) = sin e .

Li giai mot so bai tap

48

Nh vay, ong nang cua hat:

1
T = m(r2 + r2 2 sin2 ).
2
The nang cua hat (oi vi O):
V = mgr cos .
Ham Lagrange:
1
L = T V = m(r2 + r2 2 sin2 ) mgr cos .
2
He phng trnh Lagrange (sv nen tnh toan tng minh)
r r 2 sin2 + g cos = 0,
2rr + r2 = 0 (sin > 0).
Do ham Lagrange khong phu thuoc nen la toa o cyclic. Tch phan au:

r2 varphi
= const. Sv t giai thch y ngha vat ly.
46 He hai bac t do. Chon toa o suy rong: x, chuyen dch cua nem oi
vi iem co nh tren san; y, chuyen dch cua vat oi vi iem co nh tren
nem.
ong nang va the nang cua he:
T =
V
Ham Lagrange:

1
1
M x 2 + m(x 2 + y 2 + 2x y cos ),
2
2

= mgy sin .

1
1
L = T V = M x 2 + m(x 2 + y 2 + 2x y cos ) + mgy sin .
2
2
Tnh cac ao ham
L
= 0,
x

L
= (M + m)x + (m cos )y,

L
= mg sin ,
y

L
= my + (m cos )x,

d L
= (M + m)
x + (m cos )
y;
dt x
d L
= m
y + (m cos )
x.
dt y

Li giai mot so bai tap

49

He phng trnh Lagrange loai hai:

(M + m)
x + (m cos )
y = 0,
m
y + (m cos )
x mg sin = 0.

Giai ra ta c

x =

mg sin cos
,
M + m sin2

y =

(M + m)g sin
.
M + m sin2

47 Neu khong co ieu kien "lan khong trt" th he hai bac t do vi cac
toa o suy rong: , goc gia OG va truc thang ng hng xuong; , goc quay
cua hnh tru (oi vi v tr tham chieu nao o). ieu kien lan khong trt
cho
(b a) = a (b a) = a.
(a)
ay ta a chon v tr tham chieu thch hp e cho = 0 khi = 0. Vay
he mot bac t do. Chon toa o suy rong la .
ong nang cua he:
T =
=

1
2 + 1 J 2
m((b a))
2
2
3
m(b a)22
4

trong o ta a dung phng trnh lien ket (a) va cong thc tnh momen quan
tnh cua hnh tru J = ma2/2.
The nang:
V = mg(b a) cos .
Ham Lagrange

3
L = T V = m(b a)2 2 + mg(b a) cos .
4
Tnh cac ao ham:
L
= mg(b a) sin ,

L
3

= m(b a)2,
2

d L
3

= m(b a)2 .
dt
2

Li giai mot so bai tap

50

Phng trnh Lagrange loai hai:

3
2g
m(b a)2 + mg(b a) sin = 0 +
sin = 0.
2
3(b a)
(chu y, phng trnh nay trung vi phng trnh chnh xac cho dao ong con
lac n co chieu dai l = 3(b a)/2).
Vi gia thiet dao ong be ta xap x sin trong phng trnh Lagrange,
ta c
+

2g
= 0.
3(b a)

Chu ky cua dao ong theo cong thc cua con lac n

l
= 2
g

3(b a)
.
2g

48 He hai bac t do. Chon cac toa o suy rong: x, nh tren hnh 23. iem
ac biet th du nay la lc F tac dung len P2 c cho phu thuoc thi gian
(khong bao toan) nen ta can tnh cac lc suy rong! Chuyen dch ao cua P2
theo phng ngang:
x + a cos .
nen cong phan to cua lc chu ong (ch co lc F ) la
F (t)(x + a cos ) = Qx x + Q ,
suy ra
Qx = F (t),

Q = (a cos )F (t).

ong nang cua he:

T =

1
1
2 + (a sin )
2]
mx 2 + m[(x + a cos )
2
2

1
= mx 2 + (ma cos )x + ma22 .
2

Li giai mot so bai tap

51

He phng trnh Lagrange loai hai:

d
= F (t),
[2mx + (ma cos )]
dt
d
[(ma sin )x ]
= (a cos )F (t).
[(ma cos )x + ma2]
dt

Phu luc A
e thi mau
Cau 1 (2) Mot con ong bay tren mot quy ao theo luat chuyen ong cho
trong toa o cc la

r=

bt
t
(2 t), =
2

(0 t 2 ),

trong o b va la nhng hang so dng. Chng to rang toc o nho nhat cua
con ong la b/ . Tm gia toc cua con ong tai thi iem nay.
Cau 2 (2) Mot chat iem P khoi lng m chuyen ong di lc hap dan

Hnh 1: Cau 2
cua vat co khoi lng M at tai O. Ban au P cach O khoang cach a, c
ban ra xa O vi toc o (2MG/a) 1/2 . Tm khoang cach t P en O tai thi
iem t. Chng to P chuyen ong ra vo cung. ay G la hang so hap dan.
Cau 3 (1) Cho a tron ong chat ban knh a, khoi lng M. e thay oi
momen quan tnh cua a ngi ta gan them vao a khoi lng m cach tam
khoang cach a/2. Tnh momen quan tnh cua he oi vi truc i qua tam va
52

PHU LUC A. E THI MAU

53

Hnh 2: Cau 3
vuong goc vi a. Neu khong them va khoi lng m th truc phai di song
song en iem nao tren a e momen quan tnh van bang nh trng hp
trc?
Cau 4 (2.5) Mot a tron khoi lng M ban knh a co the quay khong ma

Hnh 3: Cau 4
sat quanh truc nam ngang i qua tam cua no. Mot con bo khoi lng m chay
vi van toc khong oi u quanh mep a. Ban au a c gi trang thai
ngh va c tha ra khi con bo v tr thap nhat. Tnh momen ong lng
cua he (gom a va con bo) oi vi truc quay. Viet phng trnh bien thien
ong lng cua he. Chng to rang

2 =

4mg
u2
(cos 1) + 2 .
a(M + 2m)
a

trong o la goc xac nh v tr con bo so vi phng thang ng hng

xuong.
Cau 5 (2.5) Mot ong tru ban knh a, trong lng P1 co cuon xung quanh
bang mot si day. Day vat qua rong roc co nh O roi noi vi vat nang A
trong lng P2 . Vat A trt tren mat phang ngang co he so ma sat f. Bo qua
ma sat o truc O. Viet phng trnh Lagrange loai hai cho he. Tm gia toc
cua A va tam C cua ong tru.
Chu thch
e thi gom 5 cau c cau truc nh sau:
Cau 1 - ong hoc iem; kiem tra kien thc va ky nang tnh toan cac

PHU LUC A. E THI MAU

54

Hnh 4: Cau 5
khai niem ong hoc c ban: phng trnh (luat) chuyen ong, quy ao, van
toc, gia toc, gia toc tiep, gia toc phap, ban knh cong.
Cau 2 - ong lc hoc iem; kiem tra kha nang thiet lap phng trnh
vi phan chuyen ong va ky nang giai phng trnh vi phan.
Cau 3 - Kiem tra kien thc ve khoi tam, momen quan tnh.
Cau 4 - Kiem tra ky nang van dung mot trong ba nh luat tong quat
(ong lng, momen ong lng va ong nang).
Cau 5 - C hoc giai tch; kiem tra ky nang phan tch lien ket, thiet lap
phng trnh Lagrange loai hai.
ap an
Cau 1
Van toc cua con ong tai thi iem t:

vr =

2b
( t),
2

v =

bt
(2 t).
3

Toc o cua con ong tai thi iem t:

b
v = 2

v2 =

4( t)2 +

1
(2 t t2 )2,
2

b2
f(t).
4

ay ta a at f(t) = 4( t) 2 + 12 (2 t t2)2 . e tm toc o nho nhat cua

PHU LUC A. E THI MAU

55

ong ta khao sat ham f(t).

f 0 (t) = 8( t) +
=

2
(2 t t2 )(2 2t)
2

4
( t)(t2 2 t + 2 2 )
2

Xet dau f 0 (t) trong khoang [0, 2 ] co the thay f(t) nho nhat (va nh vay van
toc nho nhat) khi t = . Van toc nho nhat bang b/ .
Gia toc cua con ong tai thi iem t:

wr =

bt
2b
4 (2 t),
2

w =

4b
( t).
3

Luc t = ,
wr =

3b
,
2

w = 0 w =

3b
.
2

Cau 2
Chon he toa o nh hnh ve. Lc tac dung: lc hap dan co o ln
F = GMm/x2 va hng ve O.
Phng trnh vi phan chuyen ong

m
x=

GMm
GM
x = 2 .
2
x
x

Ky hieu v = x x = v.
Nhan vao hai ve phng trnh vi vdt = dx, ta c
1 2
GMdx
d(v ) =
.
2
x2
Tch phan hai ve t thi iem au en thi iem t:



1
1
v(t) v(0) = 2GM

.
x(t) x(0)
2

PHU LUC A. E THI MAU

56

Dung ieu kien au, v(0)2 = 2MG/a, x(0) = a, ta suy ra

v(t) =

2GM
.
x(t)

Nhan vao hai ve vi dt, ta c

dx =

2GM
dt x1/2dx = 2GM dt.
x

Tch phan hai ve, ta c

x(t)

3/2

3/2

x(0)

3
2GM t x(t) =
=
2


2/3
3
3/2
a +
2GM t
.
2

ay chnh la khoang cach t O en P tai thi iem t. Cho t , x(t) ,

ngha la P chuyen ong ra vo cung.
Cau 3
Momen quan tnh cua he co tnh chat cong tnh. Goi la truc i qua
tam (khoi tam cua a), ta co
 a 2 a2(2M + m)
1
J = Ma2 + m
=
.
2
2
4
Goi 0 la truc can tm va d la khoang cach gia hai truc. Theo nh ly
Huygens,
1
J0 = J + Md2 = Ma2 + Md2 .
2
e momen quan tnh van bang nh trng hp trc, ta phai co
1
a2 (2M + m)
a
Ma2 + Md2 =
d=
2
4
2

m
.
M

PHU LUC A. E THI MAU

57

Vay truc 0 phai chon i qua iem cach tam a khoang cach d xac nh
nh tren.
Cau 4
Goi la goc quay cua a (chieu chon nh hnh ve).
a thc hien chuyen ong quay nen momen ong lng oi vi truc
quay la
1

L = J = Ma2.
2
Chuyen ong cua con bo gom: chuyen ong tng oi - chuyen ong
tron vi van toc dai khong oi u; chuyen ong theo la chuyen ong quay
quanh truc cung vi a. Van toc tuyet oi cua con bo:

u + a.
(chu y ky cach chon chieu quay dng). Momen ong lng cua con bo:

Lb = ma(u a).
Momen ong lng cua he oi vi truc quay:
1

L = L + Lb = Ma2 ma(u a).

2
Lc tac dung len he: trong lc cua a va cua con bo. Lc tac dung len
a quy ve lc at tai iem ma truc quay i qua nen momen cua lc bang
khong. Momen cua lc tac dung len he cung la momen cua lc tac dung len
con bo:
MO = mga sin
(chu y ky cach chon chieu quay dng). ay la goc xac nh v tr con
bo oi vi phng thang ng hng xuong.
Ap dung nh ly bien thien momen ong lng cua he,


d 1
2

Ma ma(u a) = mga sin

dt 2
(M + 2m)a2
= mga sin .
2

PHU LUC A. E THI MAU

58

e y rang goc chuyen ong cua con bo tai thi iem t so vi v tr ban au
bang + . Con bo chuyen ong eu nen a( + ) = ut, suy ra = (u/a) ,

= . Thay vao phng trnh bien thien momen ong lng ta c sau
mot so bien oi:
=

2mg
sin .
a(M + 2m)

Nhan hai ve vi dt
= d, ta c:
2mg
1
d()
2=
sin d.
2
a(M + 2m)
Tch phan hai ve t thi iem au en thi iem t:
2mg
1
[(t)
2 (0)
2] =
[cos((t)) cos((0))].
2
a(M + 2m)
Dung ieu kien au, (0) = 0, (0)

= u/a, ta suy ra:

2 =

4mg
u2
(cos 1) + 2 .
a(M + 2m)
a

Cau 5
He: ong tru tam C va vat nang A
Vat A thc hien chuyen ong tnh tien theo phng ngang. Hnh tru
thc hien chuyen ong song phang, bao gom: tnh tien theo phng thang
ng (cung vi A) va quay (tc thi) quanh B. He co 2 bac t do. Toa o suy
rong: x - v tr A theo phng ngang, goc quay cua ong tru.
Cac lc chu ong: trong lc P1 , lc ma sat F ms = fP2 , trong lc P2 .
ong nang cua A:
TA =

P2 2
x .
2g

e tnh ong nang ong tru, dung cong thc tnh ong nang theo khoi tam
C, trc het ta tnh van toc cua C bang cong thc Euler (iem cc la B - tam

PHU LUC A. E THI MAU

59

quay tc thi)
vC = |{z}
x +a wC = x + a.

vB

ong nang ong tru (J = Ma2 )

TC =

1
P1 2
P1
P1
(x + a)
2 + J 2 =
(x + 2ax + a2 2) + a2 2.
2g
2
2g
2g

ong nang cua he:

T = TA + TC =

P1 + P2 2 P1 a
P1 a2 2
x +
x +
.
2g
g
g

Cong cua cac lc chu ong (giup tm cac lc suy rong):

fP2 x + P1 x + P1 a Qx = fP2 + P1 , Q = P1 a.
Tnh cac ao ham roi thay vao phng trnh Lagrange, ta c:
P1 a
P1 + P2
x +
= fP2 + P1 ,
g
g
P1 a
2P1 a2
x +
= P1 a.
g
g
Giai ra ta c

x =

g(P1 2fP2 )
P1 + 2P2

g(P1 + P2 )
gP2 (1 + 2f)
wC =
a(P1 + 2P2 )
P1 + 2P2

(gia toc cua A),

(gia toc cua C).

Phu luc B
e thi mon C hoc ly thuyet
Thi gian: 120 phut
Ngay thi: 4/6/2009
(Sinh vien c phep tham khao tai lieu ch nh)
Cau 1 (2) iem chuyen ong tren ng cycloid,
x = a( sin ),

y = a(1 cos ),

theo luat = bt/a, trong o a va b la nhng hang so dng. thi iem bat
ky, xac nh van toc, gia toc cua iem va ban cong cua quy ao tai v tr cua
iem.
Cau 2 (2.5) Mot vat khoi lng m trt khong ma sat tren mat phang
nghieng mot goc (0 < < /2) so vi phng ngang. Cho biet vat chu sc
can khong kh co o ln t le vi bnh phng van toc, kv 2. Ban au vat
nh doc O va c buong ra khong van toc au. Viet phng trnh vi phan
chuyen ong cua vat. Chng minh van toc cua vat bien thien theo quy luat

v=

mg sin
(1 e2kx/m ),
k

trong o x la khoang cach t vat en nh doc. Tm van toc gii han cua
vat.
Cau 3 (1) Mot qua lac ong ho gom: thanh ong chat chieu dai 2a, khoi
lng m va a tron ong chat ban knh a/2, khoi lng M gan vi nhau nh
hnh 1. Tnh momen quan tnh cua qua lac oi vi truc i qua O (iem gia
cua thanh), cho biet OC = 3a/4.
60

PHU LUC B. E THI MON C HOC LY THUYET

61

Hnh 1: a) Cau 3; b) Cau 5.

Cau 4 (2) Mot vat khoi lng 4m trang thai ngh (ng yen) khi no b
no tung thanh ba manh co khoi lng lan lt la 2m, m va m. Sau khi no
tung, hai manh khoi lng m c quan sat thay chuyen ong vi cung toc
o u theo hai hng hp vi nhau goc 120o . Tm van toc cua manh co khoi
lng 2m. Tnh ong nang toan phan cua he (gom ba manh). V tr ban au
cua vat la iem g cua he?
Cau 5 (2.5) Con lan A lan khong trt tren mat phang nghieng mot goc
so vi phng ngang, lam vat C trong lng P c nang len nh mot si
day vat qua rong roc B. Con lan A va rong roc B la hai a tron ong chat
co cung trong lng Q va ban knh R. Bo qua ma sat lan va ma sat cua truc
rong roc. Viet phng trnh Lagrange loai hai cho he. Chng minh gia toc
cua C bang
wC =

(Q sin P )g
.
2Q + P

Hay ch ra ieu kien tren cac d kien cua au bai (khong c cho mot cach
tng minh).
ap an
Cau 1
Van toc:
x = b(1 cos ),

y = b sin v = b

Gia toc:

x =

b2
sin ,
a

y =

2(1 cos ).

b2
b2
cos w = .
a
a

PHU LUC B. E THI MON C HOC LY THUYET

62

Tnh ban knh cong. Gia toc tiep:

wt = v =
Gia toc phap:
wn =
Suy ra

Cau 2

sin
b2
p
.
a 2(1 cos )

b2
w2 wt2 =
a

1 cos
.
2

p
v2
=
= 2a 2(1 cos ).
wn

Hnh 1: Cau 2.
He quy chieu c chon nh hnh ve, truc Ox hng song song vi mat
nghieng. Lc tac dung len vat: trong lc P, phan lc N va lc can khong kh
Fc .
Chieu phng trnh vi phan chuyen ong (nh luat th hai cua Newton)
len truc x, ta c:
m
x = mg sin k x 2 .
Nhan vao hai ve vi xdt
= dx, ta c:

m
d(v 2) = (mg sin kv 2)dx,
2
trong o v = x.
Tach bien,
md(v 2)
= dx,
2(mg sin kv 2)

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63

roi tch phan hai ve (chu y, bien lay tch phan ben ve trai la v 2), ta c:
v2
m
2 
ln |mg sin kv |
= x x(0).
2k
v2 (0)

Dung ieu kien au, v(0) = 0, x(0) = 0,

ln

mg sin kv 2
mg sin

2kx
,
m

suy ra
v=

mg sin
(1 e2kx/m ).
k

Qua gii han, t , ta thu c (do x ):

vgh = lim

mg sin
(1 e2kx/m ) =
k

mg sin
.
k

Cau 3
Momen quan tnh cua thanh oi vi truc i qua O:
4ma2
1
.
Jt = m(2a)2 =
3
3
Momen quan tnh cua a oi vi truc i qua O (dung cong thc Huygens):
1  a 2
J = M
+M
2
2

3a
4

2

11Ma2
.
16

Vay, momen quan tnh cua qua lac oi vi truc qua O:

J = Jt + J =

4m 11M
+
3
16

a2 .

PHU LUC B. E THI MON C HOC LY THUYET

64

Hnh 2: Cau 4.
Cau 4
He gom ba vat co khoi lng lan lt la m, m, 2m (ban au chung ket
dnh vi nhau). Theo gia thiet ban au chung ng yen, ieu o co ngha
la lc tac dung len chung bang khong! Ta ap dung nh ly bao toan ong
lng. Goi v la o ln van toc cua vat 2m. Do ong lng ban au cua he
bang khong nen ong lng cua he luc sau cung vay. Do o van toc cua vat
2m co phng chieu nh hnh ve, va o ln c tnh nh s bao toan ong
lng
mu cos 60o + mu cos 60o 2mv = 0 v =

u
.
2

ong nang cua he:

T =

mu2 mu2 2m  u 2 5mu2

+
+
=
.
2
2
2 2
4

V tr ban au cua vat (O) la khoi tam cua he.

Cau 5
C he gom: con lan A, rong roc B, vat C. Lc chu ong tac dung len
he: trong lc Q, phan lc NA , trong lc Q, phan lc NB , trong lc P (xem
hnh ve).
Lien ket:
Con lan A chuyen ong song phang. Chuyen dch tnh tien s va quay
quanh tam goc . Do lan trt nen s = R (s = R).

Rong roc B thc hien chuyen ong quay goc (chon goc thch hp).
Vat C dch chuyen tnh tien x. Do day khong gian x = s (x = s).

Nh vay, he co 1 bac t do, chon toa o suy rong la x (toa o vat C).

PHU LUC B. E THI MON C HOC LY THUYET

Hnh 3: Cau 5.
ong nang cua con lan A:

TA =

Q 2 QR2 2 3Q 2
s +
=
x .
2g
4g
4g

ong nang cua rong roc B:

TB =

QR2 2
Q
= x 2.
4g
4g

ong nang cua vat C:

TC =

P 2
x .
2g

ong nang cua he:

T = TA + TB + TC =

P + 2Q 2
x .
2g

Cong toan phan do lc chu ong tac dung len he:

W = Q sin s P x = (Q sin P )x.
Do o, lc suy rong Qx = Q sin P .

65

PHU LUC B. E THI MON C HOC LY THUYET

66

Tnh cac ao ham roi thay vao phng trnh Lagrange, ta c:

P + 2Q
(Q sin P )g
x = Q sin P wC = x =
.
g
P + 2Q
ieu kien: e vat C i len ta phai co ieu kien Q sin P .
Li ban
Cau 4 Cau nay thng lam cho cac ban lung tung ve lc tac dung len he.
Tuy nhien, neu e y en cum t " trang thai ngh (ng yen)" th ta co the
xem, theo nh luat th nhat cua Newton, he khong chu tac dung bi lc
nao ca, hay noi khac i, cac lc tac dung len he can bang.
Cau 5 Mot so ban cho la he co 2 bac t do! That ra vi ieu kien "lan

Hnh 4: Tnh ong nang trong chuyen ong song phang.

khong trt" cua con lan th bai nay ch co 1 bac t do. Mot so ban ap dung
may moc cach tnh ong nang cua con lan giong nh cach tnh ong nang
cua ong tru (cau 5 cua e thi mau). Nh tren hnh 4a), ong tru thc hien
chuyen ong song phang c phan tch bang cach chon B lam iem cc,
gom: chuyen ong tnh tien cua iem B va chuyen ong quay quanh truc i
qua B cua ong tru. Con trong bai nay, hnh 4b), chuyen ong cua con lan
gom: chuyen ong tnh tien cua iem A va chuyen ong quay quanh A cua
con lan. Cac ban nen oc lai li giai trong hai trng hp e so sanh.

Tai lieu tham khao

[1] ang nh Ang, Trnh Anh Ngoc, Ngo Thanh Phong, Nhap mon C hoc,
NXB ai hoc Quoc gia TP. HCM 2003.
[2] Nguyen Trong Chuyen, Phan Van Cuc, Bai tap c hoc ly thuyet, NXB Khoa
hoc va Ky thuat, Ha noi, 1991.
[3] R. Douglas Gregory, Classical Mechanics - An Undergraduate Text, Cambridge
University Press, 2006.
[4] R. Douglas Gregory, Classical Mechanics - Solution Manual, Cambridge University Press, 2006.
[5] X.M. Targ, Giao trnh gian yeu c hoc ly thuyet, NXB ai hoc & Trung hoc
Chuyen nghiep Ha noi, Mir Matxcva 1979.

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