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TRNG I HC BCH KHOA TP. H CH MINH
C HC L THUYT
Chng 1: C S CA TNH HC
Design
C HC L THUYT 1: Tnh Hc By haughtycool
va ng Hc Phn I: Tnh hc
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1.1.1.1. Vt rn tuyt i
L loi vt rn c hnh dng v th tch khng thay i di
mi tc ng t bn ngoi.
1.1.1.2. Trng thi cn bng
Trng thi c hc ca vt rn tuyt i l quy lut chuyn
ng ca vt rn trong khng gian theo thi gian.
Trng thi cn bng l mt trng thi c hc c bit ca
vt rn sao cho mi cht im thuc vt u c gia tc bng
khng.
C hai dng cn bng ca vt:
Tnh tin thng u.
Vt ng yn (c thm tnh cht vn tc bng 0).
1.1.1.3. Lc
Design
C HC L THUYT 1: Tnh Hc By haughtycool
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a). nh ngha:
Lc l mt i lng vector c dng o lng s tng
tc c hc gia cc vt cht vi nhau.
b). Cc c trng ca lc (hnh 1.1):
im t.
F
Phng v chiu. A
ln.
l
Vi l : ng tc dng ca lc.
1.1.2.3. Hp lc
a). nh ngha:
Nu mt h nhiu lc tng ng vi mt h mi ch c
duy nht mt lc, lc duy nht c gi l hp lc ca
h nhiu lc.
K hiu ca hp lc nh sau:
(Fj ) ~ R ; j 1, n
b). Tnh cht ca hp lc: hp lc c 2 tnh cht.
Vector hp lc c xc nh bng vector tng ca cc
vector lc trong h.
n
R Fj
j 1
Design
C HC L THUYT 1: Tnh Hc By haughtycool
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y
n
B
Rx F jx
Fj
j1
Fjy
n
Ry F jy
j 1 A
n
Rz F jz
j 1 O x
Fjx
Hnh 1.2
Hnh chiu ca mt vector ln mt trc l mt gi tr i s
(hnh 1.2).
F jx F j . cos F jy F j . sin
Design
C HC L THUYT 1: Tnh Hc By haughtycool
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Vector hp lc R ca h lc ch nm trn mt ng tc
dng duy nht trong khng gian R 3 .
1.1.3.2. Cch 2
Lc tp trung
Lc phn b theo ng
L loi lc phn b c cc im tc ng ln vt to thnh
mt loi ng hnh hc trn vt (ng thng, ng trn,
ellipse, ). n v: N/m.
q
P
Hnh 1.4
Vi q: cng ca lc phn b. n v: N/m.
Lc phn b theo mt
Design
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Hnh 1.5
p
Vi p : p lc. n v: N/m2.
Th tch cc nh.
V
C
Trng lc l lc tp
trung: khi nim ng
P nhng khng tht!
Hnh 1.6
Q q ( x ).dx
x A
Vi:
x
x q( x). x.dx Q x
B
D x A
C
Design
C HC L THUYT 1: Tnh Hc By haughtycool
va ng Hc Phn I: Tnh hc
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Trong : x A: ta ca im A bt u c lc.
x : ta ca im bt k.
x C : ta ca trng tm C.
x B : ta ca im B kt thc c lc.
x D: ta x ca im D.
1.1.4.2. Trng hp ring
a). Lc phn b u (hnh 1.8) .
l
l 2 l 2
D
A
C
B ~ A
C
B
1
1 Q qmax .l
qmax .l 2
qmax 2 C
A
C
2l 3 B ~ A
D 2l 3 B
l
b)
a)
Hnh 1.9
Design
C HC L THUYT 1: Tnh Hc By haughtycool
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Gm c 6 tin
F B A F F B A F
a) b)
Hnh 1.10
Design
C HC L THUYT 1: Tnh Hc By haughtycool
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H qu 1:
nh l trt lc B A FA
Tc dng ca lc ln F B FB
vt rn tuyt i
khng thay i khi
trt lc trn ng Hnh 1.11
tc dng ca n.
H hai lc cng t ti F1
mt im tng ng F
vi mt lc t ti im
t chung v c vector
lc bng vector ng
cho hnh bnh hnh m O
F2
hai cnh l hai vector biu
din hai lc thnh phn.
(hnh 1.12) Hnh 1.12
Tin 4: Tin tc dng v phn tc dng
Lc tc dng v lc phn tc dng gia hai vt c cng
ng tc dng, hng ngc chiu nhau v c cng
cng . (hnh 1.13).
Design
C HC L THUYT 1: Tnh Hc By haughtycool
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F F
A B
a)
F F
A B
b)
Hnh 1.13
Ch rng lc tc dng v phn tc dng khng phi l
hai lc cn bng v chng khng tc dng ln cng mt
vt rn.
Tin 4 l c s m rng cc kt qu kho st mt
vt sang kho st h vt v n ng cho h quy chiu
qun tnh cng nh h quy chiu khng qun tnh.
Design
C HC L THUYT 1: Tnh Hc By haughtycool
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Tin 5: Tin ha rn
Mt vt bin dng cn bng di tc dng ca mt h
lc th khi ha rn li n vn cn bng di tc ng ca
h lc (hnh 1.14).
a) F F
b)
F F
Hnh 1.14
Design
C HC L THUYT 1: Tnh Hc By haughtycool
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Ch : (hnh 1.15)
Si dy Si dy
F F
F F
Ha rn Ha rn
F F
Thanh thp Thanh thp
F F
a)
b)
Hnh 1.15
Design
C HC L THUYT 1: Tnh Hc By haughtycool
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B A
a) b)
Hnh 1.16
Design
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1.3. Moment ca lc
z H
B F
d
A (l )
r
O
y
x
Hnh 1.17
Dng vect r OA
Gi l gc hp bi vect r v lc F: ( r , F )
d l cnh tay n ca lc F i vi tm O.
Design
C HC L THUYT 1: Tnh Hc By haughtycool
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d O H (l ) d r . s in
Kh nng ca lc F lm vt rn quay quanh tm O s
c nh gi bi vector moment ca lc F i vi
tm O nh sau: (hnh 1.18).
Hng quay ca cc ngn
M O (F ) r F
cn li ca bn tay phi.
( : tch c hng) r
F
M O ( F ) m p (O A B )
Chiu M O (F ) : RHR
Hng ch
M O ( F ) r . F . s in ca ngn ci M O (F )
F .d bn tay phi
2 .S ( O A B )
Hnh 1.18
Design
C HC L THUYT 1: Tnh Hc By haughtycool
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nh l
d 0
O ()
Design
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Quy c
nh l
Design
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S (OAxy Bxy ) 0
mp(OAB ) / /z
M trc ct mp (OAB) ti O nn:
Trc mp(OAB)
[z ,(l )] ng phng.
z ( )
z ( )
Design
C HC L THUYT 1: Tnh Hc By haughtycool
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1.3.2.3. Ngu lc
a). nh ngha
Ngu lc l mt h hai lc tha ng thi cc iu kin
sau y:
Cng phng, cng M ( F , F )
ln, ngc chiu
v khng cng ng A l
tc dng (hnh 1.20).
F
d
l
F
K hiu ngu lc A
nh sau: P
(F, F ') : F ' F Hnh 1.20
Design
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d). Cc nh l ca ngu lc
nh l 1: Hai ngu lc c xem l tng ng v
c hc nu v ch nu hai vector moment ca chng
bng nhau.
~
F1, F1
F2 , F2 M F1, F1 M F2 , F2
nh l 2: T mt ngu cho ta c th tm c v s
ngu khc tng ng vi n.
nh l 3: Tng hai vector moment ca hai lc trong
ngu ly i vi mt tm O trong khng gian s khng
ph thuc vo v tr ca tm O v bng vector
moment ca ngu lc.
MO F MO F M F,F , O R3
Design
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M
P
Hnh 1.23
Design
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Design
C HC L THUYT 1: Tnh Hc By haughtycool
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1.4.1.3. Lin kt
a). nh ngha
L nhng i tng c tc dng hn ch kh nng chuyn
ng ca vt rn trong khng gian.
b). Rng buc ca lin kt (Rlk)
L s chuyn c lp b mt do lin kt.
Rlk l mt thng s nh gi kh nng cn tr chuyn
ng ca lin kt i vi vt v n c nh ngha bng
s chuyn ng c lp m vt rn b mt i do lin kt y.
Ch : Mt chuyn ng c lp gm c hai chiu chuyn
ng theo mt phng. Nu vt rn ch chuyn ng theo
mt chiu ca mt phng th vt y c 0,5 chuyn ng
c lp.
Design
C HC L THUYT 1: Tnh Hc By haughtycool
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Vi n l s vt rn trong h.
Khi Dof h > 0: h khng lun cn bng vi mi loi ti
tc ng.
Khi Dof h 0: h lun cn bng vi mi loi ti tc ng.
Design
C HC L THUYT 1: Tnh Hc By haughtycool
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Rta = 0,5
Hnh 1.28-a
Design
C HC L THUYT 1: Tnh Hc By haughtycool
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S
tB
NA NB
B
tA
A
Hnh 1.28-b
Ta
Hnh 1.28-c
Design
C HC L THUYT 1: Tnh Hc By haughtycool
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Hnh 1.29 a
Loi lin kt ny c chiu v ln ca cc phn lc lin
kt cha bit (hnh 1.29).
Design
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Khp bn l c nh
Fx Fy F
Hnh 1.29 b
M hnh lin kt khp bn l trong l thuyt
A RA Ay Ax
A Ay
A
A Ax A
A
Hnh 1.29 c
Design
C HC L THUYT 1: Tnh Hc By haughtycool
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Rblt = 1 V
NA
C 1 phn lc lin kt.
Chiu v ln phn lc
cha bit.
Hnh 1.30 a
Design
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Hnh 1.30 b
Hnh 1.30 c
Design
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Hnh 1.31-a
Rbln = 2
Design
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V2
H 2 H1
V2 V1 H1 H2
V1
Hnh 1.31-b
Khp bn l ni
Hnh 1.31-c
Design
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Design
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xA yA y
A
x
Hnh 1.33
Design
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C 6 phn lc z
lin kt.
Ngm
A A
zA
M
y A Mx
xA
A
yA y
Mz
x
Hnh 1.34
Design
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C trng lng rt b nn
c th b qua c.
RB RD V
C hai lin kt hai u
cui ca mi thanh thuc D
B
ba loi lin kt sau y:
khp cu, khp bn l,
ta nhn.
RB AB
AB, CD : 2 lin kt thanh
RD CD
Design
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Lin kt thanh
Lin kt thanh
Hnh 1.35 b
Design
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N c k hiu v xc nh nh sau:
Design
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Rx
j 1
Fjx
n n
R Fj Ry Fjy
j 1 j 1
n
Rz Fjz
j 1
2.1.2.1. nh ngha
N c xc nh v k hiu nh sau:
Design
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n
M Ox M x
Fj
j1
n n
MO MO
Fj M Oy M y
Fj
j1 j1
n
M Oz M z
Fj
j1
Design
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2.2. Cc nh l c bn ca tnh hc
ng phng.
Hoc ng quy
hoc song song
trong mt phng.
Hnh 2.2
Design
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Ch : nh l ny l nh l mt chiu ngha l nu h 3
lc tha mn ng thi 2 iu kin nh trn th cha
chc h 3 lc y l h 3 lc cn bng.
C th di di song song mt lc n mt im t mi
nm ngoi ng tc dng ca n nu trong qu trnh di
di song song y ta b sung vo lc y mt moment bng
moment ca lc trc khi di di ly i vi im s c
di di n. (hnh 2.3),
F
A
~ F B ; MB F A , B R3
Design
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F l
A
F
B
F
A
B
MB F A
Hnh 2.3
Design
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~
Fj R, M O ~f , O R3
j 1, n
Design
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n
Rx Fjx 0 1
j 1
n n
R Fj 0 Ry Fjy 0 2
j 1 j 1
n
Rz Fjz 0 3
j 1
n
M Ox M x Fj 0
j 1
4
n n
j 1
M O M O Fj 0 M Oy M y Fj 0
j 1
5
n
M Oz
j 1
M z Fj 0 6
Design
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z O x
Hnh 2.5
Design
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(2), (6). y
(2)
Hnh 2.6
Design
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Hnh 2.7
Design
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Design
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n
mO ( R ) mO ( Fk )
k 1
2.4.3.1. Khi M O 0 : hp lc ca h lc R R v t ti O.
(hnh 4.1)
R R
O Hnh 2.8
Design
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2.4.3.2. Khi R M O : hp lc ca h lc R R v t ti O*.
(hnh 4.2)
MO
R
R M
OO * O
R 2
O R R
MO
d OO*
R d
O*
Hnh 2.9
2.4.4. Dng chun 4: H lc xon vt ng
Khi R .M O 0 : h lc ny khng bao gi c hp lc.
Design
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2.5. Ma st
Lc ny vt cn bng di tc ng ca bn lc:
P , N , Q , F ~ 0 Q , F ~ 0
mst
mst
2.5.2.2. Ma st ln
Kho st mt hnh tr
trn c, t trn mt
phng nm ngang.
Hnh tr s cn bng N
di tc dng ca 2 lc O
N v P. (hnh 5.1)
R
P
Hnh 2.10
Design
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Tc ng thm ln vt ny mt lc y Q. Lc ny tc
ng ti tm ca hnh tr v lm cho vt ln v pha
trc. (hnh 5.2)
Khi Q << 1: vt vn cn
bng di tc dng ca N
h lc : O Q
M msl
P, N , Q, Fmst , M msl ~ 0 R
Vi Mmsl : moment ma Fmst
st cn ln. P
Khi tng dn Q, khi Q
cha ln, vt vn cn Hnh 2.11
bng.
Design
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( ft .a) P
Euler : Q P.e
e( ft .a)
P Hnh 2.12
Design
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V e( ft .a) 1 nn Q < P
V d: vi a 20.2p ; f t 0,5
Th ta c:
ft .a
e e 20 p 1,94.1027
2.6. Trng tm ca vt rn
(T c)
Design
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Design
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Design
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NG LC HC
Ni dung: 2 chng
Chng 1: NG LC HC CHT IM
Chng 2: NG LC HC H, C H
Design By haughtycool
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Chng 1: NG LC HC CHT IM
1. 1. 1. Cc khi nim
1. Cht im
2. C h
C h: l mt tp hp nhiu cht im c s tng tc c
hc ln nhau. Ty thuc vo bn cht ca s tng tc ny
m c h s c chia ra lm hai loi: c h t do v c h
khng t do.
Design By haughtycool
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+ C h t do l mt tp hp nhiu cht im m s tng
tc c hc gia cc cht im ny c biu th thun ty
ch bng cc lc. Ngha l cc cht im trong c h t do
c th d dng thc hin cc chuyn ng v cng b t v
tr ang xt theo mi hng sang cc v tr ln cn, nu c
lc tc ng, m khng c bt c cn tr no.
+ C h khng t do: L mt tp hp nhiu cht im m
tng tc c hc gia cc cht im trong c h khng ch
biu th bng lc m c biu th bng mt s iu kin
rng buc v hnh hc v ng hc khc. Cc i tng to
ra cc iu kin rng buc v hnh hc v ng hc gia
cc cht im trong c h c gi l cc lin kt c hc.
3. Lc
Lc l mt i lng vector c dng o lng s tng
tc c hc gia cc vt th vi nhau. Ngha l khi thc hin s
tng tc c hc, cc vt th s truyn cho nhau nhng lc.
Design By haughtycool
C HC L THUYT 2: ng Lc Hc Chng 1: ng lc hc cht im
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
Cc lc trong bi ton tnh hc
thng l nhng lc hng
y
(vector hng). Ngha l cc lc dy khng gin
ny s c im t, phng
l
chiu, ln khng thay i F
theo thi gian. (Hnh 1.1).
iu kin rng buc hnh hc:
2 2 2 M ( x, y )
x y l 0
x
Cc lc trong bi ton ng lc Hnh 1.1
hc, ni chung, l nhng lc
thay i theo thi gian, theo v r K F
tr v theo vn tc ca cht
im chu tc ng. (Hnh 1.2) O
Hnh 1.2
F F (t , r , v )
Design By haughtycool
C HC L THUYT 2: ng Lc Hc Chng 1: ng lc hc cht im
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
4. H quy chiu.
Design By haughtycool
C HC L THUYT 2: ng Lc Hc Chng 1: ng lc hc cht im
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
1. 1. 2. Cc tin ng lc hc
1. Tin 1: Tin qun tnh.
Mt cht im nu khng chu tc ng tc ng ca bt c
lc no th cht im y s trong trng thi ng yn
hoc chuyn ng thng u. Hai trng thi c hc trn ca
cht im c gi l trng thi qun tnh ca cht im
Tin ny cung cp cho chng ta mt tiu chun la
chn h quy chiu. H quy chiu no m tin 1 c
tha s c gi l h quy chiu qun tnh
2. Tin 2: Tin c bn ca ng lc hc
nh lut 2 Newton: Trong h quy chiu qun tnh cht im
s chuyn ng c gia tc cng phng, cng chiu vi lc
tc ng ln cht im y v ln ca gia tc cht im s
t l thun vi ln ca lc tc ng ln cht im v t l
nghch vi khi lng vi cht im y. (Hnh 1.3)
Design By haughtycool
C HC L THUYT 2: ng Lc Hc Chng 1: ng lc hc cht im
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
Fk
mk .ak Fk ak
mk K ak
Fk
Do mk 0 ak Fk ;
Fk
ak Hnh 1.3
mk
3. Tin 3: Tin tc dng v phn tc dng
Hai vt th tng tc c hc vi nhau bi hai lc c cng
ng tc dng, cng ln nhng ngc chiu (Hnh 1.4).
V1 V2
Hnh 1.4
Design By haughtycool
C HC L THUYT 2: ng Lc Hc Chng 1: ng lc hc cht im
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
Ch rng hai lc tc dng v phn tc dng trn khng
phi l h lc cn bng v chng tc dng ln hai vt.
4. Tin 4: Tin v tnh c lp ca cc lc tc ng
ln cht im.
Khi mt cht im chu tc ng ca ng thi nhiu lc th
vector gia tc ca cht im y s bng tng cc vector gia tc
ca cht im y khi n chu tc ng ring l ca tng lc
(Hnh 1.5).
n
i 1 2 n Fn F1
ak ak ak ak ... ak
K
Vi: ak
i 1
1 F1 i Fi
; ak ;
aK
m m
i k k
F3 F2
ak l gia tc ca cht im K khi
lc Fi tc ng. Hnh 1.5
Design By haughtycool
C HC L THUYT 2: ng Lc Hc Chng 1: ng lc hc cht im
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
Design By haughtycool
C HC L THUYT 2: ng Lc Hc Chng 1: ng lc hc cht im
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
s s(t ) K ( xK , yK, zK ), mk
a
O* k
n t
rk ak
ak (C )
n Fk
O y
x
Hnh 1.6
aK rK . Do dng vector ca phng trnh vi phn cht
im s l:
mK .rK FK , 1
Design By haughtycool
C HC L THUYT 2: ng Lc Hc Chng 1: ng lc hc cht im
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
2. Dng ta Descartes.
Chiu phng trnh vi phn cp 2 ca (1) ln 3 trc ta ta
s thu c h 3 phng trnh vi phn chuyn ng ca cht
im K nh sau:
mk .
xk Fkx
mk .
yk Fky
m . F
k k k
3. Dng ta cc.
n
Phn ak rk ak ak
s Fk
mk .
mk .ak
Chiu (1) ln hai phng t, n: n
s 2
n
mk .ak mk . Fk
Design By haughtycool
C HC L THUYT 2: ng Lc Hc Chng 1: ng lc hc cht im
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
Design By haughtycool
C HC L THUYT 2: ng Lc Hc Chng 1: ng lc hc cht im
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
Chng hai: NG LC HC C H
2.1. Cc c trng hnh hc - khi lng h.
rkx xk
K ( xk , yk , k )
Gi: rky yk
rk OK (rkx , rky , rk ) r
k k
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng hai: ng lc hc c h
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
1. Khi lng ca c h:
Khi lng ca c h l mt i lng v hng lun
dng c trng cho mc qun tnh ca c h.
N c k hiu v xc nh nh sau:
n
M mk 0, kg
k 1
1 n
M .dV V
2 V mk .xk
2. Khi tm c h rCx xC k 1
M
L mt im hnh
hc tn ti trong n
khng gian ca h,
k 1
mk . yk
c k hiu bng r
Cy yC
im C v c v tr M
c xc nh nh n
sau:
n
mk. k
mk .rk rC C k 1
k 1 M
rC
M
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng hai: ng lc hc c h
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
n
mk .xk
vCx xC k 1
M
n
n
mk .vk mk . y k
vC rC k 1
vCy yC k 1
M M
n
mk . k
vC C k 1
M
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng hai: ng lc hc c h
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
n
mk .
xk
aCx
xC k 1
M
n
n
mk .ak mk .
yk
aC vC rC k 1
aCy
yC k 1
M M
n
mk . k
aC C k 1
M
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng hai: ng lc hc c h
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
k 1
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng hai: ng lc hc c h
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
k 1
n
J x mk yk k
2 2
Tng t: k 1
n
J m 2 x 2
y
k 1
k k k
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng hai: ng lc hc c h
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
Quan h gia moment qun tnh ca h i vi ba trc ta
v moment qun tnh ca h i vi gc ta O:
n
J x J y J 2 mk xk2 yk2 k2 2 J O
k 1
J x, y , 2
x, y , J x , y , M . x , y ,
M
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng hai: ng lc hc c h
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
k 1
i vi h trc y :
n
J y I y mk . yk . k 0 , kg.m2
k 1
i vi h trc x:
n
J x I x mk . k . xk 0 , kg.m2
k 1
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng hai: ng lc hc c h
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
J xy J yx ; J y J y ; J x J x
e) Trc qun tnh chnh ca c h.
L trc sao cho tt c cc moment qun tnh ly tm ca c
h c cha ch s tn trc y phi ng lot bng khng.
2. nh l
a) nh l i trc.
C M
A B
l
Hnh 2.3
1
J A J A J B J B M .l 2 Vi M l khi lng
3 ton h.
1
J C J C Ml 2
12
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng hai: ng lc hc c h
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
2. Vnh trn, ng cht (Hnh 2.4).
C
J C J C MR 2
M
1 C yC
J xC J yC MR 2 R
2
xC
Hnh 2.4
3. a trn, c, ng cht (Hnh 2.5).
C
1
J C J C MR 2 M
2 C yC
1 R
J xC J yC MR 2 xC
4
Hnh 2.5
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng hai: ng lc hc c h
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
ly
O x
lx
Hnh 2.6
1 2 1 2
J x Ml y ; J y Ml x
3 3
1 2 2
J J O M lx l y
3
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng hai: ng lc hc c h
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
2
J C MR J C h
M
2
C
J xC J yC yC h
R
1 2 h2
M R
2 6 xC
Hnh 2.7
Vi M l khi lng ton h.
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng hai: ng lc hc c h
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
1
J C MR 2 J C
2 h M
2
J xC J yC C h
2
R
yC
1 2 h
M R
4 3 xC
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng hai: ng lc hc c h
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng hai: ng lc hc c h
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
nh lut bo ton chuyn ng khi tm h
Nu tng cc vector ngoi lc tc ng ln c h b trit tiu
th khi tm C ca h s trong trng thi cn bng hay trong
trng thi qun tnh.
m Khi tm C ca h
e
j 0 aC 0 vC const chuyn ng thng
F
j 1 u.
2.2.2. nh l bin thin ng lng h
1. ng lng ca h
a) nh ngha:
ng lng ca cht im l mt
K,mk
i lng vector c k hiu v qk
xc nh nh sau (Hnh 2.9):
qk mk .vk , ( N vk
.s) q
n k n
vk
ng lng ca h: Q qk mk .vk Hnh 2.9
k 1 k 1
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng hai: ng lc hc c h
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
2. Xung lng ca lc
t
S Fk S k Fk .dt , N .s
0
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng hai: ng lc hc c h
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
j 1
e
Q1 Q0 S Fj S je
j 1
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng hai: ng lc hc c h
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
y
+ i vi trc x: M x qk M O qk
x
+ i vi trc y: M y qk M O qk
M Ox M x qk
Gi M O qk M Ox , M Oy , M O M Oy M y qk
M
O M qk
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng hai: ng lc hc c h
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
b) Moment ng lng ca c h
Moment ng lng ca c h i vi tm O:
n
LO M O qk
k 1
Moment ng lng ca c h i vi mt trc.
n
+ i vi trc : M qk L
k 1
n
+ i vi trc x: M x qk Lx LO Lx , Ly , L
k 1
n
+ i vi trc y: M y qk Ly
k 1
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng hai: ng lc hc c h
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
c) Th d:
Kho st vt rn quay quanh trc c nh (Hnh 2.10).
z
Lx J x . ; Ly J y .
L J .
V
Vi hcz
Nu trc l trc qun tnh chnh
ca vt th :
x O y
J x J y 0 Lx Ly 0
Hnh 2.10
Vy: LO 0, 0, J . , Hay LO // O
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng hai: ng lc hc c h
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
2. nh l bin thin moment ng lng ca h i vi 1
tm
m
d LO
dt
M O Fje
j 1
nh l ny c dng gii bi ton ng lc hc trong
trng hp c h c thc hin chuyn ng quay.
2.4. nh l bin thin ng nng ca h
1. ng nng ca c h
a) nh ngha.
1 2
ng nng ca cht im K: mk .vk 0 , N .m J
2
n
1 2
ng nng c h : T mk .vk 0 , N .m
k 1 2
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng hai: ng lc hc c h
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
2 2 M
C
1 2 vc mp P
T J P .
2 P
Hnh 2.11
2. Cng v cng sut
K
a) nh ngha. rk
Cng phn t (cng vi phn) ca Fk
ti l cng do loi ti y to ra O
drk dxk , dyk , d k
trn on ng vi phn.
Hnh 2.12
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng hai: ng lc hc c h
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
dA M dAM M .d
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng hai: ng lc hc c h
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
Quy c cng phn t ca moment M s l i lng
dng nu chiu ca moment M cng chiu quay ca vt
v ngc li.
Cng sut l cng do lc hoc moment thc hin trong mt
n v thi gian:
dA M M.d N .m
P M PM M. , n v Watt: W
dt dt s
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng hai: ng lc hc c h
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
Cng hu hn.
K K
+ Ca lc:
A Fk Ak dA k Fk .drk
KO KO
+ Ca moment: A M AM M .d
0
x x
O
Hnh 2.14
k 2
As x0 x12
2
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng hai: ng lc hc c h
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
* Cng ca lc ma st trt
Cng ca lc ma st trt tnh. (Hnh 2.15)
A Fmst Fmst .s 0 Fmst
N Q
P
Hnh 2.15
3. nh l
a) Dng o hm:
dT n
P Fk
dt k 1
b) Dng hu hn:
n
h h
T1 T0 A Fk
k 1
n e
C h khng bin hnh :
A Fk A Fj
k 1
e
h h
T1 T0 A F j
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng hai: ng lc hc c h
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
C h c cc lin kt l tng:
L loi lin kt m tng cng ca cc loi phn lc lin kt lun
bng khng trong mi dng chuyn ng ca h. Lc ny tng
cng ca cc loi ti bng tng cng ca cc lc ch ng
(hot ng).
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng 3 : Nguyn l D Alembert
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
Vi mi dng chuyn ng ca c h ta u c:
' n
n
Rqt (mk .ak ) (mk .ak ) M.aC
k 1 k 1
qt
2. Xc nh M O .
Moment chnh ca h lc qun tnh chnh i vi tm O s
ph thuc vo v tr ca tm O v ph thuc vo dng chuyn
ng ca c h.
a) C h l vt rn c chuyn ng tnh tin.
Chn tm thu gn O trng vi tm C ca vt rn:
qt qt
O C : MO MC 0
b) C h l vt rn quay quanh trc c nh vi v .
Chn tm thu gn O l 1 im ty trn trc quay z ca vt rn:
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng 3 : Nguyn l D Alembert
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
Dng h trc Oxy vi O l trc quay c nh ca vt. Ta c:
qt 2
2
MO ( J yz Jzx )i ( J xz J zy ) j J z k M 0qt
Nu l trc qun tnh chnh ca vt th:
qt qt O
O : M 0 J . M0 V J 0
y
J : Moment qun tnh ca vt i vi trc x
(hnh 3.3). Hnh 3.3
c) C h l mt vt c
rn phng chuyn S
ng song phng M Cqt
trong mt phng C
cha vt (hnh 3.4).
P aC
qt
Chn O C : M 0 Jc.
Hnh 3.4
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng 3 : Nguyn l D Alembert
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
y
A l2 l1
l1 yB 0
O l2 l1 xB l2 l1
x
B xB , yB
Hnh 4.2
2. Lin kt. Phng trnh lin kt. Phn loi lin kt.
a) Lin kt
L nhng rng buc v hnh hc v ng hc ln cc cht
im trong h.
b) Phng trnh lin kt
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng 4 :Nguyn l di chuyn kh d
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
f (t, xk , yk , zk , xk , yk , zk ) 0, k 1, n, 1, s
3n 3n
6n 1
Vi K(xk , yk , zk ), k 1, n
v s l s phng trnh lin kt trong h.
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng 4 :Nguyn l di chuyn kh d
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
O l y
Lin kt gi (hnh 4.3) Thanh cng
2 2 2
f1 (x, y) x y l 0 M x, y
x
Hnh 4.3
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng 4 :Nguyn l di chuyn kh d
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
x
C2. Lin kt dng v khng dng. Hnh 4.4
k 1, n
f t , xk , yk , k 0 , 1
1, s
Cho h mt di chuyn kh d. Do cc lin kt ca h vn
c duy tr nn phng trnh lin kt ca h sau khi thc
hin di chuyn kh d s c dng :
k 1, n
f t , xk xk , yk yk , k k 0 ,
2
1, s
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
Bin thin o ca cc phng trnh lin kt s c xc
nh nh sau : *
f f f 0
n
f f f
M f . xk . yk . k 0 ,
k 1 xk yk k 3
1, s
4. Bc t do v ta suy rng ca c h
a) Bc t do
Kho st mt h gm c n cht im K. Cho h thc hin mt
di chuyn kh d th mi cht im K thuc h s thc hin
mt vector di chuyn kh d.
Vector di chuyn kh d ca cht im K:
rk xk , yk , k
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng 4 :Nguyn l di chuyn kh d
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
Hay mi cht im K s thc hin ba thnh phn di chuyn kh
d xk , yk , k . Do ton h s thc hin 3.n thnh phn
di chuyn kh d.
Do 3.n thnh phn di chuyn kh d ca h phi tha mn s
phng trnh rng buc (3) nn cc thnh phn di chuyn kh
d ny khng c lp vi nhau.
Do , s thnh phn di chuyn kh d c lp ca h s c
tnh nh sau : m = 3.n s.
m c gi l bc t do ca ton h.
b) Ta suy rng ca h
nh ngha :
Ta suy rng ca h l thng s c lp c dng
kho st chuyn ng cho h y.
S ta suy rng ca h s bng vi bc t do ca h y.
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng 4 :Nguyn l di chuyn kh d
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng 4 :Nguyn l di chuyn kh d
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
V d: (Hnh 4.5)
Dofh m 3n - Rlk
3.2 - 4 = 2
O y
C 2 ta suy rng. 1 1
Chn q1 1 ; q2 2
x A l1.cos 1 ; y A l1.sin 1 A xA , y A
xB x A l2 .cos 2 2 2
l .cos l .cos
1 1 2 2
yB y A l2 .sin 2 x B xB , yB
l1.sin 1 l2 .sin 2
Hnh 4.5
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng 4 :Nguyn l di chuyn kh d
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
A K Qi . qi
k 1 i 1
xc nh lc suy rng th i (Qi) tng ng vi ta
suy rng qi chn ta c th thc hin theo nhiu cch.
Cch n gin nht c trnh by nh sau :
Cho h thc hin mt di chuyn kh d rt c bit: q1 = 0;
q2 = 0; ; qi-1 = 0; qi 0; qi+1 = 0; ; qm = 0.
n m
Ak Qi . qi Q1. q1 Q2. q2 ... Qi . qi ... Qm. qm Qi . qi
k 1 i 1
n
A
k 1
k
Qi
qi
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng 4 :Nguyn l di chuyn kh d
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
k kx k ky k k . k 0
A
k 1
a
F a
.
k 1
x F a
. y F a
a
Vi
ln h.
Fk Fkxa , Fkya , Fka l lc hot ng th k tc ng
(lc hot ng l loi lc khng ph thuc lin kt h. Vi cc
lc khng phi l cc phn lc u l cc lc hot ng).
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng 4 :Nguyn l di chuyn kh d
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
2. nh l
iu kin cn v mt c h vi cc lin kt thuc loi l
tng, gi, dng v holonom cn bng ti mt v tr l tt c
cc lc suy rng ca cc lc hot ng tc ng ln c h
ng vi cc ta suy rng qi, chn tnh ti v tr ang xt
phi ng lot b trit tiu.
Qia 0 , i 1, m
4.3. Phng trnh Lagrange 2
Xt mt c h c m bc t do, vi m ta suy rng chn
l qi ,i 1,. m
Lc suy rng th i tng ng l Qi. ng nng ca ton h l
mt hm nhiu bin c dng nh sau:
h h
T T (t, qi , qi ) ; ( qi : vn tc suy rng th i)
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng 4 :Nguyn l di chuyn kh d
PGS. TS. Trng Tch Thin
Copyright By Focebk.com
Design
C HC L THUYT 2: ng Lc Hc By haughtycool
Chng 4 :Nguyn l di chuyn kh d
Copyright By Focebk.com
BK
TP.HCM
TRNG I HC BCH KHOA THNH PH H CH MINH
Bi Tp C L Thuyt 1
Design By haughtycool
Copyright By Focebk.com
PHN I : TNH HC VT RN
Bi 1/
P2
Cho 1 c h nh hnh ve (hnh 1).
Cho bit: , P1, P2. D P1
a. H cho c lun cn bng vi C
mi loi ti tc ng khng? Ti
sao?
b. Nu h cn bng, hy xc nh
cc phn lc lin kt ca cc lin
kt ngoi. B
A
c. Hy xc nh cc ng lc ln
tng thanh thng trong h.
Hnh 1
Design By haughtycool
Copyright By Focebk.com
Hng dn
1. H cho l h gin phng v h tha mn tt c 4 iu kin sau
y:
Tt c cc vt rn trong h ng phng v ti tc ng cng
nm trong mt phng ca h.
Tt c cc vt rn trong h u l cc thanh thng v c th b
qua trng lng ca chng.
S 2 S1
S 4 S 3
Thanh chu nn
S1
ng lc
S3
Thanh chu ko
k=t1
Vi k: l s khp bn l ni ti nt
Nt gin
kho st, t: l s thanh ni vo nt
t
. A, B, C: l cc nt gin
BI SA
a. Tnh bc t do ca h:
Ta c 2 khp bn l ngoi c nh v 4 khp bn l ni.
4
lk
dofhe 3 n R j
j1
n 4 dofhe 3 4 12 0
4
ta co lk
j1 R j 2 2 4 2 12
L thuyt:
+ Nu dofh 0 th h lun cn bng vi mi loi ti tc ng.
+ Nu dofh > 0 th h khng lun cn bng vi mi loi ti.
Vy h lun cn bng vi mi loi ti tc ng v dofh = 0
Design By haughtycool
Copyright By Focebk.com
B x
A XA
Hnh 2
Design By haughtycool
Copyright By Focebk.com
Vit cc phng trnh cn bng cho h lc:
F X P X 0 1
jx A 1 D
Fjy YA P2 0 2
MA Fj P2 . P1. XD . 0 3
Gii h (1), (2), (3) ta nhn c:
(2) YA = P2 > 0
(3) XD = (P1 + P2) < 0
(1) XA = P1 XD = P1 [(P1 + P2)] = P2 > 0
Do XD < 0 nn chiu ng ca XD ngc chiu chn.
c. Dng phng php tch nt:
tnh c ng lc tc ng ln cc thanh trong h gin thng
thng ngi ta dng phng php tch nt.
Design By haughtycool
Copyright By Focebk.com
A B
S,B B
x
Hnh 4
Ta c:
Design By haughtycool
Copyright By Focebk.com
Bi 2.
Cho c h nh hnh v (hnh 1). Cho: q, , .
a. H cho c lun cn bng vi mi loi ti tc ng hay
khng? Ti sao?
b. Hy xc nh cc phn lc lin kt ti A v C?
q M=q2
A C
B
Hnh 1
Design By haughtycool
Copyright By Focebk.com
BI SA
2
a. dofhe 3 n Rlkj
j1
3.1 2 1 0
Vy h lun cn vi mi loi ti tc ng v dofh 0.
b. Xc nh cc pllk ti A v C.
Kho st s cn bng ca thanh ABC.
T do ha thanh ABC (hnh 2): d
y
q Q 2 NC
M=q
YA
XA
x
A XA B C
NC
2 Hnh 2
Design By haughtycool
Copyright By Focebk.com
Q q. d AC.cos 2 cos
Vit cc phng trnh cn bng cho h lc tc ng:
Fjx X A NC .sin 0 1
Fjy YA Q NC .cos 0
2
MA Fj Q 2 M NC d 0 3
Bi 3
Cho c h nh hnh v (hnh 1). Cho: q, , .
a. H cho c lun cn bng vi mi ti tc ng khng? Ti
sao?
b. Tm iu kin ca moment M h cn bng.
c. Hy xc nh cc phn lc lin kt ti A v C ng vi 2 trng
hp ca moment M nh sau:
c.1 M = q2
c.2 M = 2q2
Design By haughtycool
Copyright By Focebk.com
D P q
2
q B C
A
Hnh 1
Design By haughtycool
Copyright By Focebk.com
BI SA
3
lk
a. d o fh e 3 .n
j
R
j1
n 2
3
lk
R j 3 0,5 2 5,5
j1
dofhe 0,5 0
y
D P K
NC
3 C
EK H
2
3
ME F P. NC .CE M 0
2
M
YE
EH d
Vi : CE
sin sin
3 2
q M E x
NC 2 XE
CE
Hnh 2
Design By haughtycool
Copyright By Focebk.com
Design By haughtycool
Copyright By Focebk.com
y
NCx NCx NC .sin
q B
C
NC NCy NCy NC .cos
Q q
YA
2 MA
x
XA A XA
Hnh 3
Design By haughtycool
Copyright By Focebk.com
Fjx X A Q NC sin 0
Fjy YA NC cos 0
MA Fj MA Q. 2 (NC sin ). (NC cos ). 0
1
X A NC sin Q q sin 2 q 0
2
1
YA NC cos q sin 2 0
4
q 2 1 2 q 2
1
MA (1 sin2 sin ) ( sin2 cos 2 ) 0
2 2 2 2
V XA < 0 nn chiu ng ca XA ngc chiu chn.
Fjx X A Q 0
Fjy YA 0
MA Fj MA Q. 2 0
X A q
Y 0
A
2
M q
A 2
Bi 4
OA
Cho 0
(hnh 1)
30 ; M
Design By haughtycool
Copyright By Focebk.com
A
M
3
O P
B
Hnh 1
BI SA
a. Tnh bc t do:
dofhe 3n Rlk 3 3 8 1
n 3
Vi : lk
R 2222 8
Design By haughtycool
Copyright By Focebk.com
Ta co :
Fx XO R, cos 0
Fy YO R, sin 0
MA F M XO 0 hay MO Fj M R, d 0
M
XO 0
M
R, 0
cos
M
YO tan 0
Design By haughtycool
Copyright By Focebk.com
B
Fx R, R, 0
R,
M
R, R, R, 0
cos x
Hnh 3
Design By haughtycool
Copyright By Focebk.com
Ta co :
y
Fx P R, cos 0
R, MB
Fy NB R, sin 0
MB F MB 0 B
P x
MB 0 NB
M
NB tan 0 Hnh 4
M
P 0
Design By haughtycool
Copyright By Focebk.com
c. Xc nh:
M
R, R,
cos
Design By haughtycool
Copyright By Focebk.com
M
XO
YO M tan
Design By haughtycool
Copyright By Focebk.com
Bi 5/
n v nh hnh v.
b. H lc no c hp lc?
c. Tm im t cho hp lc ca h lc c hp lc?
Design By haughtycool
Copyright By Focebk.com
z z
A1 A
F2
2
M1
F2
M1 F1
M2
O O
A y A1 y
2
x F1 x M2
H lc 1 H lc 2
nh l:
iu kin cn v h lc 1 tng ng vi h lc 2 l khi
thu gn v cng 1 tm tu , ta s c:
Design By haughtycool
Copyright By Focebk.com
Thu gon :
R R
Fj Fk
MO MO , O
3
j1,n k 1,m
Design By haughtycool
Copyright By Focebk.com
BI SA z z
A 1 A 2 F2
M1
F2
M1 F1
M2
O O
y
A 2 A1 y
x x
H lc 1 F1 M2
H lc 2
Thu gn: A1 0,0,1 A 2 0,1, 0
H lc 1: F1 1,1, 1 ; F2 1,0,1
M1 0, 1,0 M2 0, 0, 1
A1 0,1, 0 A 2 0,0,1
H lc 2: F1 1, 1,1 ; F2 1,1, 0
1,1,1
M1 Design By haughtycool
M2 1,1, 1
Copyright By Focebk.com
2 2
j1
MO MO Fj Mk
k 1
MO
F1 OA1 F1 1,1,0
MO 0, 0, 2
MO
F2 OA 2 F2 1,0, 1
2 2
j1
MO MO Fj Mk
k 1
MO
F1 OA1 F1 1, 0, 1
MO 0,3, 1
MO
F2 OA 2 F2 1,1,0
a. V R R nn h khng tng ng h
b. H lc :
R 0
R MO 2.0 1.0 0.(2) 0
Vy h lc c hp lc.
Design By haughtycool
Copyright By Focebk.com
H lc (2):
R 0
R MO 1 0
c. Xc nh im t O* cho hp lc ca h lc (1).
2 4
O* ; ;0
5 5
Design By haughtycool
Copyright By Focebk.com
BI TP MA ST.
Bi 6 /
a. Cho c h nh hnh v 1. Tm iu kin cho vt khng trt
trn mt nghing?
3 3
ft 0,577 ft 0,577
b1. Cho : 3 b2. Cho : 3
30o 30o
Design By haughtycool
Copyright By Focebk.com
dy B
A
P P
Hnh 1 Hnh 2
Design By haughtycool
Copyright By Focebk.com
BI SA
tan ft arctan ft
Design By haughtycool
Copyright By Focebk.com
3
b1. 30o tan tan30 ft Hnh 2b,c
3
y N TA
Tho mn Vy ma st sc x
gi vt cn bng.
Fmstgh
Do , lc cng dy: TA = 0
3
o
b2. 30 tan tan30 ft P
3 Hnh 2a
Ma st khng sc gi vt cn bng. Lc cng dy s tn
ti lm vt mt kh nng trt. Lc ny:
Bi 7/
Cho c h nh hnh v (Hnh 1). Bit: PA = PB = P; R = 2r; ft; . B
qua ma st v trng lng con ln. Dy mm khng dn c khi
lng rt b.
a. Tm iu kin con ln khng trt trn mt nghing?
b. ng vi iu kin , hy xc nh cc thnh phn phn lc ti
tip im I v lc cng ca nhnh dy DE?
Design By haughtycool
Copyright By Focebk.com
day
E
y
TA
R D
r
x
C NI
Fmst
I
dA dB
Hnh 1
PA PB
Design By haughtycool
Copyright By Focebk.com
BI SA
a. Kho st s cn bng .
Fx Fmst TD PA sin P sin 0 1
Fy NI PA PB .cos 0 2
M I PA r R.sin PB R R sin TD .2R 0 3
P P
T 3 TD 1 2sin 2 1 sin 4sin 1
4 4
P 1
T 1 Fmst 2P sin 4sin 1 P sin
4 4
T 2 NI 2P.cos
Design By haughtycool
Copyright By Focebk.com
Fmst Fmstgh ft N
1
P sin ft 2P cos
4
1
sin
4 f
t
2cos
NI 2P cos
1
F
mst P sin
4
Design By haughtycool
Copyright By Focebk.com
P
TD 4sin 1
4
Ch : iu kin dy khng b chng l:
TD 0 4sin 1 0
1
sin
4
Design By haughtycool
Copyright By Focebk.com
Bi 8.
Cho c h nh hnh v (hnh 1). Cho: q, .
a. H cho c lun cn bng vi mi ti tc ng khng? Ti
sao?
b. Hy xc nh cc phn lc lin kt ti A, C v E.
Design By haughtycool
Copyright By Focebk.com
q B C
P q M q 2
E
A
Hnh 1
Design By haughtycool
Copyright By Focebk.com
BI SA
a. Tnh bc t do ca h:
3
lk
d o fh e 3 .n
j
R
j 1
n 2
3
lk
R j 22 2 6
j1
dofhe 3.2 6 0
F jx HA Q HC 0 (1)
F jy VA P VC 0 (2)
MA Fj Q P HC VC 0 (3)
2
* Kho st s cn bng ca thanh thng CDE.
+ T do ha thanh thng CDE (hnh 2b).
+ Vit cc phng trnh cn bng:
F jx HC HE 0 (4)
F VC VE 0 (5)
jy
ME Fj M HC VC 0 (6)
Design By haughtycool
Copyright By Focebk.com
Design By haughtycool
Copyright By Focebk.com
Bi 9/
Cho 1 c h nh hnh ve (hnh 1).
Cho bit: , P1, P2. P2
a. H cho c lun cn bng vi D
mi loi ti tc ng khng? Ti
C
sao?
b. Nu h cn bng, hy xc nh
cc phn lc lin kt ca cc lin
kt ngoi. P1
c. Hy xc nh cc ng lc tc B
ng ln cc thanh thng (1), A
(2) v (4) trong h.
Hnh 1
Design By haughtycool
Copyright By Focebk.com
BI SA
a. Tnh bc t do ca h:
Ta c 1 ngm phng ti D, 1 khp bn l ngoi trt ti A v 4
khp bn l ni. 4
lk
dofhe 3 n R j
j1
n 4 dofhe 3 4 12 0
ta co 4 lk
R j 1 3 11 4 2 12
j1
L thuyt:
+ Nu dofh 0 th h lun cn bng vi mi loi ti tc ng.
+ Nu dofh > 0 th h khng lun cn bng vi mi loi ti.
Vy h lun cn bng vi mi loi ti tc ng v dofh = 0
Design By haughtycool
Copyright By Focebk.com
b. Xc nh cc phn lc ca cc lin kt ngoi.
H cho khng phi l gin phng v thanh c lin kt ngm
(thanh c gi l dm). y l h dm-gin kt hp!
* Kho st s cn bng ca nhm gin phng ABC (hnh 2).
T do ha nhm gin phng ABC:
YC P2
y
XC
C
XA P1
B x
A
Design By Hnh 2
haughtycool
Copyright By Focebk.com
Vit cc phng trnh cn bng cho h lc:
F X P X 0 1
jx A 1 C
Fjy YC P2 0 2
MC Fj P1. X A . 0 3
Gii h (1), (2), (3) ta nhn c:
(2) YC = P2 > 0
(3) XA = P1 > 0
(1) XC = P1 + XA = 0
* Kho st s cn bng ca dm DC (hnh 3).
T do ha dm DC:
Vit cc phng trnh cn bng cho h lc:
Design By haughtycool
Copyright By Focebk.com
y
F X 0 4 YD
jx D
5 D x
Fjy YD YC 0
C
MD Fj MD YC . 0 6
MD
XD
Gii h (4), (5), (6) ta nhn c: YC YC
(4) XD = 0 Hnh 3
(5) YD = YC = P2 > 0
(6) MD = YC = P2 > 0
c. Dng phng php tch nt:
tnh c ng lc tc ng ln cc thanh trong h gin thng
thng ngi ta dng phng php tch nt. Ngha l tch ring
tng nt trong h gin kho st s cn bng ca nt .
Design By haughtycool
Copyright By Focebk.com
y
* Kho st s cn bng ca nt C (hnh 4). YC P2
T do ha nt C:
Vit cc phng trnh cn bng cho h lc: x
C
2 450
Fjx S4,C 0 7
2
S,C S,C
F Y P S S 2 0
jy C 2 2,C 4 ,C 8 Hnh 4
2
Gii h (7), (8) ta nhn c:
Hnh 5
Design By haughtycool
Copyright By Focebk.com
* Kho st s cn bng nt B.
T do ha nt B (hnh 6).
Vit phng trnh cn bng cho h lc:
Fjx P1 S1,B 0 9
Gii phng trnh (9) ta c: S1,B = P1 > 0.
ng lc tc dng ln (hnh 7):
y
S A , SB, SB, S,B
S,B
B P1
x Hnh 7
Hnh 6
Design By haughtycool
Copyright By Focebk.com
Phn II: ng Hc
Bi 1/
D
Cho c h nh hnh v. Bit: u, v,
, a, DM = < a. M C
u
Hy phn tch chuyn ng phc
hp ca cc im: M v N. Xc N
nh gia tc Coriolis ca cc im: b
M v N. A v
a
B
Design By haughtycool
Copyright By Focebk.com
BI SA
M
Xc nh gia tc Coriolis ca im M: aC
M M aMC
a C 2 e v r 2 u D
aMC mp , u mp ABCD M C
u
M
chieu aC : RHR
M
a
C 2 .u.sin 90 o
2..u N
b
Xc nh gia tc Coriolis ca im N:
N
aC A v
N N a
aC 2 e v r 2 v
B
N N
V aC 2..v.sin180o 0 aC 0
Design By haughtycool
Copyright By Focebk.com
Bi 2/
Cho mt ng trn bn knh R
quay quanh ng knh AB c B
H M
nh vi vn tc gc . im M
u
chuyn ng dc trn ng trn
u
y vi vn tc . Bit R, , u, . O
a.Hy xc nh vector gia tc
Coriolis ca im M.
A
b.Tm v tr im M trn ng
trn M M
aC ; aC Hnh 1
max min
Design By haughtycool
Copyright By Focebk.com
BI SA
a.Phn tch chuyn ng phc hp im M.
y
Chuyn ng ko theo: quay cng vi
ng trn quanh ng knh c
B M
ac
nh AB, vi vn tc gc . Do : e
H
e M
= . M
vr u
Chuyn ng tng i: chuyn ng O
x
ca im M theo qu o l ng
trn ng knh AB vi vn tc u. Do A
: vrM = u.
Hnh 2
Design By haughtycool
Copyright By Focebk.com
M
Xc nh aC :
M M
a C 2 e v r 2 u M
e ac
M
aC mp , u
M M
chieu aC : RHR
M
aC 2 .u. sin M
vr u
b. Xc nh im M:
M 00
aC 0 sin 0
min
1800
M 90o
aC 2..u sin 1
max
270o
Design By haughtycool
Copyright By Focebk.com
Bi 3/
t ; rad
6
C
B
B
va vr
R y
A
x
x
Hnh 1
Design By haughtycool
Copyright By Focebk.com
BI SA
a)
Bi ton vn tc:
V a ln khng trt trn dc c nh nn a chuyn ng song
phng vi tm vn tc tc thi l tip im P (hnh 2).
1 B C
s const va
6 t ; rad
0 s2 6
C
B
v a R. R const B B BP B
B6 va v vr
Ta co : v a const
R
Vy im B chuyn P
A y
ng thng u. vA
B
aa 0
x
Design By haughtycool
Hnh 2
Copyright By Focebk.com
aCB .BC 0 m / s 2
Vi :
2
A A
a v 0
a a
Design By haughtycool
Copyright By Focebk.com
Design By haughtycool
Copyright By Focebk.com
B A
B ve va
B
va
B BP
vr v
P
Hnh 4
B
va ( v aA ) 2 ( v BP ) 2 2 v aA v BP cos
( v aA ) 2 ( v BP ) 2 2 v aA v BP cos
v o 2 R 2 2 3R v o
Design By haughtycool
Copyright By Focebk.com
B A BP 3
v ax v a v .cos v o R.
2
vB v BP .sin 1 R
ay 2
B 3 1
va vo R i R. j
2 2
Bi 4/
b.Xc nh vn tc gc ca vt rn 2 v vt rn 3.
c.Xc nh gia tc gc ca vt rn 2 v vt rn 3.
Design By haughtycool
Copyright By Focebk.com
O1 B
1
O2
A
Hnh 1
Design By haughtycool
Copyright By Focebk.com
BI SA
a. Phn tch:
Tay quay O1A quay nhanh dn, theo chiu kim ng h quanh
tm O1 c nh.
y
Thanh truyn AB chuyn B
x va B
ng song phng trong mt O
1
phng hnh v.
1
Thanh O2B chuyn
ng quay quanh 1 2
tm O2 c nh.
v aA
b. Bi ton vn tc. A O2
Hnh 2
(Hnh 2) Design By haughtycool
Copyright By Focebk.com
Vn tc im A thuc
vt 1:
s
v aA O1A.1 0, 4 m
anA O1A.12 0, 4 m 2
s
A O2
Chn A lm cc tnh a A 2
Hnh 3
gia tc im B thuc
thanh AB.
B A BA A A BA BA
aa aa a a an a an , (1)
Design By haughtycool
Copyright By Focebk.com
B B B
Mt khc: aa a an 2
ng nht hai phng trnh (1) v (2) ta c:
B B A A BA BA
(*) a an a a n a a n
Phng
O2B BO 2 O1A AO1 AB BA
chiu
22 .O 2B 2
AB .AB
ln ?
0,4m/s2 0,4m/s2 ?
0,4 m / s2 0
0,8
a BA
cos s
0,92 m 2 0
Ngc chiu.
O1A
AB 0,8 m
sin
aBA 0,92
AB 3 1,15(s 2 )
AB 0,8
Chiu (*) ln AB:
aB 0, 4 0,8.tan 0, 062 m s 0
2
aB 2 .O2B
aB 0,062
2 0,155 s2
O 2B 0, 4
Design By haughtycool
Copyright By Focebk.com
Bi 5/
Design By haughtycool
Copyright By Focebk.com
1
1
O
B
Hnh 1
Design By haughtycool
Copyright By Focebk.com
BI SA
Design By haughtycool
Copyright By Focebk.com
A y
va
A
1
O B
x va B
Hnh 2
Vn tc im A: v aA OA.1 .1
Tm vn tc tc thi P ca AB: P
thanh AB tnh tin tc thi.
Design By haughtycool
Copyright By Focebk.com
AB 0s1
Vy B A
va va
aA OA.1 .1
Vi :
anA OA.12 .1
Design By haughtycool
Copyright By Focebk.com
BA .12
a 0
cos
aBA .12 / cos
AB 12 .tan 1.tan
AB
sin
Chiu (1) ln AB.
Nu 45o aBa 0
Con trt B tnh tin thng, nhanh dn theo phng ngang
vi chiu hng sang tri.
Nu 45o aBa 0 m / s 2
Con trt B tnh tin thng, u theo phng ngang vi chiu
hng sang tri.
Design By haughtycool
Copyright By Focebk.com
Bi 6/
Cho mt c h nh hnh v: (Hnh 1)
R1 2r2 R3 2r3 2r 1m
1 2 1 s1
1 2 1s2
Design By haughtycool
Copyright By Focebk.com
R1 2 1
r2
O2
1 O1 B D
2 1
1
R3
C E
r3 O3
Hnh 1 A
Design By haughtycool
Copyright By Focebk.com
BI SA
a. Phn tch:
Rng rc 1 quay nhanh dn, ngc chiu quay kim ng h,
quanh tm O1 c nh.
Rng rc 2 quay nhanh dn, ngc chiu quay kim ng h,
quanh tm O2 c nh.
b. Bi ton vn tc.(Hnh 2)
Vn tc im B:
s
v Ba R1.1 2r1.1 1 m
Design By haughtycool
Copyright By Focebk.com
R1 B 1
va r
2
O2
1 O1 B D
D 1
va
1
R3
C
va
O3
C E
r3
3 3
O3 E
va va
Hnh 2
A
Design By haughtycool
Copyright By Focebk.com
Vn tc im C:
C B
V dy khng dn nn: va va
Vn tc im D:
s
v Da r2 .2 0,5 m
Vn tc im O3:
O3 D
V si dy khng dn nn: va va
Ta c:
Design By haughtycool
Copyright By Focebk.com
C
v Ca 3 .PC va
O3 P O3 E
v a 3 .PO3 C
3 O3
va
PC v Ca O3
O3 3 aa E
PO3 v a va
E
Hnh 3 aa
PC PO3 v Ca v aO3
PO3 v Oa3
1 1
R3 1,5 3 3 3 3 (m) 0,33(m)
PO R
3
PO3 0.5 PC R3 PO3 2 0, 67(m)
3
Design By haughtycool
Copyright By Focebk.com
Vn tc ca im E:
E 2 5
v PE.3 PO3 r3 .3 r r .3 r.3
a
3 3
v Ca R1.1 3
Vi : 3 1 1,5 (s1 )
PC 2 R 2
3
3
Vn tc ca im A:
A E
va va
c. Bi ton gia tc.
Gia tc im O3:
Design By haughtycool
Copyright By Focebk.com
Qu o O3 l ng thng ng.
dv Oa 3
v Oa 3 vDa r2 .2 aOa 3
dt
r2 . 2 0, 5 m 2
s
Design By haughtycool
Copyright By Focebk.com
Gia tc vt A:
A
dv d E
A
aa a
va
dt dt
5
A 5
a r. 3 r.1
a
3 2
1, 25 m 2
s
Design By haughtycool
Copyright By Focebk.com
Bi7/
Cho: const
OC e ; R
Gi s rng cn A,B,C lun tip xc vo a trn.
b.Xc nh vn tc ca cn ?
c.Xc nh gia tc ca cn ?
Design By haughtycool
Copyright By Focebk.com
cn A B
A
cam y
O C x
e
R
Hnh 1
Design By haughtycool
Copyright By Focebk.com
BI SA
Design By haughtycool
Copyright By Focebk.com
A
v e v a A
Ta co : v e v a OA
A cam
Design By haughtycool Hnh 2
Copyright By Focebk.com
v e mp , OA
Chiu v exc nh theo quy tc :RHR (bn tay phi ).
v e .OA.sin 90o R 2 e 2 .
A
va v e vr 1
ln ? R2 e 2 . ?
Design By haughtycool
Copyright By Focebk.com
R 2 e 2 .cos
v aA v e .cos .e
2 2
R e
v aA e. 0
R
sin
R2 2
Vi :
e
cos
R2 e2
A
a a a e ar ac
A* A* A* A* A* *
Ta co : ae aa a an an a OA 0
Vi : ar / / x
a c 2 e v r 2 v r
ac mp v r ac / / y
Chieu ac : RHR
a 2..v
c r
Design By haughtycool
Copyright By Focebk.com
A
a a a e ar a c 2
Phng Chiu //y A *O //x y
ln ? R2 e 2 . 2 ? 2R 2
A 2 2 2 R
a R e . .
a 0 2R 2
R2 e2
aaA R 2 0
Bi 8/
Cho c h nh hnh v (hnh 1).
OA R; OA OB
Cho
300 ; 12 1
1
B
O
1
C
2 3
P Hnh 1
Design By haughtycool
Copyright By Focebk.com
BI SA
a. Phn tch chuyn ng ca cc vt rn trong h:
3
dofhe 3n Rlkj 3.3 2 2 2 2 1
j 1
Xc nh vn tc tuyt i B2
B2 B2 B2
va v e vr
Design By haughtycool
Copyright By Focebk.com
B2 B*2 B3
Vi : v e v a v a 0
B2 B2
va vr
Vn tc gc ca thanh AC:
Chn P lm cc cho bi ton vn tc ca AC.
R
Ta co : AB
sin
AB R
PA
sin sin 2
AB R
PB
tg sin .tg
Design By haughtycool
Copyright By Focebk.com
v aA
v aA PA.2 2
PA
R.1
Vay 2 1.sin 2
R
sin 2
Vn tc ca im B2.
R
v Ba2 PB.2 1.sin 2
sin .tg
vBa2 R1.cos
v Br 2 v Ba 2 R1.cos
Design By haughtycool
Copyright By Focebk.com
Vn tc gc ca con lc (3).
Gia tc im A:
A A A
aa a an
aA OA.1 R.1
Vi : A 2 2
an OA.1 R.1
Design By haughtycool
Copyright By Focebk.com
R
2
Vi : AB. 2 12 .sin 4
sin
R.12 .sin 3
Design By haughtycool
Copyright By Focebk.com
Chiu (3) ln PB:
aBA
a BA AB. 2 2
AB
: 3 2
Vay
Design By haughtycool
Copyright By Focebk.com
Bi 9/
Cho c h nh hnh v: (Hnh1)
r1 2r2 2r ;
0
30
3 r1
Cho 1 c c
2 1 O2
O1
3
1 c r2
2 OA A
c
Hnh 1
Design By haughtycool
Copyright By Focebk.com
a. Xc nh bc t do ca h?
Design By haughtycool
Copyright By Focebk.com
BI SA
2 c m r1
(1) .
1 c r2
r1
2 c 1 c (1)
r2
3
c 2 c c
2
0 s1
Gia tc gc ca bnh rng :
O2
y va
c
O2
1 O1 x an O2
OA c A
O2
a
C
O2
CA
Hnh 2
Design By haughtycool
Copyright By Focebk.com
c. Xc nh vn tc v gia tc ca im A
V bnh rng chuyn ng tnh tin nn qu o cc im
thuc bnh rng ging nhau v
A O2
v a v a
A O2
aa aa
Vn tc ca im O2 thuc cn O1O2:
v Oa2 O1O2 C 3r C
A O2 O2
O O2
v a v a v ax i v ay j v ay j (3rC ) j
2
O2 O2 O2
Gia tc ca im O2 thuc cn O1O2: aa a an
Vi: aO2 O1O 2 C 3r C ; anO2 O1O 2 C2 3r C2
A O2 O2
O 2
aa aa aax i aay2 j 3r (C i C j )
Design By haughtycool
Copyright By Focebk.com
d. Xc nh phng trnh qu o ca im A
Gi (CO2 l
) qu o ca im O2 (Hnh 2).
x 2 y 2 R 2 9r 2
Gi (C A )l qu o ca im A (Hnh 2).
CA tnh tienOA CO
2 2
V tr tm OA ca qu o (CA):
O1O A O 2 A (r2 .cos ) i (r2 .sin ) j O A (r.cos ; r.sin )
a b
Design By haughtycool
Copyright By Focebk.com
Design By haughtycool
Copyright By Focebk.com
Bi 10/
b.Xc nh vn tc gc ca vt rn 2 v vt rn 3.
c.Xc nh gia tc gc ca vt rn 2 v vt rn 3.
Design By haughtycool
Copyright By Focebk.com
1
1O O2
1
B
Hnh 1
Design By haughtycool
Copyright By Focebk.com
BI SA
a. Phn tch chuyn ng ca cc vt trong h:
Tay quay O1A quay chm dn, theo chiu kim ng h quanh tm
O1 c nh.
Thanh truyn AB chuyn ng song phng trong mt phng hnh
v.
B
v Ba
P Design By haughtycool
Copyright By Focebk.com
b. Bi ton vn tc (hnh 2).
Vn tc im A thuc vt 1:
B
v aA O1A.1 2 m
s
Vn tc im B thuc vt 3: v a O 2B
Xc nh tm vn tc tc thi P ca thanh AB: k 2 ng vung
gc vi 2 phng vn tc ca 2 im A v B! V ABP vung cn
ti B nn ta c:
PB AB 2.AC 2 2 m v PA 2.PB 4 m
Vn tc im A thuc vt 2 (quay quanh tm P):
A
A v 2
v a PA.2 2 a
0,5 s 1
PA 4
Vn tc im B thuc vt 2 (cng quay quanh tm P):
vBa PB.2 2 2.0,5 2 m / s
Vn tc im B thuc vt 3 (quay quanh tm O2):
B
B v 2
v a O 2B.3 3 a
1 s 1
O2B 2
Design By haughtycool
Copyright By Focebk.com
c. Bi ton gia tc (hnh 3).
A
a A
A 2
an
1O 2 O2
1
C 3
B
a
BA
a
BA B
an an 3
Hnh 3
Design By haughtycool
Copyright By Focebk.com
A A A
Gia tc im A thuc thanh O1A: aa a an
Vi :
1 1
a A O A. 4 m
s2
anA O1A.12 4 m 2
s
Chn A lm cc tnh gia tc im B thuc thanh AB:
B A BA A A BA BA
aa aa a a an a an , (1)
Phng
chiu O2B BO 2 O1A AO1 AB BA
2
.O 2B 22 .AB
ln ?
3
4m/s2 4m/s2 ?
2
2 m / s2 m / s2
2
Chiu cng thc (3) ln trc O, ta
2B
c:
2 2
0 2 (4 4 ) ( aBA 0) aBA 5 2 m / s 2 0
2 2
Gia tc gc ca thanh truyn AB:
BA
BA a 5 2
a AB. 2 2
2,5 s2
AB 2 2
V 2 ngc chiu vi 2 nn thanh truyn AB c thnh phn
chuyn ng quay chm dn, cng chiu kim ng h.
Design By haughtycool
Copyright By Focebk.com
Chiu cng thc (3) ln trc , ta c:
AB
B 2 2 2 B 2
a 0 ( 4
4 ) (0 ) a m / s2 0
2 2 2 2
Gia tc gc ca thanh lc O2B:
2
aB
B
a O2B. 3 3 2 0,5 s2
O 2B 2
V 3 ngc chiu vi 3 nn thanh lc O2B quay chm dn, ngc
chiu kim ng h, quanh tm O2 c nh.
Design By haughtycool
Copyright By Focebk.com
BI TP C HC
Tp Hai
Hai:: NG LC HC
Chng I: NG LC HC CHT iM
Chng II: NG LC HC C H
Chng I: NG LC HC CHT iM
Design By haughtycool
y
Copyright By Focebk.com
N
T x
v
Fc
150
P
hnh 1.2
4
m.a Fk P T N Fc 1
k 1
Design By haughtycool
Copyright By Focebk.com
Trng hp 1:
Xe chuyn ng thng u nn a0
Tin 2 tr thnh: 0 P T N Fc 2
Chiu phng trnh (2) ln trc y.
0 P cos N
N P.cos m.g.cos
Ta c:
Fc f .N f .m.g .cos
Chiu (2) ln trc x:
0 P.sin T Fc
T P.sin Fc m.g.sin f .m.g.cos
Design By haughtycool
Copyright By Focebk.com
T m.g . sin f .cos
700.9,81 sin15 0,15.cos15
1677,8 N
Trng hp 2:
Design By haughtycool
Bi tp 1: Copyright By Focebk.com
Cho: k , 0 , m, x. 0B qua lc cn ca khng kh v khi lng l xo.
Xc nh qui lut chuyn ng ca vt A.
k 0
O t
A x0
P
x
hnh 1
Design By haughtycool
Copyright
BiBy Focebk.com
sa
Chn trc Oxc gc ti v tr cn bng ca vt A, c phng
thng ng v chiu dng hng xung.
Xc nh lung gin l xo khi h cn bng ( gin tnh)
Fs F jx P Fs 0 1
Fs P m.g
M: Fs k . t
P Fs m.g
hnh 1.1
t
k k
Chn t 0 lc
s l xo b gin thm mt lng : x0
v0 0 m s x0
x t 0 x0
Design By haughtycool
Copyright By Focebk.com
Kho st chuyn ng ca vt A ti mt v tr bt k:
p dng tin 2 ng lc hc:
2
m.a Fk P FS 2
k 1
s 10 m
hnh 1.5
Design By haughtycool
Copyright By Focebk.com
Bi sa
Kho st chuyn ng ca xe:
a1 v1
N1 y
x
Fms
P
hnh 1.5.1
S dng tin 2 ng lc hc:
m1a1 P N1 Fms 1
Chiu (1) ln x,: y
Design By haughtycool
Copyright By Focebk.com
m1a1 Fms 2
0 P N1 3
3 N1 P
2 2
Ta c: v v 2a1s
0
0 36 2a1.10
2
a1 1,8 m s 0
2
Thay a 1,8 m s vo 2 :
Fmst m1a1 6000.1,8
10800 N
Kho st s cn bng ca ph:
Design By haughtycool
Copyright
By Focebk.com
N1 y
2.T N Fms x
Q
hnh 1.5.2
*
F jx 2T F mst 0 5
*
Fmst 10800
T 5400 N
2 2
Design By haughtycool
Copyright By Focebk.com
Chng II: NG LC HC C H.
z B z B u
d kz K du
y d ky
O O u y
x x
A A
Hnh II.2a Hnh II.2b
Design By haughtycool
CopyrightBi
By sa
Focebk.com
Dng h trc Oxyz sao cho thanh nm trong Oyz. Dng trc
Ou c phng trng AB v c chiu nh hnh v.
a a
Design By haughtycool
Copyright
3
By Focebk.com
m 2 u b m
Jz sin .
sin 2 b3 a 3
3 a 3
m
3
2
2 2
sin a b a ab b
m 2
3
a ab b 2 sin 2
Moment qun tnh ca ton thanh i vi trc y:
b
J y mk .d ky2 .du.u 2
. cos 2
k 1 a
b
2 2
cos u du
a
Design By haughtycool
3
Copyright
m u m b By Focebk.com
2
J y cos . cos2 b3 a 3
3 a 3
m
cos a b a ab b
2
2 2
3
m 2
a ab b 2 cos2
3
Moment qun tnh ca ton thanh i vi trc x:
b b
J x mk .d 2
kx .du.u u du
2 2
k 1 a a
3 b
u
b a 3 ( a b)( a 2 ab b2 )
3 3
3 a 3
m 2
( a ab b 2 )
3 Design By haughtycool
Copyright By Focebk.com
1 m 2
J O J x J y J z a ab b 2
2 3
Vy: JO = Jx .
Design By haughtycool
Copyright By Focebk.com
Bi tp 3.
Cho mt c h gm 2 vt rn c dng hnh lng tr tit din tam
gic vung t chng ln nhau vi v tr ban u nh hnh v.
Tit din ca 2 vt l 2 tam gic vung ng dng. Khi lng
ca 2 vt ln lt l mA, mB. Vt B ta khng ma st trn mt
nghing ca mt A. Vt A ta khng ma st i vi mt ngang c
nh. Cc cnh ca 2 vt song song vi b mt c nh l a, b (a >
b). Ban u ton h ng yn. Hy xc nh on ng chuyn
ng ca vt A khi vt B trt ht mt nghing ca vt A (lc B
va chm t).
Design By haughtycool
Copyright By Focebk.com
b
B
ab
Hnh II.3
Design By haughtycool
Copyright By Focebk.com
Bi sa
y
b
x C0
B
CB0
N
C0A CA CB
O xC0 x PB b
A
a PA 3
sA a/3
x CA
x CB
Ta x ca cc khi tm: x C0 ; x C0 ; x CA ; x CB
A B
Ta c:
a 2
x C0 = ; x C0 = b ;
A 3 B 3
a b
x CA = s A ; x CB = s A a
3 3
Design By haughtycool
Copyright By Focebk.com
Ban u ton h ng yn.
v C0
x 0 = 0 m
CA
=0
s
A
A
y C0 = 0 m s
x 0 = 0 m
CB s
v C0 =0
y C0 = 0 m
B
B s
H ngoi lc tc ng ln h:
PA ; PB ; N
Design By haughtycool
Copyright By Focebk.com
Dng nh l chuyn ng khi tm.
3
M.aC = Fje = PA PB N ; 1
j=1
M. xC = 0 m
x C = 0 s 2
x C = const
x C = x C0
Design By haughtycool
2
Copyright By Focebk.com
mk .x k mA .x CA mB .x CB
x C = k =1 =
M mA mB
do :
m A .x CA mB .x CB mA .x C0 mB .x C0
A B
= =0
mA mB mA mB
x C = 0
x C = const = x C0
mA .x CA mB .x CB mA .x C0 mB .x C0
A B
=
m A mB mA mB
Design By haughtycool
Copyright By Focebk.com
m A .x CA mB .x CB = m A .x C0 mB .x C0
A B
a b a 2
mA . sA mB . s A a = mA . mB . b
3
3 3 3
mB
sA = b a 0
mA mB
Design By haughtycool
Copyright By Focebk.com
Bi tp 4.
Cho con ln O l vnh trn, ng cht, bn kinh r ln khng trt
ln mt phng nghing mt gc c nh nh hnh v. Trng
lng ca con ln P v h s trt nh gia con ln O v mt
phng ngang c nh l ft, b qua ma st ln.
Cho P, = const, r, , ft. H ban u ng yn.
a. PhnMtch chuyn ng ca vnh v ca tm O vnh. Thit lp
cc mi quan h ng hc gia cc c trng chuyn ng
ca ton vt vi cc c trng chuyn ng ca tm O vt.
b. Xc nh gia tc gc ca con ln O di dng hm ca r, ,
, v P. Tm iu kin ca moment con ln O ln ln.
c. Xc nh phn lc ti p im A.
d. Tm iuM kin ca ft con ln O ln khng M trt trn mt
phng nghing c nh.
Design By haughtycool
Copyright By Focebk.com
r
O
P
A
Hnh II.4
Design By haughtycool
Copyright By Focebk.com
Bi gii
y
0
M
v
r N s0 0
O x
a0
Rqt
P
Fmst
qt A
M
O
Hnh II.4.1
Design By haughtycool
Copyright By Focebk.com
a.
Phn ch chuyn ng.
Ca vnh: vnh ln khng trt, nhanh dn, ln trn mt
nghing c nh. y l 1 dng chuyn ng song phng vi
tm vn tc tc thi P l im p xc A.
Quan h ng hc.
Design By haughtycool
Copyright By Focebk.com
b. Tnh ng nng h
h 1 2 1 2
T m.v 0 JO .
2 2
m P
g
2 P 2
Vi JO m.r r do vat la vanh
g
v 0 r.
1P 2 2 1P 2 2 P 2 2
h
T . .r . . r . r .
2 g 2 g g
Design By haughtycool
Copyright By Focebk.com
Tnh tng cng cc ti
A A P A N A Fmst A M
Vi : A N 0, ( v N vuong goc vi be mat tiep xuc
va v iem A co nh)
s0
A Fmst 0 h0
A M M. O
Hnh II.4.2
A P P.h0 P.r.sin . V h0 s0 .sin r. .sin
A M - P.r.sin .
Design By haughtycool
Copyright By Focebk.com
T1h T0h A
ban au he ng yen
h
T0 = 0
P 2 2
.r . M P.r.sin .
g
P 2
.r 2.. M P.r.sin .
g
Design By haughtycool
Copyright By Focebk.com
M - P.r.sin
2
g
2.P.r
M P.r.sin
a0 .r .g
2.P.r
iu kin ca M vnh ln ln:
0 M P.r.sin 0
chieu a chon la ung
M P.r.sin
Design By haughtycool
Copyright By Focebk.com
c.
S dng nguyn ly DAlembert.
MOqt JO .
MOqt
qt P 2 M P.r.sin
MO JO . g .r . 2P.r 2 .g
1
qt
M M - P.r.sin
O
2
Design By haughtycool
Copyright By Focebk.com
Fjx P.sin Rqt Fmst 0 1
Fjy N P cos 0 2
N P.cos 3
Fmst P.sin Rqt
M P.r.sin
P.sin
2r
M + P.r.sin
Fmst 4
2r
Design By haughtycool
Copyright By Focebk.com
d. iu kin vnh ln khng trt:
Fmst Fmsgh ft .N 5
Thay (3), (4) vo 2 v ca (5) ta nhn c:
M P.r.sin
ft .P.cos
2r
M P.r.sin
ft
2P.r.cos
Design By haughtycool
Copyright By Focebk.com
Bi tp 5.
Cho 1 c h gm 2 vt c khi lng M1 v M2 c lin kt va chu
ti nh hnh v. H s ma st trt nh gia 2 vt l ft, b qua
ma st gia vt c khi lng M2 vi sn c nh. Ban u khi
cha chu tc dng ca h lc F h cn bng. Tm iu kin ca
gi tr lc F hai vt cng chuyn ng tnh n thng theo
phng ngang nh nhau (khng trt i vi nhau).
ft M1
M2
F
Hnh II.5
Design By haughtycool
Copyright By Focebk.com
Bi gii
T (5) ta nh c:
N1 P1 M1.g 7
Design By haughtycool
Copyright By Focebk.com
iu kin vt (1) khng trt trn vt (2):
M1
.F ft .M1.g
M1 M2
F ft M1 M2 .g
Design By haughtycool
Bi tp 6. Cho mt aCopyright Byng
trn,c, Focebk.com cht c bn knh R v khi
lng , b y mln khng trt trn mt nghing vi vn tc
ban u ca tm A a chn dc l . Bit mt nghing c
0
v Anghing mt gc i vi phng ngang v chiu
nh di
mt nghing l . Cho bit: bn knh R,
0
a) Hy phn tch chuyn A , ca
m, vng , tm
, f t ,af v . A a. Tm mi
quan h ng hc gia chuyn ng ca a v tm A a.
b) Tnh ng nng cho a v tng cng tc ng ln a.
c) Tnh vn tc v gia tc ca tm A a. Cho nhn xt hai kt
qu ny.
d) Tm iu kin v gi tr a c th ln ln c ht dc.
e) Xc nh cc thnh phn phn lc ti im tip xc I.
0
v
f) Tm iu kin ca gc nghingA a ln khng trt trn
mt nghing.
Design By haughtycool
Copyright By Focebk.com
g. Cho tg 3: f t
g1. phn ch li chuyn ng ca a. Xc nh va dof h
chn cc ta suy rng.
g2. xc nh cc lc suy rng tng ng
g3. thit lp h phng trnh vi phn chuyn ng cho
h.
, sA , vA
R
A
I
Hnh II.6
Design By haughtycool
Copyright By Focebk.com
Bi sa
lA
Rqt
y x
sA , vA
A , A N
Fmst (v vt ln khng trt)
M qt
A
aA A
I
A
P
Hnh II.6.1
a).
Phn ch chuyn ng ca a:
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a chuyn ng ln khng trt trn mt nghing c nh. y
l trng hp c bit ca chuyn ng song phng vi tm vn
tc tc thi l im p xc I.
Phn ch chuyn ng ca khi tm A a: tm A a chuyn
ng thng vi qu o l ng thng vi
song song A
mt nghing c nh v cch mt nghing y mt khong
bng bn knh a.
Do : vA A ; aA A
sA vA aA
A A A
R R R
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b.
ng nng ca h: 1 1
T h m Av A J A A2
2
2 2
1 P 2 1 1 P 2 v 2A
vA R 2
2g 2 2 g R
3P 2
vA
4g
Tng cng cc ti:
A A P A Fmst A N
A Fmst 0 : v vt khng trt.
A N 0 : v vung gc v im I ng yn tc thi.
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A A P P.hA P.sin s A ; cao hng
ln cng m
c. Vn tc ca tm A:
Dng nh l bin thin ng nng:
T1h T0h A
3P 2 3P 0 2
4g
vA
4g
v A P sin s A
const
2 4
vA
v 0A g .sin s A
3
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31
2v A a A sin v A
4g
2 aA 2.g .sin
a A g .sin 0 A 0
3 R 3.R
Tm A chuyn ng thng, chm dn v a ln chm dn.
v A 0 m / s tai s A
0 2 4
v A g .sin . 0
3
0 2 3 0 2 3
vA g ..sin v A g ..sin
3 3
e. Xc nh cc thnh phn phn lc:
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Theo nguyn ly DAlembert, ta s
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c bn ca h lc qun nh:
Rqt
qt
M A
thi a s trong trng thi cn bng.
Rqt m A .a A
2
Rqt mA .a A .P.sin ; (do nh ln nn bo (-))
3
M Aqt J A . A
1 P 2 aA 1 P 2 1
M Aqt R R g .sin P.R.sin
2 g R 2g 3 3
Vit cc phng trnh cn bng:
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F jx P.sin Fmst Rqt 0
F jy P.cos N 0
Gii h , :
N P.cos
Fmst P.sin Rqt
2
P.sin P.sin
3
1
Fmst P.sin 0
3
f. iu kin ca a ln khng trt:
Fmst Fmsgh f t .N
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Thay , vo :
1
P.sin f t .P.cos
3
tan 3 f t
g.
g1.
Do tg 3 ftnn a va ln va trt trn dc. y cng l
trng hp c bit ca chuyn ng song phng vi tm vn
tc tc thi khng phi l im p xc I.
Bc t do ca h: dof h 2
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A N
I
Fms
P
Hnh II.6.2
g2.
Xc nh lc suy rng Q1 tng
Qx ng vi ta suy rng
: q1 x
Cho h mt di chuyn kh d c bit:
q1 x 0, q2 0
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(a ch trt m khng ln v ) 0
Tng cng kh d ca cc ti:
A A P A Fms A N
; N 0
P. h Fms . x
P.sin . x f N . x
P.sin f P. cos x
A P sin f .cos x
x h
A Hnh II.6.3
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x0
N
0
A
N 0 : v khi chiu ln
I phng trt phng
ca lc nng N vung
Fms
P gc so vi phng
trt.
Hnh II.6.4
Lc suy rng:
Q1 Qx
A
sin f cos P
x
sin f cos M .g
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Xc nh lc suy rng Q2 tng
Q ng vi ta suy rng
q2
Cho h mt di chuyn kh d c bit:
q1 x 0 , q2 0
(a quay quanh tm A c nh hay a trt khng ln)
Tng cng kh d ca cc ti:
A A P A Fms A N
Fms . sI f N .r.
A f .P.r.cos .
Lc suy rng:
Q2 Q
A
f .P.r.cos
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x0
N
0
A
sI r.
Fms
P
Hnh II.6.5
Q2 Q f .M .g .r.cos
g3. Dng phng trnh Lagrange 2:
d T T
Qi , i 1, 2
dt qi qi
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Xc nh ng nng h:
h 1 1
T M .v A J A 2
2
2 2
1 2 11 2 2
M .x M .r
2 22
T T
0 (khng c x ch c o hm ca x)
q1 x
d T d T
M .
x
dt q1 dt x
T T
0 (khng c )
q2
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d T d T 1
M .r 2
.
dt q2 dt 2
Do :
M .
x sin f cos M .g
1
M .r . f M .r.cos .g
2
2
x sin f cos g
2 f cos .g
r
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M
r
B
B , B , B
Q
A
sA , vA , aA
P
Hnh II.7
a) Phn ch chuyn ng:
Vt A: chuyn ng tnh n thng ng, nhanh dn, c chiu
hng xung.
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Rng rc B: chuyn Copyright
ng quayBy Focebk.com
nhanh dn, cng chiu kim
ng h quanh trc vung gc vi mt phng hnh v v i
qua tm B c nh (tm B c nh).
Thit lp quan h ng hc gia cc vt:
s A r. B
v A r.B
a A r. B
b).
ng nng ca h:
h A B
T T T
1P 2
Vt A chuyn ng tnh n: TA vA
2g
1
Vt B chuyn ng quay: TB J B B2
2
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(JB l moment qun nh ca vt B i vi trc c nh thng gc
vi mt phng hnh v qua B)
Q 2
JB r
g
h 1 P 2 1Q 2 2
T vA r B
2g 2g
1 1
2g
P.v 2
A Q.v A
2
2g
P Q A
v 2
M
r P
A
TA P Rqt P P
PQ
M
Q r
TA P
PQ
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e) iu kin dy khng b chng (dy cng):
M
TA 0 Q 0 M Q.r
r
Vy iu kin dy b chng: M Q.r
Khi dy b chng:
Gia tc vt A:
aA g
Gia tc gc rng rc B:
M
B 2
g
Q.r
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Bi tp 8. Cho c h ng yn thi im ban u nh hnh ve.
Rng rc B l mt a trn, c v ng cht. H s ma st trt
nh va ng gia vt A va mt phng ngang c nh l v . Cho
ft
bit: f , M mm,
r , P , QDy const , ,f tkhng
nhe , f , gin,
. lun
cng, khng trt trn rng rc.
a) Tm iu kin ca gc A trt c trn mt nghing.
b) Cho , dy lun cng.
tg chfchuyn
b1) Phn t ng cc vt rn trong h. Tm mi quan
h v ng hc gia cc vt.
b2) Tnh ng nng cho ton h va tng cng tc ng ln h.
b3) Xc nh gia tc ca A va gia tc gc ca rng rc B
b4) Tnh lc cng dy
b5) Tm iu kin ca dy ni vt A b chng. Xc nh li
gia tc ca vt A va gia tc gc ca rng rc B.
M
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r M
Q A
P
Hnh II.8
a) iu kin vt A khng trt (A cn bng v dy chng):
Kho st s cn bng ca vt A:
T do ha vt A:
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Fmst NA
A y
P x
Hnh II.8.1
- Vit cc phng trnh cn bng:
F jx Fmst P.sin 0 1
F jy N A P.cos 0 2
- Gii h (1), (2):
Fmst P.sin 3
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N A P.cos 4
iu kin vt A khng trt:
Fmst Fmsgh f t .N A 5
Thay (3) v (4) vo 2 v ca (5), ta c:
P.sin f t .P.cos
tg f t 6
iu kin vt A trt:
tg f t 7
b) V tg nn
f t vt A trt c trn mt nghing.
b1. Phn ch chuyn ng ca cc vt rn trong h:
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r M
B
B B
sA
B vA
aA
Q A
P
Hnh II.8.2
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Vt A tnh n thng, nhanh dn theo phng ca mt
nghing v vi chiu hng xung.
Rng rc B quay nhanh dn, theo chiu kim ng h quanh
tm B c nh.
Quan h ng hc:
sA vA aA
B ; B ; B
r r r
b2. ng nng ca h: T h T A T B
A 1 2 P 2
T 2 mAvA 2 g v A
Vi:
2
1
T B J . 2 1 1 Q 2 v A
Q 2
B B r 2 vA
2 2 2 g r 4g
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h 1 Q 2
T P vA
2g 2
Tng cng cc ti:
A A P A M A Fms
Vi: A P P.hA P.sin s A
M
A M M. B sA
r
A Fms Fmsd s A f N A s A f P cos .s A
M
A P sin f cos s A
r
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b3. p dng nh l bin thin ng nng:
T1h T0h A
1 Q 2 M
P vA P sin f cos s A
2g 2 r
1 Q M
P 2v A a A P sin f cos v A
2g 2 r
M
r P sin f cos
aA g
Q
P
2
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M
P sin f cos
aA
B r g
r Q
P r
2
P x
Hnh II.8.3
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Copyright
Dng nh l chuyn By Focebk.com
ng khi tm cho vt A:
4
e
mA .a A Fj P N A TA Fms 8
j 1
a A sin f cos g
2M
B 2
g
Q.r
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Bi tp 9. Cho c h nh hnh v:
q const
A B
Hnh II.9
a). H c lun cn bng vi mi loi ti tc ng hay khng? Ti
sao?
b). Dng nguyn l di chuyn kh d xc nh cc thnh phn
phn lc ti ngm A.
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Bi sa
a. (T gii)
Tnh bc t do ca h: Dofh
Dof h 3n R lk
3.1 3 0
V dofh 0 nn h lun cn bng vi mi loi ti tc ng.
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b). Lin kt c mt rng bucByc
Focebk.com
gi l lin kt n (v d:
khp bn l trt, lin kt thanh). Lin kt ngm phng c 3
rng buc s c xem l tng ng vi 3 lin kt n.
xc nh cc thnh phn phn lc ca lin kt ngm ta
gii phng ln lt tng lin kt n v xem cc thnh phn
phn lc xut hin nh l lc hot ng b sung.
q
HA A B
x
Hnh II.9.1
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Cho h mt di chuyn kh d . x
Tnh tng cng kh d:
A A H A Aq A H A
H A x
p dng nguyn l di chuyn kh d:
A 0 H A 0
Xc nh phn lc NA :
Gii phng lin kt n cn tr chuyn ng tnh n thng
theo phng ng.
Cho h mt di chuyn kh d . y
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NA
q
y0
A B
Hnh II.9.2
Tnh tng cng kh d:
A A N A A q N A . y ql y
N A ql y
p dng nguyn l di chuyn kh d:
A 0 N A ql 0 N A ql 0
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Xc nh thnh phn phn lc MA :
Hnh II.9.3
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Tnh tng cng kh d:
A A M A Aq
Ta c:
A M A M A
A q q.dx y q.dx. x.
0 0
2
x q 2
q. .
2 0 2
q 2
A M A
2
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p dng nguyn l di chuyn kh d:
q 2 q 2
A 0 2 M A 0 M A 2 0
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Bi tp 10. Dng nguyn l di chuyn kh d xc nh cc
thnh phn phn lc sau:
q P q
a) A
B C M q 2
2
Hnh II.10.1
q
M
b)
A B C
Hnh II.10.2
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a). Xc nh thnh phn phn lc HA :
Gii phng lin kt n cn tr chuyn ng tnh n theo
phng ngang:
Cho h di chuyn kh d : x
P q
A q
HA
B C M
x
Hnh II.10.3
Tnh tng cng kh d:
A A H A A q A( P) A( M ) A H A
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A A H A H A . x
+ p dng nguyn l di chuyn kh d:
A 0 H A 0
- Xc nh thnh phn phn lc NB :
P q
q
C
M
A yB B yC
NB
Hnh II.10.4
+ Cho h mt di chuyn kh d :
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Tnh tng cng kh d:
A A N B A q A P A M
N B .(2. ) 2q 2 . P.(3. ) M .
(2 N B 2q 2 ).
2
A 0 2 N B 2 q 0
N B q
Xc nh thnh phn phn lc NA :
Cho h mt di chuyn kh d
:
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Tng cng kh d:
A A N A Aq A P A M
yA
tg
2
y A 2.
A N A N A . y A N A .2.
y u.
2 2 2 2
u
A q y q.du q.u. .du q. .
0 0
2 0
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A q 2 q .
yC .
A P P. yC q.. q 2 .
A M M . q 2 .
Th vo :
2 2
A N A .2 . 2 q . q M . 0
N A 2 q
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b).
Xc nh cc thnh phn phn lc HA :
Gii phng lin kt n cn tr chuyn ng tnh n theo
phng ngang:
q
HA M
x
B C
A
Hnh II.10.6
Cho h mt di chuyn kh d : x
Tng cng kh d:
A A H A A q H A . x
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A 0 H A 0
Gii phng lin kt NA :
2
VA x
M
B C
A yB
yA
dx
Hnh II.10.7
Cho h 1 di chuyn kh d :
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Tng cng kh d :
A A VA A q A M
Ta c:
y x. y 0 x
2
x
A q y.q.dx q. x. x.dx q.
0 0
2 0
q 2
2
2
A M M A . q .
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y A 2.
A VA VA . y A
VA .2
1 2 2
A VA .2. q q 0
2
1 2
2
q q 1
VA 2 q
2 4
Gii phng lin kt VC :
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M
B C
A
yB VC
yC
u
u 2 du
Hnh II.10.8
y u.
2 2
A q y q.du u.q. .du
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2 Focebk.com
u2 4 2 2
A q q. q. q.
2
2 2
3 2
q
2
A M M . q 2 .
yC 2.
A VC VC yC
VC .2.
A A q A M A VC
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3 2
A q VC 2.
2
3 2 2
q q VC .2
2
3 2
q q 2 5
VC 2 q
2 4
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Bi tp 11. Cho mt c h gm c hnh lng tru A t din tam gic
vung v ng tr trn, ng cht, khng y B. Vt A c khi lng
m1 ta khng ma st trn mt phng ngang c nh. Vt B c bn
knh r, khi lng m2 ln khng trt trn mt nghing ca lng tru A
(hnh chiu ng ca trc ng tr trn l B). Lng tru A chu tc ng
ca lc F nh hnh v. Cho bit: m1, m2, F, , r.
a) Hy phn ch chuyn ng ca cc vt rn trong h. Xc nh bc
t do ca h v chn cc ta suy rng cho h.
b) Vit biu thc xc nh vn tc tuyt i ca tm B v nh ln
ca vector vn tc tuyt i ny.
c) Xc nh ng nng cho ton h v cc lc suy rng tng ng.
d) Thit lp h phng trnh vi phn chuyn ng cho ton h. Cho
bit kh nng ca mnh c gii c h phng trnh vi phn ny
khng? Nu gii c hy xc nh gia tc ca lng tru A v gia
tc gc ca ng tr B.
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x r
B
BI
v
A
N I
P2
F
P1 ng trung tuyn
Hnh II.11.1
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ng tr trn B thcCopyright By Focebk.com
hin ng thi 2 chuyn ng: tnh n
cng vi lng tru A v ln khng trt trn mt nghing ca
lng tru A. Chuyn ng tng hp ca ng tr trn B l
chuyn ng song phng vi tm vn tc tc thi khng phi
l im p xc I.
Bc t do ca h:
Dof h 2
xc nh c v
V ta cn dng 2 thng s c lp vx mi
tr ca ton h.
Hai ta suy rng ca h c chn l:
q1 x , q2
b). Phn ch chuyn ng phc hp ca tm B:
Chuyn ng ko theo: tnh n cng lng tr A.
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Chuyn ng tng i: ln khng trt trn mt nghing
ca lng tru A (tm quay tc thi l im I).
Dng nh l hp vn tc ca im:
B B B
va ve vr
B B* A
ve va va B A BI
Vi: B BI va va v
vr v
A
Tnh ln vector vn tc va
tuyt i im B: B
BI B
(khi tng 2 gc bng thi cos v va
gc ny bng - cos gc kia).
I
Hnh II.11.2
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Cng thc lng trong tam gic thng:
B 2 A 2 2
va va v BI
2vaAv BI cos
2 2
v v 2v v
A
a
BI A BI
a cos
M: v x ; v r . r .
A BI
a
B 2
v a x r . 2r.cos .x.
2 2
2
c). ng nng h:
T h T A T B
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1 2 1
Vi: T m1 . vaA
2
A
m1.x 2
2
1 B 2 1
B
T m2 va J B . 2
2 2
Ta c: J B m2 .r 2 ;
1 1
T m2 x r 2r cos .x. m2 .r 2 2
2
B 2 2 2
2
1
m2 x 2r . 2r cos .x.
2 2
2
2
1
T h
m1 m2 .x 2 m2 .r 2 . 2 m2 .r.cos .x.
2
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Xc nh lc suy rng Q1 : Qx
Cho h mt di chuyn kh d c bit:
x0
C2 B 0
BI
A r v
N I A
F P2 va
P1
Hnh II.11.3
q1 x 0 ; q2 0
(a khng quay nn ton h l mt vt duy nht: m = m1 +m2)!
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Tng cng kh d:
A A P1 A P2 A N A F
A F
A F . x
(P1, P2 khng thay i cao; phng N vung gc phng
chuyn ng).
Q1 Qx
A
F
x
Xc nh lc suy rng Q2 : Q
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Cho h mt di chuyn kh d c bit:
q1 x 0 ; B
sB
q2 0 hB
hB sB .sin I
r. .sin Hnh II.11.4
Tng cng kh d:
A A P1 A P2 A N A F
A P2 m2 .g hB
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A m2 .g hB
m2 .g .r.sin .
Q2 Q
A
m g .r.sin
2
d) Dng phng trnh Lagrange 2:
d T T
Qi , i 1, 2
dt qi qi
T T
0
q1 x
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d T d T
x m2 .r.cos
m1 m2
dt q1 dt x
T T
0
q2
d T d T
m2 .r.cos x 2m2 r
2
dt q2 dt
x m2 .r.cos F
m1 m2
2
m .r .cos
x 2m2 r 2
m2 g .r.sin
y l h phng trnh vi phn cp 2 cc k d gii. Cch gii
c trnh by chi t:
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t X 1
x; X 2
Nghim:
F m2 .r.cos
g .sin 2r
X 1
x
m1 m2 m2 .r.cos
cos 2r
2r.F m2 g .r.sin .cos
2r m1 m2 m2 r.cos 2
1
2 F m2 g sin 2
2 const
2
2 m1 m2 m2 cos
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m1 m2 F
cos g .sin
X 2
m1 m2 m2 .r. cos
cos 2r
m1 m2 g .sin F .cos
2 m1 m2 m2 cos 2 r
const
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Bi tp 12. Cho mt a c dng hnh qut ng cht, c, dy
iu, bn knh R, gc chn tm l 2 ,ng yn thi im
u vi gc nghing l 0 (gc hp bi phng thng ng va
trc i xng ca a) c khi lng m. a ta khng ma st
vi mt phng ngang c nh.
a) Phn ch chuyn ng ca a va tm O a
b) Xc nh v tr ca khi tm C a.
c) Xc nh phng trnh qu o ca khi tm C a nu
chn h trc ta nh hnh xyve:
d) Tnh ng nng ca a va tng cng cc ti tc ng
ln a.
e) Tm vn tc gc ca a v gia tc gc ca a.
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y t
R
Cho: m, R, 0 ,
O 2
C0
0
N u
P
x
I
c
Hnh II.12
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Copyright By Focebk.com
Bi sa
a) Phn ch chuyn ng ca a:
a chuyn ng song phng trong mt phng hnh v vi
tm vn tc tc thi khng phi l im p xc I.
Phn ch chuyn ng ca tm O a:
Tm O a chuyn ng thng vi qu o l ng thng
Oon
song song thng c nh v cch ng thng c nh
mt on bng bn knh ca a. Do , vn tc v gia tc
ca tm O nm trn ng thng ny.
v0 0 ; 0 0
b). Do a hnh qut c mt trc i xng nn khi tm C ca
a s nm trn trc i xng ny.
Design By haughtycool
Copyright By Focebk.com
Dng h trc ta vung gc mi Out
gn lin vi a sao cho
trc trngutrc i xng ca a.
tc 0
Kho st mt din ch vi phn k thuc a nh hnh v:
dr
r
dAk
d
O
K
uk
u
Hnh II.12.1
Design By haughtycool
Copyright By Focebk.com
Gi: A l din ch a.
l khi lng ring a.
Ta c: A R2 : rad
m m
; (vt phng (kg/m2); vt dy (kg/m3)
A R2
dAk dr r.d
m
mk dAk 2
dr rd
R
(mk: khi lng ca din ch dAk ).
Design By haughtycool
Copyright By Focebk.com
p dng cng thc nh ngha ca khi tm:
m u
k 1
k k
1 m 2
uc 2
r cos .dr.d
m m A R
R
1 2
uc 2
r dr cos .d
R 0
3 R
1 r
2 sin
R 3 0
1 R3
2
2sin
R 3
Design By haughtycool
Copyright By Focebk.com
2R
uc sin
3
c). Kho st chuyn ng ca a:
H ngoi lc tc ng ln a P,: N
Dng nh l chuyn ng khi tm:
2
e
mac F j P N 1
j 1
m.
xc 0
xc 0 m s2
xc const xc 0 m s ; (vn tc lc u bng 0)
Design By haughtycool
Copyright By Focebk.com
xc const xc 0 m
Vy phng trnh chuyn ng ca khi tm C l: xc 0 ;
ng thng c y ; vc y ; ac y .
4 R
m r
2
R 4 0
m R4
2
2
R 4
1 2
J 0 mR (ging cng thc hnh qut)
2
R2 2
Jc m uc
2
Design By haughtycool
Copyright By Focebk.com
Tm vn tc tc thi ca a: P
PC OC .sin y
uc sin O v0
Do :
vc PC. uc .sin .
P C
1 1
2
T m uc sin . mR 2 2
2 2 2
4
1 2 2 1 2 2 u
m uc sin R vc
2 2
Tng cng cc ti: Hnh II.12.2
A A P A N
Design By haughtycool
Focebk.com
Copyright By
Vi: A N 0
A P P.hc
mg HC HC0
y
O0 O H 0
0
C0
hc
C
P
Hnh II.12.3
Design By haughtycool
Copyright By Focebk.com
A P mg OC.cos O0C0 .cos 0
mg .uc cos cos 0
e) Dng nh l bin thin ng nng:
h h
T T
1 0 A
1 2 2 1 2 2
m uc sin R mg .uc cos cos 0 ; 2
2 2
Vn tc gc ca a:
1 2 1 2 2 1 2
uc 2 sin cos . uc sin R 2.
2
2 2 2
g .uc sin .
uc sin uc cos . 2 g
2 2 1 2
uc sin R
2
Design By haughtycool
Copyright By Focebk.com
Bi tp 13. (Cha sa).
Cho mt thanh thng mnh, ng cht, t din iu, khi
lng m v chiu di 2 ta khng ma st trn mt phng
ngang c nh. Ban u thanh ng yn vi gc nghing 0.
a. Hy phn ch chuyn ng ca thanh AB. Tm
phng trnh qu o ca im A, ca khi tm C v
im B.
b. Tnh ng nng ca thanh va tng cng cc ti tc
ng ln thanh.
c. Xc nh vn tc gc ca thanh va gia tc gc ca
n.
Design By haughtycool
Copyright By Focebk.com
B
C0
A 0
Hnh II.13
Cho : m, 2, 0
Design By haughtycool
Copyright By Focebk.com
Bi tp 14.
Cho c h nh hnh v (Hnh II.14). M
r1
Cho r1, r2, P1, P2, M const.
Dy c cc nh cht sau y:
mm, nhe, khng gin, khng O1 B
trt trn cc vt v lun cng.
B qua ma st ti khp bn l O1
v xem nhnh dy AB lun c
phng thng ng. Rng rc O1
l a trn c, ng cht v rng P1
rc O2 l vnh trn ng cht. O2
a. Xc nh bc t do ca h. A
Chn cc h ta suy rng r2
cho h. P2
Hnh II.14
Design By haughtycool
Copyright By Focebk.com
Design By haughtycool
Copyright By Focebk.com
Bi sa
a. M
Dofh = +2 r1
Chn 2 ta 1
suy rng:
O1 B
q1 1;
q2 2
P1
y 2
O2
A
r2
Hnh II.14.1 P2
Design By haughtycool
Copyright By Focebk.com
b.
Phn ch chuyn ng cc vt.
Rng rc O1:
Chuyn ng quay quanh tm O1 c nh.
Rng rc O2:
Chuyn ng song phng vi tm vn tc tc thi khng phi l
im p xc A.
Phn ch chuyn ng phc hp ca tm O2.
Chuyn ng ko theo:
Tnh n thng ng cng vi dy.
Chuyn ng tng i:
Quay quanh tm vn tc tc thi A i vi dy.
Design By haughtycool
Copyright By Focebk.com
Vit biu thc nh: (Hnh II.14.2)
M
O2 O 2 O2 r1
va ve vr
1
O1 B
B
va
P1
y 2
O2
A O2
A vr r2
va
Hnh II.14.2 P2
Design By haughtycool
Copyright By Focebk.com
O2
O A v e y
v e v a O
2
A B
ev 2
v a v
a r1 .1 r1.1
Vi : O2
O2
O2 O2 A v r AO2 hay v r y
v r v O2
v r r22 r2 .2
O2 O2 O2 O2
v a v a v e v r r1.1 r2 .2
ch khi 2 vector
c.
ng nng ton h:
The TO1 T O2
Design By haughtycool
Copyright By Focebk.com
1 2 P1 2
O1 2 1 1 2g r1
J m r
Ta co :
J m .r 2 P2 .r 2
O2 2 2
g
2
O1 1 P1 2 2
Vi : T JO1 .1 .r1 .1
2
2 4g
1 O2 2 1
T O2
m2 v a
2
JO2 .22
2
1 P2 2 1 P2 2 2
r1.1 r2 .2 .r2 .2
2 g 2 g
O2 P2 2 2 P2 P2 2 2
T .r1 .1 .r1.r2 .1.2 .r2 .2
2g g g
Design By haughtycool
Copyright By Focebk.com
he 1 P1 2 2 P2 P2 2 2
T P2 .r1 .1 .r1.r2 .1.2 .r2 .2
2g 2 g g
d.
Nhn xt:
1 0 ; 2 0
Design By haughtycool
Copyright By Focebk.com
Ta c : v Oa2 r1.1 r2 .2
1 2
r1. r2
dt dt
r1.1
O2
sO2 1
M: v a r1.
dt dt
Design By haughtycool
Copyright By Focebk.com
sO2 r1.1
Vay : A M P .r .
2 1 1
Q1
A
M P .r 2 1
1
1 0 ; 2 0
Design By haughtycool
Copyright By Focebk.com
Ta c : v Oa2 r1.1 r2 .2
1 2 2
r1. r2 . r2 .
dt dt dt
O2
sO2
Ma : v a
dt
sO2 r2 . 2
Tng cng kh d:
A A P2
P2 . sO2 P2 .r2 .2
Design By haughtycool
Copyright By Focebk.com
Lc suy rng Q2:
Q2
A
P .r 2 2
2
Vay : Q1 M P2 .r1
Q2 P2 .r2
e.
Dng phng trnh Lagrange 2 (i vi h khi mt cn bng):
d T T
Qi , i 1, 2
dt qi qi
Design By haughtycool
Copyright By Focebk.com
d T d T 1 P1 2 .. P2 ..
P2 .r1 .1 .r1.r2 .2
dt q1 dt 1 g 2 g
A B
T T
0 (V Th khng phu thuc 1).
q1 1
d T d T P2 .. 2P2 2 ..
.r1.r2 .1 .r2 .2
dt q2 dt 2 g g
B C
T T
0 (V Th khng phu thuc 2).
q2 2
Design By haughtycool
Copyright By Focebk.com
1 P1 2
A P 2 r1 const
g 2
P2
at : B .r1.r2 const
g
2.P2 2
C .r2 const
g
Thay cc kt qu vo phng trnh Lagrange 2, ta c:
A.1 B.2 M + P2 .r1 D
B.1 C.2 P2 .r2 E
at : X1 1 ; X2 2
A.X1 B.X 2 D
B.X1 C.X 2 E
Design By haughtycool
Copyright By Focebk.com
C.D B.E
X1 1 A.C B2 const (rng rc 1 quay nhanh dn u)
Design By haughtycool
Copyright By Focebk.com
Bi tp 15.
Cho mt c h nh hnh v (Hnh II.15).
r I C
Q
B
P
Hnh II.15
Design By haughtycool
Copyright By Focebk.com
Design By haughtycool
Copyright By Focebk.com
e. Thit lp h phng trnh vi phn chuyn ng cho ton h.
Bi sa
a.
Dofh = 2 ( bit chuyn ng ca h cn phi bit chuyn ng
ca 2 vt hoc nu ta gi c nh c 2 vt thi h mi ng yn
c)
Chn 2 ta suy rng: q1 1; q2 2
b.
Phn ch chuyn ng ca cc vt rn trong h:
(Hnh II.15.1)
Design By haughtycool
Copyright By Focebk.com
x
M
1
A
A va A
C
vr C
va
r I C
ve
2 C
Q
B
P
Hnh II.15.1
Design By haughtycool
Copyright By Focebk.com
a trn A:
Design By haughtycool
CCopyright
A By Focebk.com
Do : v e va
Design By haughtycool
Copyright By Focebk.com
1 A 2 1
Vi : T m A v a JA .A2
A
2 2
Q
Ta co : mA ; v aA r.1.
g
1 2 Q 2
JA m A .r .r
2 2g
A 1
AQ 2 2 Q 2 2
T r .1 r .1
2g 4g
3Q 2 2
r .1
4g
Design By haughtycool
Copyright By Focebk.com
1 C 2 1
T AB
m AB v a JC .AB
2
2 2
P
Ta co : m AB ; AB 2
g
1 2 P 2
JC m AB . .
12 12g
AB P 2 2 P 2 2 P
T r .1 .2 r..cos 2 .1.2
2g 6g 2g
he 1 3 2 2 P 2 2 P
Vay : T P Q r .1 .2 r..cos 2 .1.2
2g 2 6g 2g
d.
Tnh lc suy rng Q1 ng vi ta suy rng q1 1 .
Design By haughtycool
Copyright By Focebk.com
Cho h mt di chuyn kha di c bit: 1 > 0 ; 2 = 0
A A M
M.1
Q1
A
M
1
Design By haughtycool
Copyright By Focebk.com
Tng cng kh d ca cc ti tc ng:(Hnh II.15.2)
A A P P. hC P 2 2 sin 2
A
Q2
A
P.sin 2
2 2
2 2
C
Vay : Q1 M hC
C0
Q2 P.sin 2 2
2
P
Hnh II.15.2
Design By haughtycool
Copyright By Focebk.com
e.
Phng trnh Lagrange 2:
d T T
Q1
dt 1 1
d T T
Q2
dt 2 2
T 1 2 2 P
Vi : P Q r .1 r..cos 2 .2
1 g 3 2g
d T 1 2 2 P
P Q r .1 .r ..
sin . 2
2 2 cos 2 . 2
dt 1 g 3 2g
Design By haughtycool
Copyright By Focebk.com
T
0
1
T P 2 P
. . 2 r. cos 2 .1
2 3g 2g
d T P 2 P
.2 r. sin 2 .1.2 cos 2 .1
dt 2 3g 2g
T P
r..sin 2 .1.2
2 2g
Design By haughtycool
Copyright By Focebk.com
1 3 2 P P
Vay :
g
P Q
2
r .1
2g
r ..cos .
2 2
2g
r .. sin 2 2 M
. 2
P P 2
r..cos 2 .1 . 2 P.sin 2
2g 3g 2
Design By haughtycool
Copyright By Focebk.com
Bi tp 16. Cho
m1 , m2 , m3 , mA , JO1 , JO2 , JO3 , M1 , M 2 , R 2 2r1 R 3 2r3 2r .
a. Xc nh bc t do cho h v chn ta suy rng cho h.
b. Phn ch chuyn ng ca cc vt rn trong h. Xc nh vn
tc gc ca rng rc kp 3 va vn tc tuyt i ca vt A.
c. Tnh ng nng cho ton h.
d. Xc nh cc lc suy rng cho h.
e. Vit h phng trnh vi phn chuyn ng cho h. Gii h
phng trnh ny.
Design By haughtycool
Copyright By Focebk.com
M1 M2
R2
Cc nhnh dy trong h c
r1
cc nh cht: mm, nhe, O1 O2
B D
khng gin, khng trt
trn cc vt v lun cng. B
qua ma st cc khp bn R3
l. (Hnh II.16)
C E
O3 r3
A Hnh II.16
Design By haughtycool
Copyright By Focebk.com
Bi sa
a. Dofh = +2. v ta cn dng 2 thng s c lp 1 va 2 mi xc
nh c v tr ca ton h.
b.
Phn ch chuyn ng cc vt:
Rng rc 1: quay quanh tm O1 c nh.
Design By haughtycool
Copyright By Focebk.com
M1 M2 R2
B
r1 va
O1 O2
B D
1 D 2
va
C R3
va
O3
E
C r3
E
va
Hnh II.16.1 A
Design By haughtycool
Copyright By Focebk.com
Xc nh 3:
C B
Ta c: v a v a
E D
v a v a
Xc nh tm vn tc tc thi rng rc 3:
(Hnh II.16.2)
Design By haughtycool
Copyright By Focebk.com
C
va O3
va
P
C E
O3
E
va
Hnh II.16.2
Vn tc gc ca rng rc 3:
v Ca v Ea v aC v Ea r.1 2r.2 1
3 1 22
PC PE PC PE 3r 3
Xc nh vn tc vt A:
Design By haughtycool
Copyright By Focebk.com
Vn tc tm O3:
v Oa3 PO3 .3
v Ca r.1 31
Ta co : PC = .r
3 1 2 1 22
1 2
3
31 2 1 2
PO3 PC O3C r r r
1 22 1 22
O3 2
Vay : v a r. 1 2
3
Design By haughtycool
Copyright By Focebk.com
A O3
va va
1
3 1 22
3
2
v aA v aO3 r 1 2
3
c.
Tnh ng nng h:
T he T1 T 2 T 3 T A
1 1
Vi : T JO11 JO1 .12
1 2
2 2
Design By haughtycool
Copyright By Focebk.com
1 1
T JO2 .2 JO2 .22
2 2
2 2
1 O3 2 1
3
2
T m3 v a JO3 .32
2
1 4 2 2 1 1 2
m3 r 1 2 21.2 JO3 . 1 4.22 41.2
2
2 9 2 9
1 2 2
18
2 2
9
2 2
9
4m3 .r JO3 1 m3 .r JO3 .2 JO3 2.m3 .r 2 .1.2
1 A 2 1 4 2 2
T m A v a mA . r 1 22 21.2
A
2 2 9
2 2 4
mA .r .1 mA .r . 2 m A .r 2 .1.2
2
2 2
2
9 9 9
Design By haughtycool
Copyright By Focebk.com
he 1 4 1 4 2 2
T JO1 m3 .r JO3 m A .r 1
2
2
9 9
9
A
1 4 4 4
JO2 m3r JO3 m A .r 2 22
2
2
9
9 9
B
2
JO3 2 m3 m A r 2 1.2
9
d. C
Design By haughtycool
Copyright By Focebk.com
Q1
A
M
2
m3 mA g.r
1
1 3
Tnh A :
A A M 2 A P3 A PA
Vi : A M 2 M 2 .2
A P3 P3 . h3 m3 .g. sO3
Design By haughtycool
Copyright By Focebk.com
O3
sO3
2 2 1 2
Ta co : v a
r 1 2 r
dt 3 3 dt dt
2 2
sO3 r 1 2 r.2
3 3
2
Do o :
A P3 m3gr. .2
3
2
A PA PA . s A mA .g. sO3 mA .g.r. 2
3
2
A M 2 g.r m3 m A 2
3
Q2
A
M
2
3 A
m m g.r
2 2
3
Design By haughtycool
Copyright By Focebk.com
e. Vit h phng trnh vi phn cho h bng cch dng phng
trnh Lagrange 2:
d T T
Qi , i 1, 2
dt i i
d T
2A.1 C2
dt 1
d T
C1 2B2
dt 2
T T
0
1 2
2
2A1 C2 M1 3 m3 m A g.r
Vay :
C. 2B. M 2 m m g.r
A
1 2 2
3
3
Design By haughtycool