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01 - KINEMATIKA Na Tocka PDF
01 - KINEMATIKA Na Tocka PDF
KINEMATIKA NA TO^KA
r r
r = r (t ) - osnovna kone~na ravenka na dvi`ewe vo vektorski oblik
M
r
r
O y
ds ds = dx 2 + dy 2 + dz 2
dy
s = ∫ dx 2 + dy 2 + dz 2 dt = ∫ x& 2 + y& 2 + z& 2 dt + C
dx
za t = t 0 , s = s 0
r M
γ r
r
k z
α β y
r
r O j x
i y
x
M
r
r z
O y
ϕ ρ
x
M’
M
r
r
O y
ϕ ψ
x
ρ
M’
-3-
intenzitet: V = Vx 2 + Vy 2 + Vz 2
Hodograf na brzina:
ζ z
ξ = x& (t ) = ξ(t )
η = y& (t ) = η(t )
ζ = z& (t ) = ζ (t ) O1
Vo
η y
V 1 No
ξ x
V N1
N
-4-
intenzitet: a = a x + a y + a z
2 2 2
intenzitet: a = a r + a n + a z
2 2 2
intenzitet: a = a r + a n + a z
2 2 2
Hodograf na zabrzuvawe:
Z z
X = &x&(t ) = a x
Y = &y&(t ) = a y
Z = &z&(t ) = a z O1
ao
Y y
a1
X x
a
-5-
Re{enie: y
1. Linija na traektorijata:
x = t2
y = 3t 2 − 2 r
a
y = 3 x − 2 - linija na traektorija (prava y = kx + m )
x
x0 = 0
za t = 0 ⇒ r s
y 0 = −2 V
To~kata go zapo~nuva svoeto dvi`ewe od polo`ba M0(0;-2)
M0(0;-2)
2. Zakon na patot:
t
s = ∫ ds = ∫ dx 2 + dy 2 dt = ∫ x& 2 + y& 2 dt + s 0
0
za t = 0 ⇒ s 0 = 0
x& = 2t
y& = 6t
t t t
t2
s=∫ (2t ) 2
+ (6t ) dt = ∫
2
40t dt = 40 ⋅ ∫ t ⋅ dt = 2 10 = 10 ⋅ t 2
2
0 0 0
2
s = 10 ⋅ t 2 - zakon na patot
s[m]
10 ⋅ t 2
3. Brzina: t[s]
dx
Vx = = x& = 2t
dt
dy
Vy = = y& = 6t
dt
V = (2t )2 + (6t )2 = 2 10 ⋅ t
ξ = Vx = 2t η
- go eliminirame parametarot t Hodograf na
η = Vy = 6t brzinata
ξ r
t= V2
2
η = 3ξ - hodograf na brzina r
V1
5. Zabrzuvawe:
d 2x
ax = = &x& = 2
dt 2
d2y
a y = 2 = &y& = 6
dt
a = a x + a y = 2 2 + 6 2 = 2 10
2 2
Y = ay
4.Hodograf na zabrzuvaweto: Hodograf na
zabrzuvaweto
X = ax = 2
Y = ay = 6 N (2,6)
X = ax
-7-
1. Linija na traektorijata:
+2
π π
x = 3 sin t +1 x − 1 = 3 sin t
3 3
π π
y = 3 cos t y = 3 cos t
3 3
r r
M4(-1.6;-1.5) a4 a2 M2(3.6;-1.5)
r
V2
2. Zakon na patot:
t
s = ∫ ds = ∫ dx + dy dt = ∫ x& 2 + y& 2 dt + s 0
2 2
za t = 0 ⇒ s 0 = 0
-8-
π
x& = π cos t
3
π
y& = −π sin t
3
2 2
π π π π
t t t
s=∫ π cos t + − π sin t dt = ∫ π 2 cos 2 t + sin 2 t dt = ∫ πdt = π ⋅ t
0 3 3 0 3 3 0
s = π ⋅ t - zakon na patot
3. Brzina:
π
Vx = x& = π cos t
3
π
Vy = y& = −π sin t
3
2 2
π π
V = Vx + Vy = π cos t + − π sin t = π
2 2
3 3
V = π = const. [m/s]- zakon na brzina
4.Hodograf na brzinata:
π
ξ = Vx = π cos t
3
- go eliminirame parametarot t
π
η = Vy = −π sin t
3
ξ 2 + η 2 = π 2 - hodograf na brzina
5. Zabrzuvawe:
d 2x π2 π
ax = = &
x& = − sin t
3
2
dt 3
2
d y π 2
π
a y = 2 = &y& = − cos t
dt 3 3
-9-
π2
a = ax + a y = = const
2 2
3
π2
a= = const [m/s2]- zakon na zabrzuvawe
3
4.Hodograf na zabrzuvaweto:
π2 π
X = ax = − sin t
3 3
π 2
π
Y = ay = − cos t
3 3
2
π 2 π2
X + Y = - hodograf na zabrzuvaweto e krug so radius
2 2
3 3
Hodograf na η ≡Y Hodograf na
zabrzuvawe brzinata
r r r
a2 V4 r a4
V5
r
V0
ξ≡X
r
r V1
r V2 r
a1 a5
r
a0
- 10 -
Re{enie: y
r
1. Linija na traektorijata: V (t )
+2 r
x = 5 cos 5t 2
M
y = 5 sin 5t 2
( )
x 2 + y 2 = 5 2 sin 2 (5t ) + cos 2 (5t )
y(t)
r s=s(t)
r (t ) x
x 2 + y 2 = 5 2 - linija na traektorija r
(kru`nica (x − p ) + ( y − q ) = r 2 )
2 2 C(0;0) x(t) M0(5;0)
centar: C(p,q)=C(0,0)
radius: r =5m
Po~etni uslovi: za t0=0 ⇒ M0(5,0)
2. Zakon na patot:
t
s = ∫ ds = ∫ x& 2 + y& 2 dt + s 0
0
za t = 0 ⇒ s 0 = 0
dx
x& = = −50t sin 5t 5
dt
dy
y& = = 50t cos 5t 5
dt
t t
s = ∫ 50t sin 5t + cos 5t dt = ∫ 50tdt = 25t 2
2 2 2 2
0 0
s = 25 ⋅ t 2 - zakon na patot
3. Brzina:
Vx = x& = −50t sin 5t 2
Vy = y& = 50t cos 5t 2
4. Zabrzuvawe:
d 2x
ax = = &x& = −50 sin 5t 2 − 500t 2 cos 5t 2
dt 2
d2y
a y = 2 = &y& = 50 cos 5t 2 − 500t 2 sin 5t 2
dt
a = ax + a y =
2 2
(− 50 sin 5t − 500t
2
) + (50 cos 5t − 500t
2
cos 5t 2
2 2 2
sin 5t 2 )
2
=
= (− 50 sin 5t 2 2
) + (2 ⋅ 50 sin 5t ⋅ 500t
cos 5t ) + (500t cos 5t ) +
2 2 2 2 2 2
= 50 2 + 500 2 ⋅ t 4
η
5.Hodograf na brzinata:
r r
ξ = Vx = −50t sin 5t 2 Vt Vt
- go eliminirame parametarot t
η = Vy = 50t cos 5t 2
ξ
r
ξ 2 + η 2 = (50t ) - hodograf na brzina V0
2
x 2 = 5 cos 5t 2 = 2.04m
y 2 = 5 sin 5t 2 = 4.56m
s 2 = 25t 2 = 25 ⋅ 4 = 100m
V2 = 50t = 50 ⋅ 2 = 100m / sek
a 2 = 50 1 + 100 ⋅ t 4 = 50 1 + 100 ⋅ 2 4 = 2000.62m / sek 2
- 12 -
Re{enie:
1. Linija na traektorijata:
2
x = 3 cos kt + 4 sin kt
y = 4 cos kt − 3 sin kt
+
( ) ( )
x 2 + y 2 = 3 2 cos 2 kt + sin 2 kt + 4 2 sin 2 kt + cos 2 kt + 24(cos kt ⋅ sin kt − cos kt ⋅ sin kt )
x 2 + y 2 = 32 + 4 2 -
x 2 + y 2 = 25
linija na traektorija (kru`nica (x − p ) + ( y − q ) = r 2 )
2 2
centar: C(p,q)=C(0,0)
radius: r =5m.
2. Po~etni uslovi:
za t0=0
x0 = 3 cos 0 + 4 sin 0 = 3
y 0 = 4 cos 0 − 3 sin 0 = 4
x0 = 3m
y 0 = 4m
Re{enie:
1. Linija na traektorijata:
2+
x − 2 = 4 cos πt
y + 1 = 4 sin πt
- 13 -
centar: C(p,q)=C(2,-1)
radius: r =4cm.
Re{enie: y
1. Linija na traektorijata: 8
od ravenka (1)
y = −2 x + 8
x−2
3t = x − 2 ⇒ t =
3
zameneto vo ravenka (2)
M0(4;0) x
x−2
y = 4 − 6⋅
3 C(0;0) r
y = 4 − 2x + 4 V (t )
r
2 x + y − 8 = 0 - linija na traektorija
(prava y = kx + m )
2. Brzina:
Vx = x& = 3
Vy = y& = −6
r r r r r
V = x& ⋅ i + y& ⋅ j = 3 ⋅ i − 6 ⋅ j
Re{enie:
1. Linija na traektorijata r r
r
Od vektorskata ravenka r = x ⋅ i + y ⋅ j , ravenkite na dvi`ewe vo skalaren
t
x = tan (1)
oblik se: 2
(2)
y = sin t
Traektorijata na dvi`ewe }e ja dobieme so eliminirawe na parametarot t.
Ravenkata (2) so trigonometriski relacii mo`e da se pretstavi kako:
t t tan t 1 2 ⋅ tan t
y = 2 ⋅ sin ⋅ cos = 2 2 ⋅ = 2
2 2 t t t
1 + tan 2 1 + tan 2 1 + tan 2
2 2 2
t
od ravenka (1) tan = x sleduva:
2
2⋅ x
y= - traektorija na dvi`ewe.
1+ x2
x
Mo(0;0)
1
- 15 -
Re{enie:
1. Linija na traektorijata r
r r r
Od vektorskata ravenka r = x ⋅ i + y ⋅ j + z ⋅ k , ravenkite na dvi`ewe vo
x = 3 + 2t x − 3 = 2t (1)
skalaren oblik se: y = 2 + 6t y − 2 = 6t (2)
z = 4 − 3t z − 4 = −3t (3)
x−3
=t
2 x−3 y −2 z −4
= =
y−2 2 6 −3
=t ⇒ - traektorijata e prava vo prostor
6 x − x0 y − y 0 z − z 0
= =
z−4 a b c
=t
−3
Po~etnata to~ka M0 ima koordinati:
Za t=0, M0(3,2,4)
Traektorijata e prava niz M0 so pravec:
a 2 b 6 c 3
cos α = = ; cos β = = ; cos γ = =−
a2 + b2 + c2 7 a2 + b2 + c2 7 a2 + b2 + c2 7
2. Brzina:
r r r r
V = Vx ⋅ i + Vy ⋅ j + Vz ⋅ j
r r r r
V = x& ⋅ i + y& ⋅ j + z& ⋅ j
Vx = x& = 2
r r r r
Vy = y& = 6 ⇒ V = 2 ⋅ i + 6 ⋅ j − 3 ⋅ k
Vz = z& = −3
3. Zabrzuvawe:
r r r r r r r
a = ax ⋅ i + ay ⋅ j + az ⋅ j = &x& ⋅ i + &y& ⋅ j + &z& ⋅ j
ax = &x& = 0
ay = &y& = 0
az = &z& = 0
Re{enie:
1. Brzina:
r r r r r
V = Vx ⋅ i + Vy ⋅ j = 8 cos 4t ⋅ i + 8 sin 4t ⋅ j
( )
V = Vx 2 + Vy 2 = (8 cos 4t ) + (8 sin 4t ) = 8 2 cos 2 4t + sin 2 4t = 8m / s
2 2
2. Ravenki na dvi`ewe:
dx
Vx = x& =
dt
dy
Vy = y& =
dt
dx = 8 cos 4t ⋅ dt
dy = 8 sin 4t ⋅ dt
x = ∫ Vx ⋅ dt = ∫ 8 cos 4t ⋅ dt + C1
y = ∫ Vy ⋅ dt = ∫ 8 sin 4t ⋅ dt + C 2
x = 2 sin 4t + C1
y = −2 cos 4t + C 2
t 0 = 0 sec ; x0 = 0m ; y0 = 2m
C1 = 0 C 2 = 4
x = 2 sin 4t
y = −2 cos 4t + 4
3. Traektorija na dvi`ewe:
x +2
= sin 4t
2
y−4
= cos 4t
−2
x 2 ( y − 4)
2
+ = sin 2 (4t ) + cos 2 (4t )
4 4
x 2 ( y − 4)
2
+ =1
4 4
- 17 -
centar: C(p,q)=C(0,4)
y radius: r =2m
R=2m
C(0;4)
4. Zakon na pat:
ds = Vdt
s = ∫ Vdt = ∫ 8dt
s = 8t + C3
t 0 = 0 sec ; s0 = 0m
C3 = 0
s = 8t
5. Zabrzuvawe:
r r r
a = ax ⋅ i + a y ⋅ j
d 2x
ax = = &x& = 8(− sin 4t ) ⋅ 4 = 32 sin 4t
dt 2
d2y
a y = 2 = &y& = 8(cos 4t ) ⋅ 4 = 32 cos 4t
dt
( )
a = a x + a y = 32 sin 2 (4t ) + cos 2 (4t ) = 32 = const
2 2
Re{enie:
dx dx
Vx = x& = = 3t
dt dt ∫ dx = ∫ 3t ⋅ dt
dy dy
Vy = y& =
dt
;
dt
= 4t ∫ dy = ∫ 4t ⋅ dt
Vz = z& =
dz dz
=1 ∫ dz = ∫1⋅ dt
dt dt
3t 2
x= + C1
2
4t 2
y= + C 2 za t=0 to~kata ima polo`ba M0(2,0,0)
2
z = t + C3
C1 = 2
C2 = 0
C3 = 0
x = 1.5t 2 + 2
y = 2t 2
z =t
d 2 x dVx
ax = = =3
dt 2 dt
d 2 y dVy
ay = 2 = =4
dt dt
d 2 y dVz
ay = 2 = =0
dt dt
a = a x + a y + a z = 9 + 16 + 0 = 5m / sec = const
2 2 2
- 19 -
Re{enie:
1. Linija na traektorijata:
π +2
x = 8 cos t
2
π
y = 8 sin t
2
π π
x 2 + y 2 = 8 2 cos 2 t + 8 2 cos 2 t
2 2
π π
x 2 + y 2 = 8 2 sin 2 t + cos 2 t
2 2
x 2 + y 2 = 8 2 - linija na traektorija (kru`nica (x − p )2 + ( y − q )2 = r 2 )
centar: C(p,q)=C(0,0)
y radius: r =8m
r
V0
R=8m
r
a
x
C(0;0)
2. Brzina:
π
Vx = x& = −4π sin t
2
π
Vy = y& = 4π cos t
2
π π
V = Vx 2 + Vy 2 = 16π 2 sin 2 t + cos 2 t = 4π
2 2
V = 4π = const. [m/s]- zakon na brzina
- 20 -
3. Zabrzuvawe:
r r r
3.1. Dekartovi koordinati a = ax ⋅ i + a y ⋅ j
d 2x π
a x = 2 = &x& = −2π 2 cos t
dt 2
d2y π
a y = 2 = &y& = −2π 2 sin t
dt 2
π π
a = a x + a y = 4π 4 cos 2 t + sin 2 t = 2π 2 = const
2 2
2 2
aT =
dV
dt
[
= 0 m / s2 ]
V 2 (4π ) 16π 2
[ ]
2
aN = = = = 2π 2 m / s 2
R 8 8
a = aT + a N =
2 2
(2π )
2 2
= 2π 2 = const
a N = a 2 − aT = 2π 2 − 0 = 2π 2 m / s 2
2 2
[ ]
V 2 16π 2
R= = = 8m
aN 2π 2
Re{enie:
dV d 2 s
aT = = 2 = 16t
dt dt
dV = 16t ⋅ dt
V = ∫ 16t ⋅ dt + C1 = 8t 2 + C1
za t = 0 s V0 = 0 m / s ⇒ 0 = 0 + C1 ⇒ C1 = 0
ds
V = = 8t 2 ⇒ ds = 8t 2 ⋅ dt
dt
s = ∫ 8t 2 dt + C 2
8
s = t 3 + C2
3
- 21 -
za t = 0 s s 0 = 0m ⇒ 0 = 0 + C2 ⇒ C2 = 0
8
s = t3
3
8
za s=16m ⇒ 16 = t 3
3
3 ⋅ 16 3
t=3 = 6 sec .
8
Posle vreme t = 3 6 sec . avtomobilot }e ima izminato pat od 16m. Vo toj
moment tangencijalnoto i vkupnoto zabrzuvawe }e iznesuvaat:
aT = 16 ⋅ t = 16 ⋅ 3 6 = 29.07 m / s 2
( )
2
8 3 6 2
aN =
V
=
2
8t ( )
=
2 2
= 21.8m / s 2
R 32 32
a = aT + a N = 29.07 2 + 21.88 = 36.34m / s 2
2 2
Re{enie:
n
r r t
aT V
60o
r r
aN a
Rf
C
dV
aT Rf dV
tan α = = dt2 = 2
aN V V dt
Rf
Rf
tan 60° = 6
(6 + 6t )2
6 2 (1 + t ) ⋅ tan 60°
( )
2
Rf = = 6 1 + 2t + t 2 ⋅1.732
6
za t = 6 sec .
Rf = 6(1 + 12 + 36 ) ⋅1.732 = 509.21m
- 22 -
Re{enie:
dV V2 dV V2 K
aT = K a N , ako zamenime za aT = i aN = se dobiva: =K = V
dt R dt R R
∫
dV K dV K K
= dt ⇒∫ =∫ dt ⇒ ln V = t + C1
V R V R R
za t=0 V = V0
K
ln V0 = ⋅ 0 + C1 ⇒ C1 = lnV0
R
K V K
ln V = t + ln V0 , ln = t
R V0 R
K
t
kone~no: V = V0 ⋅ e R
- zakon za promena na brzinata vo funkcija od vremeto.
ds
Od ravenkata V = sleduva deka ds = Vdt , odnosno s = ∫ V ⋅ dt + C 2 .
dt
K
t K K R
s = ∫ V0 ⋅ e R ⋅ dt + C 2 smena: u = t , du = dt , odnosno dt = du
R R K
K
R R u R u R t
s = ∫ V0 ⋅ e ⋅u
du + C 2 = V0 ⋅ ∫ e du + C 2 = V0 ⋅ e + C 2 = V0 ⋅ e R
+ C2
K K K K
za t=0 s=0
R R
0 = V0 ⋅ + C2 ⇒ C 2 = −V0 ⋅
K K
R R t
K K
R Rt R
s = V0 ⋅ e − V0 ⋅ = V0 ⋅ e − 1 -zakon na patot.
K K K
V ⋅K
K K
dV t K t
aT = = V0 ⋅ e R
⋅ = 0 ⋅e R
dt R R
2K
t
V ⋅e
2 2 R 2 2K
V V t
aN = = 0 = 0 e R
R R R
2 2
V ⋅ K K
t V0 2 2 KR t
a = aT + a N = 0 ⋅e + e
2 2 R
R R
V0 ⋅ K
K 2 2K
t V t
a= ⋅e R
1+ 0 2 e R
-zakon za promena na zabrzuvaweto vo funkcija od
R R⋅K
vremeto.
- 23 -
Re{enie:
a) S1 = S 2
8 + 2t 2 = t 4
t 4 − 2t 2 − 8 = 0, t2 = u
u 2 − 2u − 8 = 0
2 ± 4 + 32
u1 2 = =4
2
t2 = 4
t = 2 sek
ds ds 2
v1 = 1 = 4t v2 = = 4t 3
dt dt
dv dv
aT 1 = 1 = 4 aT 2 = 2 = 12t 2
dt dt
2 2
v v
a N1 = 1 = t 2 aN 2 = 2 = t 6
R R
za t = 2sek :
v1 = 8m / s v 2 = 32m / s
aT 1 = 4 m / s 2 aT 2 = 48m / s 2
a N 1 = 4m / s 2 a N 2 = 64m / s 2
a1 = aT 1 + a N 1 = 4 2m / s 2 a 2 = aT 2 + a N 2 = 80m / s 2
2 2 2 2
Re{enie: an
tgα = ,
at
an v 2 dv
R=0.4m 1 = , ⇒ a n = at , ⇒ =
r at R dt
r v
a dt dv dt dv
45° = 2 ,∫ = ∫ 2
R v R v
1 t
− = + C1
v R
- 24 -
Za t=0 Vo=3m/s
1 1
− = 0 + C1 , ⇒ C1 = −
3 3
1 t 1
− = −
v R 3
1 R − 3t 3R
= ,⇒ v =
v 3R R − 3t
ds
v = , ⇒ ds = vdt
dt
∫ ds = ∫ vdt Smena, R-3t=u
-3dt=du
3R
s=∫ dt + C2 dt=-du/3
R − 3t dt
3R du du
s = −∫ + C2 = − R ∫ + C2 = − R ln(u ) + C2 = − R ln( R − 3t ) + C2
u 3 u
Za t=0 so=0 m
0 = − R ln( R − 0) + C 2
C 2 = R ln( R )
R
s = − R ln( R − 3t ) + R ln( R ) = R ln
R − 3t
t = ?, v = 5V0 = 15m / s
3R
15 = , ⇒ 15( R − 3t ) = 3R, ⇒ 15R − 45t = 3R
R − 3t
12 R
45t = 12 R, ⇒ t =
45
t = 0.106667 sec
R
s = R ln = 0.4 ⋅ ln 5 = 0.644m
R − 3 ⋅ 0.106667
Re{enie:
x = at
t2
y = bt − g
2
v= x& 2 + y& 2 = a 2 + (b − gt ) 2
a= &x&2 + &y& 2 = 0 + g 2 = g
- 25 -
dv 2(b − gt ) g g (b − gt )
aT = =− =−
dt 2 a + (b − gt )
2 2
a + (b − gt ) 2
2
g ( gt − b)
aT =
v
g 2 (b − gt ) 2 g 2 a 2 + g 2 (b − gt ) 2 − g 2 (b − gt ) 2
a N = a 2 − aT2 = g 2 − =
a 2 + (b − gt ) 2 a 2 + (b − gt ) 2
ga ga
aN = =
a + (b − gt )
2 2 v
2
v v2 v2 v3
aN = ⇒R= = =
R aN ga ga
v
- 26 -
A
25
k⋅t3
B
t(sek)
0 5 10
Re{enie:
Del OA:
V = k ⋅t3
1
25 = k ⋅ 5 3 ⇒ k =
5
1 3
V = ⋅ t 0 ≤ t ≤ 5sek
5
dV 3 2
aT = = ⋅t
dt 5
V2 t6 t6
aN = = =
R 25 ⋅ 2 50
9 4 t 12
a= ⋅t + 2
25 50
1 3 t4
s = ∫ Vdt = ∫ ⋅ t dt + C1 = + C1
5 20
za t = 0sek , s = 0m
0 = 0 + C1 ⇒ C1 = 0
t4
s=
20
za t = 5sek
t 4 54 9 4 512
s1 = = = 31.25m ; a = ⋅ 5 + 2 = 312.86m / sec 2
20 20 25 50
Del AB:
y 2 − y1
y − y1 = ( x − x1 )
x 2 − x1
0 − 25
(V − 25) = (t − 5)
10 − 5
− 25
V − 25 = (t − 5)
5
V = −5t + 50 5 ≤ t ≤ 10sek
- 27 -
dV
aT = = −5
dt
V 2 (− 5t + 50)
2
aN = =
R 2
(− 5t + 50)2
2
a = 5 + 2
2
s = ∫ Vdt = ∫ (− 5t + 50)dt + C 2
5
s = − t 2 + 50t + C 2
2
za t=5sek s1= 31.25m
5
31.25 = − ⋅ 25 + 50 ⋅ 5 + C 2
2
C 2 = −156.25
s = −2.5t 2 + 50t − 156.25
za t=5sek
(− 5 ⋅ 5 + 50 )2
2
s1 = −2.5 ⋅ 5 + 50 ⋅ 5 − 156.25 = 31.25m ;
2
a = 5 +
2
= 13.46m / sec 2
2
za t=10sek
(− 5 ⋅ 10 + 50 )2
2
s 2 = −2.5 ⋅ 10 + 50 ⋅ 10 − 156.25 = 93.75m ;
2
a = 5 +
2
= 5m / sec 2
2
s AB = s 2 − s1 = 93.75 − 31.25 = 62.5m
Kinemti~ki dijagrami:
a(t): s(t):
a(m/s2) s(m)
312.86 A 93.75 B
31.25 A
13.46 B
5 t(sek) 5 t(sek)
0 5 10 0 5 10
- 28 -
V(m/s)
A
5
B t(sek)
0 5 8
Re{enie:
Ravenka na krug: ( x − p) 2 + ( y − q) 2 = R 2
y − y1
Ravenka na prava: y − y1 = 2 ( x − x1 )
x 2 − x1
Del OA:
(t − 5) 2 + (v − 0) 2 = 5 2
v 2 = 5 2 − (t − 5) 2
v = 10t − t 2 0 ≤ t ≤ 5sek
dv 1 2(5 − t )
a= = (10 − 2t ) =
dt 2 10t − t 2 2 10t − t 2
(5 − t )
a=
10t − t 2
s = ∫ vdt = ∫ 10t − t 2 dt + C1 = ∫ − (t − 5) + 25 ⋅ dt + C1
2
smena: t − 5 = x , dt = dx
s = ∫ − x 2 + 5 2 ⋅ dx, s = ∫ 5 2 − x 2 ⋅ dx
x
u = 52 − x 2 , dv = dx, du = − , v=x
5 − x2
2
− x2 52 − x 2 − 52
s = uv − ∫ vdu =x 5 2 − x 2 − ∫ dx = x 5 2 − x 2 − ∫ dx =
52 − x 2 52 − x 2
x 52 − x 2 − ∫
(5 2
− x2 )dx − 52 dx
52 − x 2
∫ 52 − x 2
dx = x 5 2 − x 2 − ∫ 5 2 − x 2 dx + 5 2 ∫
52 − x 2
=
x
= x 5 2 − x 2 − s + 5 2 arcsin + C1
5
x
2 s = x 5 2 − x 2 + 5 2 arcsin + C1
5
2
x 2 5 x
s= 5 − x 2 + arcsin + C1
2 2 5
- 29 -
t −5 2 52 t −5
s= 5 − (t − 5) + arcsin + C1
2
2 2 5
t −5 52 t −5
s= 10t − t + arcsin
2
+ C1
2 2 5
za t = 0sek , s = 0m
52 π
0 = 0+ − + C1
2 2
25π
C1 =
4
t −5 52 t − 5 25π
s= 10t − t 2 + arcsin +
2 2 5 4
za t = 5sek
5−5 52 5 − 5 25π
s= 10 ⋅ 5 − 5 2 + arcsin +
2 2 5 4
25π
s=
4
Del AB:
0−5
(v − 5) = (t − 5)
8−5
5
v = 5 − (t − 5)
3
40 5
v= − t 5 ≤ t ≤ 8sek
3 3
dv 5
a= =−
dt 3
40 5
s = ∫ vdt = ∫ − t dt + C 2
3 3
40 5
s= t − t 2 + C2
3 6
25π
za t=5sek s=
4
25π 200 125
C2 = − +
4 3 6
25π 275
C2 = −
4 6
40 5 25π 275
s= t − t2 + −
3 6 4 6
za t=8sek
40 5 25π 275 320 − 275 25π
s= 8 − 64 + − = +
3 6 4 6 6 4
45 25π
s= +
6 4
- 30 -
5m/s A
O 5sek 10sek t
B
Sl.1
Re{enie:
Del O-A:
v −v 5−0
v − v0 = 1 0 (t − t 0 ); ⇒ v − 0 = (t − 0)
t1 − t 0 5−0
v=t
Bidej}i vektorot na brzinata se poklopuva so vektorot na pravecot zakonot
za promena na brzinata po trite koordinatni oski }e go dobieme so
proektirawe na brzinata po trite koordinatni oski, za {to go koristeme
vektorot na pravecot koj e daden so kosinusite od nagibnite agli na
traektorijata so oskite x,y i z.
.
vx = x = v⋅cosα = t⋅0.235 = 0.235t
.
vy = y = v⋅cosβ = t⋅0.452 = 0.452t
.
vz = z = v⋅cosγ = t⋅0.860 = 0.860t
Zabrzuvaweto }e go dobieme ako pobarame izvod na brzinata po vremeto t.
a=1
..
ax = x = (v⋅ cosα)’ = 0.235
..
ay = y = (v⋅ cosβ)’ = 0.452
..
az = z =( v⋅ cosγ)’ = 0.860
Zakonot za promena na patot }e go dobieme so integracija na zakonot na
brzinata, a konstantite od integracijata }e gi dobieme od po~etnite uslovi
da za vreme t=0 sek to~kata imala polo`ba opredelena so koordinatite na
to~kata M1(2,5,7).
t2
x = ∫ vx ⋅ dt = ∫ 0.235t ⋅ dt = 0.235 + x0 = 0.1175t 2 + 2
2
- 31 -
t2
y = ∫ vy ⋅ dt = ∫ 0.452t ⋅ dt = 0.452 + y 0 = 0.226t 2 + 5
2
t2
z = ∫ vz ⋅ dt = ∫ 0.860t ⋅ dt = 0.860 + z 0 = 0.430t 2 + 7
2
Za vreme t=5sek to~kata M }e ima koordinati opredeleni so zakonite za
promena na patot, odnosno:
xt=5=0.1175⋅25+2=4.9375
yt=5=0.226⋅25+5=10.65
zt=5=0.430⋅25+7=17.75
Del A-B
v1 − v0 0−5
v − v0 = (t − t 0 ); ⇒ v − 5 = (t − 5)
t1 − t 0 10 − 5
v = 10 − t
.
vx = x = v⋅cosα =(10- t)⋅0.235 =2.35- 0.235t
.
vy = y = v⋅cosβ =(10- t)⋅0.452 = 4.52-0.452t
.
vz = z = v⋅cosγ =(10- t)⋅0.860 = 8.6-0.860t
.
a = v = −1
..
ax = x = (v⋅ cosα)’ =− 0.235
..
ay = y = (v⋅ cosβ)’ =− 0.452
..
az = z =( v⋅ cosγ)’ =− 0.860
t2
x = ∫ vx ⋅ dt = ∫ (2.35 − 0.235t ) ⋅ dt = 2.35t − 0.235 + x0
2
t2
y = ∫ vy ⋅ dt = ∫ (4.52 − 0.452t ) ⋅ dt = 4.52t − 0.452 + y 0
2
2
t
z = ∫ vz ⋅ dt = ∫ (8.6 − 0.860t ) ⋅ dt = 8.6t − 0.860 + z 0
2
Konstantite x0, y0 i z0 }e gi dobieme od uslovot da to~kata za vreme t=5sek ima
koordinati xt=5=4.9375, yt=5=10.65, zt=5=17.75.
52
4.9375 = 2.35 ⋅ 5 − 0.235 + x0 , x 0 = −3.875
2
2
5
10.65 = 4.52 ⋅ 5 − 0.452 + y 0 , y 0 = −6.3
2
2
5
17.75 = 8.6 ⋅ 5 − 0.860 + z 0 , y 0 = −14.5
2
Kone~nite ravenki na zakonite za promenata na patot vo dekartovi
koordinati }e bidat:
t2 t2 t2
x = 2.35 ⋅ t − 0.235 − 3.875, y = 4.52 ⋅ t − 0.452 − 6.3, z = 8.6 ⋅ t − 0.860 − 14.5,
2 2 2
- 32 -
x& = sin (ω ⋅ t ) + C1
k
ω
za t 0 = 0 , x& 0 = V0 .
V0 = C1
= sin (ω ⋅ t ) + V0
dx k
dt ω
x = − 2 cos(ω ⋅ t ) + V0 ⋅ t + C 2
k
ω
za t 0 = 0 , x0 = 0
0 = − 2 cos(ω ⋅ 0 ) + V0 ⋅ 0 + C 2
k
ω
k
C2 = 2
ω
x = − 2 cos(ω ⋅ t ) + V0 ⋅ t + 2 - kone~na ravenka na dvi`ewe
k k
ω ω
To~kata se dvi`i slo`eno, zbir od edno ramnomerno pravolinisko dvi`ewe
k
i harmonisko oscilatorno dvi`ewe vo intervalot ± A = ± 2
ω
- 33 -
Re{enie:
1. Brzina: r r r
O a V a0
dx&
= −ω 2 ⋅ x / ⋅ dx -x0 x0
x
dt
dx
dx& = −ω 2 ⋅ x ⋅ dx
dt
x&dx& = −ω 2 ⋅ x ⋅ dx
x& 2 ω 2 ⋅ x 2 C1
=− +
2 2 2
x& = −ω ⋅ x + C1
2 2 2
za t 0 = 0 , x = x0 i x& 0 = V0 = 0 .
0 = −ω 2 ⋅ x0 + C1 , C1 = ω 2 ⋅ x0
2 2
x& 2 = −ω 2 ⋅ x 2 + ω 2 ⋅ x0
2
dt
dx
∫ x 2 − x 2 = ∫ ω ⋅ dt + C 2
0
x
arcsin = ω ⋅ t + C2
x0
za t 0 = 0 , x = x0
x
arcsin 0 = ω ⋅ 0 + C 2
x0
π
C 2 = arcsin 1 =
2
x π
arcsin = ω ⋅t +
x0 2
π
x = x0 sin(ω ⋅ t + ) ⇒ x = x0 cos(ω ⋅ t ) - kone~na ravenka na dvi`ewe
2
(harmonisko oscilatorno dvi`ewe )
Re{enie: x
r M1
1. Brzina: V1 = 0
a = −(g + k ⋅ x& )
dx&
= −(g + k ⋅ x& )
dt M H
dx& r
= − dt / ⋅k a
(g + k ⋅ x& )
k ⋅ dx& r
= − k ⋅ dt V0
(g + k ⋅ x& )
g + k ⋅ x& = p
smena:
kdx& = dp
dp
= −k ⋅ dt
p
ln p = −kt + C1
ln( g + kx& ) = −kt + C1
za t 0 = 0 , x& = V0
ln(g + k ⋅ V0 ) = 0 + C1
C1 = ln (g + k ⋅ V0 )
ln(g + kx& ) − ln (g + k ⋅ V0 ) = − kt
(g + kx& ) = e −kt
( g + k ⋅ V0 )
x& =
1
(g + kV0 ) ⋅ e −kt − g promena na brzinata vo funkcija od vremeto.
k k
= (g + kV0 ) ⋅ e − kt −
dx 1 g
dt k k
x=−
1
2
(g + kV0 ) ⋅ e −kt − g t + C 2
k k
za t 0 = 0 , x = x0 = 0
- 35 -
0=−
1
2
(g + kV0 ) ⋅ e 0 − g ⋅ 0 + C 2
k k
C 2 = 2 (g + kV0 )
1
k
x = − 2 (g + kV0 ) ⋅ e − kt − t + 2 (g + kV0 )
1 g 1
k k k
1
( )
x = 2 ( g + kV0 ) ⋅ 1 − e − kt − t - kone~na ravenka na pravolinisko dvi`ewe
g
k
k
V1 = x& (t ) = 0
1
(g + kV0 ) ⋅ e −kt − g = 0
k k
g
e − kt1 =
(g + kV0 )
g + kV0
kt1 = ln
g
1 g + kV0
t1 = ln
k g
-maksimalna visina H:
g 1 g + kV0
H = x max = 2 (g + kV0 ) ⋅ 1 −
1 g
− ⋅ ln
k (g + kV0 ) k k g
V0 g k
H= − 2 ⋅ ln1 + V0
k k g
c
(
ϕ = ϕ 0 + 3t + r0
1 3
) 1
3
− r0
ako zamenime za r = 3t + r0 3 ( 3
) 1
M
ϕ = ϕ 0 + [r − r0 ] , ili
1
c rt
r = r0 + c[ϕ − ϕ 0 ] , traektorijata na dvi`ewe e spirala.
M0
ϕt r0
ϕ0
- 37 -
(
r = 3t + r0
3
) 1
3
r& =
1
3
(
3t + r0
3 − 3
2
)
⋅ 3 = 3t + r0
3 − 3
2
( )
2
( −5
&r& = − 3t + r0 3 3 ⋅ 3 = −2 3t + r0 3 3
3
) −5
( )
c
(
ϕ = ϕ 0 + 3t + r0 3 − r0
1 3
1
)
ϕ& =
1
3c
(
3t + r0
3 − 3
2 1
)
⋅ 3 = 3t + r0
c
3 − 3
2
( )
ϕ&& = −
2
3c
3t + r0( 3 − 5
3 2
⋅ 3 = − 3t + r0
c
) 3 − 3
5
( )
(
a r = −2 3t + r0
3 − 5
3
c
1
) 3
1
− 2 3t + r0 3 ⋅ 3t + r0 (
3 − 3
4
= ) ( )
1 2 1
= −2r −5 − 2 (r ) = − 3 2 − 2
1 −3
c r r c
(
a n = 2 3t + r0
3 − 3 1
2
⋅ 3t + r0 ) 3 − 3
2
( 1
2
+ 3t + r0 3 ⋅ − 3t + r0
3
)3
( ) ( )
−5
3
=0
c c
an = 0
1 2 1
a = ar = − 3 2
− 2
r r c
r
v
r
r vr
vn
r r
a = ar
r
r
M0
ϕ r0
ϕ0
- 38 -
r
1. To~ka M1 se dvi`i po prava A1 B1 so konstantna brzina v1 , a to~ka M2 se
r
dvi`i po pravata A2 B2 so konstantna brzina v 2 . Rastojanieto pome|u to~kite
A1 i A2 e A1 B1 = b . Agolot pome|u pravcite A1 B1 i A2 B2 e α. Vo po~etokot
to~kata M1 e vo A1, a M2 vo A2. Da se opredeli vremeto t, koga rastojanieto
pome|u to~kite M1 i M2 e minimalno, ako dvi`eweto na dvete to~ki po~nuva
istovremeno.
B2 A1 M 1 = s1 = v1t
M2 A2 M 2 = s 2 = v 2 t
A2 M 1 = A1 M 1 − b = v1t − b
2 2 2
b M 1 M 2 = A2 M 1 − A2 M 2 − 2 A2 M 1 ⋅ A2 M 2 ⋅ cos α
α
A1 A2 M1 B1
( )
2t v1 + v 2 − 2 cos α ⋅ v1v 2 = 2b(v1 − cos α ⋅ v 2 )
2 2
v1 − v 2 cos α
t =b
v1 + v 2 − 2v1v 2 cos α
2 2
- 39 -
Re{enie:
π π
π ϕ = ϕ (t ) = sin t
l=32cm ϕ = = max 8 2
8
π 2
π
ω = ϕ& (t ) = cos t - aglova brzina
16 2
aN π 3
π
aN = 0 ε = ω& (t ) = − sin t - aglovo zabrzuvawe
32 2
aT = 0
Od ravenkata: V = ω ⋅ R sleduva:
dV d (ω ⋅ R) dω V 2 R 2 ⋅ω 2
aT = = =R = R ⋅ε , aN = = = R ⋅ω 2
dt dt dt R R
Od uslovot aT = 0 sleduva:
π3 π π
aT = R ⋅ ε = R ⋅ − sin t = −π 3 sin t
32 2 2
π
aT = −π 3 sin t = 0
2
π π π
sin t = 0 t = arcsin 0 t =π t = 2 sec .
2 2 2
Za t = 2 sec .
π π
ϕ = sin 2 = 0
8 2
Od uslovot a N = 0 sleduva:
2
π 2 π
a N = R ⋅ cos t = 0
16 2
π2 π
cos t = 0
16 2
π π π π
cos t = 0 t = arccos 0 t= t = 1sec
2 2 2 2
Za t = 1sec .
π π π
ϕ = sin 1 = = ϕ max
8 2 8
- 40 -
Re{enie:
M
aN M
aT M
VM
A
VA
c ⋅t2
xA = -zakon na dvi`ewe na tovarot A
2
x& A = V A = c ⋅ t -zakon na promena na brzinata na tovarot A
&x&A = a A = c -zakon na promena na zabrzuvaweto na tovarot A
VM = c ⋅ t -zakon na promena na brzinata na to~ka M (obemna brzina)
dVM
aT M = =c -tangencijalno zabrzuvawe na to~ka M
dt
V 2 c2 ⋅ t 2
aN M = = -normalno zabrzuvawe na to~ka M
R R
c4 ⋅ t 4
a M = aT2 + a N2 = c 2 + -totalno zabrzuvawe na to~ka M
R2
V 2 R 2 ⋅ω 2
od ravenkata: a N = = = R ⋅ ω 2 sleduva:
R R
aN c2 ⋅ t 2 c ⋅ t
ω= = = - aglova brzina
R R⋅R R
dV d (ω ⋅ R) dω
od ravenkata: aT = = =R = R ⋅ ε sleduva:
dt dt dt
aT c
ε= = - aglovo zabrzuvawe
R R
- 41 -
Re{enie:
y -vreme t1=22sec.
n=105 zavr./min.
r ϕ1 = n ⋅ 2π = ω1 ⋅ T = ω1 ⋅ 60
VM
n ⋅ 2π n ⋅ π 105 ⋅ 3.14
r M ω1 = = = = 11sec −1
r 60 30 30
ω ϕ x ω0 = 0
O M0
Od uslovot na zada~ata:
ε = ε 0 = const -ramnomerno zabrzana rotacija
dω
ε= ⇒ ω = ∫ ε ⋅ dt + C1 = ε ⋅ t + ω 0
dt
ω = ω0 + ε ⋅ t
za t0=0sec. i ω 0 = 0 sec −1
za t1=22sec. i ω1 = 11sec −1
11 = 0 + ε ⋅ 22
ε = 0.5 sec −2 -zakon za promena na aglovoto zabrzuvawe
ω = ω 0 + ε ⋅ t = 0.5 ⋅ t sec −1 -zakon za promena na aglovata brzina
dϕ 0.5 ⋅ t 2
ω= ⇒ ϕ = ∫ ω ⋅ dt + C1 = + C2
dt 2
za t0=0sec. ϕ 0 = 0
ϕ = 0.25 ⋅ t 2 -zakon za dvi`ewe
η ϕ V
0 0
r r r π /4 17.72
V3 V2 V1
ξ π /2 25.09
r
V4 3π / 4 30.5
r π 35.0
V5 r
V6 5π / 4 39.62
3π / 2 43.3
V = Vx + V y =
2 2
(− 0.5rt ⋅ sin (0.25 ⋅ t )) + (− 0.5rt ⋅ sin (0.25 ⋅ t ))
2 2 2 2
= 0.5 ⋅ r ⋅ t = 10 ⋅ t cm / sec
I K O L O K V I U M - pismen del
(I-grupa)
1. Linija na traektorijata:
+2
π π
x = −3 − 2 cos t x + 3 = −2 cos t y
2 2 R=2m
π π
y = 4 + 2 sin t y − 4 = 2 sin t C(-3;4)
2 2 4
za t = 0 ⇒ s 0 = 0
π
x& = π sin t
2
π
y& = π cos t
2
2 2
π π π π
t t t
s=∫ π sin t + π cos t dt = ∫ π 2 sin 2 t + cos 2 t dt = ∫ πdt = π ⋅ t
0 2 2 0 2 2 0
s = π ⋅ t - zakon na patot
- 44 -
3. Brzina:
π π
Vx = x& = π sin t Vy = y& = π cos t
2 2
2 2
π π
V = Vx + Vy = π sin t + − π cos t = π
2 2
2 2
V = π = const. [m/s]- zakon na brzina
4. Zabrzuvawe:
4.1 Dekartovi koordinati:
d 2x π2 π d2y π2 π
ax = = &
x& = cos t ay = = &
y& = − sin t
2 2
2 2
dt 2 dt 2
π 2
a = ax + a y = = const
2 2
2
π2
a= = const [m/s2]- zakon na zabrzuvawe
2
4.1 Prirodni koordinati:
dV V2 π2
aT = =0 aN = =
dt R 2
π2
a = aT + a N = = const
2 2
5.Hodograf na brzinata:
π
ξ = Vx = π sin t
2 η ≡Y
Hodograf na
π zabrzuvawe
η = Vy = π cos t
2
r
ξ 2 + η 2 = π 2 - hodograf na brzina V r
a
ξ≡X
6.Hodograf na zabrzuvaweto:
π2 π Hodograf na
X = ax = cos t
2 2 brzina
π2 π
Y = ay = − sin t
2 2
2
π 2 π2
X + Y = - hodograf na zabrzuvaweto e krug so radius
2 2
2 2
- 45 -
2. To~ka vr{i pravolinisko dvi`ewe pri {to brzinata V(t) se menuva spored
dadeniot kinemati~ki dijagram. Da se opredelat: kinemati~kite dijagrami
s-t i a-t, kako i pominatiot pat za vreme t=8sek.
V(m/s)
B
8 V=k⋅t2+m
4 A
C t(sek)
0 6 10
(3.5 poeni)
Re{enie:
Del AB:
V = k ⋅t + m
t = 0,V = 4 t = 6,V = 8
2
4 = k ⋅0 + m 8 = k ⋅6 + m V = ⋅t + 4
3
m=4 k = 2/3
dV 2
a= =
dt 3
2
s = ∫ Vdt = ∫ t + 4 dt + C1
3
2
2t
s= + 4t + C1
3 2
za t = 0sek , s = 0m 0 = 0 + C1 ⇒ C1 = 0
t2
s= + 4t
3
za t = 6 sek
t2 62
s1 = + 4 ⋅ t = + 4 ⋅ 6 = 36m ; a = 0.666m / sec 2
3 3
Del BC:
V = k ⋅t2 + m
t = 6,V = 8 t = 10, V = 0
8 = k ⋅ 62 + m 0 = k ⋅ 10 2 + m
1 100
8 = 36k − 100k m = −100k V = − ⋅t2 +
8 8
1 100
k=− m=
8 8
dV 1
a= =− t
dt 4
- 46 -
1 100
s = ∫ Vdt = ∫ − t 2 + dt + C 2
8 8
t 3 100
s=− + t + C2
24 8
za t=6sek
6 3 100 1
s=− + 6 − 30 = 36m ; a = − ⋅ 6 = −1.5m / sec 2
24 8 4
za t=8sek
8 3 100 1
s=− + 8 − 30 = 48.66m ; a = − ⋅ 8 = −2m / sec 2
24 8 4
za t=10sek
10 3 100 1
s=− + 10 − 30 = 53.33m ; a = − ⋅ 10 = −2.5m / sec 2
24 8 4
Kinemti~ki dijagrami:
a(t): s(t):
a(m/s2) s(m)
53.33 C
48.66
2/3 A B
t(sek)
10
0
6
36 B
-1.5
A
t(sek)
-2.5 0 6 8 10
C
- 47 -
3. To~ka se dvi`i po kru`nica so R=4m, pri {to zakonot na promena na
aglovoto zabrzuvawe se menuva po zakonot:
ε = 2⋅t −8
Da se opredeli: aglovata brzina, zakonot na dvi`eweto vo dekartovi i
polarni koordinati, tangencijalnoto i normalnoto zabrzuvawe i zakonot
na patot, ako za t=0sek. ω 0 = 0 sec −1 ; ϕ 0 = 0 .
(3.0 poeni)
Re{enie:
ε = 2⋅t −8
dω
=ε ω = ∫ ε ⋅ dt ω = ∫ (2 ⋅ t − 8) ⋅ dt
dt
t2
ω = 2 − 8t + C1
2
0
za t=0sek; ω= 0 sec −1 0 = 2 − 8 ⋅ 0 + C1 C1 = 0
2
ω = t 2 − 8t - agolna brzina
y
dϕ
dt
=ω ϕ = ∫ ω ⋅ dt (
ϕ = ∫ t 2 − 8 ⋅ t ⋅ dt ) r
VM
t3 t2
ϕ = − 8 ⋅ + C2 r M
3 2 ω r
ϕ x
za t=0sek; ϕ= 0rad 0 = 0 − 0 + C2 C2 = 0 M0
O
t3
ϕ = − 4⋅t2
3 - zakon na dvi`ewe vo polarni koordinati
r=4
t3
x = r ⋅ cos ϕ = 4 ⋅ cos − 4t 2
3
- zakon na dvi`ewe vo dekartovi koordinati
t 3
y = r ⋅ sin ϕ = 4 ⋅ sin − 4t 2
3
dV d (r ⋅ ω ) dω
aT = = = r⋅ = 4 ⋅ ε = 4(2t − 8)
dt dt dt
V 2 (r ⋅ ω )
( )
2
aN = = = r ⋅ ω 2 = 4 t 2 − 8t
r r
t3
s = r ⋅ ϕ = 4 ⋅ − 4t 2 - zakon na patot
3
I K O L O K V I U M - pismen del
(II-grupa)
za t = 0 ⇒ s 0 = 0
2 π
x& = π cos t
3 6
2 π
y& = π sin t
3 6
2 2
2π π 2π π 2π π π 2π 2π
t t 2 t
s=∫ cos t + sin t dt = ∫ cos 2 t + sin 2 t dt = ∫ dt = ⋅t
0 3 6 3 6 0
3 6 6 0
3 3
2π
s= ⋅ t - zakon na patot
3
- 49 -
3. Brzina:
2π π 2π π
Vx = x& = cos t Vy = y& = sin t
3 6 3 6
2 2
2π π 2π π 2π
V = Vx + Vy =
2 2
cos t + − sin t =
3 6 3 6 3
2π
V = = const. [m/s]- zakon na brzina
3
4. Zabrzuvawe:
4.1 Dekartovi koordinati:
d 2x π2 π d2y π2 π
a x = 2 = &x& = − sin t a y = 2 = &y& = cos t
dt 9 6 dt 9 6
π 2
a = ax + a y = = const
2 2
9
π2
a= = const [m/s2]- zakon na zabrzuvawe
9
4.1 Prirodni koordinati:
dV V 2 4π 2 π 2
aT = =0 aN = = =
dt R 9⋅4 9
π2
a = aT + a N = = const
2 2
5.Hodograf na brzinata:
2π π
ξ = Vx = cos t
3 6 η ≡Y
Hodograf na
2π π zabrzuvawe
η = Vy = sin t
3 6
r
a
2π
2
r
ξ 2 + η 2 = - hodograf na brzina V
3
ξ≡X
6.Hodograf na zabrzuvaweto:
π2 π
X = ax = − sin t
9 6 Hodograf na
π 2
π brzina
Y = ay = cos t
9 6
2
π 2 π2
X + Y = - hodograf na zabrzuvaweto e krug so radius
2 2
9 9
- 50 -
5. To~ka vr{i pravolinisko dvi`ewe pri {to brzinata V(t) se menuva spored
dadeniot kinemati~ki dijagram. Da se opredelat: kinemati~kite dijagrami
(s-t) i (a-t), kako i pominatiot pat za vreme t=10sek.
V(m/s)
B
9
V2=k⋅t
C t(sek)
A
0 9 12
(3.5 poeni)
Re{enie:
Del AB:
V 2 = k ⋅t
t = 9, V = 9
V 2 = 9⋅t
t = 0,V = 0 9 = k ⋅9
2
V =3 t
k =9
dV 3 3 t
a= = =
dt 2 t 2 t
s = ∫ Vdt = ∫ 3 t dt + C1
s = 2 t 3 + C1
za t = 0sek , s = 0m 0 = 0 + C1 ⇒ C1 = 0
s = 2 t3
za t = 0 sek
s 0 = 2 ⋅ 0 3 = 0m ; a=∞
za t = 9 sek
s1 = 2 ⋅ 9 3 = 2 729 = 54m ; a = 0.5m / sec 2
Del BC:
V = k ⋅t + m
t = 9, V = 9 t = 12, V = 0
9 = k ⋅9 + m 0 = k ⋅ 12 + m
V = −3 ⋅ t + 36
9 = 9k − 12k m = −12k
k = −3 m = 36
dV
a= = −3
dt
- 51 -
s = ∫ Vdt = ∫ (− 3 ⋅ t + 36)dt + C 2
t2
s = −3 + 36t + C 2
2
za t=9sek s= 54m
92
54 = −3 + 36 ⋅ 9 + C 2
2
C 2 = 54 + 121.5 − 324 = −148.5
t2
s = −3 + 36t − 148.5
2
za t=9sek
92
s = −3 + 36 ⋅ 9 − 148.5 = 54m ; a = −3m / sec 2
2
za t=10sek
10 2
s = −3 + 36 ⋅ 10 − 148.5 = 61.5m ;
2
za t=12sek
12 2
s = −3 + 36 ⋅ 12 − 148.5 = 67.5m ;
2
Kinemti~ki dijagrami:
a(t): s(t):
a(m/s2)
s(m)
67.5 C
61.5
54 B
0.5 A B
t(sek)
10
0
6
A
t(sek)
-3 0 9 10 12
- 52 -
6. To~ka se dvi`i po kru`nica so R=6m, pri {to zakonot na promena na
aglovoto zabrzuvawe se menuva po zakonot:
ε = −4 ⋅ t + 4
Da se opredeli: aglovata brzina, zakonot na dvi`eweto vo dekartovi i
polarni koordinati, tangencijalnoto i normalnoto zabrzuvawe i zakonot
na patot, ako za t=0sek. ω 0 = 0 sec −1 ; ϕ 0 = 0 .
(3.0 poeni)
Re{enie:
ε = −4 ⋅ t + 4
dω
=ε ω = ∫ ε ⋅ dt ω = ∫ (− 4 ⋅ t + 4 ) ⋅ dt
dt
t2
ω = −4 + 4t + C1
2
0
za t=0sek; ω= 0 sec −1 0 = −4 + 4 ⋅ 0 + C1 C1 = 0 y
2
ω = −2 ⋅ t + 4t - agolna brzina
2
r
VM
dϕ r M
dt
=ω ϕ = ∫ ω ⋅ dt (
ϕ = ∫ − 2t 2 + 4 ⋅ t ⋅ dt ) ω r
ϕ x
2⋅t3 t2 O M0
ϕ =− + 4 ⋅ + C2
3 2
za t=0sek; ϕ= 0rad 0 = 0 − 0 + C2 C2 = 0
2⋅t3
ϕ =− + 2⋅t2
3 - zakon na dvi`ewe vo polarni koordinati
r=6
2t 3
x = r ⋅ cos ϕ = 6 ⋅ cos − + 2t 2
3
- zakon na dvi`ewe vo dekartovi koordinati
2t 3
y = r ⋅ sin ϕ = 6 ⋅ sin − + 2t 2
3
dV d (r ⋅ ω ) dω
aT = = = r⋅ = 6 ⋅ ε = 4(− 4t + 4) = 24(1 − t )
dt dt dt
V 2 (r ⋅ ω )
( )
2
2
aN = = = r ⋅ ω 2 = 6 − 2t 2 + 4t =
r r
2t 3
s = r ⋅ ϕ = 6 ⋅ − + 2 ⋅ t 2 - zakon na patot
3