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phn m u
C hc nghin cu cc quy lut cn bng v chuyn ng ca vt th di tc dng ca lc. Cn bng hay chuyn ng trong c hc l trng thi ng yn hay di ch ca vt th trong khng gian theo thi gian so vi vt th khc c lm chun gi l h quy chiu. Khng gian v thi gian y c lp vi nhau. Vt th trong c hc xy dng di dng cc m hnh cht im, c h v vt rn. C hc c xy dng trn c s h tin ca Niu tn a ra trong tc phm ni ting " C s ton hc ca trit hc t nhin" nm 1687 - chnh v th c hc cn c gi l c hc Niu tn. C hc kho st cc vt th c kch thc hu hn v chuyn ng vi vn tc nh hn vn tc nh sng. Cc vt th c kch thc v m, chuyn ng c vn tc gn vi vn tc nh sng c kho st trong gio trnh c hc tng i ca Anhxtanh. Trong cc trng i hc k thut, c hc lm nn tng cho cc mn hc k thut c s v k thut chuyn ngnh nh sc bn vt liu, nguyn l my, ng lc hc my, ng lc hc cng trnh, l thuyt tnh ton my nng nghip, l thuyt t my ko v.v... C hc c lch s lu i cng vi qu trnh pht trin ca khoa hc t nhin, bt u t thi k phc hng sau c pht trin v hon thin dn. Cc kho st c tm quan trng c bit lm nn tng cho s pht trin ca c hc l cc cng trnh ca nh bc hc ngi Galil (1564- 1642). Galil a ra cc nh lut v chuyn ng ca vt th di tc dng ca lc, c bit l nh lut qun tnh. n thi k Niutn (1643- 1727) ng hon tt trn c s thng nht v m rng c hc ca Galil, xy dng h thng cc nh lut mang tn ng - nh lut Niutn. Tip theo Niutn l almbe (1717- 1783), le ( 1707 - 1783) c nhiu ng gp cho c hc hin i ngy nay.
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le l ngi t nn mng cho vic hnh thnh mn c hc gii tch m sau ny Lagrng, Hamintn, Jaccobi, Gaox hon thin thm. Cn c vo ni dung v cc c im ca bi ton kho st, chng trnh c hc ging cho cc trng i hc k thut c th chia ra thnh cc phn: Tnh hc, ng hc, ng lc hc v cc nguyn l c hc. Tnh hc nghin cu cc quy lut cn bng ca vt th di tc dng ca lc. ng hc ch nghin cu cc quy lut chuyn ng ca vt th n thun v mt hnh hc. ng lc hc nghin cu cc quy lut chuyn ng ca vt th di tc dng ca lc. Cc nguyn l c hc l ni dung c bn nht ca c hc gii tch. C hc gii tch chnh l phn ng lc hc ca h c trnh by theo hng gii tch ho. C hc l khoa hc c tnh h thng v c trnh by rt cht ch . Khi nghin cu mn hc ny i hi phi nm vng cc khi nim c bn v h tin , vn dng thnh tho cc cng c ton hc nh hnh gii tch, cc php tnh vi phn, tch phn, phng trnh vi phn... thit lp v chng minh cc nh l c trnh by trong mn hc. Ngoi ra ngi hc cn phi thng xuyn gii cc bi tp cng c kin thc ng thi rn luyn k nng p dng l thuyt c hc gii quyt cc bi ton k thut.

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Phn I

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

Tnh hc nghin cu cc quy lut cn bng ca vt rn tuyt i di tc dng ca lc. Trong tnh hc c hai khi nim c bn l vt rn tuyt i v lc. 1.1.1. Vt rn tuyt i Vt rn tuyt i l vt th c hnh dng bt bin ngha l khong cch hai phn t bt k trn n lun lun khng i. Vt th c hnh dng bin i gi l vt bin dng. Trong tnh hc ch kho st nhng vt th l rn tuyt i thng gi tt l vt rn. Thc t cho thy hu ht cc vt th u l vt bin dng. Song nu tnh cht bin dng ca n khng nh hng n chnh xc cn c ca bi ton c th xem n nh vt rn tuyt i trong m hnh tnh ton. 1.1.2. Lc v cc nh ngha v lc Lc l i lng o tc dng c hc gia cc vt th vi nhau. Lc c biu din bng i lng vc t c ba yu t c trng: ln (cn gi l cng ), phng chiu v im t. Thiu mt trong ba yu t trn tc dng ca lc khng c xc nh. Ta thng dng ch ci c du vc t trn k hiu cc vc t lc. Th d cc lc P , F1 ,.... N . Vi cc k hiu ny phi hiu rng cc ch ci khng c du vc t trn ch l k hiu ln ca n. Th d ln ca cc lc P , F ... N l P, F, ...N. ln ca cc lc c th nguyn l Niu tn hay bi s Kil Niu tn vit tt l (N hay kN). Sau y gii thiu mt s nh ngha:
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H lc: H lc l mt tp hp nhiu lc cng tc dng ln vt rn. Lc tng ng: Hai lc tng ng hay hai h lc tng ng l hai lc hay hai h lc c tc ng c hc nh nhau. biu din hai lc tng ng hay hai h lc tng ng ta dng du tng ng nh trong ton hc. Th d hai lc F v P tng ng ta vit F P . Hai h lc ( F1 , F2 ,.. Fn ) v ( P1 ,
r r r r r r r r P2 ,.. Pm ) tng ng ta vit ( F1 , F2 .. Fn ) ( P1 , P2 ,.. Pm ). r r r r r r r r

Hp lc: Hp lc ca h lc l mt lc tng ng vi h lc cho. Th d nu c R ( F1 , F2 ,.. Fn ) th R c gi l hp lc ca h lc ( F1 , F2 ,.. Fn ). H lc cn bng: H lc cn bng l h lc tng ng vi khng (hp lc ca n bng khng). Th d: h lc ( F1 , F2 .. Fn ) l cn bng khi ( F1 , F2 .. Fn ) 0.
1.2. H tin ca tnh hc
r r r
r r r r r r r r r r r

Tnh hc c xy dng trn c s su tin sau y: Tin 1: (H hai lc cn bng) iu kin cn v hai lc cn bng l hai lc c cng ln, cng phng, ngc chiu v cng t ln mt vt rn. Ta c ( F1 , F2 ) 0 khi F1 = - F2 . Tin 2 : ( Thm hoc bt mt h lc cn bng) Tc dng ca h lc ln vt rn s khng i nu ta thm vo hoc bt i mt h lc cn bng. Tin 3: ( Hp lc theo nguyn tc hnh bnh hnh) Hai lc cng t vo mt im trn vt rn c hp lc c biu din bng ng cho ca hnh bnh hnh m hai cnh l hai lc cho.
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r F2

r R

r F1

Hnh 1.1

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

r r r R = F1 + F2 .

Tin 4: ( Lc tc dng tng h) Lc tc dng tng h gia hai vt rn c cng ln, cng phng nhng ngc chiu. Tin 5: (Tin ho rn) Mt vt khng tuyt i rn ang trng thi cn bng khi ho rn n vn gi nguyn trng thi cn bng ban u. Tin 6: ( Gii phng lin kt) Trc khi pht biu tin ny cn a ra mt s khi nim v: Vt rn t do, vt rn khng t do, lin kt v phn lc lin kt. Vt rn t do l vt rn c kh nng di chuyn theo mi pha quanh v tr ang xt. Nu vt rn b ngn cn mt hay nhiu chiu di chuyn no c gi l vt rn khng t do. Nhng iu kin rng buc di chuyn ca vt rn kho st gi l lin kt. Trong tnh hc ch xt lin kt do s tip xc ca cc vt rn vi nhau (lin kt hnh hc). Theo tin 4 gia vt kho st v vt lin kt xut hin cc lc tc dng tng h. Ngi ta gi cc lc tc dng tng h gia vt lin kt ln vt kho st l phn lc lin kt. kho st vt rn khng t do ta phi da vo tin gii phng lin kt sau y: Tin :Vt rn khng t do c th xem nh vt rn t do khi gii phng cc lin kt v thay vo bng cc phn lc lin kt tng ng. Xc nh phn lc lin kt ln vt rn l mt trong nhng ni dung c bn ca cc bi ton tnh hc. Sau y gii thiu mt s lin kt phng thng gp v tnh cht cc phn lc ca n. Lin kt ta (vt kho st ta ln vt lin kt): Trong dng ny cc phn
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lc lin kt c phng theo php tuyn chung gia hai mt tip xc. Trng hp c bit nu tip xc l mt im nhn ta ln mt hay ngc li th phn lc lin kt s c phng php tuyn vi mt ti im tip xc. ( Hnh v 1.2, 1.3, 1.4).
r N r NC

N
r NB

C
r NA

A B Hnh 1.2 Hnh 1.3

Hnh 1.4

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

Y O

Yo X Xo

Hnh 1.5

Hnh 1.6

Lin kt l dy mm hay thanh cng: (hnh 1.7 v hnh 1.8) Cc lin kt dng ny ch hn ch chuyn ng ca vt th theo chiu dy hoc thanh. Phng ca phn lc lin kt l phng dc theo dy v thanh.
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r T

r T1

r sA
r T2

r sB
B

r s

Hnh 1.8 Lin kt ngm (hnh 1.9). Vt kho st b hn ch khng nhng di chuyn theo cc phng m cn hn ch c chuyn ng quay. Trong trng hp ny phn lc lin kt c c lc v m men phn lc. ( Khi nim m men lc s c ni ti phn sau). Lin kt l gt trc: ( hnh 1.10) Vt kho st b hn ch cc chiu chuyn ng theo phng ngang, phng thng ng v chuyn ng quay quanh cc trc X v Y do phn lc lin kt c cc thnh phn nh hnh v. z YA mA XA mX XA x Hnh 1.9 Cc h qu suy ra t h tin tnh hc. H qu 1: ( nh l trt lc) Tc dng ca mt lc ln vt rn s khng i nu ta trt lc dc theo ng tc dng n t im khc. Tht vy: Cho lc F t ti A ca vt rn ( FA ). Ta t vo im B
r r r
r FA r F 'B

Hnh 1.7

ZA A mY YA y

Hnh 1.10

r FB

trn ng
r
r

Hnh 1.11

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

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

lc , cc lc ny c ln bng nhau v cng phng . Mt khc theo tin 1 hai lc ( FA , FB ) l cp lc cn bng v th theo tin hai c th bt cp lc trn vt, ngha l:
r r r r r FA ( FA , FB , FB ) FB r r

Nh vy ta trt lc F ban u t ti A dc theo ng tc dng ca n v t ti B m tc dng c hc ln vt rn vn khng i. H qu 2: H lc cn bng th mt lc bt k trong h ly theo chiu ngc li s l hp lc ca cc lc kia. Chng minh: Cho h lc cn bng ( F1 , F2 ,... Fn ). Gi s ta ly trong h mt lc Fi v i chiu sau cho tc dng ln vt rn. Xt vt rn chu tc dung ca lc - Fi . Theo tin 2 nu thm vo vt rn h lc cn bng cho, tc dng ln vt rn vn khng i, ngha l: - Fi (- Fi , F1 , F2 ... Fi ... Fn ) Trong h (n+1) lc v phi c hai lc cn bng l ( Fi , - Fi ) theo tin 2 ta c th bt Fi , v - Fi i ngha l: - Fi ( F1 , F2 , Fi 1 ... Fi +1 ... Fn ) Biu thc ny chng t - Fi l hp lc ca h lc cho khi khng c Fi .
1.3. L thuyt v m men lc v ngu lc
r r r r r r r r r r r r r r r r r r r r r r r

1.3.1. M men lc i vi mt tm v i vi mt trc 1.3.1.1. M men ca lc i vi mt tm M men ca lc F i vi tm O l i lng vc t, k hiu m o (F) c:

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- ln bng tch s: F.d, vi F l ln lc F v d l khong cch t tm O ti ng tc dng ca F gi l cnh tay n. - Phng vung gc vi mt phng cha tm O v lc F (mt phng tc dng). - Chiu hng v pha sao cho khi nhn t nh ca vc t m o (F) xung mt phng tc dng s thy vc t lc F chuyn ng theo chiu mi tn vng quanh O theo ngc chiu kim ng h (hnh 1.12). D vo hnh v d dng thy rng ln ca vc t m o (F) bng hai ln din tch tam gic OAB ( tam gic c nh O v y bng lc F ). Vi nh ngha trn c th biu din vc t m men lc F i vi tm O bng biu thc sau:
r r r r r m o (F) = OA x F = r x F . r
r
r r r r

Trong r l vc t nh v ca im t ca lc F so vi tm O. Trong trng hp mt phng tc dng ca m men lc xc nh, n gin ta a ra khi nim m men i s ca lc F i vi tm O nh sau: M men i s ca lc F i vi tm O l i lng i s k hiu: mo = F.d Ly du dng (+) khi nhn vo mt phng tc dng thy lc F quay theo chiu mi tn vng quanh O theo chiu ngc kim ng h (hnh 1.13), ly du tr (-) trong trng hp quay ngc li (hnh 1.14). M men i s thng c biu din bi mi tn vng quanh tm O theo chiu ca m men.
r r

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-10-

r r m o( F )

A(x,y,z) r O y
O

O
90
0

900

A
r F

d
mo(F)= - F.d

mo(F)=F.d

x Hnh 1.12 Hnh 1.13 Hnh 1.14

1.3.1.2. M men ca lc i vi mt trc M men ca lc F i vi trc OZ l i lng i s k hiu mZ( F ) tnh theo cng thc: mZ( F ) = F'.d' . Trong F' l hnh chiu ca lc F trn mt phng vung gc vi trc Z. d' l khong cch tnh t giao im O ca trc Z vi mt phng n ng tc dng ca F ' (hnh 1.15). Ly vi du (+) khi nhn t hng dng ca trc OZ s thy hnh chiu F' quay quanh trc OZ ngc chiu kim ng h. Ly du (-) trong trng hp ngc li. T hnh v ta rt ra tr s m men ca lc F i vi trc OZ bng hai ln din tch tam gic OAB1. 1.3.1.3. Quan h gia m men lc F i vi tm O v vi trc i qua O Trn hnh 1.16 ta thy: mo( F ) = 2.din tch (OAB). mZ( F ) = 2 din tch (oa1b1)
r
r r r r

r B F ''

B1 r

F'

r FZ

() O Hnh 1.15

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V oa1b1 l hnh chiu ca tam gic OAB trn mt phng vung gc vi trc Z ti O. Nu gi l gc hp bi gia hai mt phng OAB v mt phng oa1b1 th gc ny cng chnh l gc hp gia vc t m men m o (F) vi trc OZ, ta c: Din tch oa1b1 = din tch OAB. cos.
r r r hay mZ( F ) = m o (F) .cos.
r r

r F

A d

r m z(F)

r F

r m o(F)

a d'

Kt qu cho thy m men ca lc

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

trn trc OZ chiu trn trc OZ .

1.3.2. L thuyt v ngu lc

Hnh 1.16

1.3.2.1 nh ngha v cc yu t c trng ca ngu lc nh ngha: Ngu lc l h hai lc song song ngc chiu cng cng . Hnh 1.17 biu din ngu lc ( F1 , F2 ) Mt phng cha hai lc gi l mt phng tc dng. Khong cch d gia ng tc dng ca hai lc gi l cnh tay n. Chiu quay vng ca cc lc theo ng khp kn trong mt phng tc dng gi l chiu quay ca ngu lc. Tch s m = d.F gi l m men ca ngu lc. Tc dng ca ngu lc c c trng bi ba yu t: - ln m men m - Phng mt phng tc dng Hnh 1.17
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r m

A2

A1

A2

A1

r m

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-12-

- Chiu quay ca ngu. Thiu mt trong ba yu t trn tc dng ca ngu lc cha c xc nh. biu din y ba yu t trn ca ngu lc ta a ra khi nim v vc t m men ngu lc m . Vc t m men m c tr s bng tch s d.F c phng vung gc vi mt phng tc dng, c chiu sao cho nhn t mt ca n xung mt phng tc dng thy chiu quay ca ngu lc theo chiu ngc kim ng h. Vi nh ngha trn ta thy vc t m men m ca ngu lc chnh l vc t m men ca mt trong hai lc thnh phn ly i vi im t ca lc kia. Theo hnh 1.17 c th vit:
r r r r r r r m = m A1( F2 ) = m A2 ( F1 )= A1A 2 x F2 = A2A1 x F2

1.3.2.2. nh l v m men ca ngu lc Trong mt ngu lc, tng m men ca hai lc thnh phn i vi mt im bt k l mt i lng khng i v bng vc t m men ngu lc. Chng minh: Xt ngu lc ( F1 , F2 ) biu din trn hnh 1.18. Chn mt im O bt k trong khng gian, tng m men ca hai lc F1 , F2 ly vi O c th vit: mo (F1 ) + m o (F2 ) = = OA1 x F1 + OA2 x F2 ; = OA1 x F1 - OA2 x F2 ; = (OA1 - OA2) x F1 ;
r r = A2A1 x F1 = m . r r r r r
r r r r

r r

r F1

A1
r F2

A2

Hnh 1.18

Trong nh l trn v im O l bt k do c th kt lun rng tc dng ca ngu lc s khng thay i khi ta ri ch trong khng gian nhng vn gi nguyn ln, phng chiu ca vc t m men m . Cng t nh l trn rt ra h qu v cc ngu lc tng ng sau y.
r

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H qu 1: Hai ngu lc cng nm trong mt mt phng c cng tr s m men m cng chiu quay s tng ng. H qu 2: Hai ngu lc nm trong hai mt phng song song cng tr s m men, cng chiu quay s tng ng vi nhau. Tht vy trong hai trng hp ny cc ngu lc u m bo c vc t m
r men m nh nhau.

1.3.2.3. Hp hai ngu lc nh l: hp hai ngu lc c m men m 1 v m 2 cho ta mt ngu lc c m men M bng tng hnh hc cc vc t m men ca hai ngu lc cho. Ta c M = m 1 + m 2 Chng minh: Xt hai ngu lc c m men m 1 v m 2 nm trong hai mt phng 1 v 1. Trn giao tuyn ca hai mt phng 1 v 2 ly mt on thng A1A2 ngu lc c m men m thay bng ngu lc ( F1 F2 ) nm trong mt phng 1 v t vo A1A2. Ngu lc c m men m 2 thay bng ngu lc ( p 1 p 2) nm trong mt phng 2 v cng t vo A1A2 (hnh 1.19).
r m r m1 r r r
r r r r r r r r r

r m2 r F1
r P1

2
r P2

r R2 r F2

r R1

Hnh 1.19 Ti A1 hp hai lc F1 , P1 c lc R 1 Ti A2 hp hai lc F2 P2 c lc R 2 Do tnh cht i xng d dng nhn thy hai vc t R 1 v R 2 song song
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r r

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-14-

ngc chiu v c cng cng . Ni khc i hai lc R 1 R 2 to thnh mt ngu lc. chnh l ngu lc tng hp ca hai ngu lc cho. Gi M l m men ca ngu lc ( R 1 R 2) ta c:
r r r M = A1A2 x R 2 = A1A2 x R 1 r r r

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

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

Trng hp hai ngu lc cng nm trong mt mt phng. Khi cc m men ca ngu lc c biu din bi cc m men i s. Theo kt qu trn, ngu lc tng hp trong trng hp ny cng nm trong mt phng tc dng ca hai ngu lc cho v c m men bng tng i s 2 m men ca ngu lc thnh phn: M = (m1 m2)

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