xon c

R G. I
~
=
= Rein
P
i
-

toa to tru -
->
->

- z
x0
=
-

0
= y Rc0s 0.
=
0
x RcoS4
=
3 I =

y Rin4
=

i=
d(z,z,+)
Z

T
Em(x y
= +

z)
+

&
P
R
=

Em2)Rsin20 +Rc4 1)
=

N2
+

=
Em2(, 1)
=
+

u
mgz
=

.
+ -

r
Em=4+ 1)
=

-
mgz)* Lagrange (r) -
0
=

->
-

mg -

[mi/i 1)] +
0
=

->
mg mi( 1)
+ + 0
=

-> i -
=
xg
R
2
+
12

KhiR -0:
2--g. Lianay xem son or di
whisoiday ko
thing, vtm di chuyen
voi
gia to codo Ion bang gia toc trong thing va
aing hung
 S
-(1,i,t)

⑳
-

i =W
->

by

Em Em e
T = +

u 0 =
vy
(Nat quay trong mpn
+
V =
0) y =
2 T V
2m(i y(z)
= -

=
+

Lagrange:2
IT -

(*)
0
=

->mc'-(mi) 0
=

mas mi 0 -> Fht mi mat

->
- =
= =

-> W'r -i 0 =
I standard differential equation,second order)
Hat: r ect
=
- i c.et
=
i c.ect
->
=

-> Wect -

cect 0
=

-> ect(W -
c) 0
=

->
2 IW
=
-
> r(t) Aet+ BeWt=
·

r(0) 0,i(0)
=
0
=

r(0) A B O at
chai diem thethi
E i(0) di
0
gian new
+

= =

-> A B 0 -

r(t) 0 +

van Ioc dan trung diem thank

= = =

A
= -
B 0= the
·
r(0) r>0,i(0)
=
0
=

\R(0) A B r
+

A B1
= =

->

i(0) A B 0
=
=

2
-

= =

-> l(t)
r(ea+e-ct)
=

rcoch(Wt)
=

(coehe=ete-)
Ham costs ding bien vor 0 e
->

(t) tang thethorgian (Wt]0).

 x

y
lsing
=

E
L(y,y,t)
at 2 -

lcosY
↳
->

-
lcosy. If
ci =

y at + lsiny. I
=
a
-
↑a
x

T
Im(x2 y)
=
+

Em/cosy. Y'+a++2at.Isiny. Itl'sincy. It

2
=

Em (ly'+a++ cat. Isin y. ()

=

I -
mgy mg (
at (cosy) (chon
=
go the nangtaidiem +reo, (t)4 y <0(
- +

Em (ly a+ + Cat.lsinY. Y) mg (at-ecos y)

2
1 T
=
v -

=
+ -

PT
Lagrange. - (24) 0
=

Icosy. Y-mglsiny at (mey mathsiny) 0

-> mat. =
+
-

at.
I-mglsiny mey-matsiny mate cosy.Y 0
Icosy.
g
m.
-

->
=
-

o a

geiny-ly-asiny
=

->
-

w4 y Acos(+x)
=

i -(a geinY.4x-siny=y:y -( 8.y

+

-> = = = -
-
=
 x+
y,
+
R l
=

x yz JR
+ +

12
=

->
y1 li MR-x
=
-

yz bz- TR-x,
=

->
y1 xc= - ->
yz = -
x2
&(s,c,t) de(x2,x2,t)

T
2.4mx,2
=

2.3m(i,+xic) 1.m(i,+jz)
+
+

1.4mx,+1. 3m( (1) E.m(x, x)

2

·I
-
+
I +

2
2
ye =E.4m+E. 4m (c x) -2m.s
+

4m
=mic,+
4 2mx2- 2m., siz
U =
-

4mg
-

3mg(y, +

x) -

mg(y1 yz) +

x) (l- TR- x1 lc x)
mg [40
=- 3(1,
+ -
5- s, + + + -
R -

yz
mg[4x 4x 2x2) a
- + +
=-

M1)
m

32
=-
mg2x2 (gothening tai tam
2mc2
2
2 T U 4mx, 2m.c,xz
·

+
2mgezet C
- +
-

= =

3m
Lagrange.
PT
-() 0
=
 (Omsi, -(m.ci2) 0 -(4mx-2mic)
I
0
: 2mg
·
2:
·
-
= =

-> ji = ->
2mg 4miz + 2min
-

0
=

i2 i 2 g(*)
+
->
=

⑰,si, g chuyen zung

E in= E
=
-> Vat4m di voi
gia toc:I
7

x
19
= Vat 3m chuyen zung
di vor
gia toc= Ag
7

He ring so the2 di chuyen lam thay dos khoitam

aa he->hiring to thisIcing
di chuyen de Ha lai vi tri can bang cho Khoitam
Double Atwood Machine's ConstraintForces
sie y, (R b, x4 yi 0(*)

E
x1 x
+ + - +
+
=
=

I
-> JR l1
ye +
ye f(x,y1) x y1 8
+ -
+

61
=
=

ye x +
x x yz
+
xR
+

lz
=
-

x yc +

=
0 (**)
my yz
+

yz 4 f(x2,yz) x
=

yz TR
+
+
-

b 0 =

T
Em.x, + m.(y y24+Ems. (y+sit
=
+

yz
me
0 -
=

m,go
-

m2g(y1 yz) m,g(y x)

+
-
+

ge
32
the
rang tai R
->
M3

m(E + g() me[(y y4 g(y1 yz)) m,[(yx g(y1 x))

=
+
+ +
+

+ +
+
+

Lagrange:2 x2
at(29)
PT
+
=

(my.ci)- mig
8qi
x M m.c += mig M (1)
+

+
:mg
·
+
=

my

y1:
·

(m2+m3(g +

4 (mz mg)y1]
=
+

(m2 mg)g
-
+

x (m2 m3)
+
=
+

i
(m2 +m3)g M(z)
i
+

-> =

M2 m3
+
(1), (2) (*): +

Mng+ / +(m2 m3)g M 0

+
+

=
-
> M -
=
2gm(m2 ms) +

m me ms
+

me + ms
me+

ms)

3
F *1 = -2gm(m2
1.-
+

-> =

me + ms
me+ La Lang ca hi M1
day
ms)
Fy 4 -2gm(me
x,
+

ms
=
=

+ me me+

·ce: magtitasmscmgms teamise

13

me

(3),(4) (**): mag x2

megt =0 2gmems
+
xc
+
-

=
+

My me m3
+

F* 2gmems
->
12. x

3
=
= = -

me m3
+

3+ La ca hi
Long day e2
2gmems
Fy x
= x =

=
-
c
me m3
+
 lsin o -Reinx. I+ lcos 4. 0
E
Reoex i

Ey
x + =
=

y Rsinx-lcos4
=
Rcoxx. x
=
l.sink. I
+

lcosp.
Sy
Wt 1 = - = -
RsinCtC +

W x
=

O
RconCtW+lsind.
= I
-(0,0,t)
y
T
Im(x yz)
ha
+

x Imric
=
l?82-2RCW. 8(sinat.cos p-coscut.sin ())
+

I
Em[R'w+e-2ReW. O sin(wt- 01]
mgy mg (Rsinx-lcos 4)
U =
=

2 T -
0

Im[Rw2+e?8-2Re.W. Osin(Wt-4)] -mg (Rein Wt-1coe4)

=

Lagrange: 20 (20)
PT -
=
0

mRAW. (cos(wt-0) -mgtsin 0

->
-(m8 -mRewsin(w+- 4)] =
0

-> RW&cos(Wt-0)
O
-

gsin 0-18-RWYos(wt -4) 0

=

-> l4 RWCos= (Wt-0) -

RWOcos(Wt- G) gain o -

w 0 =

i
-
= -

sind
 Ea 2 lsin o
(xy lcos4
+1cosd.g(
+

6(4, ;,1)
=

Siny
at
=

&

lsin4.4
= -

T
Em(s yz)
=
+

Im(a +2 10 2a lc0s4.d)
+ +
+

0 =
-mgy
-
=
mglcos0
Im(a + e20 lcos6.6) mglcoed
2
x T =
-
V =
+
2a
+ +

PT
Lagrange:2 -

58:
-
m. at
lsin4+mgesind (me 0+matecos() 0
-
=

-
->
at sind +
gsino-me 8+ at.sin.0-a.cosk =
0
 m(x);M(x,y)
x x
=
Link
+

-> X x Lcos.
= +

I
y Lco 4 =

X
+ Y = Lein4. -

emi = M(x4Y4=Ems +EM(1+L?0+2inLcosp.)

·
2
T = +

0
Ekx MgY EKx2-MgLcosO (got the nang tai matda(
=
-

E(n m)x EM(L-0 2Lc0s4.i2.6) EKx+MgLcoed

2
x +
=
V -

=
+

+
+
-

-
lhEcod.:4]
IT
Lagrange:
x:
-
kx -

[(M m)x +
- 0
=

->
-
Rx (M m)s
=
+

&
+ MLcos 0.4-ML.sind. (1) ⑧

y: -MMsink:.0-MgXsink- [M(420+Xcrep.i] 0 =

-> sino.c. 4-grin-L-cord. Stein 0.0.i 0

-

00
=

->
grind Sccos0+L4 (2)
-

kx (M m)i ML ML0.82
9
-
= + +
-

(1), (2)
& : sind 0, 2010 1 -> =

g4 ii 2
=

-
=
+