‫ﻓﺼﻞ اول‬

‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﻧﻘﺎط ﻣﺎدي‬

 ‫ﺳﻴﻨﺘﻴﻚ ﻧﻘﻄﻪ ﻣﺎدي‬ ‫دﻳﻨﺎﻣﻴﻚ‬

‫ﻓﻬﺮﺳﺖ‬

‫• ﺣﺮﻛﺖ ﻣﺴﺘﻘﻴﻢ اﻟﺨﻂ‪3...........................................................................................................................................‬‬

‫• ﺣﺮﻛﺖ ﻣﺴﺘﻘﻴﻢ اﻟﺨﻂ ﻳﻜﻨﻮاﺧﺖ‪3.........................................................................................................................‬‬
‫• ﺣﺮﻛﺖ ﻣﺴﺘﻘﻴﻢ اﻟﺨﻂ ﺑﺎ ﺷﺘﺎب ﺛﺎﺑﺖ‪4..................................................................................................................‬‬
‫• ﺣﺮﻛﺖ ﻧﻘﻄﻪ ﻣﺎدي‪4.................................................................................................................................................‬‬
‫• ﺣﺮﻛﺖ ﻧﺴﺒﻲ دو ﻧﻘﻄﻪ ﻣﺎدي‪6...............................................................................................................................‬‬
‫• ﺣﺮﻛﺖ واﺑﺴﺘﻪ ﭼﻨﺪ ﺟﺮم‪7......................................................................................................................................‬‬
‫• ﺣﺮﻛﺖ ﻣﻨﺤﻨﻲ اﻟﺨﻂ‪10..........................................................................................................................................‬‬
‫• ﻣﻮﻟﻔﻪ ﻫﺎي ﻣﺘﻌﺎﻣﺪ ﺳﺮﻋﺖ و ﺷﺘﺎب‪11.................................................................................................................‬‬
‫• ﺣﺮﻛﺖ ﻧﺴﺒﻲ‪11........................................................................................................................................................‬‬
‫• ﻣﻮﻟﻔﻪ ﻫﺎي ﻣﻤﺎﺳﻲ و ﻧﺮﻣﺎل‪12...............................................................................................................................‬‬
‫• ﻣﻮﻟﻔﻪ ﻫﺎي ﺷﻌﺎﻋﻲ و ﻋﺮﺿﻲ )ﻣﺨﺘﺼﺎت ﻗﻄﺒﻲ(‪15............................................................................................‬‬
‫• ﻣﺨﺘﺼﺎت اﺳﺘﻮاﻧﻪ اي‪16...........................................................................................................................................‬‬
‫• ﻣﺨﺘﺼﺎت اﺳﺘﻮاﻧﻪ اي‪19...........................................................................................................................................‬‬
 ‫ﻄﻪ ﻣﺎدي‬
‫ﺳﻴﻨﺘﻴﻚ ﻧﻘﻄ‬ ‫دﻳﻨﺎﻣﻣﻴﻚ‬

‫اﻟﺨﻂ‪:‬‬
‫ﺴﺘﻘﻴﻢ ﻂ‬
‫ﺣﺮﻛﺖ ﻣﺴ‬
‫ﻣﺴﺘﻘﻴﻢ اﻟﺨﻂ‬
‫ﻢ‬ ‫آن را‬
‫ﻧﻮع ﺣﺮﻛﺖ ن‬
‫ﺣﺮﻛﺖ ﻧﻤﺎﻳﺪ‪ ،‬ع‬
‫ﺖ‬ ‫ﺴﺘﻘﻴﻢ‬
‫ﺪاد ﺧﻄﻲ ﻣﺴ‬
‫وﻗﺘﻲ ﻳﻚ ﻧﻘﻄﻪ ﻣﻣﺎدي در اﻣﺘﺪ‬
‫ﻲ‬
‫ﻣﻌﻴﻦ روي آن‬ ‫ﻲ ﻛﻪ در ﻫﺮ ﻟﺤﻈﻪ ي ﻣﻌﻴﻴﻦ ﻣﺎﻧﻨﺪ ‪ ،t‬اﻳﻦ ذره ي‬
‫ﻣﺎدي در ﻳﻚ ﻧﻘﻘﻄﻪ ي ﻦ‬ ‫ﮔﻮﻳﻨﺪ‪ .‬در ﺻﻮرﺗﻲ‬
‫ﺪ‬
‫ﺧﻂ ﺑﺑﺎﺷﺪ‪.‬‬

‫‪ : v = lim Δ x = dx‬ﺳﺮﻋﻋﺖ ﻟﺤﻈﻪ اي‬

‫‪Δt→ 0‬‬ ‫‪Δt‬‬ ‫‪dt‬‬

‫‪ : ν = Δx‬ﺳﺮﺮﻋﺖ ﻣﺘﻮﺳﻂ‬
‫‪Δt‬‬

‫ﻧﻴﺮو‬ ‫زﻣﺎن‬ ‫ﻃﻮل‬ ‫ﺟﺮم‬ ‫ﺴﺘﻢ‪/‬واﺣﺪ‬

‫ﺳﻴﺴ‬
‫‪2‬‬
‫‪Kg.m/s‬‬ ‫‪s‬‬ ‫‪m‬‬ ‫‪Kg‬‬ ‫‪SI‬‬
‫‪lb‬‬ ‫‪s‬‬ ‫‪Ft‬‬ ‫‪l 2/ft‬‬
‫‪lb.s‬‬ ‫‪FPS‬‬‫‪S‬‬

‫‪9‬‬ ‫‪Slugg = lb . s2/ ft‬‬

‫‪f‬‬
‫‪2‬‬
‫‪9‬‬ ‫‪g= 32.2‬‬
‫‪3‬‬ ‫‪ft/ s‬‬
‫‪9‬‬ ‫‪1ft = 12 inch‬‬
‫‪9‬‬ ‫‪1 inch=1" = 2.554 cm‬‬
‫‪9‬‬ ‫=‪1ft‬‬
‫‪=1'= 30.58 cm‬‬ ‫‪c‬‬

‫‪ o‬ﻣﻮﻗﻌﻴﺖ ‪x :‬‬
‫‪ o‬ﺳﺮﻋﺖ ‪v :‬‬
‫‪ o‬ﺷﺘﺎب ‪a :‬‬

‫)‪Δv ((v + Δv) − v‬‬ ‫‪Δv dv‬‬

‫= ‪ : a‬ﺷﺘﺘﺎب ﻣﺘﻮﺳﻂ‬ ‫=‬ ‫‪ : a = Δtliim‬ب‬
‫ﺷﺘﺎب ﻟﺤﻈﻪ اي‬ ‫=‬
‫‪Δt‬‬ ‫‪(t + Δt ) − t‬‬ ‫‪→0‬‬ ‫‪Δt dt‬‬

‫‪dx‬‬ ‫‪dv d 2 x‬‬ ‫‪dx‬‬ ‫‪dx a = dv ⇒ dv = vd‬‬

‫‪dv‬‬
‫= ‪v = = x, a = = 2 = v& = &x& , v‬‬
‫&‬ ‫= ‪⇒ dt‬‬ ‫‪,‬‬ ‫‪,‬‬
‫‪dt‬‬ ‫‪dt dt‬‬
‫‪d‬‬ ‫‪dt‬‬ ‫‪v‬‬ ‫‪dt‬‬ ‫‪dx dxx‬‬
‫‪v‬‬
‫‪vdv = adxx‬‬

‫اﻟﺨﻂ ﻳﻜﻨﻮاﺧﺖ‪:‬‬
‫ﺴﺘﻘﻴﻢ ﻂ‬
‫ﺣﺮﻛﺖ ﻣﺴ‬
‫ﺪاد ﺧﻂ ﻣﺴﺘﺘﻘﻴﻢ ﺣﺮﻛﺖ ﻣﻲ ﻧﻤﺎﻳﺪ‪ .‬و ﺷﺘﺎب ﺮ‬
‫ﺻﻔﺮ اﺳﺖ‪.‬‬ ‫ﺖ ﻧﻘﻄﻪ ي ﻣﻣﺎدي در اﻣﺘﺪ‬
‫اﻳﻦ ﻧﻮع ﺣﺮﻛﺖ‬
‫در ﻦ‬
‫‪t‬‬ ‫‪x‬‬
‫‪dx‬‬
‫‪a = 0 ⇒ v = cte ⇒ x = x0 + vt ,‬‬ ‫‪v = ⇒ vdt = dx ⇒ ∫ vdt = ∫ dx‬‬
‫‪d‬‬
‫‪dt‬‬ ‫‪0‬‬ ‫‪x0‬‬
 ‫ﺳﻴﻨﺘﻴﻚ ﻧﻘﻄﻪ ﻣﺎدي‬ ‫دﻳﻨﺎﻣﻴﻚ‬

:‫ﺣﺮﻛﺖ ﻣﺴﺘﻘﻴﻢ اﻟﺨﻂ ﺑﺎ ﺷﺘﺎب ﺛﺎﺑﺖ‬

.‫ و ﺷﺘﺎب ﺛﺎﺑﺖ اﺳﺖ‬.‫در اﻳﻦ ﻧﻮع ﺣﺮﻛﺖ ﻧﻘﻄﻪ ي ﻣﺎدي در اﻣﺘﺪاد ﺧﻂ ﻣﺴﺘﻘﻴﻢ ﺣﺮﻛﺖ ﻣﻲ ﻧﻤﺎﻳﺪ‬

t v
dv
a = ⇒ adt = dv ⇒ ∫ adt = ∫ dv ⇒ at = v − v 0 → v = v 0 + at
dt 0 v0
x t
dx t 1
v=
dt
⇒ ∫ vdt = ∫ dx ⇒ x − x
0
x0
0 = ∫ (v 0 + at ) dt ⇒ x = x 0 + v 0t + at 2
0
2

‫ﺣﺮﻛﺖ ﻧﻘﻄﻪ ﻣﺎدي‬

:‫ اﮔﺮﺷﺘﺎب ﺗﺎﺑﻊ زﻣﺎن ﺑﺎﺷﺪ‬-1
t v
dv
a = f (t ) , a= ⇒ f (t )dt = dv ⇒ ∫ f (t )dt = ∫ dv ⇒ v = g (t )
dt 0 v0

t x t
dx
v = g (t ), v = ⇒ ∫ vdt = ∫ dx = ∫ g (t )dt ⇒ x = h(t )
dt 0 x0 0

:‫ اﮔﺮ ﺷﺘﺎب ﺗﺎﺑﻊ ﻣﻜﺎن ﺑﺎﺷﺪ‬-2

x v
1
∫ f ( x)dx = ∫ vdv = 2 (v
2
a = f (x ) , adx = vdv = f ( x)dx = vdv ⇒ 2
− v 0 ) ⇒ v = g ( x)
x0 v0
x t
dx dx dx
= dt ⇒ ∫
g ( x) ∫0
v= = g ( x) ⇒ = dt ⇒ t = h( x) ⇒ x = j (t )
dt g ( x) x0

:‫ اﮔﺮ ﺷﺘﺎب ﺗﺎﺑﻊ ﺳﺮﻋﺖ ﺑﺎﺷﺪ‬-3

x t
dv dv dv
a = f (v ) , a=
dt
= f (v ) ⇒
f (v )
= dt ⇒ ∫
x0
f (v ) ∫0
= dt ⇒ t = g (v ) ⇒ v = h (t )

v
vdv
x
dx
∫ ⇒ ∫ h(t ) dt = ∫ dx
f (v ) x∫0
vdv = adx ⇒ vdv = f (v ) dx ⇒ = dx ⇒ x = j (v ) , v = h (t ) =
v0
dt

:‫ ارﺗﺒﺎط ﺑﻴﻦ ﻣﻌﺎدﻟﻪ ﻣﻜﺎن و ﺳﺮﻋﺖ و ﺷﺘﺎب‬-4

v2 t2 t2
dv dv dx
a=
dt
→ dv = adt , ∫ dv = ∫ adt ⇒ V2 − V1 = ∫ adt
v1 t t1
, a=
dt
, v=
dt
,

t2

v 2 − v1 = ∫ adt
t1
x t
dx 2 2

v= ⇒ ∫ dx = ∫ vdt
dt x1 t1
 ‫ﺳﻴﻨﺘﻴﻚ ﻧﻘﻄﻪ ﻣﺎدي‬ ‫دﻳﻨﺎﻣﻴﻚ‬

‫ﻣﺜﺎل‪ :‬ﻣﻄﻠﻮب اﺳﺖ ﻧﻤﻮدار ﻣﻨﺤﻨﻲ ‪ x-t , v-t‬در ﺑﻴﻦ‪ 0 < t < 20‬و ﻫﻤﭽﻨﻴﻦ ﺳﺮﻋﺖ وﻣﻮﻗﻌﻴﺖ ﻧﻘﻄﻪ ﻣﺎدي‬
‫در )‪ t=12 (s‬و ﻣﺴﺎﻓﺖ ﻃﻲ ﺷﺪه ﺗﺎ ‪ v0 = −18m / s ). t=12 s‬و ‪( x0 = 0‬‬

‫‪v‬‬
‫‪dv‬‬ ‫‪4‬‬

‫=‪a‬‬ ‫‪⇒ dv = adt ⇒ ∫ dv = ∫ adt ⇒ v 4 = v 0 + 12 = −18 + 12 = −6 m / s‬‬

‫‪dt‬‬ ‫‪v0‬‬

‫⇒ ‪v10 = v 4 + 6(6) = −6 + 36 = 30 m / s ⇒ v12 = v10 + 2(−5) = 30 − 10 = 20 m / s‬‬ ‫⇒‬

‫‪v 20 = v12 + 8(−5) = −20 m / s‬‬
‫‪x‬‬ ‫‪20‬‬
‫‪dx‬‬ ‫‪4‬‬

‫=‪v‬‬
‫‪dt‬‬
‫= ‪⇒ dx = vdt ⇒ ∫ dx‬‬
‫‪x0 = 0‬‬
‫⇒ ‪∫ vdt‬‬
‫‪0‬‬
‫‪u‬‬
‫‪1‬‬ ‫‪1‬‬
‫‪⇒ x 4 = x0 + ∫ vdt = 0 − (18 + 6)(4) = −48m ,‬‬ ‫‪x5 = x 4 + (6)(−1) = −51 m‬‬ ‫‪,‬‬
‫‪0‬‬
‫‪2‬‬ ‫‪2‬‬
‫‪1‬‬
‫‪x10 = x5 + (30)(5) = 24 m‬‬
‫‪2‬‬
‫‪1‬‬ ‫‪1‬‬
‫‪x12 = x10 + (30 + 20)(2) = 74m, x16 = x12 + (20)(4) = 114 m‬‬ ‫‪,‬‬
‫‪2‬‬ ‫‪2‬‬
‫‪1‬‬
‫‪x20 = x16 + (4)(−20) = 74 m‬‬
‫‪2‬‬

‫‪-51‬‬

‫‪ = 74+51+51 = 176 m‬ﻣﺴﺎﻓﺖ ﻃﻲ ﺷﺪه ‪t=12:‬‬

 ‫ﺳﻴﻨﺘﻴﻚ ﻧﻘﻄﻪ ﻣﺎدي‬ ‫دﻳﻨﺎﻣﻴﻚ‬

‫ﻣﺜﺎل‪ :‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻧﻤﻮدار ‪ ،v-x‬ﻣﻄﻠﻮﺑﺴﺖ ﺗﺮﺳﻴﻢ ﻧﻤﻮدار ‪ a-x‬و زﻣﺎن ﻻزم ﺑﺮاي رﺳﻴﺪن ﺑﻪ ﻣﻮﻗﻌﻴﺖ ‪x=400‬‬
‫)‪. (m‬‬

‫‪dv‬‬
‫⇒ ‪0 ≤ x ≤ 200 ⇒ v = 0.2 x + 10‬‬ ‫‪a=v‬‬ ‫)‪= (0.2 x + 10)(0.2‬‬
‫‪dx‬‬
‫⇒‬ ‫‪a = 0.04 x + 2 ,‬‬ ‫‪v = 0.2 x + 10‬‬
‫‪200 ≤ x ≤ 400 ⇒ v = 50‬‬ ‫‪,‬‬ ‫‪a = 50(0) = 0‬‬
‫‪t‬‬ ‫‪200‬‬
‫‪dx‬‬ ‫‪dx‬‬ ‫‪dx‬‬
‫=‪v‬‬ ‫= ‪⇒ dt‬‬ ‫∫ = ‪⇒ ∫ dt‬‬
‫‪dt‬‬ ‫‪v‬‬ ‫‪0‬‬ ‫‪0‬‬
‫‪0.2 x + 10‬‬
‫‪1‬‬
‫= ‪x( m) ⇒ t‬‬ ‫‪Ln (0.2 x + 10) 200‬‬
‫‪0‬‬
‫‪0 .2‬‬
‫)‪t = 5[ Ln(40 + 10) − Ln(10)] ⇒ t = 8.05(s‬‬

‫‪t‬‬ ‫‪400‬‬
‫‪dx‬‬ ‫‪dx‬‬ ‫‪x 400‬‬
‫= ‪dt‬‬ ‫∫ = ‪⇒ ∫ dt‬‬ ‫)‪⇒ t − 8.05 = ]200 → t = 12 .05 ( s‬‬
‫‪v‬‬ ‫‪8.05‬‬ ‫‪200‬‬
‫‪50‬‬ ‫‪50‬‬

‫ﺣﺮﻛﺖ ﻧﺴﺒﻲ دو ﻧﻘﻄﻪ ﻣﺎدي‬

‫دو ﻧﻘﻄﻪ ي ﻣﺎدي را در ﻧﻈﺮ ﮔﺮﻓﺘﻪ ﻛﻪ در اﻣﺘﺪاد ﻳﻚ ﺧﻂ ﻣﺴﺘﻘﻴﻢ ﺣﺮﻛﺖ ﻣﻲ ﻧﻤﺎﻳﻨﺪ ﻫﺮﮔﺎه ﻓﺎﺻﻠﻪ ي ﻫﺮ ﻳﻚ‬
‫را از ﻣﺒﺪا ﺣﺮﻛﺖ ﻳﻌﻨﻲ ﻧﻘﻄﻪ ي ‪ o‬ﺑﻪ ﺗﺮﺗﻴﺐ ﺑﺎ ‪ xA‬و ‪ xB‬ﻧﺸﺎن دﻫﻴﻢ ‪:‬‬

‫ﻣﻮﻗﻌﻴﺖ ﻣﻄﻠﻖ ﻧﻘﻄﻪ ‪ , x A = B‬ﻣﻮﻗﻌﻴﺖ ﻣﻄﻠﻖ ﻧﻘﻄﻪ ‪x B = A‬‬

‫ﻣﻮﻗﻌﻴﺖ ﻧﺴﺒﻲ ﻧﻘﻄﻪ ‪ B‬ﻧﺴﺒﺖ ﺑﻪ ﻧﻘﻄﻪ‪x B − x A = x B / A = A‬‬

‫ﺳﺮﻋﺖ ﻧﺴﺒﻲ ﻧﻘﻄﻪ ‪ A‬ﻧﺴﺒﺖ ﺑﻪ ‪B‬‬

‫‪d‬‬ ‫‪d‬‬ ‫‪d‬‬
‫‪( x B / A ) = ( x B ) − ( x A ) = x& B / A = x& B − x& A ⇒ v B / A = v B − v A‬‬
‫‪dt‬‬ ‫‪dt‬‬ ‫‪dt‬‬
 ‫ﺳﻴﻨﺘﻴﻚ ﻧﻘﻄﻪ ﻣﺎدي‬ ‫دﻳﻨﺎﻣﻴﻚ‬

‫ﺳﺮﻋﺖ ﻣﻄﻠﻖ ‪v B = v B / A + v A : B‬‬

‫‪d‬‬ ‫‪d‬‬ ‫‪d‬‬
‫= ) ‪(v B / A‬‬ ‫‪( v B ) − ( v A ) ⇒ &x&B / A = &x&B − &x&A‬‬ ‫ﺷﺘﺎب ﻣﻄﻠﻖ ‪, a B = a B / A + a A : B‬‬
‫‪dt‬‬ ‫‪dt‬‬ ‫‪dt‬‬

‫ﺣﺮﻛﺖ واﺑﺴﺘﻪ ﭼﻨﺪ ﺟﺮم‬

‫ﻫﻨﮕﺎﻣﻲ ﻛﻪ وﺿﻊ ﺣﺮﻛﺖ ﻳﻚ ﻧﻘﻄﻪ ي ﻣﺎدي ﺑﺴﺘﮕﻲ ﺑﻪ وﺿﻊ ﻧﻘﺎط ﻣﺎدي ﻣﺘﺤﺮك دﻳﮕﺮ دارد در اﻳﻦ ﺣﺎﻟﺖ‬
‫ﺣﺮﻛﺎت را واﺑﺴﺘﻪ ﮔﻮﻳﻨﺪ‪.‬‬

‫ﻣﺜﺎل ‪ :‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺛﺎﺑﺖ ﺑﻮدن ﻃﻮل ﻃﻨﺎب دارﻳﻢ‪:‬‬

‫‪ , (xA - c1 ) + c2 + (xB-c3) + c4 + (xB-c5) = c‬ﺛﺎﺑﺖ =‪L‬‬

‫‪xA + 2xB = c' , vA + 2vB = 0 , aA + 2aB = 0‬‬

‫ﺗﻮﺟﻪ ‪ :‬ﺟﻬﺖ ﻣﺜﺒﺖ را ﺑﻪ ﺳﻤﺖ ﭘﺎﻳﻴﻦ در ﻧﻈﺮﮔﺮﻓﺘﻴﻢ‬

‫ﻣﺜﺎل ‪ :‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺛﺎﺑﺖ ﺑﻮدن ﻃﻮل ﻃﻨﺎب ﻫﺎ دارﻳﻢ‪:‬‬

‫ﺛﺎﺑﺖ =‪L‬‬ ‫‪L = x A + d 2 + x B2 + x B‬‬

‫&& ‪ ,d& = 0 ,‬ﺛﺎﺑﺖ = ‪[d‬‬

‫]‪d = 0‬‬
‫‪1‬‬
‫‪1‬‬ ‫‪−‬‬
‫‪L& = 0‬‬ ‫⇒‬ ‫‪x& A + (d 2 + x B‬‬
‫&‪2 ) 2 (2x .x& ) + x‬‬
‫‪B B‬‬ ‫‪B‬‬
‫‪2‬‬
‫‪&& = 0‬‬
‫‪L‬‬
‫‪L1 + x A + C 1 , L 2 = d 2 + x B2 , L 3 = x B − C 3‬‬
 ‫ﻄﻪ ﻣﺎدي‬
‫ﺳﻴﻨﺘﻴﻚ ﻧﻘﻄ‬ ‫دﻳﻨﺎﻣﻣﻴﻚ‬

‫ﻣﺜﺎل ‪ :‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺛﺛﺎﺑﺖ ﺑﻮدن ﻃﻮﻮل ﻃﻨﺎب ﻫﺎ دارﻳﻢ‪:‬‬

‫‪( A-xD) + (x‬‬

‫‪(x‬‬ ‫‪( B-xD) = c1 , xA + xB -2xD= C1 , xD + xC = C2‬‬
‫‪vA + vB -22 vD = 0 , vD + vC = 0‬‬
‫‪aA + aB -2 aD = 0 , aD + aC = 0‬‬

‫ﻣﺜﺎل ‪:‬‬

‫‪x A + x B + x B + x C = cte‬‬
‫‪c‬‬
‫⎫ ‪⎧ x A + 2 x B + x c = cte‬‬
‫‪xA‬‬ ‫‪xc‬‬ ‫⎪‬ ‫⎪‬
‫‪xB‬‬ ‫⎬ ‪⎨V A + 2V B + VC = 0‬‬
‫⎪ ‪⎪a + 2 a + a = 0‬‬
‫‪⎩ A‬‬ ‫‪B‬‬ ‫‪C‬‬ ‫⎭‬

‫ﻣﺜﺎل ‪:‬‬

‫‪x B + x B + C1 + x A = cte‬‬
‫⎫ ‪⎧ x A + 2 x B = cte‬‬
‫⎪‬ ‫⎪‬
‫⎬ ‪⎨V A + 2V B = 0‬‬
‫⎪ ‪⎪a + 2 a = 0‬‬
‫‪⎩ A‬‬ ‫‪B‬‬ ‫⎭‬

‫‪) VB= 18 m‬ﺛﺛﺎﺑﺖ و در ﺟﻬﻬﺖ ‪ (x‬ﻣﻄﻠﻮﺑﺴ‬

‫ﺴﺖ‪:‬‬ ‫‪m/s‬‬ ‫ﻣﺜﺎل‪ :‬اﮔﺮ‬
‫ك ‪A‬‬
‫اﻟﻒ( ﺳﺮﻋﺖ ﺑﻠﻮك‬

‫‪.‬‬
‫ﺳﺮﻋﺖ ﻧﻘﻄﻪ ‪ D‬ﻛﺎﺑﻞ‬‫ب( ﺳ‬
‫ﺳﺮﻋﺖ ﻧﺴﺒﻲ‪ A‬ﻧﺴﺒﺖ ﺑﻪ‪B‬‬
‫ج( ﺳ‬
 ‫ﺳﻴﻨﺘﻴﻚ ﻧﻘﻄﻪ ﻣﺎدي‬ ‫دﻳﻨﺎﻣﻴﻚ‬

:‫ﺣﻞ‬
(xB-xA) + (xB-xA)+xB = C , 3xB -2xA= C , 3VB -2 VA 0

VA = 1.5VB=3/2(18) = 27 m/s ⇒ VA = 27 m/s →

(xB-xA) + (xD-xA) = c1 , xB +xD -2xA= c1 , VB + VD -2VA = 0
18 + VD -2 (27 ) =0 ⇒ VD = 36 m/s
:‫روش دﻳﮕﺮ‬
(xB-xD) + xB = c2
2xB –xD= c2
2VB - VD = 0 ⇒ VD = 2VB =36 m/s

VA/B =VA –VB = [ 27 → ] –[ 18 → ] =9 m/s

A ‫ ﻧﺴﺒﺖ ﺑﻪ‬B ‫ ﻣﻄﻠﻮب اﺳﺖ ﺳﺮﻋﺖ ﻣﺘﺤﺮك‬:‫ﻣﺜﺎل‬

VA=?
VB=?

:‫ﺣﻞ‬

V B =V A +V B / A
V B = [V A ↔] + [V B / A b] ⇒V B = V A2 +V B2/ A
V A = x&
L = d + y ‫ ﺛﺎﺑﺖ‬d& + y& = o
 ‫ﺳﻴﻨﺘﻴﻚ ﻧﻘﻄﻪ ﻣﺎدي‬ ‫دﻳﻨﺎﻣﻴﻚ‬

‫ﺣﺮﻛﺖ ﻣﻨﺤﻨﻲ اﻟﺨﻂ‬

‫وﻗﺘﻲ ﻳﻚ ﻧﻘﻄﻪ ي ﻣﺎدي در ﻳﻚ ﺻﻔﺤﻪ در اﻣﺘﺪاد ﺧﻂ ﻣﻨﺤﻨﻲ ﺑﻪ ﻏﻴﺮ از ﺧﻂ ﻣﺴﺘﻘﻴﻢ ﺣﺮﻛﺖ ﻧﻤﺎﻳﺪ ﮔﻮﻳﻨﺪ‬
‫ﻧﻘﻄﻪ ي ﻣﺎدي ﺣﺮﻛﺖ ﻣﻨﺤﻨﻲ اﻟﺨﻂ دارد ‪ .‬ﺑﺮاي ﺗﻌﻴﻴﻦ وﺿﻊ ﻧﻘﻄﻪ ي ‪ P‬ﻛﻪ ﻧﻘﻄﻪ ي ﻣﺎدي در ﻫﺮ ﻟﺤﻈﻪ از‬
‫زﻣﺎن اﺷﻐﺎل ﻣﻲ ﻛﻨﺪ ﺑﺎﻳﺪ دﺳﺘﮕﺎه ﻣﺨﺘﺼﺎت ﺛﺎﺑﺘﻲ را اﻧﺘﺨﺎب ﻧﻤﻮد و وﺿﻊ ﺣﺮﻛﺖ آن ﻧﻘﻄﻪ ي ﻣﺘﺤﺮك را‬
‫ﻧﺴﺒﺖ ﺑﻪ آن دﺳﺘﮕﺎه ﺳﻨﺠﻴﺪ ‪.‬‬

‫‪ :‬ﺳﺮﻋﺖ ﻣﺘﻮﺳﻂ‬
‫‪r‬‬
‫‪r‬‬ ‫‪Δr‬‬
‫= ‪v‬‬
‫‪Δt‬‬
‫‪:‬ﺳﺮﻋﺖ ﻟﺤﻈﻪ اي‬
‫‪r‬‬ ‫‪r‬‬ ‫‪r‬‬
‫‪r‬‬ ‫‪Δr d r‬‬ ‫‪r dr‬‬ ‫‪ds‬‬
‫‪v = Lim‬‬ ‫=‬ ‫= ‪⇒v‬‬ ‫= ‪,v‬‬
‫‪Δt → 0 Δ t‬‬ ‫‪dt‬‬ ‫‪dt‬‬ ‫‪dt‬‬
‫‪r‬‬ ‫‪r‬‬
‫‪dr‬‬ ‫‪dr ds‬‬
‫) () ( =‬
‫‪dt‬‬ ‫‪ds dt‬‬
‫‪r‬‬
‫‪r ds dr‬‬ ‫‪r ds r‬‬
‫‪v = ( )( ) ⇒ v = ( )et‬‬
‫‪dt ds‬‬ ‫‪dt‬‬
‫‪r‬‬ ‫‪r r‬‬
‫ﺑﺮدار واﺣﺪ ﻣﻤﺎس ﺑﺮ ﻣﺴﻴﺮ ﺣﺮﻛﺖ ‪et = ⇒ v = vet‬‬
‫‪r‬‬
‫‪r Δv‬‬
‫= ‪ : a‬ﺷﺘﺎب ﻣﺘﻮﺳﻂ‬
‫‪Δt‬‬
‫‪r‬‬ ‫‪r‬‬ ‫‪2r‬‬
‫‪ : ar = Lim Δv = dv = d 2r‬ﺷﺘﺎب ﻟﺤﻈﻪ اي‬
‫‪Δt →0 Δt‬‬ ‫‪dt dt‬‬
 ‫ﻄﻪ ﻣﺎدي‬
‫ﺳﻴﻨﺘﻴﻚ ﻧﻘﻄ‬ ‫دﻳﻨﺎﻣﻣﻴﻚ‬

r : ‫ﺑﺮدار ﻣﻮﻮﻗﻌﻴﺖ‬
r
dr r
= v : ‫ﻄﻪ‬
‫ﺳﺮﻋﺖ ﻧﻘﻄ‬
dt
r
dv r
= a : ‫ﻄﻪ‬
‫ﺷﺘﺎب ﻧﻘﻄ‬
dt

‫ﻣﻮﻟﻔﻪ ﻫﺎﺎي ﻣﺘﻌﺎﻣﺪ ﺳﺮﻋﺖ و ﺷﺘﺎب‬

r r r
r = r (t ) = x i + y j + z k
x = x (t ), y = y (t ), z = z (t )
r
r dr dx d r d r dy r d r dz d r d r
v= = i + x (ii ) + j + y ( j ) + k + z (kk )
dt dt d dt dt r dt
r r dt
d dt
r r r r r
v = x& i + y& j + z& k , v = vx i + v y j + vz k , v x = x& , v y = y& , v z = z&
r r r r r r r r
a = &x&i + &y&j + &z&k , a = axi + a y j + az k

‫ﺣﺮﻛﺖ ﻧﻧﺴﺒﻲ‬
rA : A ‫ﻣﻮﻗﻌﻴﻴﺖ ﻧﻘﻄﻪ‬
rB : B ‫ﻣﻮﻗﻌﻴﻴﺖ ﻧﻘﻄﻪ‬
rB − rA = rB / A ‫ ﻧﺴﺒﺖ‬B ‫ﻄﻪ‬
: A‫ﺖ ﺑﻪ ﻧﻘﻄﻪ‬ ‫ﻣﻮﻗﻌﻴﻴﺖ ﻧﺴﺒﻲ ﻧﻘﻄ‬
r r r
rB = rA + rB / A

: A ‫ ﻧﺴﺒﺖ ﺑﻪ‬B‫ﺳﺮﻋﺖ ﻧﺴﺒﻲ ﻧﻘﻄﻪﻪ‬

‫ﺖ‬
d r d r d r r r r
( rB / A ) = ( rB ) − ( rA ) ⇒ v B / A = v B − v A
d
dt d
dt dt : A ‫ ﻧﺴﺒﺖ ﺑﻪ‬B‫ﺷﺘﺎب ﻧﺴﺒﻲ ﻧﻘﻄﻪ‬
‫ب‬
d r d r d r r r r
(v B / A ) = (v B ) − (v A ) ⇒ a B / A = a B − a A
d
dt d
dt dt
r r r
aB = a A + aB / A

(‫روي ﺗﺴﻤﻪ‬
‫ﻫﻨﮕﺎم رﻳﺨﺘﻦ ي‬
‫م‬ ‫ ﺑﻪ‬VS//B) . B ‫ﺴﻤﻪ‬
‫ﻣﺎﺳﻪ ﻧﺴﺒﺖ ﺑﻪ ﺗﺴ‬
‫ﻧﺴﺒﻲ ﺷﻦ و ﻪ‬
‫ﺖ ﺳﺮﻋﺖ ﻲ‬
‫ ﻣﻄﻠﻮﺑﺴﺖ‬:‫ﻣﺜﺎل‬
‫ل‬

v1S = 6 ft / s , vB = 8 ft / s
 ‫ﺳﻴﻨﺘﻴﻚ ﻧﻘﻄﻪ ﻣﺎدي‬ ‫دﻳﻨﺎﻣﻴﻚ‬

r r r
vS / B = vS − vB
r r r
v s = v sx + v sy v sx = 6 ft / s ← v sy = 2 g (5) = 2(32.2)(5) = 17.94 ft / s ↓
r
⇒ v2 S = [6 ←] + [17 .94 ↓ ] = 18.92 ft/s
v 2S / B = v 2B + v S2 − 2 v B v s cos 86.5 = 20.01ft / s
Sin(α )° Sin(15 + 71.5)°
= ⇒ α = 70.69° 71.5°
18.92 20.01

mm
‫ ﺑﺎﺷﺘﺎب ﻧﺴﺒﻲ ﺛﺎﺑﺖ‬B ‫ ﺑﻪ ﺳﻤﺖ ﭼﭗ درﺣﺎل ﺣﺮﻛﺖ اﺳﺖ و ﺑﻠﻮك‬80 ‫ ﺑﺎ ﺷﺘﺎب ﺛﺎﺑﺖ‬A ‫ ﺑﻠﻮك‬:‫ﻣﺜﺎل‬
s2
mm
. B ‫ ﻣﻄﻠﻮﺑﺴﺖ ﺷﺘﺎب ﻣﻄﻠﻖ‬.‫ در ﺣﺎل ﺣﺮﻛﺖ اﺳﺖ‬A ‫ ﺑﻪ ﺳﻤﺖ ﺑﺎﻻ روي ﺑﻠﻮك‬120 2
s

:‫ﺣﻞ‬

r r r r
aB = a A + aB / A , a B = 120 2 + 80 2 − 2(120 )(80) cos 20
a B = 52.5 mm ⎫
s2 ⎪
sin β sin 20° ⎬ ⇒ β = 128.6° α = 51.4°
= ⎪
120 52.5 ⎭

‫ﻣﻮﻟﻔﻪﻫﺎي ﻣﻤﺎﺳﻲ و ﻧﺮﻣﺎل‬

r
et = ‫ﺑﺮدار واﺣﺪ ﻣﻤﺎﺳﻲ‬
r
en = ‫ﺑﺮدار واﺣﺪ ﻋﻤﻮدي‬

r
r r r dr r r
r = r (t ) , v= , v = vet
dt
r
r dv r r r
a= , a = at et + anen
dt
d ert d r dθ ds dv
= ( et )( )( ) at =
dt dθ ds dt dt
 ‫ﻄﻪ ﻣﺎدي‬
‫ﺳﻴﻨﺘﻴﻚ ﻧﻘﻄ‬ ‫دﻳﻨﺎﻣﻣﻴﻚ‬

dy 2 3 / 2
[1 + ( ) ]
ρ = dx
‫ ﺷﻌﺎع‬:
dy2
dx 2
Δθ
Δet
2 sinn sin(Δθ )
= 2 = 2 ‫ﺧﻤﻴﺪﮔﻲ‬
Δθ Δθ ( Δθ )
2
Δθ
det sin( )
Δet 2 =1
→ = 1 lim = lim
l
dθ Δθ →0 Δθ Δθ
sin( )
2
r
det r
.‫ را ﻧﻴﺰ دارراﺳﺖ‬1 ‫ﺳﺖ و ﻣﻘﺪار‬
‫ ﻋﻤﻮد اﺳ‬t ‫ﭼﻮن ﺑﺮ‬ = en
dθ
r
r r r dv r det dv r r
a = at et + a n en = et + v ( )= et + v 2 / ρ en
dt dt dt
v2
‫ ﺑﺎ ﻣﻌﺎدل ﮔﺬاري‬: an =
ρ
r
det v r
‫ﭘﺲ ﺑﻪدﺳﺖ آوردﻳﻢ‬ : = en
d
dt ρ
: ‫ﺣﺮﻛﺖ ﻣﺴﺘﺘﻘﻴﻢ اﻟﺨﻂ ﻳﻳﻜﻨﻮاﺧﺖ دارﻳﻢ‬
‫در ﺣ‬

r r r
⎧v `= vet dv ⎧ det r
=0
⎪ dt ⎪⎪ dθ = e n
⎨ r dv r v 2 r a =0⇒ ⎨ der
v2
⎪a = dt e t + ρ en =0 ⎪ n = − ert
⎩ ρ ⎪⎩ dθ
: B ‫ ﻧﺴﺒﺖ ﺑﻪ‬A ‫ﻣﺘﺤﺮك‬
‫ك‬ ‫ﺷﺘﺎب‬
‫ ﻣﻄﻠﻮﺑﺴﺖ ﺷ‬:‫ﻣﺜﺎل‬

r
28.8 m / s = vA = 75km/ h aA = 1.5m / s2 vA/ B = ?
r
111.1m / s = VB = 48km/ h ab = −8.9m / s2 aA/ B = ?

m ⎢ km ⎥ m r
20.8 = v A = ⎢75 →⎥ a A = 1.5 2 vA/ B = ?
s ⎣ h ⎦ s
m km m r
11.1 = VB = 40 ab = −8.9 2 aA/ B = ?
s h s
 ‫ﺳﻴﻨﺘﻴﻚ ﻧﻘﻄﻪ ﻣﺎدي‬ ‫دﻳﻨﺎﻣﻴﻚ‬

:‫ﺣﻞ‬
VA = 20.8m / s

VB = 11.1m / s
r r r
V A / B = V A − VB
r
V A / B = [20.8 →] − [11.1]
r
V A / B = ( 20.8) 2 + (11.1) 2 − 2( 20.8)(11.1)Cos 30 ⇒ V A / B = 12.5 m / s
sin α sin 30
= → α = 26.4°
11.1 45
11.12
(a B ) t = 0.9 (a B ) n = V 2 / ρ = = 0.8m / s 2
150
→ a B = 1.2m / s 2 β = 12.4o

a A / B = (1.5) 2 + (1.2) 2 − 2(1.5)(1.2) Cos167 .6 = 2.70 m / s 2

sin γ sin167.6
= → γ = 5.6°
1.2 2.7

r
a A / B = 2 .7

2m/s2 ‫ و در ﺣﺎل اﻓﺰاﻳﺶ ﺑﺎ ﻧﺴﺒﺖ‬6m/s ، A ‫ ﺳﺮﻋﺖ اﺳﻜﻲ ﺑﺎز در ﻣﺴﻴﺮ ﺳﻬﻤﻮي در ﻧﻘﻄﻪء‬: ‫ﻣﺜﺎل‬
. ‫اﺳﺖ‬
v A , aB = ? : ‫ﻣﻄﻠﻮﺑﺴﺖ‬

⎧ 1
⎪ y = x2
20
⎪
⎪ dy 1
⎨ = x ⇒
⎪ dx 10
⎪d2y 1
⎪ =
⎩ dx 2 10
dy
@ x = 10 , =1
dx
 ‫ﺳﻴﻨﺘﻴﻚ ﻧﻘﻄﻪ ﻣﺎدي‬ ‫دﻳﻨﺎﻣﻴﻚ‬

r m
VA = 6 45
s
a = at + a n
r m 45
at = 2 2
s
3
[1 + y′ ]
2 2
ρ= = 28.28
y′′
r v2 m 45
an = = 1.27 2
ρ s
a A = 2 2 + 1.27 2
r m
a A = 2.37 2 12.5·
s

(‫ﻣﻮﻟﻔﻪﻫﺎي ﺷﻌﺎﻋﻲ و ﻋﺮﺿﻲ)ﻣﺨﺘﺼﺎت ﻗﻄﺒﻲ‬

θ : ‫ﻣﺨﺘﺼﺎت زاوﻳﻪاي‬
r
er : ‫ﺑﺮدار واﺣﺪ ﺷﻌﺎﻋﻲ‬
r
eθ : ‫ﺑﺮدار واﺣﺪ ﻋﺮﺿﻲ‬

r r
r r r dr r dr r d er
r = rer → v = = d ( r e r ) / dt = er + r
dt dt dt
r r r
v = v r e r + vθ eθ
dr
vr = = r&
dt
 ‫ﺳﻴﻨﺘﻴﻚ ﻧﻘﻄﻪ ﻣﺎدي‬ ‫دﻳﻨﺎﻣﻴﻚ‬

r r
de r de r dθ r
=( )( ) = θ& e θ
dt dθ dt
r
rd e r r r vθ = r θ&
= r θ& eθ = vθ eθ
dt 123
vθ
r r r
r r & r r dv d r r r der r r de θ
v = r&er + rθ eθ , a = &
= (r&er + rθ eθ ) = &r&er + r& & &&
+ r&θ eθ + rθ eθ + rθ&
dt dt dt dt
r r r
a = ar er + aθ eθ
r
⎧ de r & r
⎪⎪ dt = θ eθ r r r r r r r
⎨ r ⇒ a = &r&er + r&θ& eθ + &r&θ eθ + rθ&& eθ − rθ& 2 er = (&r& − rθ& 2 ) er + (2r&θ& + rθ&&) eθ
⎪ deθ = −θ& er
⎪⎩ dt r

⎧⎪ a r = &r& − r θ& 2
⎨
⎪⎩ a θ = 2 r& θ& + r θ&&

‫ ﺷﺘﺎب زاوﻳﻪاي‬: θ&& = α rad / s 2

‫ﻣﺨﺘﺼﺎت اﺳﺘﻮاﻧﻪاي‬

r r r r r
‫ﺑﺮدار ﻣﻮﻗﻌﻴﺖ‬: r = R + z = R e R + zk
r r r
r dr r dv d 2r
v = ,a = =
dt dt dt 2

r d r d r
v = (reR ) + ( zk )
dt dt
r r r r
→ v = v R e R + v θ eθ + v z k
v R = R& , v θ = R θ& , v Z = z&

⎧ a R = R&& − R θ& 2
‫ﺑﺮدار ﺷﺘﺎب‬: ⎪
⎨ a θ = R θ&& + 2 R& θ&
⎪ a = &z&
⎩ z

.‫ ﺑﺎ ﺳﺮﻋﺖ زاوﻳﻪ اي ﺛﺎﺑﺖ دوران ﻛﻨﺪ ﺑﻴﺎﺑﻴﺪ‬oc ‫ را اﮔﺮ ﺑﺎزوي‬B ‫ ﺳﺮﻋﺖ و ﺷﺘﺎب ﻧﻘﻄﻪي‬:‫ﻣﺜﺎل‬

b
 ‫ﺳﻴﻨﺘﻴﻚ ﻧﻘﻄ‬
‫ﻄﻪ ﻣﺎدي‬ ‫دﻳﻨﺎﻣﻣﻴﻚ‬

2b :‫ﺣﻞ‬

r = 2b cos θ
d
v r = r& = ( 2 b cos θ ) = 2 b ( − siin θ )(θ& )
d
dt
v = r θ& = 2 b θ& cos (θ )
θ

v = v θ2 + v r2 = 2 b θ&
a r = &r& − rθ& 2 = ?

&r& = 2 b [( − cos θ )( θ& ) 2 + ( − sin θ )θ&&] = − 2 b θ& 2 cos θ

a r = − 2b θ& 2 cos θ − 2b cos θ θ& 2 = − 4b θ& 2 cos θ
a = r θ&& + 2 r&θ& = − 4 b θ& 2 sin θ
θ
r
| a |= a r2 + aθ2 = 4bθ& 2

‫؟‬A ‫ﻣﻮﻗﻌﻴﺖ‬
‫ﺖ‬ ‫ﻣﺘﺤﺮك در‬
‫ك‬ ‫اﺳﺖ ﻣﻄﻠﻮﺑﺴﺖ ﺷﺘﺎب‬
‫ﺖ‬ vo ‫ﺑﺮاﺑﺮ‬
‫ ﺳﺮﻋﻋﺖ ﺛﺎﺑﺖ و ﺑﺮ‬،‫ در ﻣﺴﻴﺮدادده ﺷﺪه‬:‫ﻣﺜﺎل‬
( R = b cos 3θ )
:‫ﺣﻞ‬

R = b cos 3θ
R& = b(− sinn 3θ )(3)(θ&) = −3bθ& sin 3θ
&& = −3bθ&& sin
R s 3θ − 9bθ& 2 cos 3θ

⎧at = 0 && − Rθ& 2

⎪ ⎧⎪a r = R
A=⎨ v 2
aA ⎨
⎪a n = ρ ⎪⎩aθ = Rθ&& + 2 R& θ& = 0
⎩
⎧v r = R& = 0
⎪
vA = ⎨
& & vo
⎪vθ = Rθ = vo ⇒ θ =
⎩ b
 ‫ﺳﻴﻨﺘﻴﻚ ﻧﻘﻄﻪ ﻣﺎدي‬ ‫دﻳﻨﺎﻣﻴﻚ‬

2
v && = −9bθ& 2 = −9 v o
A → θ& = o , R = b, R
b b
2 2
vo vo vo2
a A = a r = −9 − b( 2 ) ⇒ a A = −10
b b b

v v v
r = 3eR + 15tk :‫ﻳﻚ ﻧﻘﻄﻪ روي ﻣﺴﻴﺮي در دﺳﺘﮕﺎه ﻣﺨﺘﺼﺎت اﺳﺘﻮاﻧﻪ اي ﺑﺎ راﺑﻄﻪ ذﻳﻞ ﺣﺮﻛﺖ ﻣﻴﻜﻨﺪ‬:‫ﻣﺜﺎل‬
‫اﮔﺮ‬.‫ﻣﺘﻐﻴﻴﺮﺑﺮﺣﺴﺐ زﻣﺎن اﺳﺖ‬t‫(ﻛﻪ در آن‬m)
‫ﻣﻄﻠﻮﺑﺴﺖ ﺷﺘﺎب ﻧﻘﻄﻪ ﻣﺎدي‬،‫ ﺛﺎﺑﺖ ﺑﺎﺳﺪ‬θ& = 5rad / s
(R, θ , z )
[ev , ev , kv ]
R θ

:‫ﺣﻞ‬
:‫راه اول‬
v v v
r = 3e R + 15tk
v v v v
ν = r& = 3e& R + 15k =
v v v
e& R = θ&.eθ = 5eθ
v v v
r& = 15eθ + 15k
v v v
a = &r& = 15e&θ + 0 =
v v v
e&θ = −θ&.e R = −5e R
v v
a = −75e R (m / s 2 ) ⇒ a = 75m / s 2
:‫راه دوم‬
v v
&& − Rθ& 2 )ev + ( R& θ&& + 2 R& θ&)ev + &z&k
a = (R R θ

R = 3 θ& = 5(cte) z = 15t

v v v
r = 3e R + 15tk ⇔ R& = 0 θ&& = 0 z = 15
&R& = 0 &z& = 0
v
[ v
] v
a = 0 − 3(5) 2 e R + [0 + 0]eθ + 0
v v
a = −75e R
‫ﺳﻴﻨﺘﻴﻚ ﻧﻘﻄﻪ ﻣﺎدي‬ ‫دﻳﻨﺎﻣﻴﻚ‬

‫ﻣﺨﺘﺼﺎت ﻛﺮوي‬

v v
r = reR
v v v v v v v v v
e R × eθ = e φ eθ × e φ = e R e φ × e R = eθ
⎧r = x 2 + y 2 + z 2
⎪
⎪
⎨θ = tan [
−1
x2 + y2 / z]
⎪
⎪⎩φ = tan ( y / x )
−1

⎧ x = r Sin (θ ) Cos (φ )
⎪
⎨ y = r Sin (θ ) Sin (φ )
⎪ z = r Cos (θ )
⎩
v v v v
ν = ν R e R + ν θ eθ + ν φ e φ
v v v v
ν = R& e R + R θ& eθ + r φ& Sin (θ ) eφ
v v v v
a = a R e R + a θ eθ + a φ e φ
v
[ ] v
a = R&& − R θ& 2 − r φ& 2 Sin 2 (θ ) e R +
[ ]v
R θ&& + 2 R& θ& − R φ& 2 Sin (θ ) Cos (θ ) eθ +
[( )
R φ&& + 2 r&φ& Sin (θ ) + 2 R φ&θ& COs (θ ) z
v
]