Chng4:Chuynngcbncavtrn

1.Haichuynngcbncavtrn

1.1.Chuynngtnhtincavtrn
1.1.1.nhngha
Mtvtcgilchuynngtnhtinkhi
mtonthngABbtkthucvtcphng
khngthayitrongqutrnhchuynng
1.1.2.nhl
-Quocamiimtrnvtrnchuyn
ngtnhtinlnhnhau.
-Timithiimvntcvgiatccami
imlnhnhau.
Chngminh:


rB rA AB

v A vB

w A wB
O

rB

rA

wB
A
vA
wA

vB
A

-khostchuynngtnhtincamtvtta
chcnkhostchuynngcamtiml
.
1.2.Chuynngquaycavtrnquanhtrcc
nh
1.2.1.nhngha
Chuynngcavtrntrongchaiim

B
S

A
B
1.2.2.Khostchuynngcacvt
1.2.2.1.Phngtrnhchuynng

-Mtphng 0gncnhvihquychiu
quatrcquayAB.

A
-MtphngdidnggnlinvivtquaAB.

Gcnhdingia2mtphng 0vxcnh

Phngtrnhchuynngcacvt:=(t)
1.2.2.2.Vntccacvt

Vntcgctrungbnhcavttrongkhongthi
giantcxcnhnh
sau:

tb

Vntcgctithiimtcxcnhnhsau:

(t ) lim

t 0

dt

Vntcgccavtbngohmbcnhtca
chuynvgctheothigian.Thnguyn[gc
quay/thigian],thngrad/s.
1.2.2.3.Giatcgccavt
Giatcgccavttithiimtctnhbng
2
d d
ohmbcnhtcavntcgctheothigian.

(
t
)

dt
dt

Thnguyn[gcquay/(thigian)2],thngrad/s2.
1.2.2.4.Biudinvntcgcvgiatcgcca
vtbngvct

itabiudinvntcgcvgiatcgcbng

Ng
vctvntcgcvgiatcgc.

1.2.2.5.Phnontnhchtchuynngcavt

Davotchvhngcahaivctv.

1.2.3.Khostchuynngcaimthucvt
1.2.3.1.Phngtrnhchuynng
QuocaimMl
mtvngtrntmO,bn
knhOM=r.

M0

0
Xydnghtotnhin

lyMOlmgc.

s=cungMOM=s(t)=OM.(t)=r.(t)
1.2.3.2.Vntccaim

(t ) r. (t ) r. (t )
v
(
t
)

s
Tnhnghavvntctac:

v (t )

Vctvntcvunggcvibnknhqu
or=OMtithiimangxtvcchiuph
hpvichiu.

phnbtheoquylutbcnhtquanhO.
1.2.3.3.Giatccaim
Haithnhphngiatctipvphpcxcnh
nhsau:

w v r.

-Giatctiptuyn:
w

Tithiimkhostcphngvunggcvi
2
bnknhquor=OMvcchiuphhpvi
v
2
w

r
.

chiuca.

wn

-Giatcphptuyn:

w w wn

hngtMvO

w r.
-Giatctonphn:
2

wn

Timithiimgiatccaccimdctheo
bnknhOMphnbtheoquylutbcnht
quanhO.

1.2.3.4.Biudinvntcvgiatccaimd
i
v

r
dngvct
-Biuthcvntc:

dv d d dr
w
r
r
-Biuthcgiatc
dt dt
dt
dt

w r v w wn
1.2.3.5.Vd

R
M

Mtvtrnthchinchuynngquayquanh
mttrccnhtheoquylut=5t2+7t.Hy
tnhvntcgcvgiatcgccavttithi
imt=10giy.Xcnhvntcvgiatcca
mtimMnmcchtrcquaymtkhongr=

2.Hpchuynng

Trongthctchuynngcaitngkhost
ivimthquychiucxemlcnhthng
ckhostthngquachuynngcani
vimthquychiunglhchuynngso
vihcnh.Bitonnhthgilbitonhp
chuynng.
Ccnhngha
-Hquychiucxemlcnhgilhquy
chiucnh,htoccO1x1y1z1cgn
lnhquychiuny.
-Hquychiunggilhng,hta
ccOxyzcgnlnhny.
-Chuynngcaitngkhostivih
quychiucnhgilchuynngtuyti.

-Chuynngcahngivihquychiu
cnhgilchuynngtheo.
2.1.Hpchuynngcaim
2.1.1.nhlhpvntc
-Vctvntctuyticaimbngtng

vctvntctheovvntct
ngi.
v v v

a
e
r

va
lvntccaMivihcnh(O
x y z )
gilvcttuyti.

ve
lvntccaimM
gnlinvihng
(Oxyz)vtrngviimMtithiimkhost

gilvntctheo.
vr
1

lvntccaimMivihng
(Oxyz),gilvntctngi.
Chngminh:


z
z
r1 r0 r
M

r1 ro xi yj zk
r

r1

dr1 dr0 d
r0

( xi yj zk )
O
dt
dt dt
x

dr1
M:
va
dt
x

dr0
di
dj
dk dx dy dz
va
x
y z
i
j k
dt
dt
dt dt dt
dt
dt

vM *

rM * r0 xi yj zk ve

dx dy dz
vr
i
j k
dt
dt
dt

v a ve v r
Vynhlcchngminh

y1

z1

r1
O1

x1

r0

y1
x

Vd:.Mtconthuynquasngvivntclu1
sovimtnctheophngvunggcvidngn
c.Vntccadngn
clu2.Tmvntcca

u1
v a ve v r
v0
thuynsovib?

u1 u 2
2

v a u1 u 2

u2

2.1.2.nhlhpgiatccaim
2.1.2.1.nhl
Vctgiatctuytibngtngccvctgia
tctheo,giatct
ngivgiatccrilt.

Chngminh:

wa we wr wk

dv a

wa
dt

2
2
2
d r0
d i
d j
d k
wa
x 2 y 2 z 2
2
dt
dt
dt
dt

2
2
2
dx di dy dj dz dk
d x
d y d z

2
2
2

dt dt dt dt dt dt
dt
dt
dt

Vy:

wa we wr wk

2.1.2.2.Biuthccagiatccrilt
Xttrnghpchuynngcahngl

chuynngquayquanhmttrccnh.

drM

vM
e rM
Tac:
dt
pdngcngthctrnchoohmbcnhttheo

di
dj dk
thigiancavc
dt dt dt
tnvl,,

dk

di
dj
e k
e j
e i
,,
dt
dt
dt
dy
dz
dx
vry
v rz
,,
v rx
dt
dt
dt

dx di dy dj dz
2

dt dt dt dt dt

dk
2 e v r
dt

wk 2 e v r

2.2.Hpchuynngcavt
2.2.1.Hphaichuynngtnhtin
Hphaichuynngtnhtinngthicamt
vtrnlmtchuynngtnhtinvivct
vntccamtimbtkthucvtbngtng
hnhhaivctvntccaccchuynng
thnhphn.

3.Chuynngsongphngcavtrn

3.1.nhnghavmhnh
nhngha:Mtvtrngilchuynng
songphngkhikhongcchtmtimbtk
thucvtnmtmtphngquychiuno
A
s
lunkhngi.
y
S

B
Mtphngquy
P chiu
0

Lyccvdminhha

Mhnh:
-Chuynngsongphngcavtrnccoil
tphpcaccngthngsongsongviAB.

-Chuynngcamingnylchuynng
tnhtinnnchcnnghincuchuynngca
mtim.
-Mhnhchuynnglmttitdinsongsong
vimtphngquychiu.
y

y
3.2.Khostchuynngcahnhphng
1

3.2.1.Phngtrnhchuynng
-Hquychiu

x0 x0 (t )

y 0 y 0 (t )

-Thngsnhv

(t )

yM

(S
)

xM

O1

x0

x1

-PTchuynng:
-Chuynngsongphngcavtrnlstng
hphaichuynngcbnngthil:tnh
tincngO(Olimbtkthucvt)vquay
xungquanhtrcquaO.
-TyddngxcnhPTCcamtim

y1

y
(S)

yM

y0

xM

O1
x0

x1


vM

v0

vM 0

v0
P

3.2.2.Vntcvgiatccavt
Tphngtrnhchuynngddngxcnh
cvntc,giatccaccO,vntcgcvgiatc
v x0 x 0 (t )
wx0 x0 (t )
gccahnhphng.

v y0 y 0 (t )

w y0 y 0 (t )

(t )

(t )

3.3.Khostchuynngcaccimthucvt
3.3.1.Linhvntcgiahaiimthucvt
nhl:VctvntccaimMthucvt
bngtnghnhhcvctvntccaccOv

vM
vctvntccaMtrongchuynngquayt
vM 0
ngiquanhtrciquaO.

Theonhlhpvntccaim:
v M * v0 ve v M va

v0

,
v M v0 v MO

v0


vM

v0

vM 0

v0
O


wM

w0

wMO
O

t
wMO

n
M
wMO

w0

BiuthctrnvnngkhiOlimbtk
3.3.2.Tmvntctcthi
-Timithiimtrnhnhphngtntimt
imPcvntcbng0giltmvntctc

thicahnhphng.
vP 0
v0
-Timithiimvntc

P
caccimthuchnh

phngphnbquanhtm

p
(S
v
vntctcthiPgingnh
0
)
O
trongtrnghphnhphng
thucvtrnquayquanh
3.3.3.Cchxcnhtmvntctcthi
trccnh.
Tmvntctcthicxcnhkhibitvntc
cahaiimthuchnhphng.

-Khivctvntccahaiimsongsongvi
nhau.
-Khivctvntccahaiimctnhau.


v0

vP 0
P

(S
)

v0

3.4.Linhgiatcgiahaiimthucvt
nhl:VctgiatccamtimMthuc
vtrnchuynngsongphngbngtngvc

w
tgiatccaccOvvctgiatccaimM
M

quaytngiquanhO.
w0

wM w0 wMO

Chngminh:

wMO
O

TngtnhtrnghpCMvntc

w0

t
wMO

n
M
wMO

3.5.Vd
Choccutayquaycontrtvtrnhhnhv.
Bitcckchthcngcaccuvvntcgc
B
cakhuABl=100rad/s=const.Tmvntc
vgiatccaimC?

300


wM

w0

wMO
O

t
wMO

n
M
wMO

w0