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C NG DNG
PHN TM TT L THUYT
BI TP MINH HO V BI TP CHO P S
(In ln th nht)
Sch dng cho sinh vin cc trng i hc K thut khng chuyn
c kh v cc trng i hc S phm K thut.
LI GII THIU
Gio trnh C hc ng dng l u sch c vit nm trong b
gio trnh ging dy mn C hc ng dng. Trn c s ni dung ca
gio trnh C hc ng dng tp mt v tp hai ca nhm tc gi GS
Nguyn Xun Lc v PGS Nh Ln- cn b ging dy i hc Bch
khoa H Ni, pht trin tip ni dung theo hng khi qut nhng vn
l thuyt cn ch ca tng chng, minh ha bng nhng bi gii
sn v cho bi tp c p s ngi hc t kim tra kin thc, ph hp
vi phng thc o to theo hc ch tn ch.
Ngoi mc ch lm gio trnh ging dy trong cc trng i hc
i hc cho cc ngnh khng chuyn c kh, sch ny cng c th l ti
liu tham kho cho cc khoa s phm k thut ca cc trng i hc s
phm, i hc k thut.
Sch c vit da trn cc gio trnh c hc ng dng ca cc tc
gi l ging vin ca Trng i hc Bch khoa H Ni, vi cch tip
cn trc tip v kinh nghim sau nhiu nm ging dy ca tc gi. Trong
khi bin son tc gi lun nhn c kin gp ca B mn C s
thit k my, c bit c Nh gio Nhn dn GS, TS Nguyn Xun
Lc, i hc Bch khoa H Ni v PGS, TS Phan Quang Th - Trng
B mn C s thit k my Trng i hc k thut Cng nghip - i
hc Thi Nguyn rt quan tm gp v hiu nh cho cun sch.
Trong ln xut bn th nht, chc chn khng trnh khi nhng
thiu st v ni dung v hnh thc trnh by. Tc gi chn thnh mong
nhn c s ph bnh gp ca cc bn ng nghip v cc qu v c
gi.
kin gp xin gi v :
Nh xut bn Khoa hc v K thut - 70 Trn Hng o H Ni.
TC GI
Hc phn I: C HC VT RN TUYT I
Chng 1
CN BNG CA H LC PHNG
Trong chng ny ln lt gii bi ton cn bng trong cc trng
hp:
- Bi ton mt vt khng c ma st;
- Bi ton h vt khng c ma st:
- Bi ton c ma st.
1.1. BI TON MT VT KHNG C MA ST
Vn cn lu :
I. Lc hot ng v phn lc lin kt
- Lc hot ng c quy lut xc nh, hoc
tp trung hoc phn b. H lc phn b thng
c thay bng lc tp trung Q i qua trng
tm ca biu phn b: H lc phn b hnh
ch nht (hnh 1.1a)
Q = ql
q - cng lc phn b (N/m)
l di ca biu phn b (m). Phn lc
lin kt do vt gy lin kt t vo vt kho st.
Phn lc lin kt ph thuc vo dng ca
lin kt.
a. Lin kt ta
Vt kho st ta vo vt gy lin kt ti mt mt, mt im hay con
ln (hnh 1.2)
c. Lin kt thanh
Vt kho st ni vi vt gy lin kt bi nhng thanh (thng hay
cong) tho mn iu kin:
- Trng lng thanh khng ng k.
- Khng c lc tc dng trn thanh.
- Thanh chu lin kt hai u. Vi ba iu kin thanh ch chu ko
hoc nn (hnh 1.4)
ni hai u thanh, chiu ca S c gi thit nu tnh ra S > 0 th chiu
gi thit l ng, S < 0 th chiu gi thit sai.
d. Lin kt bn l, trc
Vt kho st ni vi vt gy lin kt bi bn l hoc trc.
Phn lc lin kt gm hai lc vung gc trong mt phng vung gc
vi trc, chiu ca hai lc c gi thit. Nu tnh c thnh phn lc
no l dng th thnh phn c gi thit ng. Th d, tnh
(ly du (+) hoc (-) tu thuc vo F thun hoc ngc chiu trc)
nh ngha: m0 ( F) = dF
Ly du + (-) khi lc quay ngc (thun) chiu kim ng h quanh
O Phn tch lc ra cc thnh phn thch hp (hnh 1.10)
th d: F = F1 + F2
Trong (1) v (2): Tng hnh chiu cc lc ln hai trc vung gc;
(3): tng mmen cc lc i vi im 0 tu .
Dng 2:
Th d 1-2:
Bi gii
1. Chn vt kho st, t lc hot ng v lc lin kt:
Xt cu: ti A - lin kt bn l, ti B - lin kt con ln (ta)
H lc cn bng:
( P, Q, XA, YA, NB) 0 -> H lc phng tng qut
2. Phng trnh cn bng:
Th d 1-3:
Thanh AB trng lng khng ng k, c lin kt v chu lc nh
(hnh 1.13). Cng lc phn b l q (N/m)
Tm:
- Phn lc ti B
- Ni lc ti mt ct C, cch u A mt on Z
Bi gii:
I.Tin phn lc ti B
1. Chn vt kho st, t lc hot ng v lc lin kt
Xt AB: ti B - lin kt ngm
10
Bi tp gii sn :
Th d 1- 4: ( Phng php tch vt)
Lc Q thng ng, t u A
Tm phn lc lin kt ti O, B, v C (hnh
1.20).
Bi gii :
1. Tch vt ti lin kt, t lc hot ng v
lc lin kt ln tng vt
11
- Xt OA :
Ti O - lin kt bn l, ti B - lin kt
ta.
H lc
-Xt CB : Ti C - lin kt ngm,
Ti B - lin kt ta :
H lc
2 Phng trnh cn bng (PTCB) :
- PTCB ca OA :
Nhn xt : Nu xt c h nh mt vt rn th :
khi mi PTCB u cha hai n, do phng php xt c h khng
thun li.
Th d 1-5 : (Phng php xt c h ri tch vt)
Cu ABC gm 2 phn ging nhau trng lng mi phn l P, phn
12
cu AB chu lc Q, cc kch thc c cho (hnh 1.21).
Tm cc phn lc lin kt ti A, B, C
Bi gii :
1) Tch vt ti lin kt, t lc hot ng v lc lin kt tn tng vt :
-Xt c h :
Ti A v C l lin kt bn l :
H lc
- Xt phn BC :
Ti B v C l lin kt bn l h
lc
PTCB ca BC :
trn 2 . Lc ko Q to vi
phng ngang mt gc . H s ma
st ti 2 l f ( Hnh 1.24).
Tin gc thanh khng b trt i d Q rt ln ( t hm).
Bi gii :
14
Th d 1-7 : ( H vt c lc ma st trt)
Trc O c bn knh r v R, h s ma st ti m hm l f, t s
15
Mun hm c trc th :
16
iu kin ma st :
F fN ; M kN
3. Gii h phng trnh :
Khi thay vo iu kin ma st, ta c :
17
P1 = 40 kN chy trn mt dm
nm ngang AB; dm ny ng
cht, trng lng P = 60kN, ta
trn hai ray A v
B. Tnh phn lc A v B theo t s
20
23
Chng 2
CN BNG CA H LC KHNG GIAN
Vn cn ch :
I. Chiu lc ln ba trc. Mmen ca lc i vi mt trc
du + hoc du - khi lc
chiu trc to .
Trong : (1), (2), (3) : tng hnh chiu cc lc ln ba trc; (4), (5), (6) :
tng mmen ca cc lc i vi ba trc.
24
Th d 2-2
Tm phng chu lc Pv c gi bi 6 thanh nh (hnh 2.3). B qua
25
thanh. Gi thit cc Si u
hng vo mt ct ca thanh
(tc l gi thit cc thanh u
chu nn)
H lc cn bng
2. Phng trnh cn bng:
t cnh hnh hp l a
Bi gii:
1. Chn vt kho st, t cc lc hot ng v lc lin kt:
Xt c h (trc v hai a): ti A v B l lin kt bn l ( trc)
H lc cn bng: ( P, M, XA, ZA, XB, ZB) 0
Bi tp cho p s :
2.1. Tm phng ng cht hnh vung trng lng P c v tr
nm ngang nh su thanh (khng trng lng) b tr nh (hnh bi 2.1).
Ton hnh c dng khi lp phng. Tm ng lc cc thanh.
27
2.2. Tm phng chu lc P v c
v tr nm ngang nh 6 thanh nh
(hnh bi 2.2). B qua trng lng ca
tm v cc thanh, ton hnh c dng khi
lp phng. Tm ng lc cc thanh.
2.3. Tm phng ng cht hnh ch
nht, trng lng 200N, lp vo tng
nh gi cu A v bn l B v c gi cn
bng v tr nm ngang nh dy CE
nghing 600 Vi ng thng ng AE.
Bit ng cho AC nghing 600 ni
Cnh AD, tm phn lc A, B v sc
cng dy (hnh bi 2.3)
2.4. Tm phng hnh ch nht ABCD, ng cht, trng lng
P=120N, gn vi nn nh hai bn l A, B v c cn bng v tr
nghing 600 nh thanh chng (khng trng lng) DE = EA, nm trong
mt thng ng qua AD. tm phn lc cc bn l v ng lc thanh (hnh
bi 2.4).
2.5. Cnh ca ng cht hnh ch nht ABCD, trng lng P, chiu
di AD = a 3, chiu rng AB = a, c trc quay thng ng AD to bi
hai A (gi cu) v D (bn l). Ca c m ra mt gc 1200 ni
Hng dn:
Ch dy CE nghing 45o ni EB V CB, sc cng T phn tch ra
hai thnh phn t ti C (nm theo CB v song song vi BE).
2.6 Trc AB nm ngang trn hai A v B (bn l) mang C v
thanh DE (u c trng lng khng ng k). Trc cn bng di tc
dng ca hai vt nng: Q = 250N treo u dy qun quanh vnh a v
P = 1 kN gn vo u E.
Hnh bi 2.6
Bit DE nghing 30o vi ng thng ng, bn knh bng 20cm,
cc kch thc khc ghi trn (hnh bi 2.6). Tm chiu di l = DE v phn
lc cc .
2.7. Hai A, B (bn l) trc nm ngang AB mang theo a C v
khi tr AB; bn knh ca gp 6 ln bn knh khi tr.
29
30
Chng 3
NG HC
3.1 CHUYN NG CA IM
gii bi ton v chuyn ng ca im, ta thng dng hai
phng php: phng php to cac v phng php to t
nhin.
Vn cn ch :
I.Phng php to cac
V tr im M c xc nh bi cc to XM, YM, ZM (hnh 3.1)
1. Phng trnh chuyn ng biu din s
lin h gia to theo thi gian:
cc cosin ch phng:
4. Tnh cht chuyn ng: xt tch v hng V , a
(3.5)
(3.6)
dS
v v n vct n v ca tip tuyn
dt
v php tuyn ti M.
32
3. Gia tc. Vect gia tc a c hai thnh
phn: gia tc php tuyn
an v gia tc
Hng vo tm cong ca qu
- Tr s
(3.7)
- bn knh cong ca qu o ti M.
- Tip tuyn vi qu o ti M
- Cng chiu hoc ngc chiu vi ph thuc vo
- Tr s
hoc
4. Tnh cht chuyn ng: xt tch v hng V. a
* V. a
- > 0 : chuyn ng nhanh dn u
- < 0 : chuyn ng chm dn u
(3.9)
5. Cc chuyn ng c bit:
*) Chuyn ng u: V = const.
Suy ra: a = 0 ; S = V. Chuyn ng bin i u: a = const
1
Suy ra : V = Vo a; S = V0t + a. t2
2
33
Bi gii.
Xt im B.
= - 6bk2coskt hng v O
34
4. Xt s nhanh chm: VB. aB = 36b2k3sinkt.coskt > 0, do B chuyn
ng sang tri, nhanh dn
Xt im M
1. Phng trnh chuyn ng. Tm XM ( t) v YM ( t)
XM = 5bcos = 5bcoskt
YM = bsin = bsinkt
Tm qu o im M. Rt sin(kt)v cos(kt) t phng trnh chuyn
ng, bnh phng hai v ri cng li
12 cm/s2.
Bi gii.
1. Xc nh vn tc im :
V
suy ra:
Lc t =2s th VxX = Vy = 12
2 cos450 = 12 cm/s
Do :
Ta c
2. Xc nh phng trnh chuyn ng:
36
37
Qu o: Rt
-Gia tc:
38
Gia tc:
Gia tc tip tuyn:
Gia tc php tuyn:
Bn knh cong ca qu o:
Bi tp cho p s :
3.1.1. Xc nh qu o, vn tc, gia tc im, nu phng trnh
chuyn ng ca im cho nh sau (x, y, z tnh bng cm, t tnh bng
giy):
a) Xc nh gi tr gia tc ca im.
b) Xc nh thi im t m tr s gia tc bng a1 v s vng N m
39
im chuyn ng c lc t n gia tc .
3.1.3. Con lc chuyn ng theo vng trn bn
knh l theo lut S = bsin(kt), trong b v k l cc
hng s ( hnh bi 3.3). Xc nh vn tc, gia tc
tip, gia tc php ca con lc v cc v tr ti cc
i lng ny bng khng.
3.1.4. C cu cam ( hnh bi 3.4), cam a trn
c bn knh r, trc quay O cch tm C mt on
OC=d, cam quay quanh O theo lut = ot. Tm
phng trnh chuyn ng v vn tc ca thanh AB.
Trc x hng dc thanh, gc O.
3.1.5. C cu tay quanh thanh truyn nh hnh bi
3.5. Bit = ot v coi
=
AO r
= l rt nh
AB l
41cm / s; w = 6 2 cm / s2
41
Chn chiu quay dng quanh trc (nhn t chiu dng ca trc z
thy vt quay ngc chiu kim ng h).
V tr ca vt c xc nh bi gc nh hng gia mt phng c
nh v mt phng gn cng vi vt cng qua trc quay (Hnh 3.6)
1. Phng trnh chuyn ng ca vt
= (t)
(3. 1)
2. Vn tc gc ca vt l i lng i s
biu th tc v chiu quay ca vt, o
bng rad/s (rad/s):
d
dt
(3.2)
chn tnh
Gi n l s vng/pht, tr s ca vn tc
gc:
(3.5)
(3.6)
(3.8)
2. vn tc ca im :
n
Gia tc pht tuyn: a :
- Cng phng vi
-Chiu ph hp
-Tr s a = R
(3.10)
V
(3.11)
44
ri : bn knh ; zi : s rng.
Truyn chuyn ng quay cng chiu (Hnh 3.8)
Truyn chuyn ng quay cng chiu (Hnh 3.9)
Bi tp gii sn :
I. Bit chuyn ng ca vt (hoc ca im thuc vt), tm cc c
trng khc ca chuyn ng
Th d 3-5 : Mt trc my ang quay vi vn tc gc n = 600
vng/pht th tt my v sau 20 giy th dng hn. Tm gia tc gc v s
vng m trc cn quay c sau khi tt my. Gi s trong qu trnh
trc my quay bin i u.
Bi gii :
Sau khi tt my, trc my quay chm dn u. V vy theo (3.7) :
45
. Lc t =20 s th = 0; = 1
Trong :
3
t . Tm
6
tnh cht chuyn ng ca thanh OA v vn tc, Gia tc ca im A lc
thanh quay c 18 vng.
Th d 3-6 : Thanh OA quay quanh trc O theo quy lut =
Rt ra : t, = 36.6 = 6(s) to vi lc :
46
2) Tm vn tc, gia tc im A.
Theo (3.9), (3.10), (3.11): V = l1 =
0,2.l8 = 1l,3m/s
a = l1= 0,2.6 = 3,8m/s2
an = l 12 = 0,2.(l8)2 = 648m/s2
Cc vect v hnh 3.10.
II. Truyn chuyn ng quay
Th d 3.7: C cu ti nh hnh 3.11
Do hm b hng, nn vt M ri xung vi
quy lut :x = 3t2
(x : tnh bng m ; t : tnh bng giy)
Tm vn tc v gia tc mt A ca tay quay lc t = 2s. Bit ng
knh ca trng l d = 40 cm, s rng ca bnh 1 v 2 l z1 = 72; z2 = 24
(Hnh 3.11).
Bi gii :
1. Trc ht xt vt M.
Vn tc
Gia tc
2. Bnh 1 chuyn ng c nh dy qun quanh trng. Gi N l im
trn vnh trng, ta c :
VN = VM = 6t(cm /s)
an =aM =6(cm/s2)
suy ra vn tc gc :
47
Gia tc gc :
Chiu ca (1; 1) nh (Hnh 3.11)
3. Bnh 2 quay c nh n khp vi bnh 1. Tr s vn tc gc ca
bnh 2 tnh theo cng thc :
Bi tp cho p s:
I. Bit chuyn ng ca vt (hoc im thuc vt), tm cc c trng
khc ca chuyn ng
3.2.1. Roto ca tuabin quay nhanh u, thi im t1 v t2 c vn tc
tng ng l n1 = 1300 vng/pht v n2 = 4000 vng/pht.
Xc nh gia tc gc v s vng quay n1 roto quay c trong thi
gian t = t2 - t1 = 30 s.
3.2.2. Mt trc my ang quay vi tc n = 1200 vng/pht th
hm. Sau khi hm tr my quay c 80 vng th dng hn.
Tm thi gian hm, bit rng trc quay chm dn u.
3.2.3. Vt quay quanh trc c nh theo phng trnh:
= l,5t2 - 4t ( - radian; t - giy).
Xc nh:
1. Tnh cht ca chuyn ng cc thi im t1 = 1 s ; t2 = 2s.
2. Vn tc v gia tc ca im cch trc quay mt khong r = 0,2 m
48
Xc nh :
1. Thi im u tin t khi bt u chuyn ng gia tc php ca qu
cu bng khng.
2. Thi im u tin gia tc tip bng khng.
3. Gia tc ton phn lc t = 2s
3.2.5. Mt vt quay nhanh dn u t trng thi
ngh. Lc t = 1s im cch trc quay mt khong R
= 2m c gia tc a = 2 2 m/s2.
Tm gia tc ca im cch trc quay mt
khong R = 4m, lc t = 2s.
3.2.6. Gia tc mt im trn vnh vlng lm vi bn knh gc 600.
Gia tc tip ca im y
(hnh bi 3.2.6).
thi im kho st l a = 10 3
m/s2
Hnh bi 3.2.7
49
50
a) Vn tc v gia tc ca im thi im u.
b) cao v xa ca im.
c) Bn knh cong ca qu o im u v im cao
nht.
3.2.12. Mt im chuyn ng theo ng inh c c phng trnh:
x = cos4t ; y = 2sin4t; z = 2t ( n v l mt). Tnh bn knh cong ca qu
o.
3.2.13. im M trn thanh truyn ca c cu tay quay thanh truyn
l
OAB vi OA = AB = l = 60 cm; MB = ; = 4t t tnh bng giy).
3
Tm qu o ca M Tnh
vn tc, gia tc v bn knh
cong ca qu o ti v tr
= 0.
51
3.3 HP CHUYN NG CA IM
Vn cn ch :
I. nh ngha
im M chuyn ng i vi vt A, vt A
chuyn ng B c nh. Gn vo A mt h ta
- gi l h ng. Gn vo B mt h ta gt t h ng. Ta c cc nh ngha (Xem
hnh 3.12) sau:
- Chuyn ng ca im M i vi h c
nh l chuyn ng tuyt i v gia tc tuyt
i. K hiu l Va , aa.
- Chuyn ng ca im M i vi h
ng l chuyn ng tng i.
- Vn tc v gia tc ca im M trong
chuyn ng ny l vn tc tng i v gia tc tng i.
- Chuyn ng ca h ng i vi h c nh l chuyn ng theo.
Gi trng im ca M l mt im M* thuc h ng, ti thi im kho
st M* trng vi M.
Vn tc v gia tc ca trng im M* l vn tc theo v gia tc theo
ca M. K hiu Vr, ae.
52
Trong :
Gia tc Crilit:
( e; e l Vn tc gc, gia tc gc c h quy chiu ng, R l
khong cch gia hai trc quay n trng im M,)
Ch : Trong (3.14) v (3.15), nu chuyn ng tuyt i v chuyn
ng tng i l cong th tip tc phn tch chng thnh hai thnh phn:
Tip v php:
- i vi bi ton phng (e Vr )
53
Vr mt gc )
Bi gii
1. Phn tch chuyn ng im A
im A chuyn ng i vi cht A, culit K chuyn ng i vi gi
c nh.
V vy ta chn cui K lm h ng.
- Chuyn ng tuyt i l chuyn ng ca A i vi gi c nh A.
l chuyn ng trn u, tm O, bn knh OA.
- Chuyn ng tng i l chuyn ng ca A i vi cht K. l
54
ana hng v O, v tr
ana = l20 cn ar V ae = a A. ch bit phng, chiu c gi thit.
- Cc vect c v hnh 3.14b.
- Tnh ar V ae: Chiu c hai v ca (b) ln hai trc 1 v 2 ta c:
aan.cos600 = ae; aan.sin 600 = ar
3 2
l 0 . vct ar v ae cng gi thit sai
2
chiu. Vy thi im kho st con chy A trt chm dn v pha trn,
suy ra: ae = -
1 2
l 0; ae
2
=-
55
56
trong :
60cm/s
Va = Ve (A* thuc O1B v trng vi A) do Va O1B, tr s Ve cha
bit.
Da vo (a) v c cu, v c cc vect vn tc ( hnh 3.15a)
-
3 cm/s2
Gii c
Bi gii :
1. Phn tch chuyn ng im M : im M chuyn ng dc AB,
thanh AB chuyn ng tnh tin. V vy chn AB lm h ng.
- Chuyn ng tng i l chuyn ng ca M i vi AB. l
chuyn ng thng dc AB.
58
(a)
Ve = VM* = VA (thanh AB tnh tin M* thuc AB, trng vi M)
xc nh
- Cc vect vn tc c v nh hnh (3.16b)
3. Gia tc
59
gia tc l:
Da vo phn tch chuyn ng ta thy:
ar hng dc AB, tr s
ae O1A, tr s
T , gia tc tuyt i ca im M l:
60
Bi gii
1. Phn tch chuyn ng ca im M: im M chuyn ng theo vnh,
vnh quay quanh O, v vy chn vnh lm h ng.
- Chuyn ng tng i l chuyn ng ca M i vi vnh. l
chuyn ng trn theo vnh.
- Chuyn ng theo l chuyn ng ca vnh. l chuyn ng
quay u quanh O.
- Chuyn ng tuyt i l chuyn ng ca M i vi gi c nh ta
cha bit.
2. Vn tc
- Biu thc vn tc: Va - Vr + Ve
Khi t = 2 s th S = 10 - R.
(a)
= OA, im M chuyn ng n A.
2
- Vect Vr , Ve c v nh hnh 3.17a
61
Tnh Va: Chiu hai v ca (a) ln hai trc to cac
3. Gia tc
Biu thc gia tc: v chuyn ng theo l quay u v chuyn ng
tng i l trn u, nn:
an e =
anA* (A* l im
2 20=
180 2 cm/s2
62
Gia tc tuyt i ca M l
Bi tp cho p s
I. Bi ton phn tch chuyn ng ca
im
3.3.1. Tay quay OA = l quay iu quanh
O vi vn tc 0 lm con chy A chuyn
ng trong rnh ca culit K v culit K
chuyn ng ln xung (Xem hnh bi
3.3.1.).
Tm vn tc v gia tc ca culit K v vn
tc gia tc ca con chy A i vi cht cho bit
lc kho st = 300.
3.3.2. Cn y AB chuyn ng hng,
nhanh dn u, sau 4 giy n vt t v tr cao
nht xung on h = 4cm lm cho cam bn knh
r = 10cm trt trn nn ngang.
63
Tm vn tc gc v gia tc gc ca cn
lc BA lc A v tr cao nht v lc O1B
vung gc vi cn lc BA.
Xc nh tr s gia tc tng i v
crilit ca M nu = 10 rad/s v O1O2 =
15cm. Hng dn: hon ton hnh bi 3.3.6.
cha xc nh, phn tch thnh arv
II- Bi ton tng hp chuyn ng ca
im.
3.3.7. Trn xe chuyn ng nhanh dn vi gia tc 49,2 cm/s2 c t
mt trong c in. Roto ca ng c quay vi phng trnh = t2. Bn
64
65
= 450
lut z = l0 -
1
w t2 (w2 =
2 2
66
trong s,
II.Vn tc ca im thuc vt
67
VB = VA + VBA
(3.16)
VBA= BA.s
(3.17)
H.chAB VB = H.chAB VA
3. Tm vn tc tc thi P
Ti mi thi im hnh phng c mt im P, ti VP= 0 - vn tc
mi nim phn b ging nh hnh phng ang quay quanh P vi vn tc
gc s:
VB - PB.s ; VA = PA.s
VB
=
VA
PB
(3.18)
PA
68
* Phng php xc nh P:
III. Gia tc ca im thuc vt
Trong
anBA
aBA
hng t B n a
anBA = BA.s
BA
aBA = BA.s
2. Ch :
Nu qu o ca A v B l cong, th tip tc phn tch:
i vi a phng ( bnh xe, bnh rng, rng rc ng), gia tc gc
ca a tm c bng cch ly o hm vn tc gc ca a theo
thi gian:
V khi ny
69
Bi tp gii sn
I. Vit vn tc, gia tc im A v tm vn
tc P vi AP = const (c cu a ln khng
trt)
Th d 3.11. Tay quay OA quay xung
quanh trc O lm bnh 2 ln khng trt theo
vnh bnh 1 c nh (hnh 3.23). Bit r2 = 0,2
m v r1 = 0,3 m. Ti thi im tay quay c
vn tc gc = 1 rad/s v gia tc gc = 4
rad/s2. Hy tm:
- Vn tc gc bnh 2 v vn tc im B
trn vnh bnh 2 (AB OA).
- Gia tc gc bnh 2 v gia tc im B
Bi gii
1. Phn tch chuyn ng cc khu
Tay quay OA chuyn ng quay, bnh 2 chuyn ng song phng,
aA v P vi AP = const.
2. Vn tc.
Dng phng php tm vn tc tc thi.
-
Xc nh vn tc gc ca bnh v vn tc im B.
Vn tc bnh 2:
2 ngc chiu kim ng h
Vn tc im B:
70
2r; O1B = 2r
Bi gii.
Thanh OA v O1B quay xung quanh cc trc c nh. Thanh AB
chuyn ng song phng. i vi thanh ny, ta bit c c trng
chuyn ng ca hai im : VA , aA v qu o B
1. Vn tc
C th dng cc phng php tnh vn tc sau:
im B thuc AB nn:
72
cha bit
cha bit
Suy ra:
Ta c:
Suy ra
2. Vn tc
Dng phng php tm vn tc tc thi.
a) Xt bnh 1
(bnh ln khng trt)
73
Vn tc im B: VB = P1B1=2r
20
VB P1B, chiu ph hp vi 1.
-Xc nh tm vn tc tc thi.
- Xc nh vn tc gc ca thanh BD v vn tc im D:
Vn tc gc ca thanh BD:
chiu kim ng h.
ngc
anA hng t A n O:
anBA hng t B n A:
nn
trong :
75
Bi gii :
1. Phn tch chuyn ng.
Vt 1 v 2 chuyn ng tnh tin, 2 rng rc quay xung quanh trc c
nh. Rng rc di ng chuyn ng song phng. Khi khng c trt
gia dy v rng rc th tr s vn tc ca vt nng bng tr s vn tc
im tip xc; tr s gia tc vt nng bng tr s gia tc im tip xc,
ngha l :
V1 = Va; a1 = a1A ;
V2 = VB; a2 = a1B
2. Vn tc. Trn rng rc ng ta bit vn tc 2 im do xc nh
c tm vn tc tc thi P ( hnh 3.26a)
- Vn tc gc ca rng rc l:
76
anBC hng t B n C
Gia tc im B:
77
Bi tp cho p s
3.4.1. a phng c bnh knh R = 0,5m
ln khng trt theo mt phng nghing. Ti
thi im kho st ca c vn tc VA = 1
m/s v gia tc aA = 3 m/s2
Tm : - Vn tc ca a, vn tc cc im
C, D, E.
Gia tc gc ca a, gia tc cc im B, C
Bit BD CE, CE song song vi mt phng
nghing (hnh bi 3.4.1.)
3.4.2. C cu hnh tinh c tay quay OA
quay vi vn tc gc 0 = const lm cho bnh I
bn knh r ln khng trt theo vnh trong ca
bnh c nh, bn knh R = 3r (hnh bi 3.4.2)
Tm :
Vn tc cc im C, D, E thuc bnh I.
Gia tc cc im B, C. Cho BD -L CE.
3.4.3. Mt phng c cun bng mt si
dy c mt u B c nh. a c bn knh r ri
xung khng vn tc u v m dn dy ra (hnh
bi 3.4.3)
Tm vn tc c vn tc
78
79
Chng 4
C CU PHNG
4.1 CU TRC V XP LOI C CU
4.1.1 Xp loi khp ng
Vn cn ch
Gii:
Hai khu tip xc vi nhau bng mt mt tr (hnh 4.1a) to thnh
mt khp thp v gn vi khu 1. Do c im tip xc hnh hc ca
khp, ch c mt kh nng khu 2 quay quanh trc z: Qz khng b hn
ch, cn 5 kh nng : khu 2 tnh tin theo ba trc : Tx, Ty, Tz V quay
quanh hai trc Qx, Qy u b hn ch. Nn y l khp loi 5, cn gi l
80
Hnh 4.1
Hai loi khp thp ny dc dng ph bin nht trong c cu phng
v trong thc t k thut.
4.2. Xp loi v v lc khp ng (hnh 4.2a). Xt trng hp
bin th (hnh 4.2c) nu gn cht vo khu 2, x rnh trn khu 1.
Gii.
Hai khu tip xc vi nhau bng mt mt cu (hnh 4.2a) to thnh
mt khp thp. t mt h trc Oxyz vo tm mt cu v gn vi khu 1,
khu 2 ch c ba kh nng chuyn ng quay tng i c lp vi khu
1 : Qx, Qy, Qz: ba kh nng chuyn ng tnh tin Tx, Ty, Tz u b hn
ch do mt cu ngoi ca khu 1. Vy y l khp loi 3, cn cn gi l
khp cu vi lc khp ng nh (hnh 4.2b)
Nu gn cht vo khu 1 v x rnh trn khu 2 (hnh 4.2c) th thm
mt trong hai kh nng chuyn ng quay Qz hoc Qy b hn ch, ch cn
hai kh nng chuyn ng quay Qx V Qy (Qz) v Qy v Qz khng phi l
hai kh nng chuyn ng c lp i vi nhau nn khp cu cht l
khp thp, loi 4 vi lc khp ng nh (hnh 4.2d).
Hai loi ny thng dng trong c cu khng gian hoc c cu phng
cho php h nht nh
81
Hnh 4.2
4.3. Xp loi v v lc khp ng (hnh 4.3a). Xt trng hp
bin th (hnh 4.3c) nu mt tip xc ca hai khu li l mt rng thn
khai ca cp bnh rng thng n khp kht.
Hnh 4.3
Gii :
Hai mt tr tip xc ngoi theo mt ng to thnh mt khp cao.
t mt h trc to ng tip xc v gii hn vic xp loi khp
trong mt phng xy (hnh 4.3a), v th c ba kh nng chuyn ng : Tz,
Qx, Qy b hn ch sn. Ngoi ra do phi m bo lun tip xc theo
ng song song vi trc z nn khu 2 ch c hai kh nng chuyn ng
ln trn khu 1 tc l quay quanh trc z: Qz v trt trn khu 1 tc l
tnh tin theo mt tr ca khu 1 :Ty (Tx) hay Tx (Ty) ph thuc vo nhau
qua lin h ca phng trnh mt tr. V tip xc ng v c bn hn
ch nn l khp cao, loi 4, vi lc khp ng nh (hnh 4.3b).
Khp ng ca cc c cu cam v bnh rng tr thng thuc loi ny.
82
Bi tp cho p s :
4.1.1. Xp loi v v lc khp ng gia trt v trc trn
(hnh bi 4.1.1a) ri suy ra trng hp trc c g (hnh bi 4.1.1b)
4.1.2. Xp loi v so snh cc khp ng gi hnh cu tip xc vi
mng tr hnh cu cht (hnh bi 4.1.2a) tip xc vi mng tr x rnh
(hnh bi 4.1.2b)
4.1.3.Xp loi v v lc khp vt (hnh bi 4.1.3)
4.1.4. Xp loi khp ng ti rnh trt ch V (hnh bi 4.1.4a) so
snh vi mt phng (hnh bi4.1.4b)
4.1.5. Xp loi khp ng gia hai hnh xuyn trn lng kht vi
83
84
Gii:
Trong cu to thc ca ng c ta thy: p lc kh t y pittng
(con trt 3) i xung, qua tay bin (thanh truyn 2) khin trc khuu
(tay quay 1) quay. C cu c 3 khu ng, n = 3 vi cc kch thc ng
l CB, AB, AC v 4 khp, 3 khp quay (gia 1 v gi), B (gia 1 v 2),
C (gia 2 v 3), 1 khp tnh tin(gia 3 v gi) u l khp thp loi 5.
ng thi cc khu trong c cu u chuyn ng trong cng mt mt
phng nn c lc nh (hnh 4.4b). l c cu tay quay con trt
vi bc t do:
Hnh 4.4
Hon ton phn tch tng t, ta thy v mt nguyn l cu to (lc
ng, bc t do) ca c cu my p lch tm (hnh 4.4c v hnh 4.4d)
khng khc c cu ng c t trong (hnh 4.4a v 4.4b),
4.11. V lc ng, tnh bc t do ca c cu my bo ngang
(hnh 4.5a) v so snh nguyn l cu to vi c cu my bo ngang trn
(hnh 4.5c) (b thanh truyn 5 v thm con trt 7)
85
Hnh 4.5
Gii:
Trn cu to thc ca my bo ngang (hnh 4.5a) ta thy: chuyn
ng t ng c truyn n bnh rng 1 ni vi gi mt bng khp quay
A ri qua khp loi cao B ca hai bnh rng 1 v 2, bnh rng 2 ni vi
gi bng khp quay C. Trn bnh rng 2 lp con trt 3 bng khp quay
D, trt trn culit 4 nh khp trt D gia 3 v 4, culit ko thanh truyn
5 lm u bo tnh tin trn gi nh cc khp quay E (gia 4 v 5), F
(gia 5 v 6) v khp trt G (gia 6 v gi). Ngoi ra pha cui culit
ni vi gi bng khp quay H. Vy c cu c s khu ng n=6, s khp
loi thp p5= 8, s khp loi cao p4 = 1. Qua cc kch thc ng AB,
BC, CD, DH, EF, GC, CH ta biu din lc c cu my bo ngang
(hnh 4.10a) nh trn (hnh 4.5b) v tnh c bc t do ca c cu:
W = 3n - 2p5 - p4 = 3.6 -2.8 -1 =1
So snh my bo ngang hnh 4.10c b thanh truyn 5, thm con
trt 7, tng s khu ng khng i, bt khp quay F, thm khp trt
H ( gia 4 v 7) u l loi 5 nn tng s khp v loi khp cng khng
i, do bc t do khng i, ch c lc thay i nh (hnh 4.5d).
4.12. V lc ng, tnh bc t do ca c cu bm m (hnh 4.6a)
v so snh vi c cu bm hnh (4.6c).
Gii:
Trn cu to ca c cu bm m (hnh 4.6a): tay quay 1 ni vi
86
Hnh 4.6
4.13. V lc ng v tnh bc t do c cu ni trc ondam
(hnh4.7a)
Gii.
Trn cu to thc ca c cu ni trc ondam (hnh 4.7a) truyn
chuyn ng gia hai trc song song cnh nhau mt khong OO = c, ta
thy trc O gn t vo a 1, ny c rnh trt g trt ca a 2
chy trong , to thnh khp trt B. Cu to ca 2 vi hai g thng
gc c v trn (hnh 4.7b). Tng t, gia 2 v 3 c khp trt C, cn
gi ni vi hai trc O v O' bng hai khp quay O v O, Vy s khu
ng n = 3, s khp loi thp p5= 4. Qua kch thc ng OO', lc
ca c cu ni trc ondam c v trn (hnh 4.7c). Bc t do ca c
cu:
W = 3n - 2p5 - P4
87
Hnh 4.7
4.14. V lc ng v tnh bc t do ca c cu bnh rng vi sai
(hnh 4.8a). Xt trng hp khi bnh rng 3 c nh.
Hnh 4.8
Gii.
Trn cu to thc ca c cu bnh rng vi sai: nhng ng tm O1
v O3. Ca hai bnh rng trung tm 1 v 3 cng nm trn mt ng
thng v c nh, cn ng tm ca hai bnh rng v tinh 2 v 2' - hai
bnh rng ny ni cng vi trc ca chng quay theo cn C quanh O1 v
O3. s khp ng n=4, s khp loi thp (u l nhng khp quay) p5 = 4
( ti O c hai khp theo nh ngha ca khp ng - l ch ni ng gia
hai khu). Nh nu trong bi tp 3, s khp loi cao p4 = 2. Kch
thc ng l khong cch trc v bn knh vng ln ca cc bnh rng.
Lc ng trng hp ny v trn hnh 4.8b v c cu bnh rng vi
88
sai c bc t do l:
w = 3n -2p5 - P4 = 3.4 - 2.4 -2 = 2
Khi c nh bnh rng 3(mt trong hai bnh rng trung tm) c c c
cu bnh rng hnh tinh. S khu ng gim 1, s khp quay gim 1 (ti
O3), lc ng c v trn (hnh 4.8c) v bc t do ca c cu bnh
rng hnh tinh l:
W = 3n - 2p5 - P4 = 3.3 - 2.3 -2 =1
Bi tp cho p s:
4.1.6. V lc ng, tnh bc t do c cu my ba rm (hnh bi
4.1.6a) v so snh vi c cu cu trc bng (hnh bi 4.1.6b)
4.1.7. V lc ng, tnh bc t do c cu ca t but (hnh bi
4.1.7)
Hnh bi 4.1.6
89
Hnh bi 4.1.9
4.1.10. V lc ng, tnh bc tng c cu my bm nc (hnh
bi 4.1.10)
4.1.11. V lc ng, tnh bc t do c cu mant (hnh bi
4.1.11)
4.1.12. V lc ng, tnh bc t do c cu v cp (hnh bi
4.1.12.)
Hnh bi 4.1.10
Hnh bi 4.1.11
Hnh bi 4.1.12
90
Hnh 4.9
Gii.
Xilanh 1 quanh quanh tm O1, mang ba pittng 3, 5, 7 ni vi n
bng nhng khp tnh tin va trt, va quay, ba pittng ny ni vi ba
thanh truyn 2, 4, 6 bng nhng khp quay A, B, C; u kia ca ba thanh
92
Gii.
Hnh 4.10
y khu dn l bnh rng 1, truyn qua bnh rng 2 bng khp
loi cao B. Hy thay th khp ny bng mt khu v hai khp loi thp:
ti thi im tip xc, tm hai tm cong ca cnh rng (Nu cnh rng
thn khai, tm cong nm trn vng c s: N1 v N2) v t thm vo
hai khp quay N1 v N2 cn khu thm vo l khu ni hai khp (hnh
93
Xp loi cc c cu v lc t bi 18 n bi 27 (xem tn cc
cc c cu trong phn p s tng ng v lc )
4.1.16. Tnh bc t do v xp loi c cu phi hi u my xe la
trn (hnh bi 4.1.16a, b) (coi bnh xe l khu dn)
Hnh bi 4.1.16
4.1.17. Tnh bc t do v xp loi c cu my p c kh (hnh bi
4.1.17a) v my p thy ng (hnh bi 4.1.17b)
Hnh 4.1.17
4.1.18. Tnh bc t do v xp loi c cu ng c izen (hnh bi
4.1.18)
94
95
96
Hnh 4.2.1
4.2.2. Tm vn tc v gia tc ca dao bo E trong my bo ngang
(hnh bi 4.2.2) v tr 1 = 600 nu lAB = lAC = 0,05m, lCD = 0,12 m.
Tay quay AB quay u vi vn tc n1 = 120vg/ph.
97
Gii:
Theo lc ng cho trc (hnh
4.16), h c bc t do:
y bnh rng 2 v cn C l 1 khu,
bnh rng 3 c nh v bao gm :
- Cp bnh rng 1-2 c ng tm
khng thay i v tr trong qu trnh truyn
99
= i12.i25
trong :
* i12 l t s truyn ca h thng
nhng n3 = 0 suy ra
hay
Vy i25 = ic5 = 10
T s truyn ca c h hn hp : i15 = (-4). 10 = -40 v s vng quay
ca bnh rng 5 l :
Du tr chng t bnh rng 5 quay ngc chiu bnh rng 1.
2) T t s truyn trong h hnh tinh :
144
32
100
Gii.
Theo lc ng cho trc, bc t do ca h l: Hnh 4.12
nhng n3 = 0 suy ra :
101
Gii.
1. phn tch cu to ca h cho trc (v bng nt lin trn hnh
4.13) cn ch l bnh rng 3 v 3 ' l ging ht nhau v mt cu to v
102
Ch ti
nn
Trong bit:
nn tnh c t s truyn i,c ca h:
103
67
th s rng ca h thm vo s
68
c xc nh nh sau:
104
2. S t s truyn ca h.
3. Tc ca trc b ng IV ng vi mi s.
4.3.5. Trong hp tc c 3 bnh rng di ng trt ( Z4, Z6, Z8)
nhn c cc t s truyn sau: i14 = 1,53, i16 = 2,8, i18 = 4,316.Cc bnh
rng u tiu chun vi moun n khp m = 6mm v khong cch trc A
= 180mm, s rng cc bnh rng Zl = 20, Z2 = 40 (hnh bi 4.3.5).Hy
tnh s rng cc bnh rng cn li.
4.3.6. Tnh s vng pht ca cnh qut C v bnh rng 2 trong c cu
qut my (hnh bi 4.3.6) nu bnh rng 1 dn ng quay vi s vng
pht n1 = 2700vg/ph v cc bnh rng u tiu chun,n khp ng vi
s rng : Z1 = 66, Z2 = 18. Hy nghim li kt qu bng phng php
th vect.
106
Chng 5
NG LC HC
5.1. NG LC HC CHT IM
Vn cn ch
I.Phng trnh vi phn chuyn ng ca cht im
* Cht im c khi lng m, chu tc dng ca cc lc F1, F2 Fn
dng vect:
Bi gii:
Vt kho st.
Vt nng c coi nh mt cht im. Cc lc tc dng ln cht
im bao gm: trng lc P, sc cng T ca dy.
p dng ng thc (1) ta vit phng trnh vi phn chuyn ng cho
cht im.
Chn to Oz hng thng ng t di ln.
Chiu phng trnh vect trn ln trc Oz:
T y rt ra sc cng T ca dy:
T = m(g + a)
Nhn xt:
Bi gii.
Con ngi li l cht im M chuyn
ng theo ng cong (C), chu tc dng
ca trng lc P v phn lc R c phn
tch theo hai phng tip tuyn v php
tuyn tuyn vi qu o ti im (hnh
5.2)
R= T+ N
Phng trnh vi phn chuyn ng
dng vect
(a)
m a= P+ T+ N
Khi chiu hai v ca (a) ln phng php tuyn chnh, ta c:
man = - p + N (b)
T (b) ta c
109
thang.
5.1.2. Mt on tu ho khng k u my c khi lng l 200 tn
chy nhanh dn trn on ng ray nm ngang. Sau 60 giy k t lc
bt u chy n t ti vn tc 54km/h. Tnh lc ko ca u my ln
on toa ch mc ni trong chuyn ng , bit rng lc cn chuyn
ng bng 0,005 trng lng ca on tu.
5.1.3. Mt xe gong c khi lng 700kg ang chy xung dc dc
theo ng ray thng v nghing vi mt ngang mt gc 150. gi cho
xe chy u, ta dng dy cp song song vi mt dc. Vn tc chy ca xe
l 1,6m/s. Xc nh lc ko ca dy cp lc xe chy u v khi n hm
dng li trong 4 s? Lc hm coi rng xe chy chm dn u. H s cn
chuyn ng tng cng l f = 0,005.
5.1.4. Mt t ch hng, c khi lng l 6 tn chy xung mt
chic ph vi tc 21,6 km/h. T lc bt u xung ph n lc dng
hn xe phi chy thm mt qung l 10km v cho rng khi y t chuyn
ng chm dn u. Tnh lc cng mi dy cp (c hai dy cp) buc gi
ph, coi rng dy cp lun lun cng.
5.1.5. Mt ci sng qung thc hin dao ng iu ho thng ng
vi bin a = 5cm. Ttm tn s k nh nht ca sng cho cc ht
qung bt c ln khi mt sng.
5.1.6. Mt my bay b nho trong mt phng thng ng ri li
ngot ln. im thp nht ca qu o my bay c vn tc V =
1000km/gi v bn knh cong ca qu o l R = 600m. Khi lng ca
ngi li l 80kg. Tm p lc php tuyn do ngi li tc dng ln gh
ngi v tr thp nht ca qu o.
5.1.7. Mt on tu ho chy trn mt on ng vng vi vn tc
bng 72km/h. Trong toa ngi ta treo vt nng vo mt lc k l xo t
thng ng. Khi lng ca vt l 5kg. Lc k ch 50N. Xc nh bn
knh cong ca ng vng, b qua khi lng ca l xo lc k.
5.1.8. Mt ngi i xe p vch nn ng cong c bn knh cong
bng 10m vi vn tc 5m/s. Tm gc nghing gia mt phng trung bnh
ca xe vi mt phng thng ng v h s ma st b nht fmin gia lp xe
v mt ng bo m cho xe chy n nh.
110
* Phng php 1
Theo nh ngha ta c
Vi i = 1, 2,..., s
III. iu kin cn bng ca c h chu lin kt hlnm, gi, dng v
l tng trong dng to suy rng
Qi = 0; i = 1,2,...., s
5.2.2. Nguyn l almbe
Vn cn ch
I. Lc qun tnh
trong :
ac - gia tc khi tm C.
trong :
gia tc gc ca vt.
113
trong :
gia tc gc ca tm phng.
115
Hnh bi 5.2.7
II. Nguyn l almbe
5.2.8. Mt ti t trn dm ta ln C v D. Khong cch CD = 8m,
AC = 3m. Vt B nng 20kN c ko tnh nhan dn vi gia tc a =
0,5m/s2. Tim sc cng ca dy. Tm p lc ph ln gi C, D do lc qun
tnh ca vt nng (hnh bi 5.2.8)
5.2.9. Vt c trng lng P1 ri xung vi gia tc a1, trc 2 c trng
lng P2 c bn knh r, v R, momen qun tnh i vi trc quay l J. a
3 c trng lng P3, bn knh r ln khng trt
Vk l vn tc cht im th k.
Theo nh ngha khi tm C ta c th vit ng lng ca c h nh
sau:
118
c. Xung lng ca lc F c nh ngha nh sau:
- Dng hu hn:
r
Trong S he
r
l xung lng ca ngoi lc K he ;
119
l gia tc ca khi tm C;
Hng dn s dng:
r
chnh R' = Fhe hoc l hnh chiu ca vect y ln mt trc no .
T xc nh bi ton cn gii quyt l bi ton thun hay ngc
v nh l no cc cng thc (3), (5), (7) c th p dng gii bi ton
y.
5.3.2. nh l bin thin mmen ng lng
Vn cn ch
( Lz) :
trong :
Jz l momen qun tnh ca vt i vi trc z;
l vn tc gc ca vt quay.
Trng hp bo ton:
Nu
th Lo = const : momen ng ca c h i vi
tm O bo ton.
Nu
(10)
121
th Lz = const : momen ng ca c h i vi trc z bo ton.
Hng dn s dng:
a. ng nng ca h
(5)
- Cng ca lc n hi:
trong : c l cng; x1 v x2 l bin dng u v cui.
- Cng ca lc v ngu lc tc dng vo vt quay quanh trc c nh.
123
c. nh l ng nng:
Dng vi phn:
Dng o hm:
Dng hu hn: trong :
Trong :
124
125
126
Tm qu o ca u mt B khi ta
cho thanh ri nm xung mt nn ngang
(hnh bi 5.3.5)
5.3.6. Mt toa tu dao ng iu ho
thng ng trn cc l xo vi chu k T =
0,5 s. Khi lng ca hm xe v trng l
10 tn, ca cc bnh xe bng 1 tn. Xc
nh p lc tng hp ca cc bnh xe ln
cc ng ray.
5.3.7. Xc nh p lc ln nn ca
mt my bm nc lc bm chy khng.
Trng lng ca phn c nh gm v D
v mng R bng P1 tay quay CA di l a
v c trng lng bng P2. Trng lng
ca mng trt B cng vi pittng l P3.
Tay quay OA quay u vi vn tc gc
. Xem nh cc vt kho st u l
nhng vt ng cht v c cu to i
xng nh hnh bi 5.3.7
5.3.8. Mt ng c hi nc nm
ngang trn mt mng nhn trn.Tay quay
OA c chiu di r quay u vi vn tc
gc . Thanh truyn di bng tay quay.
Coi rng khi lng ca cc b phn
chuyn ng c thu gn v thnh hai
khi lng m1 v m2 tp trung u tay quay v trng tm ca pittng.
Khi lng ca v ng c l m3. Xc nh chuyn ng ngang ca v
ng c, cho bit ban u ging v tr xa nht v bn tri (hnh bi
5.3.8).
128
129
(hnh bi 5.3.20)
5.3.21. Ngu lc c momen quay M
khng i tc dng ln tang ca mt
trc ti c bn knh bng r v c trng
lng P1. Qun vo tang ti mt si dy
mm nh, khng dn ri buc u mt
dy vo vt nng A c trng lng P2
ko n ln theo mt phng nghing,
gc nghing so vi mt phng ngang l
. H s ma st trt gia vt nng v
mt phng nghing l f. Tang ti c
xem l mt trc trn ng cht.
132
trong : S - s bc t do ca h;
T = T(qi, qi) - ng nng ca h c tnh theo h ta suy rng qi
v vn tc suy rng q; = dqi ;
dt
Qi - lc suy rng, c tnh theo cc phng php (5.2);
T
- o hm ring ca ng nng theo ta suy rng qi,
qi
T
- o hm ring ca ng nng theo vn tc suy rng qi;
qi
d
(q ) o hm theo thi gian ca (qi).
dt i
Phm vi ng dng
1. Phng trnh vi phn chuyn ng song phng
* Phng trnh ny dng gii c bi ton thun v ngc.
a. Bit chuyn ng ca vt, xc nh vect chnh v momen chnh
cc ngoi lc to dng ln vt v do c th xc nh cc lc lin b.
Bit cc lc tc dng ln vt, xc nh chuyn ng ca vt. Trng hp
bit qu o khi tm C, ta p dng cng thc dng (12-2)
2. Phng trnh Lagrange II
133
Bi gii.
1. Phn tch chuyn ng v lc: i chuyn
ng song phng.
Lc tc dng gm: Trng lc P, phn
lc N, lc F nm ngang, lc ma st Fms.
Fms
do :
V yc = R = const nn
Gii cc phng trnh (a), (b),(c) v ch ti cc lin h (d) v (e) ta
c :
134
Bi gii:
1. Phn tch chuyn ng v lc: Thanh
AB chuyn ng song phng. Cc lc tc dng
gm: trng lc P, cc phn lc lin kt NA, NB
2. Lp phng trnh vi phn chuyn ng.
Chn h ta nh (hnh th d 5-2) Quy
c chiu dng ca l ngc chiu kim
ng h.
Phng trnh vi phn chuyn ng c
dng:
1
Gii cc phng trnh trn vi JC = Ma2 ta c:
3
135
ta
u A ri tng khi NA = 0, tc l:
2
sin0
3
136
137
138
139
Chng 6
BIU NI LC - C TRNG HNH HC
140
Hnh bi 6.1
141
Hnh bi 6.2.
6.2. V biu ni lc ca cc hnh bi 6.2. Bit:
142
Hnh bi 6.3
143
Thay tr s ca lc P vo ri v biu Q v M.
Hnh bi 6.4
Tr li:
a) P = 6,7kN; b) P = 20kN
c) = 8,5kN; b) P = 31kN
144
Hnh bi 6.5
6.6. V biu Q v M ca cc dm chu tc phn b khng u trn
hnh bi 6.6. Bit :
Hnh bi 6.5
145
Hnh bi 6.7
6.8. Hnh phng BCDGH c khot mt l
hnh trn tm O, ng knh d=10 dm (hnh bi
6.8). Kch thc ca hnh chng c n v l dm.
Xc nh v tr tm Tr li: Chn h trc ban u
trng vi cc cnh BA v BC th:
xc = 8,35(dm) ; yc = 8,7(dm)
146
a) yc= 318 dm
b) Jmax = 52,9 dm4
Jmin = 38,7 dm4
a) xc= 3,7 cm
b) Jmax= 1332 cm4
Jmin = 704 cm4
Tr li:
Jmax= 122,9 m4
Jmin =5,7 m4
147
Chng 7
KO NN NG TM
1) d = 3,12 cm
2) = 88MN/m2 < []
7.3. Mt kt cu gm cc thanh
chu lc nh hnh v (Hnh bi
Kim tra cng ca hai thanh
AD v AE. Bit din tch mt ct
ngang ca hai thanh bng nhau v
bng 4 cm2, [] = 120MN/m2 ]
chn s hiu thp cho thanh BC.
Bit thanh lm bng thp I.
148
Tr li AD = 75MN/m2
AE = -100MN/m2
s hiu thp : 14
7.4 Thanh AB coi nh tuyt i
cng c gi bi hai si dy AD
v BC.
Xc nh lc nn ng tm P ti a.
Tr li :Pmax = 724kN
7.7. Ct cao 30m c 3 phn bng nhau, tit din ngang hnh vung
(Hnh bi 7.7). ng sut cho php []= lMN/m2. Trng lng ring bng
149
20 kN/m3.
Xc nh kch thc tit din ngang tng phn
khi P = 300 KN
Tr li :
87x87 cm2
97x97 cm2
108x 108 cm2
Tr li : = 50MN/m2 < []
150
Chng 8
CT V DP
Hnh bi 8.1
8.2. Kim tra cng ca then trn c ng knh d = 12 mm dng
ghp trc c ng knh D = 40 mm vi tay quay c kch thc nh
hnh bi 8.2. (tnh bng mm) ti u tay quay chu lc tc dng P = 2,8
KN. ng sut cho php ca then bng 62 MN/m2. ng sut dp cho php
ca then bng 90 MN/m2.
151
Hnh bi 8.2
Tr li:
8.3. Mi ghp bng inh tn, thn inh c ng knh d = 23 mm,
chu lc P = 280 KN. Cc kch thc nh hnh bi 8.3. (tnh bng
mm).Tm thp coi nh m bo an ton. Bit inh c:
[ d]= 320MN/m2
[c]=140MN/m2
Kim tra cng ca inh.
Hnh bi 8.3
Tr li:
152
Tr li : = 100MN/m2
Hnh bi 8.4
8.5. Bulng c ng knh Hnh bi 8.4 d = 32 mm, chu lc ko P.
Bulng c ng sut cho php
c
[
truyn momen quay Mz = 240
kNm.
Tr li :
b = 25 mm
h = 20 mm
153
bulng l:
[d]= 200MN/m2
[c ] = 80MN /m2
Tr li : d = 50 mm
8.8. Mi ghp bng inh tn
c kch thc nh hnh bi 8.8
(tnh bng mm). ng knh inh
d = 20 mm.
a) n = 5
b) n = 4
c) n = 3
154
Tr li :
a) l =97 cm
b) l1 = 13 cm
c) l2 = 26,8 cm
Hnh bi 8.10
Trc truyn c ng knh d = 60 mm.
Xc nh tr s mmen m cht c th truyn c (hnh bi 8.10)
Tr li : M = 0,37 kN.m
8.11. Cngxn lm bng thp gc
150x150x12 c ghp vi thanh thp [s 24a].
Bng 5 inh tn c ng knh d = 20 mm. Bit
inh c :
155
8.12. Mi ghp inh tn nh hnh bi 8.12 (cc kch thc tnh bng
mm). Bit
[c] = 140MN / m2 ;
[d] = 280MN/m2
P 175,8 kN
P 263,7 kN
156
Chng 9
XON THUN TU
158
Xc nh ng knh ca ct bit
d
= 0,6.
D
Tr li : D = 180 mm ; d = 108 mm
9.7. Trc ti bng thp trn c
ng sut cho php [] = 6MN/m2.
gi vt nng ngi ta tc dng
vo tay quay mt lc P = 0,25 kN
nm vung gc vi mt phng tay
quay (Hnh bi 9.7). Xc nh
ng knh trc ti theo iu kin
cng (khng k hin tng
un).
d = 48 mm
Q = 0,8 kN
Xc nh ng knh ca trc.
Tr li : d = 49 mm
9.9. Trc truyn c ng knh d = 90 mm truyn cng sut N = 20
kW, ng sut cho php ca trc [r] = 6MN/ m 2
159
n = 368 vg/ph.
= 0,40
Tr li : a = 135 mm
9.13. Thn dao khot l c tit din ch nht h = 1,5b
160
Chng 10
UN THUN TU
10.1. Xc nh ng sut php ln nht kmax v max) trong cc dm
trn (Hnh bi 10.1)
161
162
Chng 11
THANH CHU LC PHC TP
11.1 Tnh ng sut tip ln nht trong cc dm trn hnh bi 11.1.
163
164
165
[] = 16000N / cm 2
hn vt liu mt ct ch [ ( ]
[).
11.12. Xc nh max. min v v tr trc trung ho ti mt ct nguy
him ca ct hnh bi 11.12.
11.13. Mt ct c mt ct hnh ch nht c b dy khng i. b
166
167
11.17. Xc nh ng knh ca tr mt gi
p khi ti im A chu lc p bng 15kN (hnh
bi 11.17). Tr lm bng gang ng sut cho
php khi ko 3,5 kN/cm2.
11.18. Mt ct bng , trng lng ring,
=20kN/m3, chu ti trng nh hnh bi 11.18.
Xc nh ng sut nn ln nht v nh nht ti
mt ct chn ct v ch v tr ca chng trn mt
ct y.
11.19. Mt ct thp ch I s hiu 33, chu nn
ng tm bi lc P = 2 kN. Nu dc chiu cao
168
169
170
171
172
PHN P S CC BI TP
Chng 1
CN BNG CA H LC
1.1
1.2
NA = NB
1.3
1.4
ND=
P
P
; XA = -P ; YA= 2
2
1.5
XA=
P
1
1
; YA= (P 3 12aq) ; NB = (3P 3 + 4aq)
2
8
8
1.6
1.7
1.8.
1.9.
1.10.
3
3
; S2 = S4 = 2
P; S3 = S5 = 0
2
3
S6 = -S7 =
3
; S8 = -P
3
1.13. N = 5 3 P
1.14. XA = 0; YA = 15N; NB = 5N ; Xc = 0; Yc = 5N ; ND = 20N
173
FB = 213,4 N
T= 1 3 ,4N
1.19.
1.20. 1/ Q = Pcotg
2/ Q = P(cot g - 3f)
cot g < 3f
174
Chng 2
H LC KHNG GIAN
P
;
2
2.1
S1 = S3 = S4 = 0 ; S2 = S6 = -
2.2
S1 = P; S2 = -P 2; S3 = -P1 ; S4 = P 2 =S5; S6 = -P
2.3
2.4
S = 34,5 N; XA = 17,3 N; ZA = 30 N; VB = 0; ZB = 60
2.5
2.6
2.7
2.8
2.9
175
Chng 3
CHUYN NG CA IM
3.1.2
3.1.3
2 2
V = bkcoskt; a = bk2 sin kt;an = b k cos2kt;
l
V = an = 0; ti v tr bin, a = 0 ti v tr 0
3.1.4
3.1.5
176
YM =
r
sin0t
2
3.1.6 x = 4sin
t;
2
3.1.7
3.2.1
= 3 (rad/s2);n = 1325(vng)
3.2.2
t=8s
3.2.12
3.2.13
1
=2 m
8
2
2
Elip X 2 + Y 2 = 1 ; V = 80cm/s
100 20
177
a = 16002 ; = 4cm
3.3.1
9
3.3.2 Ve = (cm/s); ae =0,406(cm/s2)
8
3.3.3 a = aotg
3.3.4 1 = 0,6(rad/s); 11 = 0
1 = 0; 11 = 1,9(rad / s2 )
3.3.5
178
Chng 4
C CU PHNG
4.1
Khp loi 3
H bnh rng
180
Chng 5
NG LC HC
5.1
ng 1c hc cht im
5. 1.4 T= 5396 N
5.1.5 K = 14 rad
5. 1.6 N= 11065 N
5. 1.7 R= 202m
5.1.8 = 14025' ; fmin= 0,225
5.1.9 t= 1,61S
5.1.10 h = 175 m
5.1.11 Chuyn ng sau 5/3 giy k t 1c ng mch; s = 0,1962(t 5/3)3 m
5.1.12
5.1.13
5.2. Nguyn 1 di chuyn kh d
5.2.1
5.2.2
5.2.3
181
5.2.4
5.2.5 P =
Q
;f1
2
5.2.6
5.2.7 a) XA = 0; YA = ,36.104N; MA = 0,73.104 Nm; NB = 11.103
b) XA = 1,47.104N; YA = -5,4.104N; NB = 6,85.104N; ND =
2,08.104N
5.2.8 T= 21Kn; NC = 0,637; ND = 0,382.Kn
5.2.9
5.3 nh 1 tng qut dng hc
5.3.1 R = 502 N
5.3.2 R = 88,8 N
5.3.3 = 0,36 m
5.3.4
5.3.5 Elip
5.3.6 p lc thay i 68,67.103 N n 147,15.103N
5.3.7
5.3.8
182
5.3.9
5.3.10
5.3.11
5.3.12
5.3.13
5.3.14
5.3.15
N =2,944kW
5.3.16
N =369,45kW
5.3.17
5.3.18
5.3.19
5.3.20
5.3.22
183
5.3.23
5.4.1 k = rtg
5.4.2
5.4.3
5.4.4
5.4.5 T = 2,266P
5.4.6 bin thin ca p lc ti A l
5.4.5
5.4.6
l gc quay ca trc
184
5.4.7
l gc quay ca ng thng ni tm tr
gc quay ca tr ngoi
5.4.10
5.4.11
185
Chng 11
THANH CHU LC PHC TP
11.2
Un phng : a, b, c, e, i, l;
Un xin : d, g, h, k, m;
11.3
ng cho th 2 ca mt ct.
a)
11.4
11.5
a) max = -20kN/cm2 ;
b) max = -140kN/cm2;
11.6
a) max = 832kN/cm2;
b) max = -856kN/cm2 ;
11.8
Phng n 1 : a = 3,93 m.
Phng n 2: a = 3,52 m.
11.9
a = o,63cm; b = -4,67 cm
c) max = 930N/cm2; min = -1130N/cm2
a = - 1,44cm; b= 4,67cm
186
a) d > 2,46
Pa
[]
b) d 50 mm
c) d = 38 mm; b = 22 mm
d) d1 = 54,5 mm; d2 = 64 mm
11.27 d = 50 mm
11.28 d = 20 mm.
187
188
MC LC
Trang
LI GII THIU...................................................................................... 1
Hc phn I: C HC VT RN TUYT I....................................... 2
Chng 1 CN BNG CA H LC PHNG ..................................... 2
1.1. BI TON MT VT KHNG C MA ST ........................... 2
Vn cn lu : .................................................................................. 2
1.2. Bi ton h vt khng c ma st .................................................. 10
Vn cn ch :................................................................................ 10
Bi tp gii sn........................................................................................ 11
1.3. BI TON C MA ST ............................................................ 14
Chng 2................................................................................................. 24
CN BNG CA H LC KHNG GIAN ........................................ 24
Vn cn ch :............................................................................... 24
Bi tp gii sn :.................................................................................. 25
Bi tp cho p s : ............................................................................. 27
Chng 3 NG HC........................................................................... 31
3.1 CHUYN NG CA IM..................................................... 31
Vn cn ch :............................................................................... 31
Bi tp gii sn:................................................................................... 34
II. Bi ton tng hp ........................................................................... 37
Bi tp cho p s : ............................................................................. 39
3.2 CHUYN NG QUAY CA VT RN QUANH TRC C
NH................................................................................................... 42
Vn cn ch :............................................................................... 42
Bi tp gii sn :.................................................................................. 45
Bi tp cho p s: .............................................................................. 48
3.3 HP CHUYN NG CA IM............................................ 52
Vn cn ch :................................................................................ 52
Bi tp gii sn.................................................................................... 54
Bi tp cho p s ............................................................................... 63
3.4 CHUYN NG SONG PHNG CA VT RN................... 67
Vn cn ch ................................................................................. 67
II.Vn tc ca im thuc vt ............................................................. 67
1. Quan h vn tc hai im th hin bng cng thc : ...................... 67
Bi tp gii sn.................................................................................... 70
Bi tp cho p s ............................................................................... 78
Chng 4 C CU PHNG.................................................................. 80
4.1 CU TRC V XP LOI C CU......................................... 80
4.1.1 Xp loi khp ng.................................................................... 80
189
Vn cn ch ................................................................................. 80
Bi tp gii sn.................................................................................... 80
Bi tp cho p s : ............................................................................. 83
4.1.2 V lc ng v tnh bc t do ca c cu phng ................ 84
Vn cn ch ................................................................................. 84
Bi tp gii sn.................................................................................... 84
Bi tp cho p s: .............................................................................. 89
4.1.3 Xp loi c cu phng................................................................ 91
Vn cn lu ................................................................................. 91
Bi tp gii sn.................................................................................... 92
Bi tp cho p s ............................................................................... 94
4.2 PHN TCH NG HC C CU PHNG............................. 96
4.2.1 Xc nh v tr v v qu o cc im trn c cu phng ........ 96
Vn cn ch ................................................................................. 96
4.2.2 Xc nh vn tc v gia tc ca c cu loi hai ......................... 96
Vn cn ch ................................................................................. 96
Bi tp cho p s ............................................................................... 96
4.3 H BNH RNG......................................................................... 98
Vn cn ch ................................................................................. 98
Bi tp gii sn.................................................................................... 99
Bi tp cho p s ............................................................................. 104
Chng 5 NG LC HC ............................................................... 107
5.1. NG LC HC CHT IM .............................................. 107
Vn cn ch ............................................................................... 107
Bi tp cho p s ............................................................................. 109
5.2.NGUYN L DI CHUYN KH D - NGUYN L
ALMBE....................................................................................... 111
5.2.1. Nguyn l di chuyn kh d .................................................... 111
Vn cn ch ............................................................................... 111
5.2.2. Nguyn l almbe ................................................................ 113
Vn cn ch ............................................................................... 113
Bi tp cho p s ............................................................................. 115
5.3. CC NH L TNG QUT CA LC HC...................... 117
5.3.1. nh l bin thin ng lng v nh l chuyn ng khi tm
ca c h ........................................................................................... 118
Vn cn ch ............................................................................... 118
5.3.2. nh l bin thin mmen ng lng ................................... 121
Vn cn ch ............................................................................... 121
5. 3.3. inh l bin thin ng nng................................................. 122
Vn cn ch ............................................................................... 122
Bi tp cho p s ............................................................................. 125
190
191
C NG DNG
Tc gi: TS V QU C
PGS, TS T NG HI
Bin tp v sa bi:
Trnh by ba:
HNG LAN
192