-1-

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.
-2-
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.
-3-
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
r
,
1
F
r
,.... N
r
. 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
r
, F
r
... 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).
N
r
Sau y gii thiu mt s nh ngha:
-4-
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
r
v P
r
tng ng ta vit F
r
P
r
. Hai h lc (
1
F
r
,
2
F
r
,..
n
F
r
) v ( P
1
r
,
2
P
r
,..
m
P
r
) tng ng ta vit (
1
F
r
,
2
F
r
..
n
F
r
) (
1
P
r
,
2
P
r
,..
m
P
r
).
Hp lc: Hp lc ca h lc l mt lc tng ng vi h lc cho. Th
d nu c R
r
(
1
F
r
,
2
F
r
,..
n
F
r
) th R
r
c gi l hp lc ca h lc (
1
F
r
,
2
F
r
,..
n
F
r
).
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 ( F
1
r
,
2
F
r
..
n
F
r
) l cn bng khi
(
1
F
r
,
2
F
r
..
n
F
r
) 0.
1.2. H tin ca tnh hc
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 (
1
F
r
,
2
F
r
) 0 khi
1
F
r
= -
2
F
r
.
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.
F
r
R
r

F
r
1

2

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.
Hnh 1.1

-5-
Hnh v 1.1 Biu din hp lc ca hai lc
1
F
r
,
2
F
r
. V phng din vc t c
th vit: R
r
=
1
F
r
+
2
F
r
.
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
-6-
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).
B
A
C
A

B
N
r
N
r
C

N
r
N





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).




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.
N
r

Hnh 1.2 Hnh 1.3 Hnh 1.4
N
r

Y
X
O
X
o
Y
o
R
r

-7-

s
r
A
A
B
s
r
B
s
r
T
r
1
T
r
2
T
r




Hnh 1.7
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.
A
x
X
A
m
X
z
Z
A
m
Y
Y
A

m
A
Y
A
X
A


y


Hnh 1.9 Hnh 1.10
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
r
t ti A ca
vt rn (
A
F
r
). Ta t vo im B trn ng
tc dng ca F
r
mt cp lc cn bng (
B
F
r
,

B
F
r
) (hnh 1.11). Theo tin hai c





B
F
r
B F
r
A

A '
B
F
r

Hnh 1.11
-8-
th vit:
A
F
r
(
A
F
r
,
B
F
r
,

B
F
r
). 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 (
A
F
r
,

B
F
r
) l cp lc cn bng v th theo
tin hai c th bt cp lc trn vt, ngha l:
A
F
r
(
A
F
r
,
B
F
r
,

B
F
r
)
B
F
r

Nh vy ta trt lc F
r
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 (
1
F
r
,
2
F
r
,...
n
F
r
). Gi s ta ly trong h
mt lc
i
F
r
v i chiu sau cho tc dng ln vt rn. Xt vt rn chu tc dung
ca lc -
i
F
r
. Theo tin 2 nu thm vo vt rn h lc cn bng cho, tc dng
ln vt rn vn khng i, ngha l:
-
i
F
r
(-
i
F
r
,
1
F
r
,
2
F
r
...
i
F
r
...
n
F
r
)
Trong h (n+1) lc v phi c hai lc cn bng l (
i
F
r
, -
i
F
r
) theo tin 2
ta c th bt
i
F
r
, v -
i
F
r
i ngha l:
-
i
F
r
(
1
F
r
,
2
F
r
,
1 i
F

r
...
1 i
F
+
r
...
n
F
r
)
Biu thc ny chng t -
i
F
r
l hp lc ca h lc cho khi khng c
i
F
r
.
1.3. L thuyt v m men lc v ngu lc
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
r
i vi tm O l i lng vc t, k hiu c: ) F ( m
o
r
r
-9-
- ln bng tch s: F.d, vi F l ln lc F
r
v d l khong cch t
tm O ti ng tc dng ca F
r
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 xung
mt phng tc dng s thy vc t lc
) F ( m
o
r
r
F
r
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 bng hai ln
din tch tam gic OAB ( tam gic c nh O v y bng lc
) F ( m
o
r
r
F
r
).
Vi nh ngha trn c th biu din vc t m men lc F
r
i vi tm O
bng biu thc sau:
) F ( m
o
r
r
= OA x F
r
= r
r
x F
r
.
Trong r
r
l vc t nh v ca im t ca lc F
r
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
r
i vi tm O nh sau:
M men i s ca lc F
r
i vi tm O l i lng i s k hiu:
m
o
= F.d
Ly du dng (+) khi nhn vo mt phng tc dng thy lc F
r
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.


-10-




F
r

A(x,y,z)
B


m
r
o
( F
r
)
z

y
x
O
r
B
m
o
(F)=F.d
90
0
O
d
A
B
F
r

d
90
0
F
r

m
o
(F)= - F.d
O
A

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
r
i vi trc OZ l i lng i s k hiu m
Z
( F
r
) tnh
theo cng thc: m
Z
( F
r
) = F'.d' . Trong F' l hnh chiu ca lc F
r
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
r
' (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.
d
F
r
'
O
F
r
B
1
()
A
Z
''
B
F
r
Z

Hnh 1.15
T hnh v ta rt ra tr s m men
ca lc F
r
i vi trc OZ bng hai ln
din tch tam gic OAB
1
.
1.3.1.3. Quan h gia m men lc F
r
i vi tm O v vi trc i qua O
Trn hnh 1.16 ta thy:
m
o
( F
r
) = 2.din tch (OAB).
m
Z
( F
r
) = 2 din tch (oa
1
b
1
)
-11-
V oa
1
b
1
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
oa
1
b
1
th gc ny cng chnh l gc hp gia vc t m men vi trc OZ,
ta c:
) F ( m
o
r
r
Din tch oa
1
b
1
= din tch
OAB. cos.
hay m
Z
( F
r
) = .cos. ) F ( m
o
r
r
Kt qu cho thy m men ca lc
F
r
i vi trc OZ l hnh chiu vc t
m men lc F
r
ly vi im O no
trn trc OZ chiu trn trc OZ .
1.3.2. L thuyt v ngu lc
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 (
1
F
r
,
2
F
r
)
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.

m
r
o
(F)
F
r

A
B
b
F
r

a
d
d'
z
Hnh 1.16
m
r
z
(F)
d
m
r
d
A
2
A
1
m
r
A
2
A
1
Tc dng ca ngu lc c
c trng bi ba yu t:
- ln m men m
- Phng mt phng tc
dng
Hnh 1.17
-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
r
. Vc t m men m
r
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
r
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:
m
r
= m
r
A1
(
2
F
r
) = m
r
A2
(
1
F
r
)=
2 1
A A x
2
F
r
= A
2
A
1
x
2
F
r

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 (
1
F
r
,
2
F
r
) biu din trn hnh 1.18. Chn mt
im O bt k trong khng gian, tng m men ca hai lc
1
F
r
,
2
F
r
ly vi O c th
vit: + ) F ( m
1 o
r
r
) F ( m
2 o
r
r
=
A
1
F
r
1

A
2
o
F
r
= OA
1
x
1
F
r
+ OA
2
x
2
F
r
;
2

= OA
1
x
1
F
r
- OA
2
x
2
F
r
;
= (OA
1
- OA
2
) x
1
F
r
;
Hnh 1.18
= A
2
A
1
x
1
F
r
= m
r
.
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
r
.
Cng t nh l trn rt ra h qu v cc ngu lc tng ng sau y.
-13-
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
men m
r
nh nhau.
1.3.2.3. Hp hai ngu lc
nh l: hp hai ngu lc c m men m
r
1
v m
r
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
r
1
+ m
r
2
M
Chng minh: Xt hai ngu lc c m men m
r
1
v m
r
2
nm trong hai mt
phng
1
v
1.
Trn giao tuyn ca hai mt phng
1
v
2
ly mt on thng
A
1
A
2
ngu lc c m men m
r
thay bng ngu lc (
1
F
r

2
F
r
) nm trong mt phng
1
v t vo A
1
A
2
. Ngu lc c m men m
r
2
thay bng ngu lc ( p
r
1
p
r
2
) nm trong
mt phng
2
v cng t vo A
1
A
2
(hnh 1.19).
R
r
P
r
1
1
F
r
m
r
m
r
2
m
r
1
F
r
P
r
2
2
R
r

1





2
1

Hnh 1.19
,
1
P
r
c lc R
r
1

1
F
r
Ti A
1
hp hai lc
Ti A
2
hp hai lc
2
F
r

2
P
r
c lc R
r
2
Do tnh cht i xng d dng nhn thy hai vc t R
r
1
v R
r
2
song song
-14-
ngc chiu v c cng cng . Ni khc i hai lc R
r
1
R
r
2
to thnh mt
ngu lc. chnh l ngu lc tng hp ca hai ngu lc cho.
Gi M
r
l m men ca ngu lc ( R
r
1
R
r
2
) ta c:
M
r
= A
1
A
2
x R
r
2
= A
1
A
2
x R
r
1
Thay R
r
1
=
1
F
r
+
1
P
r
v R
r
2
=
2
F
r
+
2
P
r
, suy ra:
M
r
= A
1
A
2
x (
2
F
r
+
2
P
r
) = A
1
A
2
x
2
F
r
+ A
1
A
2
x
2
P
r
,
M
r
= m
r
A1
(
2
F
r
) + m
r
A1
(
2
P
r
) = m
r
1
+ m
r
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 = (m
1
m
2
)
-15-
Chng 2
L thuyt v h lc
Trong tnh hc c hai bi ton c bn: thu gn h lc v xc nh iu
kin cn bng ca h lc. Chng ny gii thiu ni dung ca hai bi ton c
bn ni trn.
2.1 c trng hnh hc c bn ca h lc
H lc c hai c trng hnh hc c bn l vc t chnh v m men chnh.
2.1.1. Vc t chnh
Xt h lc (
1
F
r
,
2
F
r
,..
n
F
r
) tc dng ln vt rn (hnh 2.1a).
Vc t chnh ca h lc l vc t tng hnh hc cc vc t biu din cc
lc trong h (hnh 2.1b)





a/ b/
F
r
F
r
1

2
F
r
F
r
3

n

R
r

Hnh 2.1
n
F
r
F
r
1

a
c
F
r
3

2

b
F
r
O
R
r

m
n


R
r
= + + ... =
1
F
r
2
F
r
n
F
r

=
n
1 i
F
r
i
(2-1)
Hnh chiu vc t ln cc trc to oxyz c xc nh qua hnh chiu
cc lc trong h:
R
r
R
r
x
= x
1
+ x
2
+...+ x
n
=

=
n
1 i
X
i
;
-16-
R
r
y
= y
1
+ y
2
+...+ y
n
=

=
n
1 i
Y
i
;
R
r
z
= z
1
+ z
2
+... +z
n
=

=
n
1 i
Z
i
.
T c th xc nh ln, phng, chiu vc t chnh theo cc biu
thc sau:
R
r
= z
2
y
2
x
2
R R R + + ;
cos(R,X) =
R
R
x
; cos(R,Y) =
R
R
y
; cos(R,Z) =
R
R
z
.
Vc t chnh l mt vc t t do.
2.1.2. M men chnh ca h lc
Vc t m men chnh ca h lc i vi tm O l vc t tng ca cc vc
t m men cc lc trong h ly i vi tm O (hnh 2.2). Nu k hiu m men
chnh l M
r
o
ta c
M
r
o
=

=
n
1 i
m
r
o
( F
r
i
) (2 -2)
30
m
r
A
3

A
2

F
r
3

2
F
r
A
1

F
r
1

3
z
r


2
z
r
M
r
0

m
r
20

10
m
r
O
m
2
1
z
r









Hnh 2.2
Hnh chiu ca vc t m men chnh M
r
o
trn cc trc to oxyz c
xc nh qua m men cc lc trong h ly i vi cc trc :
-17-
M
x
= m
x
(
1
F
r
) + m
x
( ) +...+ m
2
F
r
x
(
n
F
r
) =

=
n
1 i
m
x
( F
r
i
);
M
y
= m
y
(
1
F
r
) + m
y
( ) +...+ m
2
F
r
y
(
n
F
r
) =

=
n
1 i
m
y
( F
r
i
);
M
z
= m
z
( ) + m
1
F
r
z
( ) +... +m
2
F
r
z
(
n
F
r
) =

=
n
1 i
m
z
( F
r
i
).
Gi tr v phng chiu vc t m men chnh c xc nh theo cc biu
thc sau:
M
o
= z
2
y
2
x
2
M M M + +
cos(M
o
,x) =
o
x
M
M
; cos(M
o
,y) =
o
y
M
M
; cos(M
o
,z) =
o
z
M
M
.
Khc vi vc t chnh R
r
vc t m men chnh M
r
o
l vc t buc n ph
thuc vo tm O. Ni cch khc vc t chnh l mt i lng bt bin cn vc
t m men chnh l i lng bin i theo tm thu gn O.
2.2. Thu gn h lc
Thu gn h lc l a h lc v dng n gin hn. thc hin thu gn
h lc trc ht da vo nh l ri lc song song trnh by di y.
2.2.1. nh l 2.1 : Tc dng ca lc ln vt rn s khng thay i nu ta
ri song song n ti mt im t khc trn vt v thm vo mt ngu lc ph
F
r
'
F
r

F
r
d
A
B
''
Hnh 2.3
-18-
c m men bng m men ca lc cho ly i vi im cn ri n.
Chng minh: Xt vt rn chu tc dng lc F
r
t ti A. Ti im B trn vt
t thm mt cp lc cn bng ( F
r
', F
r
'') trong F
r
' = F
r
cn F'' = -
r
F
r
. (xem
hnh 2.3).
Theo tin 2 c: F (
r
F
r
, F
r
', F
r
'').
H ba lc ( F
r
, ', '') c hai lc ( F F
r
F
r r
, F
r
'') to thnh mt ngu lc c m
men m
r
= m
r
B
(F) (theo nh ngha m men ca ngu lc).
Ta chng minh c F
r
F
r
' + ngu lc ( F
r
, F
r
'')
2.2.2 Thu gn h lc bt k v mt tm
a. nh l 2.2: H lc bt k lun lun tng ng vi mt lc bng vc
t chnh t ti im O chn tu v mt ngu lc c m men bng m men
chnh ca h lc i vi tm O .
Chng minh: Cho h lc bt k (
1
F
r
,
2
F
r
,...,
n
F
r
) tc dng ln vt rn. Chn
im O tu trn vt, p dng nh l ri lc song song a cc lc ca h v
t ti O. Kt qu cho ta h lc (
1
F
r
,
2
F
r
,...,
n
F
r
)
o
t ti O v mt h cc ngu lc
ph c m men l m
r
1
= m
r
o
( ) ,
1
F
r
m
r
2
= m
r
o
(
2
F
r
), ... m
r
n
=
o
(
n
F
r
) (hnh 2.4). m
r
Hp tng i lc nh tin 3 c th a h lc (
1
F
r
, ,... F )
2
F
r
n
r
o
v tng
ng vi mt lc . R
r
C th c:
A
3

F
r
F
r
F
r
1

A
1

O
m
r
20

m
r
30

M = M
o
F
r
1
R
r
F
r
2
F
r
3

3

2

A
2

( , )
1
F
r
2
F
r
R
r
1
trong R
r
1
=
1
F
r
+
2
F
r

( R
r
1
, F
r
3
) R
r
2
trong R
r
R
r
F
r
2
=
1
+
3
=
+ + F
1
F
r
2
F
r r
3
m
r
10

....
( R
r
(n-1)
, F )
n
r
R
r
Hnh 2.4
-19-
trong = R
r
R
r
(n-2)
+
n
F
r
=

=
n
1 i
F
r
i
Hp lc R ca cc lc t ti O l vc t chnh
r
R
r
0
ca h lc.
Cc ngu lc ph cng c th thay th bng mt ngu lc tng hp theo
cch ln lt hp tng i ngu lc nh trnh by chng 1. Ngu lc tng
hp ca h ngu lc ph c m men M
r
o
=

=
n
1 i
m
r
o
( F
r
i
). y l m men chnh ca
h lc cho i vi tm O
Theo nh l 2.2, trong trng hp tng qut khi thu gn h lc v tm O
bt k ta c mt vc t chnh v mt m men chnh. Vc t chnh bng tng
hnh hc cc lc trong h v l mt i lng khng i cn m men chnh bng
tng m men cc lc trong h ly i vi tm thu gn v l i lng bin i
theo tm thu gn.
xc nh quy lut bin i ca m men chnh i vi cc tm thu gn
khc nhau ta thc hin thu gn h lc v hai tm O v O
1
bt k (hnh 2.4a).
Thc hin thu gn h v tm O ta
c R
r r
0
v M
o
.
R
r
0
M
r
M
r
01

O
1
O
R
r
R
r
0

01

Trn vt ta ly mt tm O
1
khc O
sau ri lc R
r
o
v O
1
ta c
R
r
o
R
r
o1
+ ngu lc ( R
r
o
, R
r
'
o1
).
'
01

Suy ra ( R
r
o
, M
r
o
) R
r
o1
+ ngu lc
( R
r r r
o
, ' R
o1
) + M
o

Hnh 2.4a
Nu thu gn h v O
1
ta c M
r
o1
v R
r
o1
.
iu tt nhin phi c l :
( R
r
o
, M
r
o
) ( R
r
o1
, M
r
o1
).
Thay kt qu chng minh trn ta c:
-20-
( R
r
o
, M
r
o
) R
o1
+( R
r
o
, R
r
'
o1
) + M
o
( R
r
o
+M
o1
)
hay M
r
01
M
r
o
+ ( R
r
o
, R
r
'
01
) (2.3)
Ngu lc ( R
r
o
, R
r
01
) c m men M
r
' =m
o1.
(R
o
)
Kt lun: Khi thay i tm thu gn vc t m men chnh thay i mt i
lng M' bng m men ca vc t chnh t tm trc ly i vi tm sau.
2.2.3. Cc dng chun ca h lc
Kt qu thu gn h lc v mt tm c th xy ra 6 trng hp sau
2.2.3.1. Vc t chnh v m men chnh u bng khng
R
r
= 0 ; M
r
o
= 0
H lc kho st cn bng.
2.2.3.2. Vc t chnh bng khng cn m men chnh khc khng
R
r
= 0; M
r
o
0
H lc tng ng vi mt ngu lc c m men bng m men chnh.
2.2.3.3. Vc t chnh khc khng cn m men chnh bng khng
0; R
r
M
r
o
= 0
H c mt hp lc bng vc t chnh.
2.2.3.4. Vc t chnh v m men chnh u khc khng nhng vung gc vi
nhau (hnh 2.5)
R
r
0; M
r
o
0 v M R
r r
o
Trong trng hp ny thay th m men chnh M
r
o
bng ngu lc ( R
r
', R
r
'')
vi iu kin:
R
r
' = ; R
r
R
r
'' = - v R
r
M
r
o
= m
r
o
( R
r
')


P
R
r

O'
O
P'
n
o
R
r
d
O
R
r
R
r
o

M
r
o

o

O'
O
M
r
R
r

a) '
b) O'
-21-




Ta c ( , M R
r r
o
) ( , R R
r r
', R
r
'' ).
Theo tin 1 R
r
o
v '' cn bng do c th bt i v cui cng h cn
li mt lc bng vc t chnh nhng t ti O
R
r
1
. Ni khc i h c mt hp lc t
ti O
1
.
2.2.3.5. Hai vc t chnh v m men chnh khc khng nhng song song vi
nhau (hnh 2.6).
R
r
o
0; M
r
o
0 v R
r
o
// M
r
o
Trong trng hp ny nu thay M
r
o
bng mt ngu lc ( ') mt phng
ca ngu ny vung gc vi vc t chnh
P
r
P
r
R
r
.
H c gi l h vt ng lc. Nu vc t R
r
song song cng chiu vi
vc t M
r
o
h gi l h vt ng lc thun (phi) v ngc li gi l h vt ng
lc nghch (tri). Hnh 2.6 biu din vt ng lc thun
2.2.3.6. Hai vc t chnh v m men chnh khc khng v hp lc vi nhau
mt gc bt k (hnh 2.7)
Trng hp ny nu thay th
vc t M
r
o
bng mt ngu lc ( P
r
P
r
')
trong clc P
r
t ti O cn lc
' t ti O P
r
1
sao cho m
o
(P) = M
r
o
.
R rng mt phng tc dng ca
ngu lc ( P ') khng vung gc vi
r
P
r
R
r
o
. Mt khc ti O c th hp hai
lc v P
r r
R
o
thnh mt lc R
r
'. Nh
R
r
'
R
r
0
O
1


P
r

P
r
'
M
r
0

Hnh 2.7
-22-
vy a h v tng ng vi hai lc P
r
', R
r
' hai lc ny cho nhau.
2.2.4. nh l Va ri nhng
nh l: Khi h lc c hp lc R
r
th m men ca R
r
i vi mt tm hay
mt trc no bng tng m men ca cc lc trong h ly i vi tm hay trc
.
m
r
o
( ) = R
r

=
n
1 i
m
r
o
( F
r
i
)
m
r
z
( R ) =
r

=
n
1 i
m
r
z
( F
r
i
) (2.4)
F
r
n

O
R
r
'
R
r

F
r
2

F
r
1

x
y
z
Chng minh: Cho h lc (
1
F
r
,
2
F
r
,...,
n
F
r
)
tc dng ln vt rn. Gi l hp lc ca h
(hnh 2.8).
R
r
Ti im C trn ng tc dng ca
hp lc t thm lc ' = - R
r
R
r
R
r
.H lc
cho cng vi ' to thnh mt h lc cn
bng:
R
r
Hnh 2.8
( , ,...
1
F
r
2
F
r
n
F
r
, + ') 0 R
r
Khi thu gn h lc ny v mt tm O bt k ta c mt vc t chnh v
mt m men chnh. Cc vc t ny bng khng v h cn bng, ta c:
M
r
o
=

=
n
1 i
m
r
o
( F
r
i
) + m
r
o
( R
r
') = 0
Thay ' = - ta c: R
r
R
r

=
n
1 i
m
r
o
( F
r
i
) - m
r
o
( ) = 0 R
r
Hay m
o
( ) = R
r

=
n
1 i
m
r
o
( F
r
i
)
Chiu phng trnh trn ln trc oz s c:
-23-
m
z
( ) = R
r

=
n
1 i
m
z
( F
r
i
)
nh l c chng minh
2.2.5. Kt qu thu gn cc h lc c bit
2.2.5.1. H lc ng quy
H lc ng quy l h lc c ng tc dng ca cc lc giao nhau ti mt
im. Trong trng hp h lc ng quy nu chn tm thu gn l im ng quy
kt qu thu gn s cho vc t chnh ng bng hp lc cn m men chnh s
bng khng.
R
0
0, M
o
= 0 vi O l im ng quy.
2.2.5.2. H ngu lc
Nu h ch bao gm cc ngu lc, khi thu gn h s c mt ngu lc
tng hp c m men ng bng m men chnh ca h.
M = ; m

=
n
1 i
i
m
i
l m men ca ngu lc th i v n l s ngu lc ca h.
2.2.5.3. H lc phng
H lc phng l h c cc lc cng nm trong mt mt phng.
Nu chn tm thu gn nm trong mt phng ca h th kt qu thu gn
vn cho ta mt m men chnh M
r
o
v vc t chnh R
r
o
. Vc t chnh nm trong
mt phng ca h cn m men chnh M
R
r
r
o
vung gc vi mt phng ca h. Theo
kt qu thu gn dng chun ta thy: h lc phng khi c vc t chnh R
r
v m
men chnh M
r
o
khc khng bao gi cng c mt hp lc nm trong mt phng
ca h.
2.2.5.4. H lc song song
H lc song song l h lc c ng tc dng song song vi nhau.
Kt qu thu gn v mt tm bt k cho ta mt vc t chnh v mt m
men chnh
R
r
M
r
o
. Vc t chnh c c im song song vi cc lc ca h.
-24-
2.3. iu kin cn bng v phng trnh cn bng ca h lc
2.3.1. iu kin cn bng v phng trnh cn bng ca h lc bt k trong
khng gian
2.3.1.1. iu kin cn bng
iu kin cn bng ca h lc bt k trong khng gian l vc t chnh v
m men chnh ca n khi thu gn v mt tm bt k u bng khng.
R
r
=

=
n
1 i
F
r
1
= 0
M
r
o
=

=
n
1 i
m
r
o
( F
r
1
) = 0 (2-5)
2.3.1.2. Phng trnh cn bng
Nu gi R
x
, R
y
, R
z
v M
x
, M
y
, M
z
l hnh chiu ca cc vc t chnh v m
men chnh ln cc trc to oxyz th iu kin (2-5) c th biu din bng cc
phng trnh i s gi l phng trnh cn bng ca h lc bt k trong khng
gian. Ta c:
R
x
=

=
n
1 i
X
i
= 0, R
y
=

=
n
1 i
Y
i
=0, R
z
=

=
n
1 i
Z
i
= 0
M
x
=

=
n
1 i
m
x
( F
r
i
) = 0, M
y
=

=
n
1 i
m
y
( F
r
i
) = 0, M
z
=

=
n
1 i
m
z
( F
r
i
) = 0. (2-6)
Trong cc phng trnh trn X
i
, Y
i
, Z
i
l thnh phn hnh chiu ca lc F
i
;
m
x
( F
r
i
), m
y
( F
r
i
), m
z
( F
r
i
) l m men ca cc lc F
r
i
i vi cc trc ca h ta
oxyz. Ba phng trnh u gi l ba phng trnh hnh chiu cn 3 phng trnh
sau gi l 3 phng trnh m men.
2.3.2. Phng trnh cn bng ca cc h lc c bit
2.3.2.1 H lc ng quy
Nu chn tm thu gn l im ng quy O th m men chnh M
r
o
s bng
khng do 3 phng trnh m men lun lun t nghim. Vy phng trnh cn
bng ca h lc ng quy ch cn:
-25-
R
x
=

=
n
1 i
X
i
= 0
R
y
=

=
n
1 i
Y
i
=0 (2-7)
R
z
=

=
n
1 i
Z
i
= 0
2.3.2.2. H ngu lc
Khi thu gn h ngu lc v mt tm ta thy ngay vc t chnh R
r
0
= 0 iu
c ngha cc phng trnh hnh chiu lun lun t nghim. Phng trnh cn
bng ca h ngu lc ch cn li ba phng trnh m men sau:
M
x
=

=
n
1 i
m
x
( F
r
i
) =

=
n
1 i
m
ix
= 0,
M
y
=

=
n
1 i
m
y
( F
r
i
) =

=
n
1 i
m
iy
= 0, (2-8)
M
z
=

=
n
1 i
m
z
( F
r
i
) =

=
n
1 i
m
iz
= 0.
y m
x
, m
iy
, m
iz
l hnh chiu ln cc trc h ta oxyz ca vc t m
men m
r
i
ca ngu lc th i.
2.3.2.3. H lc song song
Chn h to oxyz sao cho oz song song vi cc lc. Khi cc hnh
chiu R
x
, R
y
ca vc t chnh v M
z
ca m men chnh lun lun bng khng.
V vy phng trnh cn bng ca h lc song song ch cn li ba phng
trnh sau:
R
z
=

=
n
1 i
Z
i
= 0;
M
x
=

=
n
1 i
m
x
( F
r
i
) = 0; (2-9)
-26-
M
y
=

=
n
1 i
m
y
( F
r
i
) = 0
Trong phng trnh u l phng trnh hnh chiu cn hai phng
trnh cui l phng trnh m men.
2.3.2.4. H lc phng
Cn lu rng trong h lc phng vc t chnh R
r
v m men chnh M
r

lun lun vung gc vi nhau, ngha l h lc phng lun lun c hp lc R
r

nm trong mt phng ca h cho. m bo iu kin hp lc ca h bng
khng tc l iu kin cn bng ca h ta c th vit phng trnh cn bng di
3 dng khc nhau.
1. Dng hai phng trnh hnh chiu mt phng trnh m men:
h lc cn bng cng nh cc trng hp khc phi c R = 0 v M
o
=
0. Nu chn h to oxy l mt phng cha cc lc ca h ta thy ngay cc
phng trnh R
z
=

=
n
1 i
z
i
= 0; M
x
=

=
n
1 i
m
x
(F
i
) = 0 v M
y
=

=
n
1 i
m
y
(F
i
) = 0 l lun lun
t nghim v vy phng trnh cn bng ch cn :
R
x
=

=
n
1 i
X
i
= 0;
R
y
=

=
n
1 i
Y
i
= 0; (2-10)
M
z
=

=
n
1 i
m
z
(F
i
).
Hai phng trnh u l phng trnh hnh chiu cn phng trnh th ba
l phng trnh m men. Cn ch v cc lc cng nm trong mt phng oxy do
M
z =

=
n
1 i
m
z
(F
i
) chnh l tng m men i s ca cc lc i vi tm O.
M
z
=

=
n
1 i
m
z
(F
i
)

-27-
2. Dng mt phng trnh hnh chiu v hai phng trnh m men
iu kin hp lc ca h bng khng c th biu din bng ba phng
trnh sau y:
R
r
R
z
=

=
n
1 i
X
i
= 0;
M
A
=

=
n
1 i
m
A
(F
i
) = 0; (2-11)
M
B
=

=
n
1 i
m
B
(F
i
) = 0
Vi iu kin trc x khng vung gc vi AB.
Tht vy t phng trnh (1) cho thy hp lc R
r
ca h lc bng khng
hoc vung gc vi trc x.
Theo nh l Va ri nhng ,t phng trnh (2) ta thy hp lc R
r
hoc
bng khng hoc qua A.
T phng trnh (3) ta cng thy hp lc R
r
ca h bng khng hoc i
qua B.
Kt hp c ba phng trnh ta thy hp lc ca h hoc bng khng hoc
phi i qua hai im A,B v vung gc vi trc x (khng vung gc vi AB).
iu kin hp lc va qua A, B v va vung gc vi trc x l khng thc hin
c v tri vi gi thit.
Nh vy nu h tho mn phng trnh (2-11) th hp lc ca n s bng
khng ngha l h lc cn bng.
3. Dng ba phng trnh m men i vi 3 im
Ngoi hai dng phng trnh cn bng trn h lc phng cn c phng
trnh cn bng theo dng sau:
M
A
=

=
n
1 i
m
A
( F
r
i
) = 0
-28-
M
B
=

=
n
1 i
m
B
( F
r
i
) = 0 (2-12)
M
C
=

=
n
1 i
m
o
( F
r
i
) =0
Vi iu kin A, B, C khng thng hng.
Tht vy, nu h lc phng tho mn phng trnh M
A
= m
A
( ) = 0 th
theo nh l Va ri nhng hp lc ca h s bng khng hoc i qua A. Cng l
lun tng t ta thy tho mn M
F
r
B
= 0 v M
c
= 0 th hp lc phi bng khng
hoc phi i qua B, i qua C.
V chn 3 im A, B, C khng thng hng nn iu kin hp lc qua 3
im l khng thc hin c. Ch c th hp lc bng khng, c ngha l nu
tho mn h ba phng trnh (2-12) h lc phng cho s cn bng.
2.4. Bi ton cn bng ca vt rn
Vt rn cn bng khi h lc tc dng ln n bao gm cc lc cho v
phn lc lin kt cn bng.
Khi gii bi ton cn bng ca vt rn c th p dng phng php gii
tch hoc phng php hnh hc nhng ph bin v c hiu qu nht l phng
php gii tch.
Gii bi ton cn bng ca vt thng tin hnh theo cc bc sau:
1. Chn vt kho st: vt kho st phi l vt rn m s cn bng ca n
cn thit cho yu cu xc nh ca bi ton. Nu nh bi ton tm phn lc lin
kt th vt kho st phi l vt chu tc dng ca phn lc lin kt cn tm, nu l
bi ton tm iu kin cn bng ca vt th vt kho st phi chnh l vt .
2. Gii phng vt kho st khi lin kt v xem l vt t do di tc
dng ca cc lc cho v phn lc lin kt.
3. Thit lp iu kin cn bng cu vt bi cc phng trnh cn bng ca
h lc tc dng ln vt kho st bao gm cc lc cho v phn lc lin kt.
-29-
4. Gii h phng trnh cn bng xc nh tr s v phng chiu ca
cc phn lc lin kt hoc thit lp mi quan h gia cc lc m bo iu
kin cn bng cho vt kho st .
5. Nhn xt cc kt qu thu c.
Cn ch rng chiu ca cc phn lc thng cha c xc nh v th
lc u phi t chn chiu. Da vo kt qu gii h phng trnh cn bng ta c
th xc nh chiu ca cc phn lc chn ng hay sai. Nu cc phn lc lin
kt cho tr s dng th chiu chn l ng v nu tr s m th chiu phi o li
. Mt khc cng cn lu rng bi ton c trng hp gii c (bi ton tnh
nh) khi s n s cn xc nh nh hn hoc bng s phng trnh cn bng. C
trng hp khng gii c (bi ton siu tnh) khi n s cn tm ln hn s
phng trnh cn bng.
Th d 2.1. Ct in OA chn thng ng trn mt t v c gi bi hai
si dy AB v AD hp vi ct in mt gc = 30
0
(xem hnh 2-8a) Gc gia
mt phng AOD v mt phng AOB l = 60
0
. Ti u A ca ct in c hai
nhnh dy in mc song song vi trc ox v oy. Cc nhnh dy ny c lc ko
l P
1
v P
2
nh hnh v. Cho bit P
1
= P
2
= P = 100kN.
Xc nh lc tc dng dc trong ct in v trong cc dy cng AD, AB.
Bi gii:
z
3
R
r
P
r
1

P
r
2

O B
D
y
x



R
r
1

R
r
2

Chn vt kho st l u A ca ct in.
Lin kt t ln u A l hai si dy
AB, AD v phn ct in cn li.
Gi phn lc lin kt trong dy AB l
R
1
, trong dy AD l R
r
2
v lc dc ct l R
r
3

vi chiu chn nh hnh v 2-8. Khi gii
phng im A khi lin kt im A s chu tc
dng ca cc lc P
1
, P
2
v cc phn lc R
1
R
2

Hnh 2.8a
-30-
R
r
3
. iu kin u A cn bng l h 5 lc tc dng ln n cn bng. Ta c:
( P
r
1
, P
r
2
, R
r
1
, R
r
2
, R
r
3
) 0. H lc ny ng quy ti A do phng trnh
cn bng thit lp theo phng trnh (2.7)
trnh nhm ln ta lp bng (2-1) hnh chiu cc lc ln 3 trc ca h
ta oxyz nh sau:
Bng 2-1
F
1
P
1
P
2
R
1
R
2
R
3
x
1
y
1
z
1
0
-P
0
-P
0
0
0
R
1
sin
-R
1
cos
R
2
sinsin
R
2
sincos
-R
2
cos
0
0
R
3

Phng trnh cn bng vit c:
Xi =- P + R
2
sinsin = 0; (a)
Yi = - P + R
1
sin + R
2
sincos = 0 ( b)
Zi = -R
1
cos - R
2
cos + R
3
= 0 (c)
H 3 phng trnh trn cha 3 n s R
1
, R
2
, R
3
nn bi ton l tnh nh.
Gii h phng trnh trn c:
R
1
= P

sin
g cot 1
; R
2
=
sin sin
P
; R
3
= P cotg(1-cotg +
sin
1
);
Thay cc tr s ca , v P ta nhn c:
R
1
= 85kN; R
2
= 231 kN; R
3
= 273kN.
Kt qu u dng nn chiu cc phn lc chn l ng.
Th d 2.2: Mt xe 3 bnh ABC t trn mt mt ng nhn nm ngang.
Tam gic ABC cn c y AB = 1m, ng cao OC = 1,5m, trng lng ca xe
l P KN t ti trng tm G trn on OC cch O l 0,5m. Tm phn lc ca mt
ng ln cc bnh xe (xem hnh 2-9)
-31-
Bi gii:
Kho st s cn bng ca xe.
Gii phng xe khi mt ng v
thay bng cc phn lc ca mt t
ln cc bnh xe l N
r
A
, N
r
B
, N
r
C
.
P
r

N
r
C

N
r
B

N
r
A

z
G
B
O
A
x
y C
Hnh 2.9
V xe t trn mt nhn nn
cc phn lc ny c phng vung
gc vi mt ng.
Xe trng thi cn bng di
tc dng ca 4 lc , P
r
N
r
N
r
N
r
A
,
B
,
C
.
H 4 lc ny l h lc song song.
Nu chn h to oxyz nh hnh v phng trnh cn bng ca h lc
trn theo (2-9) c dng:
Z
i
= N
A
+ N
B
+ N
C
- P = 0 (a)
m
x
(F
i
) = -P.0,5 + N
C
.1,5 = 0 (b)
m
y
(F
i
) = - N
A
.0,5 + N
B
.0,5 = 0 (c)
H ba phng trnh trn cha 3 n s N
A
, N
B
, N
C
nn bi ton l tnh
nh.
Gii phng trnh trn xc nh c:
N
A
= N
B
= N
C
= P/3 kN
Kt qu cho cc gi tr dng nn chiu phn lc hng ln l ng.
P
D
G
A
q
E
C
B

M
2 1 1 2
Th d 2.3: X AB c gi
nm ngang nh lin kt nh hnh v
(2.10). Ti A c khp bn l c
nh. Ti C c treo bi dy CD
t xin mt gc so vi x. Ti B
c dy ko thng ng nh trng
Hnh 2.10
-32-
vt P buc u dy vt qua rng rc.
X c trng lng G t ti gia, chu mt ngu lc nm trong mt phng
hnh v v c m men M. on dm AE chu lc phn b u c cng q.
Xc nh phn lc ti A, trong si dy CD cho bit G = 10kN, P = 5kN, M
= 8 kNm; q = 0,5 kN/m; = 30
0
. Cc kch thc cho trn hnh v.
Bi gii:
Chn vt kho st l x AB. Gii phng lin kt t ln x ta c:
Lin kt ti A c thay th bng phn lc R
r
A
nm trong mt phng hnh
v. Lin kt ti C c thay th bng lc cng T
r
hng dc theo dy. Lin kt ti
B thay bng lc cng ng bng P
r
nhng c chiu hng ln trn. Chiu ca R
r
A

v chn nh hnh v. Nh vy x AB trng thi cn bng di tc dng ca
cc lc (
T
r
G
r
, , M
r
R
r
A
, , ), cc lc ny nm trong mt phng thng ng tc l
mt phng hnh v (h lc phng ). Chn h to Axy nh hnh v v lp
phng trnh cn bng dng (2-10) c:
T
r
P
r
X
i
= X
A
- Tcos30
0
; (a)
Y
i
= Y
A
- Q - G +T cos60
0
+ P = 0; (b)
m
A
( F
r
i
) = - Q.1 - G.3 + T.4sin30
0
- M + 6P = 0. (c)
Trong cc phng trnh trn
Q = 2q l tng hp lc phn b u
t ti im gia AE.
B
P
r
2 2 1
1
A
Q
r
C
G
r


90
0
T
r

Y
A
X
A
M
y
Ba phng trnh trn cha 3
n s X
A
, Y
A
, v T do bi ton l
tnh nh.
x
Hnh 2.11
Gii h phng trnh trn ta
c:
T = 5 , 4
5 , 0 . 4
6 . 5 8 3 . 10 1 . 1
30 sin . 4
6 . p M 3 . G 1 . Q
0
=
+ +
=
+ +
kN;
-33-
X
A
= Tcos30
0
= 4,5.0,866 = 3,90kN;
Y
A
= Q + G -T cos60
0
- P = 1 + 10 - 4,5.0,5 - 5 = 3,75, kN
Kt qu cho cc tr s ca T, X
A
, Y
A
u dng do chiu chn ban u
l ng.
Th d 2.4: Trc truyn nm ngang t trn hai gi bn l c nh A v
B (xem hnh v 2-12). Trc nhn
chuyn ng quay t dy ai dn
n bnh ai C c bn knh r
1
= 20
cm v nng trng vt P buc vo
u dy cp vt qua rng rc K v
cun trn trng ti c bn knh r
2
=
15cm. Cho bit hai nhnh dy ai
c phng song song vi trc oy v
c lc cng T
1
v T
2
vi T
1
= 2T
2
;
Trng vt P= 180kN; a = 40cm; b =
60cm v = 30
0
. Xc nh phn lc
ti hai gi A v B.
P
Y
B
Z
B
B
Y
A
Z
A
z
y
A
C
T
2
T
1
a
b
a

x
Hnh 2.12
Bi gii:
Chn vt kho st l trc BC.
Lin kt ln trc l cc A, B. Cc lc tc dng cho l T
r
1
, T
r
2
v F
r
.
Lc tc dng dc theo dy cp c tr s bng P F
r r
. V cc l khp bn l c
nh nn phn lc lin kt ti A v B c hai thnh phn theo trc oy v oz. Gii
phng lin kt t ln trc v thay bng cc phn lc lin kt khi trc AC chu
tc ng ca cc lc: T
r
1
, T
r
2
, F
r
, R
r
A
, R
r
B
. Cc lc ny phn b bt k trong
khng gian. Phng trnh cn bng ca h lc thit lp theo (2- 6). trnh
nhm ln ta lp bng hnh chiu v m men ca h lc i vi cc trc to
(bng 2-2) .

-34-
Bng 2-2
F
r
1
F
r
T
r
1
T
r
2
R
r
A
R
r
B
X
1
Y
1
Z
1
m
x
(F)
m
y
(F)
m
z
(F)
0
Fcos
-Fsin
-F.r
2
Fsin.b
Fcos.b
0
Thp
45
0
T
1
r
1
0
-T
1
.a
0
T
2
0
-T
2
r
1
0
-T
2
a
0
Y
A
Z
A
0
0
0
0
Y
B
Z
B
0
-Z
B
(a+b)
Y
A
(a+b)
Cc phng trnh cn bng thit lp c:
Yi = Pcos + T
1
+T
2
+ Y
A
+ Y
B
= 0;
Zi = Fsin + Z
A
+ Z
B
= 0;
Mx = F.r
2
+ T
1
r
1
- T
2
r
1
= 0;
My = Fsin.b - Z
B
(a+b) = 0;
Mz = Fcos.b - T
1
a- T
2
a + Y
B
(a+b) = 0;
H 5 phng trnh trn cha 5 n s l Y
A
, Z
A
, Y
B
, Z
B
v T
1
nn bi ton l
tnh nh.
Gii h phng trnh trn tm c:
T
2
=
r
r . P
2
=
20
15 . 180
= 135kN ; T
1
= 2T
2
= 270 kN;
Z
B
=
b a
sin P . b
+

=
60 40
5 , 0 . 180 . 60
+
= 54 kN;
Y
B
=
b a
cos Pb T 3 . a
2
+

=
60 40
2
3
. 60 . 180 135 . 3 . 40
+

= 69 kN
Y
A
=- Pcos-3T
2
- Y
B
= -180.
2
3
-3.135- 69 -630KN
Z
A
= Psin - Z
B
= 180. 0,5 - 54 = 36kN.
-35-
Trong cc kt qu tm c ch c gi tr Y
A
mang du m do chiu ca
n ngc vi chiu chn.
Th d 2.5: Cho h hai dm
AB v BE ni bng khp bn l
ti B (xem hnh v 2-13). Trng
lng ca dm AB l Q t gia
AB. Trng lng ca dm BE l P
t gia BE. Ti u A c khp
bn l c nh, cn ti cc im
C, D l cc im ta nhn.

D
A

B
C
P
r
E
Q
r

Xc nh phn lc ti cc
gi A v cc im ta C,D.
Cho P = 40kN, Q = 20kN; CB =
3
1
AB; DE =
3
1
BE; = 45
0
.
Hnh 2.13
Bi gii: Cn lu rng y l bi ton cn bng ca h vt. V nguyn
tc khi gii bi ton thuc loi ny phi tch ring tng vt xt. Trn h vt
cn phn bit hai loi vt chnh v vt ph. Vt chnh l vt khi tch ra c th
ng vng c. Vt ph l vt khi tch ra khng th ng vng c. Ta xt vt
ph trc sau xt vt chnh sau. Cng cn ch thm khi tch vt ti cc
khp ni s c thay th bng cc lc tc dng tng h, cc lc ny cng
phng cng tr s nhng ngc chiu.
i vi bi ton trn, h gm hai dm trong AB l dm chnh cn BE
l dm ph. Tch BE xt. Ti khp ni c phn lc lin kt R
B
(lc tc dng
tng h ca dm chnh ln dm BE). Phn lc R
B
nm trong mt phng thng
ng ( mt phng hnh v) v c hai thnh phn X
B
v Y
B
( xem hnh 2-14). Gii
phng lin kt ti D thay vo bng phn lc N
r
D
( N
r
D
vung gc BE. Dm BE
chu tc dng ca cc lc , P
r
N
r
D
, R
r
B
. H lc ny cng nm trong mt phng oxy
do phng trnh cn bng vit c:
X
1
= X
B
- N
D
sin = 0;
-36-
P
r

X
B

N
r
D

D
E
Y
10
= Y
B
- P + N
D
cos = 0;
Y
B
m
B
(F
1
) = N
D
3
2
.a - P.
2
a
cos = 0.
B
Gi h phng trnh trn tm c:
N
D
=
4
3
Pcos =
4
3
.40.
2
2
21,2 kN;
Hnh 2.14
Y
B
A
C
Q
r

Y
A
X
B
X
A

X
B
=
8
3
P sin2 =
8
3
.40.1= 15kN;
Y
B
= P(1-
4
3
cos
2
)= 40(1-
4
3
4
2
)= 25kN.
Hnh 2.15
Gi tr cc phn lc u dng iu ny
chng t chiu ca chng nh chn l ng.
Tip theo xt n dm chnh AB. Gii phng cc lin kt dm s trng
thi cn bng di tc dng ca h lc: Q
r
, - R
r
B
, R
r
A
, N
r
C
. Cc lc ny cng nm
trong mt phng oxy. ( xem hnh 2.15 )
Phng trnh cn bng ca h lc vit c:
X
1
= X
A
- X'
B
= 0;
m
A
(F) = - Y'
B
.b + N
C

3
2
b - Q.
2
b
= 0;
m
C
(F) = - Y
A
.
3
b 2
+ Q
6
b
- Y'
B
.
3
b
= 0;
Trong X'
B
= X
B
, Y'
B
= Y
B
nhng c chiu ngc li.
Gii h 3 phng trnh trn tm c:
X
A
= X
B
= 15kN;
Y
A
=
4
1
Q -
2
1
Y
B
= -7,5kN;
Y
C
=
4
3
Q +
2
3
Y
B
= 52,5kN.
Kt qu cho gi tr ca Y
A
mang du m c ngha chiu Y
A
chn l sai
phi o li.
-37-
Chng 3
Ma st v bi ton cn bng ca vt khi c ma st
3.1. Ma st trt v bi ton cn bng ca vt khi c ma st
trt
3.1.1. Ma st trt v cc tnh cht ca ma st trt
Thc tin cho thy bt k vt no chuyn ng trt trn b mt khng
nhn ca vt khc u xut hin mt lc cn li s trt ca vt gi l lc ma st
trt k hiu F
r
ms
. Lm th nghim biu din trn hnh 3.1. Vt A t trn mt
trt nm ngang v chu tc dng ca lc P
r
hp vi phng thng ng mt gc
. Phn tch thnh hai thnh phn P
r
P
r
1
v P
r
2
nh hnh v. Nhn thy rng P
r
1

lun lun cn bng vi phn lc php tuyn N
r
. Cn lc P
r
2
l lc cn y vt
A trt trn mt.
Khi khng i ta nhn thy gc tng th P
r
P
r
2
tng. Trong giai on u vt A ng yn trn
mt B. T iu kin cn bng ca vt A cho thy
N
r

P
r
P
r
2

bng lc ma st nhng ngc chiu. Nu tip tc
tng gc n mt tr s th vt A bt u trt.
Lc ma st lc cng tin ti gii hn F
r
n
.

P
r
1

P
r
2
F
r
ms

Hnh 3.1
Tr s F
n
= Ntg (3.1)
y N = P
1
l phn lc php tuyn ca mt trt. Gc gi l gc ma
st; tg = f gi l h s ma st. T (3.1) c th kt lun: lc ma st trt lun
lun cng phng nhng ngc chiu vi chuyn ng trt, c tr s t l thun
vi phn lc php tuyn (p lc) ca mt trt.
H s ma st f c xc nh bng thc nghim, n ph thuc vo vt liu
v tnh cht ca b mt tip xc. Bng (3-1) cho ta tr s ca h s ma st trt
i vi mt vi vt liu thng gp

-38-
Bng 3-1
Tn vt liu H s ma st
trt trn g
G trt trn g
Kim loi trt trn g
ng trt trn gang
ng trt trn st
Thp trt trn thp
0,46 0,6
0,62
0,62
0,16
0,19
0,15
Lc ma st xut hin trong giai on vt trng thi tnh gi l ma st
tnh. Lc ma st tnh tng t khng n tr s gii hn F
n
= f
0
N. Lc ma st xut
hin trong giai on vt chuyn ng trt ta gi l lc ma st ng. Trong trng
thi tnh lc ko (y) vt lun cn bng vi lc ma st tnh cn trong trng thi
chuyn ng lc ko (y) P
2
va phi thng ma st ng va phi d mt phn
to ra chuyn ng ca vt. Nu gi lc ma st ng ca vt l F
mssd
th F
msd
=
f
d
N, trong f
d
gi l h s ma st ng. Qua nhiu thc nghim thy rng lc
ma st ng thng nh hn mt cht so vi ma st tnh gii hn. H s ma st
ng khng nhng ph thuc vo vt liu v tnh cht b mt tip xc ca vt m
cn ph thuc vo vn tc trt ca vt. Trong phn ln cc trng hp cho thy
khi vn tc tng th h s ma st ng gim v ngc li. Th d h s ma st
ng gia bnh ai lm bng gang vi dy ai phanh bng thp c th xc nh
theo cng thc:
f
d
=
v 006 , 0 1
v 0112 , 0 1
+
+
f
t
Trong v l vn tc trt tnh bng km/h cn f
t
= 0,45 khi mt tip xc
kh v f
t
= 0,25 khi mt tip xc t.
Trong tnh hc v ch xt bi ton cn bng nn ma st phi l ma st tnh.
-39-
3.1.2. Bi ton cn bng ca vt khi chu ma st trt
Xt vt rn t trn mt ta (mt trt). Gi thit vt chu tc dng ca cc
lc F
r
1
,
2
F
r
, ...
n
F
r
. Cc lc lin kt bao gm phn lc php tuyn N
r
j
v lc ma st
F
r
msj
.
Khi vt cn bng ta c h lc sau:
( F
r
1
, , ...
2
F
r
n
F
r
, N
r
j
, F
r
msj
) 0 j = 1 ....s l s b mt tip xc
vt cn bng phi c cc phng trnh cn bng nh xt chng 2.
Ngoi cc phng trnh cn bng ra m bo vt khng trt phi c cc iu
kin:
F
nj
f
o
N
j
. F
nj
l lc y tng hp.
Tr li s (3.1) ta thy khi khng c trt th
tg =
N
F
ms
f
o
= tg
Ta c th pht biu iu kin khng trt nh sau:
iu kin vt khng trt l hp lc P
r
tc dng ln vt nm trong mt
nn c gc nh 2 ( ta gi nn ny l nn ma st).Khi P nm trn nn ma st l
lc sp xy ra s trt ca vt A.
Th d 3.1: Xc nh iu kin
cho vt A c trng lng P nm cn bng
trn mt nghing so vi phng ngang mt
gc . H s ma st tnh l f
o
(hnh 3.2)
N
r

F
r
ms


Bi gii: Xt vt A nm cn bng
trn mt nghing di tc dng ca cc lc
( , P
r
N
r
, F
r
ms
) V vt c xu hng trt
xung nn lc ma st F
r
ms
lun lun hng
v pha trn nh hnh v.
Hnh 3.2
vt cn bng phi c:
-40-
( , P
r
N
r
, F
r
ms
) 0 v F
N
f
o
N.
Gi thit rng v tr ang xt l v tr gii hn gia cn bng v trt th lc
ma st F
ms
= F
n
= f
o
N. iu kin h lc tc dng ln h vt cn bng l:
F
n
= Ntg
Mt khc v F
n
Nf
0
. Suy ra tg f
o
.
Nh vy iu kin cho vt cn bng phi l tg f
o
.
Tr s ca gc =
o
vi tag
o
= f
o
chnh bng gc ma st .
Th d 3.2: Gi treo vt nng c s nh hnh v 3-3. Vt treo c trng
lng P, h s ma st trt ti cc im ta A v B l f
o
. Kch thc cho theo
hnh v. Xc nh iu kin cn bng cho gi.
Bi gii:
Kho st s cn bng
ca gi. Lc tc dng ln gi
ngoi trng lng ca vt
A cn c phn lc php
tuyn v lc ma st im
ta A v B l:
P
r
N
r
, N
r
', , ' F
r
F
r
Nu khong cch l l
khng i, iu kin cn
bng ca gi l:
y
B
P
r
P
r

o

A
B
h
l R
r
B
R
r
A


A
y
' F
r
N
r
'
F
r
h
N
r

l
x

a) b)
Hnh 3.3
( , P
r
N
r
, N
r
', F
r
, ') 0 F
r
v F f
o
N; F' f
o
N'
Ti v tr gii hn ngha l lc sp xy ra s trt ca gi trn cc im ta
ta c phng trnh cn bng nh sau:
N- N' = 0; (1) F=f
o
N (4)
F + F' -P = 0 (2) F' = f
o
N' (5)
-41-
N.h - F.d
gh
- P = 0; (3)
y d
gh
l khong cch gii hn ca hai im ta A v B cho php ng
vi lc bt u trt.
Gii h phng trnh trn ta c:
N = N' F = F'; P = 2f
o
N;
h = f
o
d
gh
+ 2f
o
l hay d
gh
=
o
f
h
- 2l
Khong cch d cng ln p lc N cng ln v ma st cng ln, iu kin
cn bng ca gi vit c:
d
gh

o
f
h
- 2l
Th d 3.3: Tm iu kin khng trt ca dy ai qun trn bnh ai trn
c k n ma st trt vi h s f
o
(hnh 3-4) , b qua tnh n hi ca dy ai.
Bi gii:
Tm iu kin khng trt ca dy ai c ngha l tm iu kin cn bng
ca on ai AB ca ai di tc dng cc lc T
r
1
, T
r
2
(T
2
> T
1
) cc phn lc
php tuyn N v cc lc ma st trt F phn b lin tc trn cung AB.
Khi dy ai sp trt ta xt mt cung nh ED trn dy ai. Bn nhnh ch
ng c lc tc dng l + T T
r r
cn bn nhnh
ph ng lc tc dng l . Gi phn lc php
tuyn ln cung ai ny l
T
r
N
r
v lc ma st trt
ln cung ny l F ta s c phng trnh cn bng:
T
r
R
D
y
d N
r
( T
r
+d T
r
)
d
dF
r

T
r

d
B
T
r
1

2

A


d
- T cos
2
d
+ (T+dT)cos
2
d
- F = 0
- N - Tsin
2
d
- (T- dT) = 0
Hnh 3.4
Trong F = fN. B qua cc v cng b
-42-
bc hai tr ln ta c: F = dT v N = Td. Thay gi tr trn vo biu thc F =fN
ta c dT = f.T.d. Tch phn hai v tng ng vi cn t A n B ta c
lnT
B
A
= f
o

B
A
hay ln
1
2
T
T
= f.
l gc chn cung AB gi l gc bao ca ai.
Suy ra: T
2
= T
1
.e
f
Lc ko bn nhnh ch ng T
2
cng ln hn bn nhnh b ng th kh
nng trt cng nhiu do iu kin dy khng trt phi l:
T
2
T
1
.e
f
Cng thc ny c gi l cng thc le
3.2. Ma st ln v bi ton cn bng ca vt rn khi c ma
st ln
Ma st ln l m men cn chuyn ng ln ca vt th ny trn vt th khc.
Xt mt con ln hnh tr bn knh R trng lng P ln trn mt mt phng
ngang, nh lc Q
r
t vo trc con ln (xem hnh 3.5). Trong trng hp ny con
ln chu tc dng ca cc lc: P
r
, Q
r
, N
r
, F
r
ms
. Trong cc lc hai lc Q
r
vF
r
ms

to thnh mt ngu lc c tc dng lm cho con ln chuyn ng ln. Cn li hai
lc v P
r
N
r
trong trng hp con ln v mt ln l rn tuyt i th chng trng
phng.Trong thc t con ln v mt ln l nhng vt bin dng hai lc P v N
khng trng phng lun song song v cch nhau mt khong cch k. Hai lc
ny to thnh mt ngu lc c tc dng cn li s ln ca con ln. M men ca
ngu ( , P
r
N
r
) c gi l m men ma st ln. Nu k hiu m men ma st ln l
M
ms
th M
ms
= kN.
Gi k l h s ma st ln. Khc vi h s ma st trt h s ma st ln k
c th nguyn l di.
-43-
H s ma st ln c xc nh bng thc nghim, n cng ph thuc vo
tnh cht vt liu v b mt ln, khng ph thuc vo lc N. Sau y l h s ma
st ln ca mt vi vt thng gp.

Vt liu H s k (cm)
G ln trn g
Thp ln trn thp
G ln trn thp
Con ln thp trn mt thp
0,05 0,08
0,005
0,03 0,04
0,001





Q
r
C
A
P
r
N
r
F
r

F
r

C
A
P
r
Q
B
k
N
r
r


a)
b)

Hnh 3.5
Bi ton cn bng ca vt khi c ma st ln ngoi iu kin h lc tc
dng ln h k c cc phn lc v lc ma st cn bng cn phi thm iu kin
khng c ln biu din bi phng trnh:
P
r

C
N
r
F
r

1
P
r

2
P
r

M
ms
Q.R
Th d 3.4: Tm iu kin cn bng ca con ln
trng lng P, bn knh R nm trn mt phng nghing mt
gc . Cho h s ma st ln l k. (xem hnh 3-6)
Bi gii:
Xt con ln v tr cn bng. Phn tch P
r
thnh hai
lc P
r
1
, P
r
2
nh hnh v (3-6).
Hnh 3.6
Ta c iu kin con ln khng ln l:P
1
.R = R.P.sin P
2
.k = P cos
Hay R.P.sin P.cos. tg
R
k

-44-
Nh vy iu kin con ln cn bng l: tg
R
k

Th d 3.5: Vt hnh tr c trng lng P bn knh R nm trn mt phng
nghing mt gc . Khi tr chu tc dng lc y Q song song vi mt phng
nghing. Tm iu kin khi tr ng yn trn mt phng nghing v iu kin
n ln khng trt ln pha trn. H s ma st ln l k v h s ma st trt l f.
y

x



M

A

F
r
ms

N
r
P
r


O

Q
r

y
x

M

A
O
P
r

F
m

s
r
N
r
Q
r






a)
b)

Hnh 3.7
Bi gii:
i kin khi tr cn bng trn mt phng nghing l :
( , , P
r
Q
r
N
r
, F
r
ms
, M
r
ms
) 0
Mt khc khi tr khng ln (hnh3.7a ) khng trt xung phi c
thm iu kin:
M
ms
k.N; F
ms
f.N
Nh vy phi tho mn cc phng trnh sau:
X
i
= Q - Psin + F
ms
= 0; (1)
Y
i
= - Pcos +N = 0; (2)
m
A
= P.R.sin - Q.R - M
ms
= 0 (3)
F
ms
f.N (4)
M
ms
k.N (5)
-45-
T ba phng trnh u tm c:
N = Pcos ; F
ms
= Psin - Q ; M
ms
= R(Psin - Q)
Thay cc kt qu vo hai bt phng trnh cui c:
P.sin - Q f.Pcos ; R(Psin-Q) k.Pcos
Hay: Q P(sin - f.cos)
Q P(sin -
R
k
cos)
Thng th
R
k
< f do iu kin tng qut l:
P
Q
sin -
R
k
cos sin - f.cos
vt ln khng trt ln ( hnh3.7b ) phi c cc iu kin:
x
i
= Q-Psin + F
ms
= 0; (1')
y
i
=- Pcos +N = 0; (2')
m
A
= P.sin - Q.R + M
ms
= 0; (3')
F
ms
f.N (4')
M
ms
k.N (5')
Bt phng trnh (4') m bo cho vt chuyn ng c trt ln. Cn bt
phng trnh (5') m bo cho con ln c kh nng ln ln trn.
T 3 phng trnh u ta c:
N = Pcos; F
ms
= Q - Psin ; M
ms
= R(Q-Psin)
Thay th vo hai phng trnh cui ta c:
Q - Psin f.P.cos;
R(Q-Psin) kPcos.
Vy iu kin khi tr ln khng trt ln trn l:
sin +
R
k
cos
P
Q
< sin + f cos.
iu ny ni chung c th c nghim v
R
k
thng nh hn f.s
-46-
Chng 4
Trng tm ca vt rn
4.1. Tm ca h lc song song
H lc song song ( F
r
1
,
2
F
r
, ...
n
F
r
) lun c hp lc R
r
song song vi cc lc
cho. Theo l thuyt v h lc, hp lc R
r
c xc nh bi biu thc:
R
r
= F
r
1
+
2
F
r
+...
n
F
r
=

=
n
1 i
F
r
i
(4-1)
Khi ta thay i phng ca h lc phng ca hp lc cng thay i theo.
Chng hn lc u h lc c hp lc l R song song vi cc lc cho , sau khi
xoay h lc cho song song vi trc oz ta s c hp lc R' c ln bng R
nhng c phng song song vi
trc oz. Mc d hp lc thay i
phng khi phng ca h lc
thay i nhng ng tc dng
ca chng u i qua im C
im ny gi l tm ca h lc
song song cho.
z
y
O
z
C
y
C
x
C
R
r
' R
r

4
r
r
r
r
'
4
A
4
3
r
r
r
r
'
3
A
3
2
r
r
r
r
'
2
A
2
r
r
1
C
r
r
'
1
A
1
xc nh v tr ca tm C
ta vn dng nh l Va-ri-nhng.
Cho hp lc ' nh hnh v ta c: R
r
x
M
y
(R') =

=
n
1 i
m
y
(F
n
i
);
Hnh 4.1
R.X
c
=

=
n
1 i
F
i
x
i
;
hay X
c
=
R
x F
n
1 i
i i
=
;
-47-
Trong X
c
l to ca im C trn trc ox, x
i
l to ca im A
i

trn trc ox.
Bng cch xoay phng ca h lc cho song song vi trc ox v oy ta s
nhn c cc kt qu tng t vi to ca C trn hai trc oy v oz. Ta xc
nh h to ca tm C theo cc biu thc sau:
X
c
=
R
x F
n
1 i
i i
=
;
Y
c
=
R
y F
n
1 i
i i
=
; (4-2)
Z
c
=
R
z F
n
1 i
i i
=
.
Nh vy c th xc nh hp lc ca h lc song song nh cc biu thc
(4-1) v (4-2)
4.2. Trng tm ca vt rn
Coi vt rn l tp hp ca n phn t c trng lng P
r
1
, P
r
2
... P
r
n
. Cc
trng lc P
i
to thnh mt h lc song song. Tm ca h cc trng lng phn t
ny gi l trng tm ca vt.
Nh vy gi C l trng tm ca vt th to ca im C c xc nh
bng cc biu thc sau:
X
c
=
P
x P
n
1 i
i i
=
;
Y
c
=
P
y P
n
1 i
i i
=
; (4-3)
-48-
Z
c
=
P
z P
n
1 i
i i
=
.
Trong P
r
i
v l trng lng ca phn t th i trong vt, v trng lng
ca c vt, cn x
P
r
i
, y
i
, z
i
l to ca phn t th i.
Nh vy trng tm ca vt l mt im C trn vt m tng hp trng
lng ca c vt i qua khi ta xoay vt bt k chiu no trong khng gian.
4.3. Trng tm ca mt s vt ng cht
4.3.1. Vt rn l mt khi ng cht
Gi trng lng ring ca vt l ( trng lng ca mt n v th tch)
th P
i
= .v
i
v P = .v. Trong v
i
v v l th tch ca phn t th i ca vt v th
tch c vt. To trng tm ca vt lc ny c th xc nh bi cc biu thc:
x
c
=
v
x v
n
1 i
i i
=
; y
c
=
v
y v
n
1 i
i i
=
; z
c
=
v
z v
n
1 i
i i
=
.
4.3.2. Vt rn l mt tm mng ng cht
Gi trng lng ring ca vt rn l ( trng lng ca mt n v din
tch) ta s c P
i
= .S
i
v P = .S y S
i
v S l din tch ca phn t th i ca
vt v din tch ton vt. To trng tm ca vt trong h to oxy cha vt
xc nh theo biu thc sau:
x
c
=
S
x S
n
1 i
i i
=
; y
c
=
S
y S
n
1 i
i i
=
;
4.3.3. Vt rn l mt dy hay thanh mnh ng cht
Gi trng lng ring ca vt l ( trng lng ca mt n v chiu di
vt) ta c P
i
= .L
i
v P = .L. Trong L
i
v L l chiu di ca phn t th i v
chiu di ca c vt. To trng tm ca vt lc ny c th xc nh bi cc
biu thc:
-49-
x
c
=
L
x L
n
1 i
i i
=
; y
c
=
L
y L
n
1 i
i i
=
; z
c
=
L
z L
n
1 i
i i
=
.
4.3.4. Vt rn ng cht c mt tm, mt trc hay mt mt phng i xng
Ta c nhn xt rng trn vt bao gi cng tm c hai phn t i xng
c trng lng P
1
, P
2
nh nhau song song cng chiu qua tm i xng, trc i
xng hay mt phng i xng ca vt v nh vy hp lc ca n s i qua im
i xng nm trn trc i xng hay mt phng i xng. D dng nhn thy
rng hp lc ca cc P
r
i
( i = 1...n), ngha l trng lng ca vt bao gi cng i
qua tm i xng, trc i xng hay nm trong mt phng i xng nu nh
xoay vt sao cho mt phng i xng v tr thng ng. Ni cch khc trng
tm ca vt trong trng hp c mt tm i xng, c mt trc i xng hay c
mt mt phng i xng bao gi cng nm trn tm i xng, trc i xng hay
mt phng i xng .
4.3.5. Trng tm ca vt c th phn chia thnh nhng vt nh n gin
Trong trng hp ny ta chia vt thnh
cc phn c hnh dng n gin d xc nh
trng tm, sau coi mi vt nh mt phn
t nh ca c vt, mi phn t ny c trng
lng t ti trng tm. Xc nh c trng
lng v trng tm cc phn nh ca vt ta s
xc nh c trng tm ca c vt nh cc
biu thc xc nh to trng tm trn.
O
C
1
C
2
C
3
y
Hnh 4.2
Bng 4.1
C
1
C
2
C
3
x
i
y
i
S
i
-1
1
4
1
5
20
5
9
12
x
Sau y ta vn dng nhng kt qu trn
tm trng tm ca mt s vt.
Th d 4.1: Xc nh trng tm ca tm
tn phng c hnh dng nh hnh v (4-2).
Bit rng tm tn l ng cht v kch
thc ca cc cnh tnh bng cm cho trn
-50-
hnh.
Bi gii:
Trc ht chia vt thnh 3 phn, mi phn l mt hnh ch nht nh hnh
v (4-2). Cc hnh ny l cc tm phng v c tm i xng l C
1
, C
2
v C
3
. To
trng tm v din tch ca n c th xc nh nh bng 4.1.
Din tch ca c vt l :
S = S
1
+ S
2
+ S
3
= 36 (cm
2
)
p dng cng thc (4.5) ta c:
x
c
=
S
S x S x S x
3 3 2 2 1 1
+ +
=
36
60 20 4 + +
= 2
9
1
cm
y
c
=
S
S y S y S y
3 3 2 2 1 1
+ +
=
36
108 100 4 + +
= 5
9
8
cm
Trng tm C ca vt hon ton c xc nh.
Th d 4.2. Tm to trng tm ca tm phng gii hn bi hai ng
trn bn knh R v r ( xem hnh v 4.3). Cho bit khong cch gia hai tm l
c
1
c
2
= a.
Bi gii:
Chn h to nh hnh v. Phn tch
thnh hai phn mi phn l mt tm trn
nhng y tm trn c bn knh r phi coi
nh vt c tit din m. C th ta c: Phn 1
l mt tm trn c bn knh R c to
trng tm l x
1
= 0 v y
1
= 0. Din tch l S
1

= R
2
. Phn 2 l tm trn c bn knh r, to
trng tm l x
2
= a, y
2
= 0 v din tch l
S
2
= -r
2
.Din tch c vt l :
R
C
2
C
1
C
r
a
y
S = S
1
+ S
2
= (R
2
- r
2
)
Hnh 4.3
-51-
Ta c th tnh c to trng tm ca vt.
x
c
=
S
S x S x
2 2 1 1
+
= -
2 2
2
r R
r . a

;
y
c
=
S
S y S y
2 2 1 1
+
= 0.
Th d 4-3. Tm trng tm ca mt cung trn AB bn knh R, gc tm
l AB = 2 ( hnh 4-4)
Nu chn h to nh hnh v ta thy trc ox l trc i xng do
trng tm C ca chng nm trn trc ox c ngha l y
c
=0. y ch cn phi
xc nh x
c
Ta chia cung AB thnh N phn nh, mi phn c chiu di l
k
, c to
x
k
= Rcos
k
.
Theo cng thc (4.6) c:
B
O
l
k

k
x
k

x
A
Hnh 4.4
y
x
c
=
L
1
L
x l
n
1 i
k k
=

=
n
1 i
l
k
Rcos
k
Thay l
k
cos
k
= Y
k
ta c:
X
c
=
L
1
R

=
n
1 i
Y
k
=
L
1
R.AB
Thay L = R.2 v AB = 2R sin ta c:
X
c
=

2 . R
sin 2 . R
= R.

sin
(4-7)
Th d 4-4: Tm trng tm ca mt tm phng hnh tam gic ABC ng
cht (hnh 4-5).
Bi gii:
C
G
K
C
A
Chia tam gic thnh cc di nh song song
vi y BC. Mi di nh th i c coi nh mt
B
E
Hnh 4.5
-52-
thanh mnh v trng tm ca n t ti gia di. Nh vy trng tm ca cc di
s nm trn ng trung tuyn AE v trng tm ca c tam gic cng nm trn
AE.
Chng minh tng t ta thy trng tm ca tam gic phi nm trn trung
tuyn BG v trung tuyn CK. R rng trng tm ca tam gic chnh l giao im
ca ba ng trung tuyn ca tam gic .
Trong hnh hc ta bit im c xc nh theo biu thc:
CE =
3
1
AE
Th d 4-5 Tm trng tm ca vt ng nht hnh t din ABDE nh hnh
v (4-6) .
Bi gii:
Ta chia hnh thnh cc phn nh nh cc
mt phng song song vi y ABD. Mi tm
c coi nh mt tm phng ng cht hnh tam
gic trng tm ca mi phn c xc nh nh
th d 4-4. Lp st y s c trng tm l C
1
vi
C
1k
= BK
3
1
(BK l trung tuyn ca y ABD).
Nh vy tt c cc trng tm ca cc phn s
nm trn ng EC
1
v trng tm ca c vt cng s nm trn EC
1
.
E
C
B
K
C
2
A
C
1
D
Hnh 4.6
Tng t ta tm thy trng tm ca vt nm trn ng BC
2
vi C
2
l trng
tm tam gic EAD. Kt qu l trng tm C ca hnh v nm trn im C l giao
im ca EC
1
v BC
2
.
Theo hnh v ta c CC
1
C
2
ng dng vi ECB mt khc C
1
C
2
=
BE
3
1
v KC
1
= KB
3
1
t suy ra:
CE
CC
1
=
BE
C C
2 1
=
3
1

-53-
Suy ra CC
1
= CE
3
1
= E C
4
1
1

-54-

Phn 2
ng hc
ng hc nghin cu cc qui lut chuyn ng ca vt th n thun v
hnh hc, khng cp n khi lng v lc. Nhng kt qu kho st trong
ng hc s lm c s cho vic nghin cu ton din cc qui lut chuyn ng
ca vt th trong phn ng lc hc.
Trong ng hc vt th c a ra di hai m hnh: ng im v vt
rn. ng im l im hnh hc chuyn ng trong khng gian, cn vt rn l
tp hp nhiu ng im m khong cch gia hai im bt k trong n lun
lun khng i. Khi kho st cc vt thc c kch thc khng ng k, c th
coi nh m hnh ng im.
Chuyn ng l s thay i v tr ca vt trong khng gian theo thi gian.
n v o di l mt v k hiu m, n v o thi gian l giy vit tt l s.
Tnh cht ca chuyn ng ph thuc vo vt chn lm mc so snh ta
gi l h qui chiu. Trong ng hc h qui chiu c la chn tu sao cho
vic kho st chuyn ng ca vt c thun tin . c th tnh ton ngi ta
cn phi chn h to gn vi h qui chiu. Thng thng mun hnh v c
n gin ta dng ngay h to lm h quy chiu.
Tnh thi gian thng thng phi so snh vi mc thi im t
0
chn trc.
V ni dung, ng hc phi tm cch xc nh v tr ca vt v m t
chuyn ng ca vt theo thi gian so vi h quy chiu chn.
Thng s xc nh v tr ca vt so vi h quy chiu chn l thng s
nh v. Thng s nh v c th l vc t, l to , l gc...
Qui lut chuyn ng c biu din qua cc biu thc lin h gia cc
thng s nh v vi thi gian v c gi l phng trnh chuyn ng. Trong
phng trnh chuyn ng th thi gian c coi l i s c lp. Khi kh i
s thi gian trong phng trnh chuyn ng ta c biu thc lin h gia cc
thng s nh v v gi l phng trnh qi o.
-55-

biu th tnh cht ca chuyn ng ta a ra cc i lng vn tc v
gia tc. Vn tc l i lng biu th hng v tc chuyn ng ca im hay
vt.Gia tc l i lng biu th s thay i ca vn tc theo thi gian. Gia tc
cho bit tnh cht chuyn ng u hay bin i. Vn tc v gia tc l cc i
lng ph thuc vo thi gian.
Cn c ni dung ngi ta chia ng hc thnh hai phn: ng hc im v
ng hc vt rn. Khi kho st ng hc ca vt rn bao gi cng gm hai phn:
ng hc ca c vt v ng hc ca mt im thuc vt.
Chng 5
Chuyn ng ca im
5.1. Kho st chuyn ng ca im bng vc t
5.1.1. Thng s nh v v phng trnh chuyn ng
Xt ng im M chuyn ng trong
h qui chiu oxyz (hnh 5-1).
V tr ng im M c xc nh nu
bit vc t r
r
= OM. Vc t r
r
l thng s nh
v ca ng im.
Khi ng im chuyn ng vc t r
r

bin thin lin tc theo thi gian t do ta
vit c:
r
r
= r
r
(t) (5-1)
Nu bit c qui lut bin thin (5-1)
ta hon ton xc nh c v tr ca ng
im bt k thi im no. Biu thc (5-1) l phng trnh chuyn ng ca
ng im M vit di dng vc t.
y
Hnh 5.1
(C)
M
r
r

z
x
O
-56-

Trong qu trnh chuyn ng, ng im vch ra mt ng gi l qu o
chuyn ng ca ng im. Phng trnh ca ng qu o cng chnh l
phng trnh chuyn ng (5-1) nhng vit di dng thng s.
Nu ng qu o l thng ta ni ng im chuyn ng thng, nu
ng qu o l cong ta ni chuyn ng ca im l chuyn ng cong.
5.1.2. Vn tc chuyn ng ca im
Gi thit ti thi im t v tr ca ng im xc nh bi vc t nh v r
r
.
Ti thi im t
1
= t + t ng im n v tr M
1
xc nh bi r
r
1
, ta c MM
1
=
r
r
1
- r
r
= r
r
(xem hnh 5-2). Gi t s
t
r

l vn tc trung bnh ca ng im
trong khong thi gian t v k hiu l
tb
v
r
. Khi t cng nh ngha l M
1
cng
gn M th cng gn n mt gii hn,
gii hn gi l vn tc tc thi ti thi
im t.
tb
v
r
Nu k hiu vn tc tc thi ca
ng im l th: v
r
dt
r d
t
v
lim v
0 t
r r
=

=

(5.3)
z
y
x
O
r
r
1

cp
v
r
v
M
1
M
Vn tc tc thi ca ng im bng
o hm bc nht theo thi gian ca vc t
nh v ti thi im .
V mt hnh hc ta thy vc t r
r

nm trn ct tuyn MM
1
v hng t M n M
1
v vy khi tin ti gii hn vc t
vn tc s tip tuyn vi qu o ti v tr M ang xt v hng theo chiu
chuyn ng ca im.
v
r
Hnh 5.2
n v tnh vn tc l mt/giy vit tt l m/s
-57-

5.1.3. Gia tc chuyn ng ca im
Gi thit ti thi im t im c vn tc v
r
v ti thi im t
1
im c vn
tc l v
r
1
. T s
t
v

r
=
t
v v
1

r r
gi l gia tc trung bnh ca im trong thi gian
t. Gii hn t s khi t tin ti khng gi l gia tc tc thi ca im. Ta
c:
w
r
2
2
0 t
dt
r d
dt
v d
t
v
lim w
r r r
r
= =

=

(5-3)
Nh vy gia tc tc thi ca im l
vc t o hm bc nht theo thi gian cu
vc t vn tc hay o hm bc hai theo
thi gian ca vc t nh v. V mt hnh
hc vc t bo gi cng hng v pha
lm ca ng cong (xem hnh 5-3), do
vc t gia tc bao gi cng hng v
pha lm ca ng cong. n v o gia tc l mt/giy
v
r
w
r
2
vit tt l m/s
2
z
y
x
O
M
1
M
v

r
cp

r
v
1
v
Hnh 5.3
5.1.4. Tnh cht ca chuyn ng
xem xt chuyn ng ca im l thng hay cong ta cn c vo tch
x = v
r
w
r
c
r
Nu = 0 th v cng phng, ngha l vn tc c phng khng
i. Chuyn ng lc l chuyn ng thng.
c
r
v
r
w
r
v
r
Nu 0 th v hp vi nhau mt gc iu chng t vc t c
r
v
r
w
r
v
r

thay i phng v chuyn ng s l chuyn ng cong. xt chuyn ng
ca im l u hay bin i ta cn c vo tch v hng v
r
. = B. w
r
V v
2
= ( ) v
r
2
nn
dt
) v ( d
dt
) v ( d
2 2
=
r
= 2v
r
. w
r

Cho nn nu B = 0 th chng t v
r
l hng s ngha l ng im chuyn
ng u.
-58-

Nu B 0 th v l i lng bin i, chuyn ng l bin i. Nu B > 0
chuyn ng nhanh dn v B < 0 chuyn ng chm dn.
r
5.2. Kho st chuyn ng ca im bng to cc
5.2.1. Thng s nh v v phng trnh chuyn ng
Xt ng im M chuyn ng theo
ng cong trong h trc to cc oxyz
(hnh 5-4).
z
y
x
O
z
M

r
y
x
J
k
i
y cc to x,y,z l cc thng s
nh v ca im M.
Khi M chuyn ng cc to ny thay
i lin tc theo thi gian do ta c:
x = x(t);
Hnh 5.4
y = y(t); (5-4)
z = z(t).
Cc phng trnh (5-4) l phng trnh chuyn ng ca im v cng l
phng trnh qu o ca im vit di dng thng s trong to cc.
5.2.2. Vn tc chuyn ng ca im
Nu gi cc vc t n v trn ba trc to l , i
r
j
r
, k
r
th vc t nh v v
vc t vn tc c th vit:
r
r
= x + y + z i
r
j
r
k
r
. Suy ra
v
r
=
dt
r d
r
=
dt
d
(x + y + z i
r
j
r
k
r
) =
dt
dx
i
r
+
dt
dy
j
r
+
dt
dz
k
r

(5.5)
Biu thc trn chng t:
v
x
=
dt
dx
= ; v x&
y
=
dt
dy
= ; v y&
x
=
dt
dz
= . (5.6) z&
-59-

Hnh chiu vc t vn tc ln cc trc to bng o hm bc nht theo
thi gian cc to tng ng.
Da vo cc biu thc (5.6) d dng xc nh c vc t vn tc c v
ln v phng chiu.
v =
2 2 2
z
2
y
2
x
2
dt
dz
dt
dy
dt
dx
v v v

= + +
cos(ox,v) =
v
v
x
; cos(oy,v) =
v
v
y
; cos(oz,v) =
v
v
z
.
5.2.3. Gia tc ca im
Tng t nh i vi vn tc, da vo biu thc (5.3) ta c th tm thy:
w
x
=
dt
dv
x
= x
dt
x d
2
2
& & = ;
w
y
=
dt
dv
y
= y
dt
y d
2
2
& & = ; (5.7)
w
x
=
dt
dv
z
= z
dt
z d
2
2
& & = .
Gia tc chuyn ng ca im s c xc nh v ln v phng
chiu theo cc biu thc sau:
w =
2 2 2
z
2
y
2
x
2
z y x w w w & & & & & & + + = + +
cos(ox,w) =
w
w
x
; cos(oy,w) =
w
w
y
; cos(oz,w) =
w
w
z
.
Khi bit v ta c th xem xt c tnh cht chuyn ng ca im M. v
r
w
r
5.3. Kho st chuyn ng ca im bng to t nhin
5.3.1. Thng s nh v v phng trnh chuyn ng
Gi thit ng im M chuyn ng theo mt ng cong AB trong h
to oxyz. (xem hnh v 5.5). Trn qu o AB ly im O lm gc v chn
-60-

chiu dng cho ng cong. Thng thng ta chn chiu dng ca ng
cong l chiu m ng im chuyn ng. R rng nu bit cung OM = s ta c
th bit v tr ca im M trn qu o. Ni khc i cung OM = s l thng s
nh v ca ng im, cn gi l to cong. Khi im M chuyn ng s s
bin i lin tc theo thi gian ngha l:
s = s(t) (5.8)
Bit c quy lut bin thin (5.8) ta c th xc nh v tr ca im M
bt k thi im no. Biu thc (5.8) c gi l phng trnh chuyn ng ca
im. Theo phng php ny xc nh chuyn ng ca im phi bit:
- Qu o chuyn ng AB
- Chiu chuyn ng trn qu o
- Quy lut chuyn ng (5.8).
5.3.2. Vn tc chuyn ng ca im
Gi thit ng im chuyn ng trn ng cong AB. Ti thi im t
ng im v tr M xc nh bng to cong s. Ti thi im t
1
= t + t im
v tr M
1
xc nh bng to cong s
1
= s + s.
x
1
y
1
O
1
z
1
B
M
-0+
s
A
T s
t
s

=
tb
1
v
t
s s
=

gi l tc trung
bnh.
Gii hn ca t s ny khi t tin ti
khng gi l tc tc thi ca im ti thi
im t v k hiu l v.
Hnh 5.5
v= s
dt
ds
t
s
lim
0 t
& = =

(5.8)
s
1
-0+
M
1
s
v
s
Vn tc c gi tr bng o hm bc nht
theo thi gian ca qung ng s, c phng tip
Hnh 5.6
-61-

tuyn vi qu o, hng theo chiu ca chuyn ng. ( xem hnh 5.6).
5.3.3. Gia tc tip tuyn v gia tc php tuyn ca im.
5.3.3.1. H to t nhin
Gi thit cht im chuyn ng theo
ng cong AB nh hnh (5.7).
Trn ng cong ly hai im M
1
M
1
'
ln cn hai bn im M. V mt phng i
qua ba im . Khi hai im M
1
M
1
' tin
gn n M th mt phng trn tin gn n
gii hn ca n l mt phng () gi l mt
phng mt tip. Trong mt phng mt tip
v ng M tip tuyn vi qu o (trng
vi vc t vn tc ( ). Mt trc khc vn
nm trong mt phng mt tip v vung gc vi M ti M k hiu l Mn gi l
php tuyn chnh. Trc Mb vung gc vi hai trc kia gi l trng php tuyn.
Ta chn chiu ca ba trc Mnb to thnh mt tam din thun v gi l h to
t nhin.
v
r
v
n
b
M
1
A
M

v
1n
v
1

B
v
1
b
a
M
1
Hnh 5.7
5.3.2. Gia tc tip tuyn v php tuyn ca im
Nh trn bit:

w
r

=
lim
=
t
v

r
=
lim
=
t
v v
1

r r

t 0
t 0
Chiu biu thc ny ln cc trc to t nhin ta c:
t
=
lim
= ;
t
v v
t
1
t

t 0
w


w
n
=
lim
=
;t 0
t
v v
n n
1

;
w
b
= 0;
Trn hnh (5.7) gi cung MM
1
= s ; gc hp bi v
r
v M l ta c:
-62-

= =

1
k
s
lim
0 t

T s k gi l cong cn l bn knh cong ca qu o ti M.
Mt khc khi chiu vc t v
r
v v
r
1
ln cc trc ta c:
v
t
= v v
t
1
= v
1
cos;
v
n
= 0 v
n
1
= v
1
sin;
Thay th kt qu tm c vo biu thc ca w
t
v w
n
s c:
w
t
=
t
v cos v
1
0 t
lim



;
w
n
=
)
t
sin
v (
1
0 t
lim



;
Khi t tin ti 0, im M
1
dn ti M v tin ti 0, s tin ti 0, v
1
tin
ti v; cos tin ti 1. Thay cc gi tr ny vo biu thc trn ta nhn c:
w
t
= s
dt
s d
dt
dv
t
v v
lim
2
2
1
& & = = =

;
w
n
=

2
1
v
)
t
s
.
s
.
t
sin
v lim( .
Trong biu thc (5.9) w
t
v w
n
l gia tc tip tuyn v gia tc php tuyn
ca im ti thi im t.
Gia tc tip tuyn
t
w
r
c tr s bng o hm bc nht theo thi gian ca
vn tc hay bng o hm bc hai theo thi gian ca qung ng i s, c
phng tip tuyn vi qu o, cng chiu vi v
r
khi w
t
> 0 v ngc chiu vi v
r

khi w
t
<0. (hnh 5.8).
Gia tc php tuyn
n
w
r
c gi tr bng bnh phng ca vn tc chia cho
bn knh cong, lun lun hng theo php tuyn Mn v pha lm ca ng
cong.
Gia tc ton phn ca im M c th xc nh theo biu thc :
-63-

2
2
2
2 n 2 r
v
dt
dv
w w w

= + = (5.10)
Phng ca lun lun hng v pha lm ca ng cong v hp vi
php tuyn mt gc .
w
r
tg =
n
t
w
w
; (5.11)
n




M
-0+

n

-0+
b)
a)

Khi w
t
< 0
Khi w
t
> 0

Hnh 5.8
5.3.4. Mt s trng hp chuyn ng c bit
5.3.4.1. Chuyn ng thng
Trong trng hp ny = v w
n
= 0
v
2
=

.
Khi ch cn: =
t
w
r
w
r
=
dt
v d
r
.
Gia tc bng o hm bc nht theo thi gian ca vn tc, cng chiu vi
khi > 0 v ngc chiu vi v
r
w
r
v
r
khi w
r
<0. Cn ch khi chuyn ng ca
im l thng ta mi c kt qu trn.
5.3.4.2. Chuyn ng cong u
Ta gi chuyn ng cong u l chuyn ng c tr s vn tc khng i
v = const.
Khi w
t
= 0
dt
dv
= v w = w
n
=

2
v

-64-

Gia tc ton phn bng gia tc php tuyn c v ln v phng chiu.
Trong chuyn ng cong u phng trnh chuyn ng c th thit lp nh sau:
Ta c: , v
dt
ds
= ds = vdt.
Tch phn hai v ta c:

=
S
0 S
t
t
, vdt ds
Hay s = s
0
+ v.t
5.3.4.3. Chuyn ng thng bin i u
Trong trng hp ny w
t
= w
n
= 0 do w = 0. Suy ra phng trnh
chuyn ng x = x
o
+ v.t
5.3.4.4. Chuyn ng cong bin i u
Chuyn ng cong bin i u l chuyn ng c w
t
= const.
Ta c: ; w
dt
dv
t
= dv= w
t
dt
Ly tch phn hai v s c: hay v = v

=
v
v
t
t
t
o
, dt . w dv
o
+ w
t
.t
Phng trnh chuyn ng vit c:
t . w v
dt
ds
t
o
+ = suy ra : ds = v
o
dt + w
t
.t.dt;
Hay: s = s
o
+ v
o
t +
2
t w
2 t
.
Sau y l mt s bi ton th d.
M
A
y
O
x
B

v
w
Th d 5.1: Xc nh qu o, vn tc
v gia tc ca im M nm gia tay bin AB
ca c cu bin tay quay OAB, (xem hnh
5.9) cho bit OA = AB = 2a v thi im
kho st tng ng vi gc ca c cu, vi
= t.
Hnh 5.9
-65-

Bi gii:
Chn h to oxy nm trong mt phng c cu.
Gi to ca im M l x,y ta c:
x = 2acos + a cos = 3 acos;
y = a sin.
y chnh l phng trnh chuyn ng ca im trong to cc.
xc nh qu o ca im, t phng trnh trn rt ra:
cost =
a 3
x
; sint =
a
y
;
suy ra 1
a
y
a 9
x
2
2
2
2
= + .
y chnh l phng trnh Enlip nhn cc trc i xng l ox v oy ( xem
hnh v 5.9).
tm vn tc ta p dng biu thc (5.6) c:
v
x
= t sin a 3
dt
dx
= ;
v
y
= t cos a
dt
dy
= .
Cui cng xc nh c vn tc ca im M nh sau:
v
M
= . a . t cos t sin 9 v v
2 2
y
2
x
2
+ = +
Phng chiu ca v
r
M
nh hnh v. T kt qu trn ta thy v
min
= a v
v
max
= 3a.
Theo biu thc (5.7) xc nh c gia tc ca im M:
w
x
=
2
2
dt
x d
= -3a
2
cost = -
2
x;
w
y
= -a
2
sint = -
2
y;
-66-

Gia tc ton phn w = . r ) y x (
2 2 2 4
= +
Phng chiu ca w c xc nh nh cc gc ch phng nh sau:
cos(w,ox) = ;
r
x
w
w
x
= cos(w,oy) =
r
y
w
w
y
= .
T kt qu trn cho thy phng chiu w
r
lun lun hng t M v O.
Th d 5.2. im M chuyn ng theo phng trnh:
x= a sint ; y = a cost; z=ut.
Trong a, v u l khng i.
Xc nh qu o, vn tc v gia tc ca im M.
Bi gii:
T hai phng trnh u suy ra:
sin
2
t + cos
2
t = a
2
hay x
2
+ y
2
= a
2
(a)
Kt hp phng trnh (a) vi phng trnh z = ut ta thy im chuyn
ng trn mt tr bn knh a v trc l oz.
T z = ut suy ra t = z/u v thay vo biu thc ca x ta c:
x = a sin ; z .
u

y = cos ; z .
u

Qu o ca im M l mt ng vt, c trc oz.
Gi T
1
l chu k ca ng vt. T
1
xc nh t biu thc:
T = 2 hay T
1
=

2

Trong thi gian T
1
ng im quay quanh trc oz c mt vng ng
thi cng tin theo dc trc oz mt on h =uT
1
=

u 2
; h gi l bc ca vt.
xc nh vn tc v gia tc ta p dng phng php to cc.
-67-

v
x
= a cost;
v
y
= a sint;
v
z
= u.
T xc nh vn tc v ca im.
v =
2 2 2 2 2 2 2 2
z
2
y
2
x
2
u a ; u ) t sin t (cos a v v v + = + + = + +
Nh vy vn tc v ca im c tr s khng i v phng tip tuyn vi
qu o (xem hnh 5.10). Tng t ta xc nh c:
w
x
= -a
2
sint
w
x
= -a
2
cost;
w
z
= 0.
C
y
x
z
a
x
O


y

z
a
v w = . a w w
2
y
2
x
2
= +
Gia tc ca im c ln khng i
cn phng chiu c xc nh bng cc
cosin ch phng.
cos(w,x) = ;
a
x
t sin
w
w
x
= =
cos(w,y) = ;
a
y
t sin
w
w
y
= =
Hnh 5.10
cos(w,x)
w
w
z
= 0.
Mt khc ta thy:
= cos
a
x
; = cos
a
y
.
v biu din trn hnh v.
Nh vy gia tc lun lun hng theo bn knh t ng im vo trc oz. w
r
-68-

Th d 5.3: Mt bnh xe bn knh R ln khng trt trn ng thng.
Vn tc tm bnh xe v = v(t).
Lp phng trnh chuyn ng ca im M nm trn vnh bnh xe.
Kho st vn tc v gia tc ca im M .
Kho st tnh bin i chuyn ng ca im M trn qu o ng vi mt
vng ln ca bnh xe khi V=V
o
= cosnt.
Bi gii:
Chn gc to l im tip xc O gia M v mt ng (xem hnh
5.11).
t gc PCM = . xc nh phng trnh chuyn ng ta tm quan h
gia cc to x.y ca im vi gc .
A
x
M
0
O
H
C
P

E
M
C
0
y
R
v
C
Hnh 5.11







-69-


Trn hnh c x = OH = OP - PH = R - R sin;
y = HM =R + Rsin(-90
0
) = R - Rcos = R(1 - cos);
V bnh xe ln khng trt nn: OP= .

t
0
) t (
dt v
Suy ra = (t) =

t
o
) t (
dt v
R
1

Phng trnh chuyn ng ca im M c th vit c:
x= R(- sin);
y= R(1- cos);
= (t).
y l phng trnh ca ng Xycloit vit di dng thng s.
Kho st chuyn ng ca im M trn cung OA.
Vn tc v gia tc ca im xc nh nh sau:
= =
= =
sin R y v
); cos 1 ( R x v
v
y
x
& &
& &
r

. sin R cos R v w
); cos 1 ( R sin R v w
w
2
y y
2
x x
+ = =
+ = =
& & & &
& & & &
r

Ti v tr chm t O v A th =0 v = 2. Khi sin = 0, cos =1.
v: v
x
= 0 ; v
y
= 0 suy ra v = 0;
w
x
= 0; w
y
= R
2
> 0.
w
r
lc ny khc khng, do im ch dng li tc thi mt t.
Trong trng hp c bit v = v
0
= hng s th:
= ;
R
t v
dt v
R
1
o
t
o
) o (
=

-70-

= ;
R
t v
o

o
= 0; & = ;
R
v
o
. 0 = & &
Lc ny: v
x
= v
o
(1-cos); v
y
= v
o
sin;
w
x
= sin
R
v o
2
; w
y
= cos
R
v o
2
.
xt tnh cht chuyn ng ca im trn cung OA ta c:
v
r
. = v w
r
x
.w
x
+ v
y
.w
y
= ( ) [ ]; cos sin cos 1 sin
R
v o
3
+ = . sin
R
v o
3

Nh vy v
r
. > 0 trong khong 0 < < v w
r
w . v
r r
< 0 trong khong <
< 2.
Trn na cung u im chuyn ng nhanh dn cn na cung sau im
chuyn ng chm dn.
V d 5.4. Mt vt rn bn ra theo phng ngang vi vn tc ban u v
r
o

sau ri xung theo quy lut : x = v
o
t; y =
2
gt
2
1

Tm qu o, vn tc, gia tc ton phn, gia tc tip tuyn, gia tc php
tuyn, bn knh cong ca qu o ti mt thi im t bt k.
Bi gii:
Kh thi gian t trong phng trnh chuyn ng ta c phng trnh qu
o: y = . x
v
g
2
o
2

y l phng trnh parabol. (xem hnh
5.12).

n
n

M
x
O
Vn tc ca vt xc nh c
v
x
= ; v
dt
dx
o
=
y
Hnh 5.12
-71-

v
y
= ; gt
dt
dy
=
v = . t g v
2 2
o
2
+
Gia tc ca im c xc nh nh sau:
w
x
= ; 0
dt
x d
2
2
= w
y
= . g
dt
y d
2
2
=
Suy ra w = g . Gia tc ca vt bng gia tc trng trng.
xc nh gia tc tip tuyn ta c:
w
t
= .
v
t g
t g v
t g
dt
dv
2
2 2 2
o
2
=
+
=
Theo kt qu trn v
2
= v
o
2
+ g
2
t
2
nn suy ra:
t = . v v
g
1
2
o
2
+
Thay vo biu thc ca w
t
ta c:
w
t
= g
2
2
0
v
v
1 .
T kt qu ny ta thy ti thi im ban u v = v
o
th w
t
= 0
Khi v th w
t
g.
Tip theo ta xc nh gia tc php tuyn cn c vo biu thc:
w
2
= w
2

+ w
2
n
Ta c: w
2
n
= w
2
- w
2

= g
2
+ g
2
;
v
v
g
v
v
1
2
2
o 2
2
2
o
=

suy ra : .
v
v
g w
o
n
=
Ti thi im u v = v
o
do w
n
= g.
-72-

T biu thc tm c ca w
n
ta c th xc nh c bn knh cong ca
qu o.
w
n
=

2
v
suy ra =
n
2
w
v
hay = .
g v
v
0
3

Ti thi im u v = v
o
ta c = .
g
v
2
o

Khi v th .

-72-
Chng 6
Chuyn ng tnh tin v chuyn ng quay quanh
mt trc c nh ca vt rn
Chuyn ng tnh tin v chuyn ng quay quanh mt trc c nh l hai
chuyn ng c bn ca vt rn. Sau ny s r, cc chuyn ng khc ca vt rn
u l kt qu tng hp ca hai chuyn ng ni trn.
6.1. Chuyn ng tnh tin ca vt rn.
6.1.1. nh ngha
Chuyn ng ca vt rn gi l tnh tin khi mt ng thng bt k gn
vi vt c phng khng i trong qu trnh chuyn ng .
Cn phn bit gia chuyn ng tnh tin vi chuyn ng thng. Trong
chuyn ng tnh tin qu o ca mt im cng c th l thng cng c th l
cong.
Th d : Pt tng trong ng c t,
my ko l vt rn chuyn ng tnh tin, mi
im trn n c qu o l thng.
C
2
B A
Khu Ab trong c cu hnh bnh hnh
OABO
1
(hnh 6.1) chuyn ng tnh tin, mi
im trn n c qu o l mt ng trn.
Hnh 6.1
6.1.2. Tnh cht ca chuyn ng tnh tin.
nh l 6.1: Khi vt rn chuyn ng
tnh tin mi im trn vt c chuyn ng
nh nhau ngha l qu o, vn tc v gia
tc nh nhau.
r
r
B
r
r
A
A
1
B
1
B
A
a
Z'
O
Z
Hnh 6.2
Chng minh nh l :
Gi tit vt rn chuyn ng tnh tin
-73-
trong h ta oxyz (hnh 6.2). Ly hai im A v B bt k trn vt. Ti thi
im t hai im A v B c vc t nh v
A
r
r
,
B
r
r
.
Theo hnh v ta c :
AB r r
A B
+ =
r r
(6.1)
Trong qu trnh chuyn ng, theo nh ngha l vc t khng i.
Suy ra qu o im B l tp hp ca cc im nm trn qu o im A ri
i mt on thng bng v ln v phng chiu ca vc t
AB
AB. Ni khc i
nu ta di qu o AA
1
ca im A theo vc t ABth AA
1
s trng kht ln qu
o BB
1
. Ta chng minh c qu o ca im A v B nh nhau.
T biu thc ( 6.1) d dng suy ra :
A
A B
B
v
dt
) AB ( d
dt
r d
dt
r d
v
r
r r
r
= + = = , v 0
dt
AB
=
v
dt
v d
dt
v d
A B
r r
= hay
B A
w w
r r
=
V im A v B ly bt k do nh l c chng minh.
Do tnh cht trn ca chuyn ng tnh tin nn khi ni vn tc v gia tc
mt im no trn vt chuyn ng tnh tin cng c th hiu l vn tc v
gia tc ca vt.
6.2. Chuyn ng quay ca vt rn quanh mt trc c nh.
6.2.1. Kho st chuyn ng ca c vt.
6.2.1.1. nh ngha v phng trnh chuyn ng.
Chuyn ng ca vt rn c gi l chuyn ng quay quanh mt trc c
nh khi trn vt tm c hai im c nh trong sut thi gian chuyn ng.
ng thng i qua hai im c nh gi l trc quay.
Th d : Cnh ca quay quanh trc bn l ; Phn quay ca ng c in ;
Rng rc c nh....l cc vt rn chuyn ng quay quanh mt trc c nh .
-74-
M hnh vt rn quay quanh mt trc c nh biu din trn hnh v (6.3).
xc nh v tr ca mt vt ta dng hai mt phng : mt phng
1
cha
trc quay c nh trong khng gian , mt phng
2
cng cha trc quay nhng
gn vi vt. Khi vt chuyn ng mt phng
2

chuyn ng theo, nu xc nh c gc hp bi
gia
1
v
2
th v tr ca vt c xc nh. V vy
gc l thng s nh v ca vt.
Khi vt quay gc bin i lin tc theo thi
gian ngha l :
= (t) (6.2)
Phng trnh (6.2) chnh l phng trnh
chuyn ng ca vt rn quay quanh mt trc c nh.

2
A
B
C
Z
Hnh 6.3
6.2.1.2. Vn tc gc v gia tc gc ca vt .
Gi tit trong khong thi gian t = t
1
- t
0
vt rn quay c mt gc :

=
1
-
0
Ta gi t s
t

l vn tc gc trung bnh ca vt trong khong thi gian
t k hiu l
tb
. Ly gii hn ca vn tc gc trung bnh khi t dn ti khng
c :
=

dt
d
t
lim
0 t

gi l vn tc gc tc thi ca vt.
Nh vy vn tc gc tc thi ca vt rn bng o hm bc nht theo thi
gian ca gc quay . Du ca cho bit chiu quay ca vt. Nu > 0 c ngha
l vt quay theo chiu dng chn v nu < 0 th vt quay ngc theo chiu
dng chn. Tr s c tnh bng rad/giy vit tt l 1/s.
biu din c v tc quay v phng chiu quay ca vt ta a ra
-75-
khi nim vc t vn tc gc
r
. Vc t
r
c xc nh nh sau : ln ca n
tc gc , hng dc theo trc quay v pha sao khi nhn t mt ca s
thy vt quay quanh trc theo ngc chiu kim ng h.

r
= . k
r
vi k
r
l vc t n v trn trc quay. (hnh 6.4).

Z
B
A

r
k
r
B
A

r

k
r

Z






Hnh 6.4a Hnh 6.4b

V vy vn tc gc cho bit tc quay v chiu quay ca vt do s
bin thin ca n theo thi gian phn nh tnh bin i ca chuyn ng . Ta
c nh ngha gia tc gc nh sau :
Gia tc gc ca vt k hiu l bng o hm bc nht theo thi gian ca
vn tc gc hay o hm bc hai theo thi gian ca gc quay.
2
2
dt
d
dt
d
=

= (6.4).
n v tnh gia tc l rad/(giy)
2
vit tt l 1/s
2
. Cng nh vn tc, gia tc
c th biu din bng mt vc t
r
xc nh bng o hm theo thi gian ca
vc t . Ta c :
r
k . k .
dt
d
dt
d
r r
r
r
=

=
Nh vy vc t gia tc gc
r
cng nm trn trc quay, khi > 0 th
r

cng chiu vi (hnh 6.4a) v khi < 0 th
r

r
ngc chiu vi (hnh 6.4b).
r
-76-
6.1.1.3. Chuyn ng quay u v bin i u.
Nu chuyn ng quay c vn tc gc khng i ta ni chuyn ng
quay l u. Khi biu thc (6.3) rt ra : d = dt.
Nu tch phn hai v theo cc cn tng ng ta c :

=

t
0 t 0
dt d hay =
0
+ (t - t
0
) .
Vi t
0
= 0 th phng trnh chuyn ng c th vit :
=
0
+ t .
y
0
l gc quay ban u ng vi t = t
0
= 0 .
Nu chn
0
= 0 th phng trnh cn li l :
= t .
y c th tnh n vn tc bng biu thc
) s / rad (
t

= .
T cng thc ny nu tnh vn tc gc cho bng n vng/pht th d dng
suy ra vn tc gc tnh theo radian/giy theo biu thc :
) s / rad ( 1 , 0
30
n .

= .
Nu gia tc l khng i, chuyn ng quay ca vt gi l chuyn ng
quay bin i u.T biu thc (6.4) suy ra :

=
0 0
t
t
dt d hay =
0
+ t.
Mt khc ta c :
dt
d
= nn c th vit : d =
0
dt + tdt.
Ly phn tch hai v ta c :
2
t
t
2
0 0

+ + =
-77-
Nu chn
0
= 0 th
2
t
t
2
0

+ =
6.2.2. Kho st chuyn ng ca mt im trn vt rn chuyn ng quay
quanh mt trc.
Kho st im M nm trn vt rn quay
quanh mt trc c nh, cch trc quay mt
on h. Khi vt rn quay im M vch ra mt
ng trn bn knh h nm trong mt phng
vung gc vi trc quay c tm c nm trn trc
quayAZ. (Hnh 6.5).
Bng phng php to t nhin ta c th
vit phng trnh chuyn ng ca im M :
B
A
C
h
M
V
M


Z
Hnh 6.5
S= h . (t).
S l cung m im M i c, tng ng vi gc quay (t) m vt quay
c. V l hm ca thi gian nn S cng l hm ca thi gian. Biu thc (6.5)
l phng trnh chuyn ng ca im M.
Vn tc ca im M d dng xc nh nh biu thc (5.8) ta c :
=

= = . h
dt
d
. h
dt
ds
v (6.6).
Vn tc im M c tr s bng h. v c phng tip tuyn vi qu o
c chiu hng theo chiu quay ca vt (hnh 6.5) v nm trong
mt phng ca qu o.
) MC v (
M

r
T biu thc (6.6) ta thy vn tc
ca im t l vi khong cch t im
ti trc quay v c th biu din theo hnh
v (6.6).
v
r
A
V
B
V

A

C
B
Cng theo phng php to t
Hnh 6.6
-78-
nhin ta c th xc nh c gia tc ca im M.
M
n
M
t
M
w w w
r r r
+ = .
=

= = . h
dt
d
h
dt
dv
w
t
M

2
2 2 2
n
M
. h
h
h v
w =

=
y nu > 0 chiu ca M
t
w
r
cng chiu vi v
r
, nu < 0 th M
t
w
r

ngc chiu vi v
r
. Cn chiu ca lun hng t M v tm c.
n
M
w
Gia tc im M xc nh c c v ln ln phng chiu.

4 2 2 2 2 2
M
2 n
M
2 t
M
h h . . h w w w + = + = + =
M
w
r
hp vi bn knh MC mt gc xc nh bi biu thc :

2 n
w
wr
tg

= = (xem hnh 6.7).

M


W

W
A
I
C
N
W
N
I


A
W
M
M
C
W

v
W
M
n
M
W





Hnh 6.7
Hnh 6.8

T biu thc xc nh w
M
ta thy gia tc ca im M t l bc nht vi
khong cch t im ti trc quay. C th biu din quy lut phn b gia tc cc
im nh hnh ( 6.8.)
Th d 6.1 : Mt bnh ang quay vi vn tc n = 90 vng/pht ngi ta
hm cho n quay chm dn u cho n khi dng hn ht 40 giy. Xc nh s
-79-
vng quay bnh quay c trong thi gian hm .
Bi gii:
Phng trnh chuyn ng ca bnh l :

2
t
t
2
= ;
0
=
0
- t.
y ta chn gc quay ban u
0
= 0 .
Ti thi im t
0
= 0
30
n
0

= ti thi im t = t
1
khi bnh dng
hn =
1
= 0. Suy ra :
= 0 =
0
- t hay
t 30
n
t
0

=

=
Thay vo trn ta tm c :
1 1
1
t
60
n
t
60
n
30
nt
N 2

=

= = ,
hay 30
120
nt
N
1
= =
(vng)
T khi bt u phanh cho n khi dng hn bnh cn quay c 30
vng na.
Th d 6.2 : Trng vt B ri xung truyn chuyn ng quay cho trng c
bn knh r trn lp bnh rng 1 bn knh R
1
n khp vi bnh rng 2, bn knh
R
2
nh hnh v ( 6.9 ). Cho bit trng vt c th xung khng vn tc ban u
v c gia tc a khng i. Xc nh quy lut chuyn ng ca bnh rng 2, vn
tc v gia tc ca im M trn vnh bnh rng 2 ti thi im t = 2 giy.
Bi gii:
V vt B chuyn ng xung theo quy lut nhanh dn vi gia tc a nn :
V
B
= at.
im A c vn tc bng vn tc im B
-80-
V
A
=
1
r = at.
Trong
1
l vn tc gc ca trc bnh rng 1. Suy ra :

r
at
1
=
xc nh vn tc gc
2
ca bnh rng 2 cn c vo vn tc im n
khp C ca hai bnh rng, ta c :
M
C
v

2
R
2

1
R
1
A
r
V
C
=
1
R
1
=
2
R
2
,
Hay
r
at
.
R
R
.
R
R
2
1
1
2
1
2
= = .
Vn tc gc bnh rng 2 l hm
ca thi gian. D dng tm c gc
quay ca bnh rng 2. Ta c :
2
1
B
dt
d
r
at
.
R
R
2
2
1
2

= =
Hnh 6.9
hay atdt .
rR
R
d
2
1
2
= .
Chn
0
= 0 ng vi t
0
= 0 v
1
ng vi t = t
1
. Sau tch phn hai v ta
c : at .
r R 2
R
2
1
2
=
2
.
y chnh l phng trnh chuyn ng ca bnh rng 2.
Vn tc ca im M trn vnh bnh rng 2 bng vn tc ca im C. Ta
c :
at .
r
R
R V V
1
1 1 c M
= = = (m/s )
Khi t= 2 giy gia tc ca im M cng nh gia tc im C. Ta c :

-81-
2
dt
d
. R . R
2 2
t
c
W

= = vi a .
r R
R
dt
d
2
1 2
=

Thay vo biu thc gia tc tip tuyn v php tuyn ca im C ta c :
a .
r
R
w
1 t
C
=
2
2
2
2 2
1
2
2 2
2
2
2
1
. 2
2
2 2
n
C
t
r R
a R
r
t a
.
R
R
R R w = = =
Vi t = 2 s c :
2
2
2 2
1 n
C
r R
a R 4
w =
Gia tc ton phn ca im C l ;
2 2
2
2 2
1 1
2 2
2
4 4
1
2 2
2
2 2
1
2 c
r R
a R 16
1
r
a R
r R
a R 8
r . R
a R
R w + = + =
6.2.3.Truyn chuyn ng quay ca vt rn quanh cc trc song song
Kho st trng hp rt ph bin trong k thut c kh l s truyn
chuyn ng quay ca cc bnh rng tr .
6.2.3.1. Truyn chuyn ng quay ca cc bnh rng tr c trc quay c nh
Trc ht ta xt hai bnh rng 1 v 2 quay quanh hai trc O
1
v O
2
c nh
biu din trn hnh 6.10. Hnh 6.10a l hai bnh rng n khp ngoi cn hnh
6.10.b l hai bnh rng n khp trong. Nu gi A l im n khp ca hai bnh
rng ta c nhn xt rng vn tc ca im A trn hai bnh rng bng nhau ngha
l:

1
.r
1
=
2
.r
2

-82-

1

2
0
1
2
1
0
2
A
Trong r
1
v r
2
l bn knh ca hai
bnh rng 1 v 2. T kt qu trn suy ra biu
thc sau:

2
1
n khp ngoi
= -
1
2
r
r
= -
1
2
z
z
(6.11)
Hnh 6-10a

2
1
n khp trong
=
1
2
r
r
=
1
2
z
z
(6.12)

1
0
1
1
A

2
0
2
2
z
1
v z
2
l s rng ca bnh rng 1 v 2.
Tip theo ta xt trng hp h c nhiu
bnh rng tr n khp vi nhau v c trc
quay c nh (Hnh 6.11). Hnh 6-10b
Trc ht kho st cc bnh
rng n khp ngoi. Theo biu thc
(6.1) p dng cho cc cp bnh rng
tip theo ta c:

1
0
1
0
2
0
3

3


Hnh 6 - 11
1
2
2
1
r
r
=

;
2
3
3
2
r
r
=

;
... ; ( )
1 n
n
1 n
n
1 n
r
r
1

Hay
1
2
2
1
r
r
=

;
1
3
3
1
r
r
=

; .....; ( )
1
n
1 n
n
1
r
r
1

=

Mt cch tng qut ta c:
( )
1
n
k
n
1
r
r
1 =

(6.13)
y k l s cp bnh rng n khp ngoi. Nu s cp bnh rng n khp
-83-
ngoi l chn th n cng chiu vi
1
v s cp bnh rng n khp ngoi l l
th n ngc chiu vi
1
. Ni cch khc i nu n chn th n ngc chiu vi

1
v n l th
n
cng chu vi
1
.
Trong trng hp cc bnh rng n khp trong. Theo biu thc (6.2) p
dng cho cc cp bnh rng tip theo d dng nhn c kt qu:

1
n
n
1
r
r
=

(6.14)
iu ny chng t vn tc gc ca cc bnh rng tip theo khng i
chiu v ch ph thuc vo t s gia hai bn knh r
1
v r
n
.
6.2.3.2. Truyn chuyn ng quay ca cc bnh rng tr c trc quay nm
trn gi di ng
Kho st s truyn chuyn ng ca cc bnh rng cho trn hnh (6.12)
y bnh rng 1 c nh cn
bnh rng 2 v 3 c trc C v B nm
trn gi AB gi ny quay quanh A vi
vn tc gc
AB
.

A
B
AB
(1)
(2)
(3)
Bi ton t ra l phi xc nh
vn tc gc ca 2 bnh rng 2 v 3.
a bi ton v trng hp
xt 6.2.3. ta phi tm cch c nh gi AB. Mun vy ta cho ton b h quay
ngc li vi vn tc gc
AB
quanh A. Phng php ny gi l phng php
Vilt. Khi cc vn tc gc tng i
K
' ca cc khu s l
K
' =
k
-
AB
.
Trong
K
l vn tc gc tuyt i. R rng lc ny gi AB s c vn tc l

AB
' =
AB
-
AB
= 0. Cn cc bnh rng 1 v 2 c cc vn tc tng i l:
Hnh 6-12

1
' =
1
-
AB
v
2
' =
2
-
AB
Vi kt qu ny ta c th tnh c
1
'

v
2
' theo kt qu kho st
mc 6.2.3 v t xc nh c
2
v
3
.
-84-
Th d6-3 : Kho st cc bnh rng trn hnh (6.12 ) cho bit bnh rng
1 c bn knh R
1
. Gi AB quay vi vn tc gc
AB
. Bnh rng 3 c bn knh
R
3
. Xc nh vn tc ca bnh rng 3.
Bi gii:

A
B
AB
(1)
(2)
(3)

AB
1
3

AB
Gi vn tc gc tuyt i ca cc
bnh rng l
1
,
2
,
3
. V bnh rng 1
c nh nn
1
= 0.
p dng phng php Vilt vo h
ta c:
Hnh 6-13

1
' = 0 -
AB
;
2
' =
2
-
AB
;

3
' =
3
-
AB
cn
AB
' = 0 ngha l gi AB ng yn.
p dng cng thc (6. 13) cho trng hp ny vi k = 2 ta c:

1
3
'
3
'
1
r
r
=

hay
1
3
AB 3
AB
r
r
=



Suy ra:
3
=

3
1
r
r
1 .
AB
Nu r
1
< r
3
th
3
cng chiu vi
AB
cn r
1
> r
3
th
3
ngc chiu vi
AB

v c bit r
1
= r
3
th
3
= 0 bnh rng 3 s chuyn ng tnh tin.





-85-
Chng 7
Chuyn ng tng hp ca im
7.1. Chuyn ng tuyt i, chuyn ng tng i v
chuyn ng ko theo.
Chuyn ng tng hp ca im l chuyn ng c to thnh khi im
tham gia hai hay nhiu chuyn ng ng thi. Ta xt bi ton trong m hnh
sau y : Kho st chuyn ng ca im M trn h to ng o
1
x
1
y
1
z
1
gn
trn vt A. Vt A li chuyn ng
trong h to c nh oxyz (xem
hnh 7.1).
x
y
z
O
x
1

y
1

z
1

M
A
r
r
o

z
1

o
1

y
1

x
1

k
1

j
1

i
1

Chuyn ng ca im M so
vi h c nh oxyz gi l chuyn
ng tuyt i. Vn tc v gia tc ca
chuyn ng tuyt i k hiu l :
a
v
r

v
a
w
r
.
Hnh 7.1
Chuyn ng ca im M so vi h ng o
1
x
1
y
1
z
1
gi l chuyn ng
tng i k hiu l v .
r
v
r
r
w
r
Chuyn ng ca h ng (vt A) so vi h c nh oxyz gi l chuyn
ng ko theo. Vn tc v gia tc ca im thuc vt A ( h ng ) b im M
chim ch ( trng im ) trong chuyn ng ko theo l vn tc v gia tc ko
theo ca im M v k hiu l :
e
v
r
v
e
w
r
.
Nh vy chuyn ng tuyt i ca im M l chuyn ng tng hp ca
hai chuyn ng tng i v ko theo ca n.
Th d : Con thuyn chuyn ng vi vn tc u
r
so vi nc. Dng nc
chy vi vn tc v
r
so vi b sng. y chuyn ng ca con thuyn so vi b
sng l chuyn ng tuyt i . Chuyn ng ca con thuyn so vi mt nc l
chuyn ng tng i vi vn tc . u v
r
r r
= Chuyn ng ca dng nc so vi
-86-
b l chuyn ng ko theo, vn tc ca chuyn ng ko theo . v v
e
r r
=
Theo nh ngha trn ta thy, xt chuyn ng tng i ta xem h
ng nh c nh. Khi phng trnh chuyn ng vit di dng vc t nh
sau :
1 1 1 1 1 1 1 1
k z j y i x M O r
r r r r
r
+ + = = . (7-1)
y
1
i
r
,
1
j
r
,
1
k
r
l cc vc t n v trn cc h ng. Khi xt chuyn
ng tng i nh trn ni cc vc t
1
i
r
,
1
j
r
,
1
k
r
c xem nh khng i.
Cn cc to x
1
, y
1
, z
1
l cc hm ca thi gian.
x
1
= x
1
(t) ; y
1
= y
1
(t) ; z
1
= z
1
(t).
Mun xt chuyn ng ko theo ca im ta ch cn c nh n trong h
ng khi phng trnh chuyn ng ca M so vi h c nh oxyz l phng
trnh chuyn ng ko theo. Ta c :
1 1 1 1 1 1 0 1 0
k z j y i x r r r OM r
r r r
r r r r
+ + + = + = = (7-2).
Trong phng trnh (7.2) v ta c nh im trong h ng nn cc to
x
1
, y
1
, z
1
l khng i, cn
1
i
r
,
1
j
r
,
1
k
r
l cc vc t bin i theo thi gian.
) t ( r r
0 0
r r
= ; ) t ( i i
r r
= ; ) t ( j j
r r
= ; ) t ( k k
r r
= .
7.2. nh l hp vn tc.
Xt im M chuyn ng tng
i trong h ng o
1
x
1
y
1
z
1
vi vn tc
; H ng chuyn ng trong h c
nh oxyz ko theo im M chuyn
ng vi vn tc ko theo (xem hnh
7-2). xc nh vn tc tuyt i ta
thit lp phng trnh chuyn ng
tuyt i ca im M. Ta c :
r
v
r
e
v
r
r
o

r
a

x
y
z
O
x
1

y
1

z
1

M
c
1

c
2


v
e

v
r

v
1

r
o
1

Hnh 7.2
1 1 1 1 1 1 0 1 0
k z j y i x r ) t ( r r r
r r r
r r r r
+ + + = + = (7-3)
-87-
Phng trnh ny ging phng trnh (7-2) nhng cn lu l mi tham
s ca phng trnh u l cc hm ca thi gian.
o hm bc nht theo thi gian phng trnh (7-3) ta c :

+ +

+ + + = =
1
1
1
1
1
1
1 1 1
0
a
k
dt
dz
j
dt
dy
i
dt
dx
dt
k d
z
dt
j d
y
dt
i d
x
dt
r d
dt
r d
v
r r r
r r r
r r
r

Trong kt qu tm c, nhm s hng th nht

+ + +
dt
k d
z
dt
j d
y
dt
i d
x
dt
r d
1 1 1
0
r r r
r

chnh l o hm bc nht theo thi gian ca phng trnh (7-2) (phng
trnh chuyn ng ko theo ) l vn tc ko theo
e
v
r
.
Nhm cc s hng cn li :

+
1
1
1
1
1
1
k
dt
dz
j
dt
dy
i
dt
dx
r r r

l o hm bc nht theo thi gian ca phng trnh (7.1) (phng trnh
chuyn ng tng i ) do c thay th bng vn tc tng i
r
v
r
.
Thay cc kt qu va tm c vo vn tc tuyt i ta c :
r e a
v v v
r r r
+ = .
nh l 7.1 : Trong chuyn ng tng hp ca im vn tc tuyt i
bng tng hnh hc vn tc ko theo v vn tc tng i :

r e a
v v v
r r r
+ = . (7-4)
7.3. nh l hp gia tc
thit lp biu thc ca gia tc tuyt i ta o hm bc hai theo thi
gian phng trnh chuyn ng tuyt i ca im (phng trnh 7.3). Ta c :

+ +

+ + + = = =
1
2
1
2
1
2
1
2
1
2
1
2
2
2
1
2
2
1
2
2
1
2
0
2
a
2
a
k
dt
z d
j
dt
y d
i
dt
x d
dt
k d
z
dt
j d
y
dt
i d
x
dt
r d
dt
v d
dt
r d
w
r r r
r r r
r r r
r

-88-

+ +
dt
k d
dt
dz
dt
j d
dt
dy
dt
i d
dt
dx
2
1 1 1 1 1 1
r r r

Trong kt qu tm c nhm cc s hng th nht :

+ + +
2
2
1
2
2
1
2
2
1
2
0
2
dt
k d
z
dt
j d
y
dt
i d
x
dt
r d
r r r
r

l o hm bc hai theo thi gian ca phng trnh (7.2) ( phng trnh
chuyn ng ko theo ) c th thay bng gia tc ko theo
e
w
r
.
Nhm cc s hng th hai :

+
1
2
1
2
1
2
1
2
1
2
1
2
k
dt
z d
j
dt
y d
i
dt
x d
r r r

l o hm bc hai theo thi gian ca phng trnh (7.1) ( phng trnh
chuyn ng tng i ) c th thay bng gia tc tng i
r
w
r
.
Nhm cc s hng cn li :

+
dt
k d
dt
dz
dt
j d
dt
dy
dt
i d
dt
dx
2
1 1 1 1 1 1
r r r

c gi l gia tc quay hay gia tc Koriolit k hiu l .
k
w
r
Thay cc kt qu tm c vo biu thc ca gia tc tuyt i ta c :
k r e a
w w w w
r r r r
+ + = .
Ta i n nh l sau y gi l nh l hp gia tc.
inh l 7.2 : Trong chuyn ng tng hp ca im gia tc tuyt i bng
tng hnh hc ca gia tc ko theo, gia tc tng i v gia tc Koriolit.
k r e a
w w w w
r r r r
+ + = . (7.5)
7.4. Gia tc Koriolit.
Gia tc Koriolit
k
w
r
c xc nh theo biu thc :

+ =
dt
k d
dt
dz
dt
j d
dt
dy
dt
i d
dt
dx
2 w
1 1 1 1 1 1
k
r r r
r

-89-
Khi h ng c chuyn ng quay th cc vc t n v
1
i
r
,
1
j
r
,
1
k
r
s quay
theo khi o hm ca n theo thi gian khc khng. Trong trng hp h
ng khng tham gia chuyn ng quay th cc o hm ca n s bng khng
v do gia tc Koriolit s khng c v vy gia tc ny cn c gi l gia tc
quay. Gia tc Koriolit biu din nh hng chuyn ng quay ca h ng n
gia tc ca im.
Nu vn tc gc ca h ng (vn tc gc ko theo ) l th khi h ng
quay quanh trc o
e

1
vi vn tc gc
e
th o hm bc nht theo thi gian ca
cc vc t n v
1
i
r
,
1
j
r
,
1
k
r
chnh l vn tc u mt ca chng trong chuyn
ng quay quanh trc o
1
. (xem hnh 7.3).
z
x
y
A
O
k
1
j
1
i
1
v
A

e

Ta c :
1 e
1
i
dt
i d
r
r
r
=
1 e
1
j
dt
j d
r
r
r
=

1 e
1
k
dt
k d
r
r
r
=
Thay cc kt qu biu thc trn vo biu
thc ca ta c :
k
w
r
Hnh 7.3

+ + =
dt
k d
dt
dz
dt
j d
dt
dy
dt
i d
dt
dx
2 w
1 1 1 1 1 1
k
r r r
r

( ) ( ) ( )

+ + = k x
dt
dz
j x
dt
dy
i x
dt
dx
2
C
1
C
1
C
1
r
r
r
r
r
r

r e 1
1
1
1
1
1
e
v 2 k
dt
dz
j
dt
dy
i
dt
dx
x 2
r r
r r r
r
=

+ + =
Nh vy gia tc Koriolit bng hai ln tch hu hng gia vn tc gc ko
theo v vc t vn tc tng i.
-90-
r e k
v 2 w
r r r
= . ( 7.6)
T (7.6) ta c th xc nh ln ca gia tc Koriolit theo biu thc :
( )
r e r e k
v . sin v . 2 w = .
Ta thy ngay gia tc Koriolit bng khng trong trng hp sau :
- Khi h ng chuyn ng tnh tin ngha l khi
e
= 0 ;
- Khi ng im ng yn trong h
ng, ngha l khi 0 v
r
=
r
;
- Khi chuyn ng tng i theo
phng dc theo trc quay ca chuyn ng
ko theo ngha l khi gc hp gia
e

r
v
r
v
r

bng khng hoc bng 180
0
.

e
v
r
r
w
k
Hnh 7.4
Hnh 7.4

e
w
K
M
v'
r

v
r
e

Theo (7.6) gia tc Koriolit c phng

vung gc vi mt phng cha hai vc t
e

r

v c chiu sao cho khi nhn t mt ca
n xung mt phng s thy
r
v
r
e

r
quay
ngc chiu kim ng h i mt gc nh
hn 180
0
s n trng vi (xem hnh 7.4).
r
v
r
Hnh 7.5
Trong thc hnh ta c th xc nh
phng chiu ca nh sau :
k
w
r
Chiu vc t vn tc tng i
r
v
r
ln mt phng vung gc vi trc quay
ca chuyn ng ko theo. Sau quay hnh chiu
r
v
r
i mt gc 90
0
theo
chiu quay ca
e
trong mt phng trn (xem hnh 7.5) ta s xc nh c
phng chiu ca gia tc Koriolit.
Sau y s gii thiu mt s v d vn dng cc nh l hp vn tc v
hp gia tc trong chuyn ng tng hp ca im.

-91-

Th d 7.1: Tay quay OA ca c cu tay quay cu lit quay quanh trc O
vung gc vi mt phng ca c cu. u A ca tay quay ni bng khp bn l
vi con trt B. Con trt B c th trt trong mng BC ca cu lit. Mng BC c
th chuyn ng tnh tin ln xung nh rnh hng dn
E. Xc nh vn tc, gia tc ca mng BC cng nh vn
tc gia tc ca con trt so vi cu lit BC.
A
E
D
C B
O
Cho bit tay quay c chuyn ng quay u vi
vn tc gc n = 120 vng/pht. di OA = 1 = 30cm
(xem hnh 7.6).
Hnh 7.6 Bi gii:
Nu chn h ng gn vi cu lit (mng BC) v h c nh gn vi trc
quay O th chuyn ng ca con trt A trong mng l chuyn ng tng i.
Chuyn ng ca mng tnh tin ln xung l chuyn ng ko theo cn chuyn
ng ca A quay quanh O l chuyn ng tuyt i.
Trc ht ta c th xc nh c vn tc tuyt i v gia tc tuyt i
ca im A.
Vn tc ca tay quay OA.
) s / rad ( 4
30
120 .
30
n .
=

= .
r
B
3

C
3

B
1

C
1

A
1

x
r

E
D
B
A
3

O
A w
r

w
r
v
r
v
r
v
r
e

w
r
e
a
V tr ca c cu c xc nh bng
gc quay ca tay quay OA :
= t = 4t (rad).
u A ca tay quay thc hin chuyn
ng trn tm O bn knh OA = 1.
Vn tc ca im A : V
a
= .1 = 4.30
= 120 3,77 m/s.
Hnh 7.7
-92-
a
v
r
c phng vung gc vi OA hng theo chiu quay (xem hnh 7.7).
a
v
r
chnh l vn tc tuyt i ca im A : v
a
= v
A
.

V tay quay quay u nn gia tc im A ch c mt thnh phn php
tuyn.
n
A A
w w
r r
= v ln
w
A
=
2
.1 = 16
2
.1
= 16
2
.30 4733 cm/s
2
;
= 47,33 m/s
2
Gia tc c chiu hng t A vo O. Gia tc tuyt i ca im A l
A
w
r
A
w
r
.
tm vn tc ca mng (vn tc ko theo) v vn tc ca con trt A
trong mng (vn tc tng i) ta p dng nh l hp vn tc. Ta c :
r e a
v v v
r r r
+ =
y
A a
v v
r r
= bit c ln v phng chiu.
e
v
r
l vn tc ca mng
chuyn ng tnh tin ln xung do c phng thng ng. Cn l vn tc
ca con trt dc theo mng BC nn c phng nm ngang. T nh l hp vn
tc ta c th nhn c mt hnh bnh hnh m ng cho l cn hai cnh l
v . D dng tm c cc vc t vn tc ko theo
r
v
r
a
v
r
e
v
r
r
v
r
e
v
r
v nh trn hnh
(7.7). Ta c :
r
v
r
) s / m ( t . 4 sin . 77 , 3 sin . v v
A e
= =
) s / m ( t . 4 cos . 77 , 3 cos . v v
A r
= =
Phng chiu ca cc vn tc
e
v
r
v
r
v
r
nh hnh v.
xc nh gia tc ko theo v tng i (gia tc ca mng v gia tc ca
con trt trong mng) ta p dng dnh l hp gia tc.
-93-
k r e a
w w w w
r r r r
+ + = .
Trong bi ton ny h ng chuyn ng tnh tin nn ta ch cn
biu thc :
0 w
k
=
r
r e a
w w w
r r r
+ = .
y gia tc tuyt i c xc nh. Gia tc ko theo
e
w
r
c phng
thng ng cn gia tc tng i
r
w
r
c phng nm ngang. Cng d dng nhn
thy cc vc t gia tc ko theo
e
w
r
v gia tc tng i
r
w
r
l hai cnh ca hnh
bnh hnh nhn gia tc lm ng cho (xem hnh 7.7). Ta c :
a
w
r
t . 4 cos . 33 , 47 cos . w w
A e
= =
t . 4 sin . 33 , 47 sin . w w
A r
= =
Phng chiu ca gia tc
e
w
r
v
r
w
r
nh trn hnh v 7.7 .
Kt qu trn cho thy vn tc, gia tc ca mng BC ( v
e,
w
ed
) v vn tc,
gia tc con trt trong mng ( v
r
, w
r
) l hm ca thi gian. Ta c th xc nh
chng ti cc v tr c bit sau :
Khi
1
= 4t = 0 ta c v
e
= 0 ; v
r
= 3,77 m/s
W
e
= 47,33 m/s ; w
r
= 0
Khi
2
= 4t = / 2 ta c v
e
= 3,7 m / s ; v
r
= 0
w
e
= 0 m / s ; w
r
= 3,77 m / s

Th d 7.2 : ng im M chuyn ng bt u t nh O ca nn dc
theo ng sinh OC vi vn tc khng i v
r
= 24 cm / s . Nn cng ng thi
quay bt u cng thi im xut pht ca im M theo quy lut = 0,125t
2
.
Xc nh vn tc tuyt i v gia tc tuyt i ca ng im M ti thi im t =
4 giy. (xem hnh 7.8). Cho bit gc nh nn l 60
0
.

-94-
Bi gii
Trong bi ton ny chuyn ng ca im M dc
theo ng sinh OC l chuyn ng tng i. Nh vy
vn tc tng i ca im bit.
z
B
A

O

e
k
C
r
v
r
e
v
r
M
v
r
V
r
= 24 cm / s = 0,24 m / s c phng chiu t O
n C.
a
Chuyn ng quay ca nn quanh trc AB vi
quy lut = 0,125t
2
l chuyn ng ko theo.
xc nh c vn tc ko theo ca im ta
phi xc nh v tr ca n ti thi im t
1
trn nn.
Hnh 7.8
Ta c OM = v
r
.t = 24.4 = 96 cm
Khong cch t ng im ti v tr ang xt ti trc quay AB l :
MK = OM.sin30
0
= 96.0,5 = 48 cm.
z
B
A
C
M
v
r

w

e
k

r
e

r
e
O

w
k
w
n
e

y x
Vn tc ko theo ti thi im t
1
l :
t 25 , 0
dt
d
e
=

= vi t = t
1
= 4 giy

et1
= 0,25.4 = 1 rad / s ;
Gia tc gc trong chuyn ng ko theo l :
) s / rad ( 25 , 0
dt
d
2
2
2
e
=

=
Hnh 7.9
Cc vc t
e
v
e
biu din trn hnh v (7.9).
Cc vc t vn tc ko theo
e
v
r
v vn tc tng i l ti thi im t
r
v
r
1
=
4s c biu din trn hnh 7.8.
V ln vn tc ko theo xc nh c :
v
e
= MK .
e
= 48,1 cm / s 0,48 m / s .
-95-
p dng nh l hp vn tc ta c :
r e a
v v v
r r r
+ =
V ln vn tc tuyt i ca M ti thi im t
1
l :
) s / m ( 5364 , 0 ) s / cm ( 64 , 53 24 48 v v V V
2 2 2
r
2
e M a
= = + = + = = .
xc nh gia tc tuyt i ca M, t nh l hp gia tc ta c :
k r e M a
w w w w w
r r r r r
+ + = =
Chuyn ng ko theo l chuyn ng trn nn
r
e
n
e e
w w w
r r r
+ = .
Trong : c phng chiu hng t M v K (xem hnh 7.9), c
ln : .
n
e
w
r
) s / cm ( 48 1 . 48 . MK w
2 2
e
n
e
= = =
r
e
w
r
c phng chiu trng vi phng chiu
e
v
r
c ln :
) s / cm ( 12 25 , 0 . 48 . MK w
2 2
e
r
e
= = = .
Gia tc tng i trong trng hp ny bng khng cn gia tc
Koriolit c phng chiu nh trn hnh v. C ln :
r
w
r
k
w
r
w
k
= 2
e
. v
r
.sin30
0
= 2.1.24.0,5 = 24 (cm / s
2
) .
Chiu biu thc trn ln hai trc Mxy nh trn hnh ta c :
w
x
= w
e
r
+ w
k
= 12 + 24 = 36 cm / s
2
= 0,36 m/ s
2
.
w
y
= w
e
n
= 48 cm / s
2
= 0,48 m / s
2
.
Gia tc tuyt i ca im
) s / cm ( c 60 48 36 w w w
2 2 2 2
y
2
x M
= + = + = .
Phng v chiu ca w
M
c th xc nh bng cc gc ch phng xc
nh nh sau :
( ) 6 , 0
w
w
x w cos
M
x
M
= = ; ( ) 8 , 0
w
w
y w cos
M
y
M
= =
Th d 7.3. : C cu iu chnh ly tm biu din nh hnh v 7.10. Ti
-96-
thi im ang xt qu cu quay quanh im treo O cng vi thanh OM vi vn
tc gc v gia tc gc
1
= 2 rad / s v
1
= 0,2 rad / s
2
. C cu quay quanh trc
thng ng vi vn tc gc v gia tc gc
2
=4 rad / s v
2
= o,8 rad / s
2
. Xc
nh vn tc tuyt i v gia tc tuyt i ca qu cu M ti thi im . Cho
bit kch thc ca c cu ti v tr ang xt l :
l = 40 cm ; e = 5 cm ; = 30
0
.
Bi gii

z
e

C
v
e

M
v
r
R

2


l
l

1

e
o

2

1

v
M
= v
A

Trong bi ton ny, chuyn ng ca c cu quay
quanh trc thng ng l chuyn ng ko theo. Vn tc gc
ko theo
e
=
2
= 4 rad / s v gia tc gc trong chuyn ng
ko theo l
e
=
2
= 0,8 rad / s
2
.
Chuyn ng ca qu cu M quay quanh O l chuyn
ng tng i.Vn tc gc trong chuyn ng tng i l

r
=
1
= 2 rad / s v gia tc gc trong chuyn ng tng i
l
r
=
1
= 0,2 rad / s
2
.
Hnh 7.10
Qu o chuyn ng tng i ca M l ng trn bn knh 1 v tm 0
Qu o chuyn ng ko theo ca M l ng trn nm trong mt phng
vung gc vi trc quay AB v c bn knh :
CM = R = e+1sin30
0
= 5+40.0,5 = 25 cm.
Vn tc tuyt i ca im M c xc nh nh sau :
r e M a
v v v v
r r r r
+ = = ;
v
e
= R.
e
= 25.4 = 100 cm / s
v
e
c phng tip tuyn vi qu o ca chuyn ng ko theo , h theo
chiu quay ca c cu ; V
r
tip tuyn vi qu o ca chuyn ng tng i c
ngha l vung

-97-
gc vi thanh OM hng theo chiu quay ca
r
, c tr s V
r
= l.r =
40.2 = 80 cm/s

Nh vy hai vc t v
e
v
r
r
v
r
vung gc vi nhau v vy ln vn tc
tuyt i xc nh c :
) s / cm ( 128 80 100 v v v
2 2 2
r
2
e M
= + = + = .
Phng chiu ca V
M
xc nh nh trn hnh v 7.10.
V chuyn ng tng i v chuyn ng ko theo u l chuyn ng
trn nn biu thc gia tc tuyt i ca im M ta c th vit :
n
r
r
r k
e
n
e
r
M
w w w w w w
r r r r r r
+ + + + = . (a)
Sau y xc nh ln v phng chiu ca cc thnh phn gia tc v phi .
W
e
t
= R .
e
= 25 . 0,8 = 20 cm / s
2
. W
e
t
cng phng chiu vi vn tc
ko theo .
n
e
w
r
= R.
2
2
= 25.16 = 400cm/s
2
. Hng t M vo C
w
r
r
= 1 .
r
= 40 . 0,2 = 8 cm / s
2
.
r
r
w
r
hng theo chiu ca v
r
.
w
r
n
= 1 .
2
r
= 40 . 4 = 160 cm / s
2.

n
r
w
r
hng t M vo O
w
k
= 2
e
. v
r
sin(
et
v
r
) = 2 . 4. 80 .0,866 = 554 cm / s
2
y gc < ( )
0
r e
60 v , =
r r
C
R
M
w
K
w

r
w
n
e
w
n
r
w
t
c
Z
x

O

nn sin(
e
,v
r
) = 0,866.
Phng chiu ca xc nh theo phng php
thc O hnh s tm thy nh hnh v (7.11) .
k
w
r
y
xc nh gia tc tuyt i
M
w
r
ta chiu phng
trnh (a) ln 3 trc xyz chn nh hnh v.
Vi cch chn h trc trn ta thy gia tc
k
w
r
v
r
e
w
r

nm trn trc x cc gia tc
n
e
w
r
,
r
r
w
r
,
n
r
w
r
nm trong mt
phng yMz.
Hnh 7.11
Kt qu chiu ln cc trc thu c :w
x
= - w
k
- w
e
n
= -
-98-
554 - 20 = -574 cm / s
2
.
w
y
= w
e
r
. cos30
0
- w
r
n
. sin30
0
- w
e
n
;
= 8 . 0,866 - 160 . 0,5 - 400 = -473 cm / s
2
;
Cui cng ta c :
( ) ( ) ( ) = + + = + + =
2 2 2
2
z
2
y
2
x M
142 473 574 w w w w
= 869 cm / s
2
= 8,69 m / s
2
xc nh phng chiu ca M ta phi xc nh cc gc ch phng ca
chng i vi cc trc :
( )
869
574
w
w
x w cos
M
x
M

= = ; ( )
869
473
w
w
y w cos
M
y
M

= =
( )
869
142
w
w
z w cos
M
z
M
= = .

-99-
Chng 8
Chuyn ng song phng Ca vt rn
8.1. Phng trnh chuyn ng, vn tc v gia tc ca c
vt.
8.1.8.nh ngha v phn tch chuyn ng song phng.
Chuyn ng song phng ca vt rn l chuyn ng khi mi im thuc
vt lun lun chuyn ng trong mt mt phng c nh song song vi mt
phng quy chiu chn trc ( mt phng c s ). Ni cch khc chuyn ng
song phng l chuyn ng ca vt khi mi im ca n trong qu trnh chuyn
ng c khong cch n mt phng c s l khng i .
Trong k thut c nhiu chi tit my chuyn ng song phng nh bnh
xe ln trn mt ng thng, thanh bin trong c cu bin tay quay, rng rc
ng ..v..v...
a
x
y
O
(s)

Hnh 8.1
x

B
(S)
A
x
A
y
1
y
O
b
M'
x
1
.Xt vt rn A chuyn ng song
phng c mt phng c s (hnh 8.1 )
ng thng ab thuc vt vung gc
vi mt phng c s, s thc hin chuyn
ng tnh tin. Mi im nm trn ng
thng ny c chuyn ng nh nhau v c
c trng bi chuyn ng ca im M nm
trn ab. Nu xem vt l tp hp v s cc
ng ab nh vy suy ra chuyn ng ca
vt c c trng bi tit din S trn mt
phng oxy. M hnh bi ton chuyn ng
song phng ca vt rn c a v nghin
cu chuyn ng ca mt tit din (S) trong
mt phng oxy ca n (hnh 8.2) gi tt l
Hnh 8-2
-100-
chuyn ng phng ca tit din S.
V tr ca tit din (S) trong mt phng oxy c xc nh khi ta bit c
v tr ca mt on thng AB thuc tit din (S).
Xt chuyn ng ca tit din (S) t
v tr (1) xc nh bi v tr on thng A
1
B
1

n v tr (2) xc nh bi v tr ca on
thng A
2
B
2
( hnh 8.3).
D dng thy rng ta c th thay th
chuyn ng ca tit din (S) bng hai
chuyn ng c bn sau :
Cho tit din (S) chuyn ng tnh tin theo cc A hay cc B t v tr A
1
B
1

n v tr A
'
1
B
2
hay A
2
B
'
1
. Tip theo ta quay tit din S quanh A
2
hay B
2
mt gc

1
hay
2
. V A
2
B'
1
//A'
1
B
2
nn y
1
=
2
= .
C th i n kt lun ; chuyn ng ca tit din (S) trong mt phng ca
n (chuyn ng song phng ) lun lun c th phn tch thnh hai chuyn ng:
tnh tin theo mt tm cc v chuyn ng quay quanh tm cc . Chuyn ng
tnh tin ph thuc vo tm cc nhng chuyn ng quay khng ph thuc vo
tm cc. Nh vy chuyn ng song phng chnh l chuyn ng tng hp ca
vt rn khi n ng thi tham gia hai chuyn ng quay quanh mt trc c
phng khng i v tnh tin theo phng vung gc vi trc quay.
8.1.2. Phng trnh chuyn ng, vn tc v gia tc ca vt .
Xt tit din (S) chuyn ng trong
mt phng oxy cha n. Nu chn A l tm
cc v dng on thng AB trn tit din ta
s thy v tr ca tit din (S) trong mt phng
oxy s c xc nh nu ta bit v tr ca cc
A v phng ca AB so vi trc ox. Ni khc
i, thng s nh v ca tit din (S) trong
mt phng oxy l x
A
, y
A
, v (hnh 8.4).
A
1
B
1
(S)
A
2
B
2
B'
1
A'
1

1
Hnh 8-3
x

B
(S)
A
x
A
y
O
y
A
Hnh 8-4
-101-
Trong thi gian chuyn ng cc thng s ny bin i theo thi gian ta
c :
x
A
= x
A
(t)
y
A
= y
A
(t) (8.1)
= (t)
Bit quy lut bin i (8.1) ta c th xc nh v tr ca tit din (S) bt
k thi im no. Cc phng trnh (8.1) l phng trnh chuyn ng ca tit
din phng (S) trong mt phng ca n (phng trnh chuyn ng song phng ).
T phng trnh chuyn ng (8.1) ta thy vn tc v gia tc ca vt c
biu din bi hai thnh phn : vn tc v gia tc trong chuyn ng tnh tin theo
tm cc A l :
A A
w , v
r r
. Vn tc gc v gia tc gc ca tit din trong chuyn
ng quay quanh tm cc A l , .
V chuyn ng tnh tin phu thuc tm cc A nn vn tc v gia tc trong
chuyn ng tnh tin ph thuc vo tm cc A. Ta c :
Ai 2 A 1 A
v v v
r r r

Ai 2 A 1 A
w w w
r r r

S
A
O


Chuyn ng quay khng ph thuc vo
tm A nn c :

A1
=
A2
=
Ai
=
Hnh 8.5

A1
=
A2
=
Ai
=
Vn tc gc v gia tc gc c th bin din bng vc t vung gc vi
tit din (S) nh hnh( 8.5) . Khi hai vc t ny cng chiu ta c chuyn ng
quay nhanh dn v nu chng ngc chiu c chuyn ng quay chm dn.
-102-
8.2. Phng trnh chuyn ng, vn tc v gia tc ca im
Trn vt chuyn ng song phng
8.2.1. Phng trnh chuyn ng
Xt im M bt k trn tit din. Gi thit chn tm cc A c to x
A
y
A

(hnh 8-6).
M
r'
r
A
r
A

O
x
y
K hiu gc hp gia AM vi phng
ox l v khong cch AM = b.To ca
im M trong chuyn ng tuyt i so vi h
quy chiu oxy c th xc nh :
x
M
= x
A
+b.cos ;
Hnh 8.6
y
M
=y
A
+ b.sin ;
Cc thng s x
A
, y
A
v l cc hm ca tthi gian, ngha l :
x
A
= x
A
(t) y
A
= y
A
(t) = (t)
Do x
M
, y
M
cng l hm ca thi gian . Ta c :
x
M
=x
M
(t) = x
A
(t)+b.cos(t) ;
y
M
=y
M
(t)=y
A
(t)+ b.sin (t); (8.2)
(8.2) l phng trnh chuyn ng ca im M.
Cng c th thit lp phng trnh chuyn ng ca im M di dng
vc t. Trn hnh 8-6 c : r =r(t)=r
A
+ r' (8.2a)
y r' =AM c ln khng i bng b, v quay quanh trc A vi vn
tc gc l .
8.2.2. Cc nh l vn tc ca im
8.2.2.1. Cc nh l vn tc ca im trn vt chuyn ng song phng
nh l 8-1: Vn tc ca mt im bt k trn tit din chuyn ng song
phng bng tng hnh hc ca vn tc tm cc A v vn tc gc ca im
trong chuyn ng ca tit din quay quanh trc A vi vn tc gc . Ta c :
-103-
MA A M
v v v
r r r
+ = .
Chng minh nh l : T phng trnh chuyn ng (8-2a) ta c :
dt
' r d
dt
r d
dt
r d
v
A
M
r
r
r
r
+ = = .
Thay AM v
dt
' r d
; v
dt
r d
MA A
A
= = =
r r
r
r
r

Ta s c
MA A M
v v v
r r r
+ = , nh l c chng minh. Cn ch vc t vn
tc ca im M quay quanh A k hiu l
AM
v
r
c phng vung gc vi AM, c
chiu hng theo chiu quay ca vn tc (hnh 8-6).
nh l 8-2 : nh l v hnh chiu vn tc hai im
Trong chuyn ng song phng ca tit din S (chuyn ng song phng)
hnh chiu vn tc ca hai im bt k trn tit din ln phng ni hai im
lun lun bng nhau.
( ) ( )
AB B AB A
v v
r r
=
Chng minh nh l : Theo nh l 8-1, nu chn A lm tm cc th vn
tc im B xc nh theo biu thc :
BA A B
v v v
r r r
+ = vi vung gc
AB. Chiu biu thc trn ln phng AB ta
c : ( )
BA
v
r
( ) ( )
AB BA AB A AB B
v v v
r r r
+ = . Trong :
( ) 0 v
AB BA
=
r
v AB v
BA

r
. A
v
B
v
BA

v
A
v
A

90
B b
a
nh l c chng minh.
Hnh 8.7
Ta c th minh ha nh l trn bng
hnh v( 8-7). Trn hnh v ta c :
Aa = Bb hay v
A
cos = v
B
cos.
8.2.2.2. Tm vn tc tc thi - Xc nh vn tc ca im trn tit din
chuyn ng phng theo tm vn tc tc thi
- Tm vn tc tc thi l im thuc tit din c vn tc tc thi
-104-
bng khng. Nu gi P l tm vn tc tc thi th : v
P
= 0.
nh l 8-3 : Trong chuyn ng song phng ca vt rn ti mi thi
im lun lun tn ti mt v ch mt tm vn tc tc thi.
Chng minh nh l :
Xt tit din (S) chuyn ng phng vi vn tc ca tm cc A l
A
v
r
v
vn tc gc trong chuyn ng quay l . Quay vc t V i mt gc bng 90
theo chiu quay ca ta s dng c tia
. Trn tia ly mt im P cch A mt
on

=
A
v
AP (hnh 8.8)
Theo biu thc (8-2) ta c :
. y
PA A P
v v v
r r r
+ =

= =
A
PA
v
PA . v
= v
A
.

v
A
A
d
(S)

A
v
A
P
v
PA
Phng ca
PA
v
r
vung gc vi AP
hng theo chiu quay vng ca ngha l
PA
v
r
c ln bng vi ln ca
v
A
, cng phng nhng ngc chiu vi
A
v
r
.
Hnh 8.8
Thay vo biu thc tnh
P
v
r
ta c v
P
= v
A
- v
A
= 0 chnh l tm vn tc
tc thi.
Chng minh tnh duy nht ca tm vn tc tc thi :
Gi thit ti thi im trn vt c hai tm vn tc tc thi P
1
v P
2
vi v
P1
=
0 v v
P2
= 0.
Theo nh l 8-1 ta c :
1 P 2 P 1 P 2 P
v v v
r r r
+ = hay
1 P 2 P
v 0 0
r
+ = .
Thay v
P2P1
= . P
2
P
1
ta thy v
P2P1
= 0 khi = 0 hoc P
2
P
1
= 0. V vt
chuyn ng song phng nn 0 vy ch c th P
2
P
1
= 0. iu ny c ngha
P
1
trng vi P
2
. Khng th c hai tm vn tc tc thi khc nhau cng tn ti
mt thi im.
-105-
- Xc nh vn tc trn vt chuyn ng song phng theo tm vn tc tc
thi P.
Xt vt chuyn ng song phng c vn tc gc v tm vn tc tc thi
P. Theo biu thc (8-2) nu ly P lm tm cc ta vit biu thc vn tc ca im
M nh sau :
90
0
90
0

(S)
v
B
B
v
A
A
a
b

P
MP P M
v v v
r r r
+ =
Thay v
P
= 0 ta c :
MP M
v v
r r
=
Nh vy vn tc tc thi ca im M c
tnh nh vn tc ca im M trong chuyn ng ca
vt quay tc thi quanh tm vn tc tc thi P.
Hnh 8.9
M
v
r
c phng vung gc vi PM, hng
theo chiu quay vng ca quanh P, c ln v
M
=PM .
Ta c kt lun : vn tc ca im bt k trn vt chuyn ng song phng
lun lun hng vung gc v t l thun vi khong cch t tm vn tc tc
thi n im. Quy lut phn b vn tc cc im biu din trn hnh ( 8-9.).
Trong thc hnh c th xc nh tm vn tc tc thi P theo mt s trng hp
sau :
Trng hp 1 : Vt chuyn ng ln khng trt trn mt ng thng
hay ng cong phng c nh (hnh 8-10a) c th xc nh ngay im tip xc
chnh l tm vn tc tc thi v rng im c vn tc bng khng.
Trng hp 2: Khi bit phng vn tc hai im hay qu o chuyn ng
ca hai im trn vt chuyn ng song phng th tm vn tc tc thi l giao
im ca hai ng thng k vung gc vi hai phng vn tc hay hai phng
tip tuyn ca qu o ti hai im (hnh 8-10b). Trong trng hp ny nu
hai ng song song vi nhau c ngha tm P xa v cng, ta ni vt tc thi
chuyn ng tnh tin (hnh 8-10b).
Trng hp 3: Khi bit ln v phng chiu vn tc hai im nm trn
cng mt ng thng vung gc vi vn tc hai im (hnh 8-10c), tm P l
-106-
giao im ca ng thng i qua hai mt vc t vn tc v ng thng i qua
hai im .

c)
v
A
P
B
A
v
B


b)
v
B
P
v
A
P
v
A
v
B
P
S
v
A
P
A
B
v
B
a)

Hnh 8.10
Th d 8.1: C cu phng biu din trn hnh (8-11) c vn tc
B A
v , v
r r
ca
hai con trt A v B bit. Xc nh vn tc ca khp C.
Bi gii:
Khi c cu hot ng th cc thanh bin
AC v BC chuyn ng song phng. xc
nh vn tc ca im C ta p dng nh l hnh
chiu vn tc cho thanh AC v BC. V v
A
v v
B

bit nn d dng xc nh c hnh chiu
ca chng ln phng AC v BC l Aa v Bb.
Ti C ko di cc on thng AC v BC, Trn
ly cc im C
1
, C
2
vi CC
1
= Aa, CC
2
= Bb.
Cc on ny l hnh chi ca V
C
ln hai phng AC v BC. Ta v t gic
vung gc ti C
1
v C
2
(hnh 8-11) ng cho CC' ca t gic chnh l vn
tc V
C
.
A
K
C
C
1
C
2
b
a
v
A
v
B
B
Hnh 8.11
B
A
O
2
Hnh 8.12
v
c
Th d 8-2 : Tay quay OA
quay quanh trc O vi vn tc gc
khng i n =60 vng / pht v
dn ng cho thanh bin AB gn
vi bnh xe 2 (hnh 8-12). Bnh xe
2 truyn chuyn ng cho bnh xe
1
-107-
1 khng gn vi tay quay OA nhng quay quanh trc O.
Xc nh vn tc con trt B; Vn tc gc ca bnh xe 1 ti thi im khi
tay quay OA song song v vung gc vi phng ngang.
Cho bit c cu cng nm trong mt mt phng v r
1
= 50 cm ; r
2
= 20 cm;
AB = 130 cm.
Bi gii :
C cu c 5 khu : bnh xe 1 chuyn ng quay quanh trc O; con trt B
chuyn ng tnh tin theo phng ngang; Thanh AB chuyn ng song song
phng; Bnh xe 2 chuyn ng song phng; tay quay OA chuyn ng quay
quanh O.
1) Xt trng hp tay quay OA v tr song song vi phng ngang (hnh
8-12a).
Vn tc gc thanh OA l : s / 1 2
30
60
30
n
=

= .
Vn tc im A : v
A
=OA . = 2 . (r
1
- r
2
) = 60 = 188,5 cm / s.
Trn thanh AB c phng vn tc hai im A v B bit nn xc nh
c tm vn tc tc thi P
1
(hnh 8-12a).
B
b)
A
O
I
v
B
P
AB
C v
C
v
A
II
B
a)
v
A

I
II I
O
A

2
v
C
P
2
C
Hnh 8.12


-108-
T hnh v xc nh c :
P
2
B = r
1
= 50cm
cm 120 50 130 B P AB A P
2 2 2
AB
2
2
= + = =
P
2
C = P
AB
- r
2
= 120 - 20 = 100cm
Xc nh vn tc ca cc im A, B, C theo tm vn tc tc thi P
2
v vn
tc
1
ca thanh AB ta c ;
V
A
=
2
. P
2
A;
V
B
=
2
. P
2
B;
V
c
=
2
. P
2
C;
Trong : ) s / 1 (
2 120
60
A P
V
2
A
2

=

= =
Thay vo cc biu thc ca V
B
v V
C
ta c :
) s / cm ( 25 50 .
2
V
B
=

=
) s / cm ( 50 100 .
2
V
C
=

=
V bnh xe 2 n khp vi bnh xe 1 nn vn tc im C cn c th xc
nh theo cng thc :
V
C
=
1
. r
1
suy ra : = =
1
C
1
r
V
(1/s)
2) Tay quay OA v tr thng ng (hnh 8-12b).
Ti v tr ny vn tc hai im A v B song song vi nhau v th theo nh
l hnh chiu ta c : V
A
cos = V
B
cos suy ra
B A
V V
r r
= . Thanh AB tc thi
chuyn ng tnh tin. Mi im trn n v bnh xe 2 gn vi n c chuyn
ng nh nhau. Ta c :
-109-
) s / cm ( 5 , 188
50
60
V V V
A C B
=

= = = .
Phng chiu ca cc vn tc biu din trn hnh v .
Vn tc gc ca bnh xe 1 d dng tm c :

r
= =

=
5
6
50
60
r
v
1
c
(rad/s)
Th d 8-3: tay quay OA quay quanh O vi vn tc gc
oA
, truyn
chuyn ng cho bnh rng I n khp vi bnh rng II c nh. Hai bnh rng c
bn knh nh nhau v bng R. Thanh truyn BD c u B lin kt vi bnh xe I
bng khp bn l cn u D ni
bng khp bn l vi tay quay CD
(hnh 8-13).
Xc nh vn tc gc ca
thanh truyn BD ti thi im c
gc BDC = 45
0
. Cho BD = 1 (cm).
P
1
C
v
B
45
0
B
A
v
A
I
II
O
P
P
45
0
90
0
45
0
90
0
D
Bi gii :
Trong c cu bnh rng I v
thanh truyn BD chuyn ng song
phng. Bnh rng 1 c tm vn tc
tc thi P. Vn tc im A c
tnh nh sau :
Hnh 8.13
V
A
=
OA
. 2R.
A
V
r
hng vung gc vi OA theo chiu quay vng ca
OA
. Suy ra vn
tc gc ca bnh rng 1 :

OA
OA A
1
2
R
. R 2
R
V
=

= = .
Vn tc im B c ln :
-110-

OA 1 B
R 2 2 . R 2 1 . PB V = = = .
V
B
C phng vung gc vi vi PB c chiu theo chiu quay ca bnh
rng 1 quanh P (hnh v 8-13).
Thanh BD chuyn ng song phng, u B c vn tc xc nh, u D
c phng vn tc vung gc vi CD do nhn c tm vn tc thc thi P
1

nh trn hnh v .
Trn hnh ta c .
2
2 1
B P
1
= Vn tc im B c xc nh theo P
1
:
V
B
= P
1
.B.
BD
suy ra :
OA
1
B
BD
1
R
. 4
B P
V
= =
Chiu quay ca
BD
nh hnh v.
8.2.3. Gia tc ca im
8.2.3.1. nh l 8-3 : Gia tc ca im M bt k thuc tit din (S)
chuyn ng song phng, bng tng hnh hc gia tc ca tm cc A v gia tc
ca im M trong chuyn ng ca tit din quay quanh A (hnh 8-14).

MA A M
w w w
r r r
+ = (8-4)
Trong :
n
MA MA MA
w w w
r r r
+ =


Vi : W

MA
= .AM v W
n
MA
=
2
.AM
Chng minh nh l :
o hm bc hai theo thi gian phng trnh chuyn ng (8-2) ta c :

2
2
2
A
2
2
2
M
dt
' r d
dt
r d
dt
r d
w
r r r
r
+ = =
Thay
A
2
A
2
w
dt
r d r
r
= cn ( )
MA
2
2
w AM
dt
d
dt
' r d r r
r
= =

MA MA
V AM AM
dt
d
AM
dt
d
w
r
r r
r
+ = +

=
-111-
Vi ch AM c ln khng i nn ( )
MA
V AM AM
dt
d
r
r
= =
Ta c :
MA A M
V AM w w
r
r r r r
+ + =
AM
r
l gia tc php tuyn ca M trong chuyn ng ca (S) quay
quanh A.
MA
V
r
r
l gia tc php tuyn ca M trong chuyn ng ca (S) quay
quanh A. Ta chng minh c :
n
MA MA A M
w w w w
r r r r
+ + =


V cc vc t c phng vung gc vi mt phng ca tit din ngha l
vung gc vi AM v nn d dng tm c :
MA
V
r
W
MA

= AM . cn W
MA
n
= AM .
2
Suy ra :
4 2
MA
. AM w + =
Vc t c phng hp vi AM mt gc vi
MA
w
r
2
tg

= (hnh 8.14).
8.2.3.2. Tm gia tc tc thi

im trn tit din c gia tc tc thi bng khng gi l tm gia tc tc
thi. K hiu tm gia tc tc thi l J . Ta c : W
j
= 0.
nh l 8-4 :
Ti mi thi im trn tit din chuyn ng song phng lun tn ti mt
v ch mt tm gia tc tc thi J.
Chng minh tnh tn ti ca tm gia tc tc thi : gi thit tit din chuyn
ng song phng vi vn tc gc v gia tc gc l v . Trn tit din c im
A bit gia tc W
A
(hnh 8-15). Xoay W
A
theo chiu quay ca quanh A i mt
gc vi
2
tg

= . Dng na ng thng Ax theo phng .v ly trn Ax

-112-
mt im J cch A mt on
4 2
A
w
AJ
+
= .
im J c gia tc :

J A A J
w w w
r r r
+ =
Trong W
JA
c ln bng
4 2
J A
. AJ w + = .'
Thay
4 2
A
w
AJ
+
= . Ta c :
A
4 2
4 2
A
J A
w
w
w =
+
+
= .
J A
w
r
hp vi AJ mt gc vi
2
tg

= hng theo chiu quay ca

quanh A. Nh trn hnh v (8-15) ta thy hai vc t gia tc v c ln
bng nhau song song v ngc chiu do :
A
w
r
J A
w
r
0 w w w
J A A J
= + =
r r r

w
A
B
J

w
B
w
C
A
x
w
A

w
M
w
A
J
x

M
w
M
w
A

w
M
w
A

A

Hnh 8.16
Hnh 8.15
Hnh 8.14
im J chnh l tm gia tc tc thi ca tit din .
Tip theo ta chng minh tnh duy nht ca tm gia tc tc thi J : gi thit
ti thi im trn tit din c hai tm gia tc tc thi J
1
v J
2
.
Khi W
J1
= 0 v W
J2
= 0.
Theo biu thc (4-8) ta c th vit :
1 J 2 J 1 J 2 J
w w w
r r r
+ = .
Thay W
J1
= 0 v W
J2
= 0 vo biu thc trn ta c W
J2J1
= 0.
-113-
V
4 2
1 2 1 J 2 J
J J w + = trong 0 0
nn W
J2J1
ch c th bng khng khi J
2
J
1
= 0 ngha l J
2
trng vi J
1
.
Khng th c hai tm gia tc cng mt thi im trn tit din chuyn ng
phng.
Nu trn tit din c mt tm gia tc tc thi J v chn J l tm cc th
gia tc ca im M trn tit din c th xc nh theo biu thc :
MJ J M
w w w
r r r
+ = .
V w
J
= 0 nn c th vit :
n
MJ MJ MJ M
w w w w
r r r r
+ = =

.
V tr s
4 2
M
. MJ w + = c phng hp vi MJ mt gc vi
2
tg

= theo chiu quay ca quanh J (hnh 8-16). Nh vy ta nhn thy gia

tc ca cc im trn tit din chuyn ng song phng lun lun hp vi
phng ni t im n tm gia tc tc thi mt gc c ln t l vi
khong cch t im n tm gia tc tc thi J. V cc tnh cht quy lut phn
b gia tc cc im trn tit din biu din nh trn hnh (8-16). Cng t cc
tnh cht trn c th xc nh tm gia tc tc thi trong mt s trng hp biu
din trn cc hnh (8-17), (8-18) , (8-19), (8-20), (8-21), (8-22).

w
A
A
J
B
w
B
Hnh 8.18

w
A
w
B
A
B
J
Hnh 8.17

w
A
A
J
B
w
B
Hnh 8.19

-114-
Trn hnh (8-17) v (8-18) khi 0<<90
0
;
0
0 , 0 ; 0 , 0
Trn hnh (8-19) v (8-20) khi =90
0
; 0 , 0
Trn hnh (8-21) v (8-22) khi = 0; 0 , 0 =
Trn hnh (8-23)
B A
w w
r r
= .
Th d 8-4 : Bnh xe tu ho, bn knh vnh ngoi R bn knh vnh ln l
r ln khng trt trn ray thng. Cho bit vn tc v gia tc ca tu l Vc = 0,4
m/s v W
C
= 0,2 m/s
2
. Xc nh gia tc
ca cc im M
1
, M
2,
M
3
, M
4
trn vnh
ngoi ca bnh xe ti thi im ang
xt nh hnh (8-23). Bit r = 40cm, R =
50cm.
Bi gii :
Bnh xe chuyn ng song
phng bit vn tc v gia tc tm C.
Trc ht xc nh vn tc gc
v gia tc gc ca bnh xe.
w

MC
w
3
w
4
w
n
MC
w

MC
M
4
w
C

w
C
M
3
w
n
MC
w
C
w
C
M
1
w
1
w
n
MC
w

MC
w
C
w

MC
w
n
MC w
2
M
2

w
A
J B
w
B

Hnh 8.20
w
A
A
J
B
w
B

Hnh 8.21

A
B
w
A
w
B
J -->
Hnh 8.22

C
C th xc nh vn tc gc theo
v
C
. V tm vn tc tc thi l im tip xc gia bnh xe vi ng ray nn c :
Hnh 8.23
). s / rad ( 1
4 , 0
4 , 0
r
v
PC
v
C C
= = = =
Gia tc gc :
-115-
) s / rad ( 59 , 0
4 , 0
2 , 0
r
w
dt
dv
.
r
1
r
v
dt
d
dt
d
2 C C C
= = = =

=
Xc nh gia tc cc im M theo biu thc :

n
MC
r
MC C M
w w w w
r r r r
+ + = y nhn tm C l tm cc.
Cc vc t ca cc im c tr s nh nhau, ch khc nhau v
phng chiu.
n
MC
r
MC
w , w
r r
V ln ta c : W
MC

= CM. = R. =0,5.0,5 = 0,25 m/s

2
;
W
MC
n
= CM.
2
= R.
2
= 0,5.1
2
= 0,5 m/s
2
;
Phng chiu cc vc t ny cc im biu din trn hnh v. Cn c vo
hnh v v tr s thu c ta c th tnh gia tc cc im M
1
, M
2,
M
3
, M
4
nh
sau :
( ) ( )
2 2
2
2
MC
2
n
MC C 1
s / m 74 , 0 25 , 0 5 , 0 2 , 0 w w w w = + + = + + =


( ) ( )
2 2
2
2
n
MC
2
MC C 2
s / m 67 , 0 5 , 0 25 , 0 2 , 0 w w w w = + + = + + =


( ) ( )
2 2
2
2
MC
2
C
n
CM 3
s / m 39 , 0 25 , 0 2 , 0 5 , 0 w w w w = + + = + + =


( ) ( )
2 2
2
2
n
MC
2
C CM 4
s / m 50 , 0 5 , 0 2 , 0 25 , 0 w w w w = + + = + + =


Th d 8-5 : Tay quay OA quay u vi vn tc gc
OA
. Tm gia tc ca
con trt B v gia tc gc ca thanh AB trn c
cu hnh v (8-24). Cho bit ti thi im kho
st gc BOA = 90
0
; di OA = r ; AB = 1.
B
w
r
A
v
A
v
B
w
B
l
J

A
r
O

0
Bi gii :
Ti v tr kho st c :v
A
= v
B
Hnh 8.24
Thanh AB tc thi chuyn ng tnh
tin:
AB
= 0
Gia tc im A bng : W
A
= W
A
n
= r
0
2
c phng chiu hng t A vo O.
-116-
Gia tc im B lun c phng nm ngang.
xc nh tm gia tc tc thi ta xc nh gc :
=

=
2
tg do = 90
0
D dng tm c tm gia tc tc thi ca thanh AB l giao im ca hai
ng thng h vung gc vi phng W
A
v W
B
ti A v B.
V
AB
= 0 nn c th vit : W
A
=JA.
AB
; W
B
=JB.
AB
Suy ra : ,
J B
w
J A
w
B A
=
y JB = r cn
2 2
r l J A = nn
2 2
2 2
2
B
s / rad .
r l
r
w

=
Phng ca theo phng ngang, chiu hng theo chiu quay vng
ca
B
w
r
AB
quanh J nh hnh v.
T biu thc : W
A
= JA.
AB
suy ra
2 2
2 2
A A
AB
s / rad .
r l
w
J A
w

= =
Thay W
A
= r.
0
2
ta c :
2 2
2 2
AB
s / rad .
r l
r

=
Th d 8-6 : Cho c cu gm hai bnh rng n khp vi nhau. Bnh rng
1 bn knh r
1
= 0,3 m c nh; Bnh
rng 2 bn knh r
2
= 0,2 m ln trn vnh
bnh rng 1 v nhn chuyn ng t
tay quay OA quay vi vn tc gc l

OA
v gia tc gc
OA
(hnh 8-25a).
Hnh 8.25
2
1
P
D

2
v
A
w
A

w
An

O
y
x
D
w
An
w
A

w
n
D
w

D
A

2
Xc nh gia tc im D trn
vnh bnh rng 2 ti thi im c ;
b)
a)

OA
=1 rad/s
2

v
OA
= =4 rad/s
2
.
-117-
Bi gii : Bnh rng 2 chuyn ng song phng. Vn tc v gia tc ca
tm A c xc nh :
v
A
= OA.
OA
= 0,5 m/s ;
W
A

= OA.
OA
= -2 m/s
2
; W
A
n
= OA.
2
= 0,5 m/s
2
.
Ta c th xc nh c vn tc gc
2
ca bnh rng 2 :
s / rad 5 , 2
2 , 0
5 , 0
r
v
2
A
2
= = =
Chiu quay ca
2
nh hnh v (8-25).
Gia tc gc
2
ca bnh rng 2 c xc nh theo biu thc :

2
2
a A
2
2
2
s / rad 10
2 , 0
2
r
w
dt
dv
.
r
l
dt
d
=

= = =

=


iu ny chng t bnh rng 2 chuyn ng chm dn, chiu ca
2
ngc
chiu vi
2
.
Gia tc im D c th vit :

n
DA DA
n
A A D
w w w w w
r r r r r
+ + + =

(a)
Ti thi im kho st c :
W
DA

= DA.
2
= r
2

2
= 0,2.(10) = 2 m/s
2
;
W
DA
n
= DA.
2
= r
2

2
2
= 0,2.(2,5)
2
= 1,25 m/s
2
.
Chiu hai v ng thc (a) ln hai trc Dx v Dy (hnh 8-25b) ta c :
W
Dx
= W
A

+ W
DA
n
= 2 + 1,25 = 3,25 m/s
2
;
W
Dy
= W
DA

- W
A
n
= 2 - 0,5 = 1,5 m/s
2
.
Suy ra :
2 2 2 2
Dy
2
Dx D
s / m 58 , 3 5 , 1 25 , 3 w w w + = + =

-118-
Chng 9
Chuyn ng quay ca vt rn quanh mt im c nh
- chuyn ng tng qut ca vt rn
9.1. Chuyn ng quay ca vt rn quanh mt im c nh
9.1.1 nh ngha
Chuyn ng ca vt rn c mt im lun lun c nh c gi l
chuyn ng quay quanh mt im c nh
Th d: Con quay ti ch, bnh
xe t chuyn ng khi t li trn
ng vng; cnh qut ca my bay
khi my bay ln vng .v
O

r
O
M hnh nghin cu vt rn
chuyn ng quay quanh mt im
c nh biu din trn hnh 9.1.
Hnh 9 - 1
9.1.2 Thng s nh v.
Vt rn quay quanh mt im c
nh c th biu din bng tit din( S)
ca vt quay quanh im O ( hnh 9.2 ).
Tit din ny khng i qua im c nh
O v chuyn ng trong h to c
nh Oxyz. xc nh thng s nh v
ca vt ta dng trc oz, vung gc vi
tit din (S). Dng mt phng cha hai
trc oz v oz
1
. Mt phng ny ct mt
phng oxy theo ng OD. V ng
thng ON vung gc vi mt
0
y
1
y
x 1
x
N
N

Hnh 9-2
1
-119-
phng khi c gc DON =
2

. ng ON nm trong mt phng Oxy

v gi l ng mt.
xc nh v tr ca vt trong h to oxyz trc ht phi xc nh c v
tr ca trc oz
1
, ngha l phi xc nh c cc gc v . Tip theo phi xc
nh c v tr ca vt so vi trc oz
1
ngha l phi xc nh c v tr ca n
so vi mt phng ONz
1
, nh gc = NIA. Nh vy ta c th chn ba gc , v
l ba thng s nh v ca vt., y gc cn c th thay th bng gc =

2
.
Ba gc , , gi l 3 gc le.
Gc gi l gc quay ring; gc gi l gc tin ng v gc gi l
gc chng ng.
9.1.2.2. Phng trnh chuyn ng
Trong qa trnh chuyn ng ca vt cc gc le thay i theo thi gian v
th phng trnh chuyn ng ca vt rn quay quanh mt im c nh c
dng:
= (t).
= (t). (9.1 )
= ( t).
Cn c vo kt qu trn c th pht biu cc h qu v s tng hp v
phn tch chuyn ng ca vt rn quay quanh mt im c nh nh sau:
H qu 9. 1: Chuyn ng ca vt rn quay quanh 1 im c nh bao gi
cng c th phn tch thnh ba chuyn ng quay thnh phn quanh ba trc giao
nhau ti im c nh O. Cc chuyn ng l: chuyn ng quau ring quanh
trc Oz
1
vi phng trnh = ( t); Chuyn ng quay chng ng quanh trc
ON vi phng trnh = ( t) v chuyn ng quay tin ng quanh trc Oz vi
-120-
phng trnh = (t).
H qu 9.2: Tng hp hai hay nhiu chuyn ng quay quanh cc trc
giao nhau ti mt im l mt chuyn ng quay quanh mt im c nh .
9.1.2.3. Vn tc gc v gia tc gc ca vt.
- Vn tc gc.
Gi vn tc gc ca cc chuyn ng quay ring, quay tin ng v quay
chg ng ln lt l
1,

2
v
3
ta c:

1
= ; &
2
= ; &
3
=
&

Theo h qu 9.2 d dng suy ra vn tc gc tng hp ca vt
=
1
+
2
+
3
(9.2).
V cc vect
1
,
2
,
3
thay i theo thi gian nn cng l vect thay
i theo thi gian c v ln ln phng chiu.
Nh vy vect l
vect vn tc gc tc thi
Ti mt thi im c th
xem chuyn ng ca vt
rn quay quanh mt im
c nh nh l mt chuyn
ng quay tc thi vi vn
tc gc quanh trc quay
tc thi i qua mt im
c nh O.( hnh 9.3).

y
1

3
0
2

x
N

Hnh 9-3
- Gia tc gc:
Gi gia tc gc tuyt i ca vt c xc nh bng o hm bc nht
theo thi gian ca vc t
r
-121-
N

= =
.
dt
d r r
(9.3)
V phng din hnh hc c th xc nh
vc t nh l vc t vn tc ca im u N
vc t vn tc gc

r
(hnh 9.4).
Xt trng hp c bit chuyn ng quay
tin ng u.
Chuyn ng ca vt rn quay quanh 1
im c nh c chuyn ng quay ring v chuyn ng quay tin ng l u
cn chuyn ng quay chng ng khng c , ngha l
1
= const ;
2
= const;

3
= 0
0

1

2


Hnh 9-4
Trng hp c bit ny gi l chuyn ng quay tin ng u.
Trong trng hp chuyn ng quay tin ng u vn tc gc c xc
nh:
=
1
+
2
=
r
+
e
(9.4)
V gia tc gc:
= V
N
vi N l im mt ca .
Nhng y theo hnh v 9.4 hnh bnh hnh vn tc gc c gn vi
mt phng ( Oz v Oz
1
) v quay quanh Oz vi vn tc
2
(
e
).
Do :
V
N
=
e
x ON =
e
x =
e
x (
e
x
r
) =
e
x
r
ngha l trong trng hp chuyn ng quay tin ng u th:
=
e
x
r
=
2
x (9.5).
-122-
9.1.3. Kho st chuyn ng ca mt im trn vt
9.1.3.1. Qu o chuyn ng ca im
Khi vt chuyn ng, v mi im c khong cch ti im O c nh l
khng i v th qu o ca chng lun nm trn mt mt cu c tm l O v
bn knh bng khong cch t im kho st ti im c nh O. Chnh v th
ngi ta cn gi chuyn ng quay ca mt vt quanh mt im c nh l
chuyn ng cu.
9.1.3.2. Vn tc ca im
Xt im M trn vt. Ti mt thi im vt c chuyn ng quay tc thi
vi vn tc gc quanh trc quay thc
thi i qua O v th vn tc ca im M
c th xc nh theo biu thc:

r
0

v
M

h
r
M

=
M
V
r
r
OM (9.6)
Vc t hng vung gc vi
mt phng cha trc v im M v c
ln V
M
V
r
M
= .h. Trong h l khong
cch t im kho st M n trc quay
tc thi (hnh 9.5).
Hnh 9-5
9.1.3.3. Gia tc ca im
Gia tc ca im M trn vt
rn quay quanh mt im c nh
c xc nh nh sau:
( ) OM .
dt
d
V
dt
d
W
M M
= =
r

Hnh 9-6
0


h
r
M

W

h
1
W

= OM
dt
d
OM
dt
d

+
r
r

-123-
= OM V
M
+
r
r
r

t
M M
W V

=
r
v
M
W OM

=
r

Cui cng ta c :

M M M
W W W

+ = (9.7)
Trong :
M
W

hng t M v H v c ln W

M
= h.
2
;
M
W

hng
vung gc vi mt phng cha vc t
r
v im M c ln W

M
= h
1
. . Vi h1
l khong cch t im M ti vct .
Ch : V hnh thc cc vc t v ging nh gia tc php
tuyn
M
W
M
W

W
nM
v gia tc tip tuyn
M
W

ca im M khi n quay quanh trc c

nh nhng thc cht l chng khc nhau v y hai vc t v khng
trng phng nh trong chuyn ng quay quanh mt trc c nh.

r
Th d 9.1: Kho st
chuyn ng quay tin ng u
ca con quay c hai bc t do
cho trn hnh v (hnh 9 -7). Cho
bit chuyn ng quay tng i
ca con quay quanh trc Oz, c
vn tc gc
s
1
. 200
r
= v
chuyn ng quay ko theo ca
trc Oz
1
quanh trc Oz c vn
tc gc
C
= 2
S
1
. Hai trc Oz v Oz
1
hp vi nhau mt gc = 30
0
. Tm vn
tc gc v gia tc gc ca con quay.
1
r

0
Hnh 9-7
Bi gii:
Chuyn ng ca con quay l tng hp ca 2 chuyn ng tng i v
ko theo . Hai chuyn ng ny l cc chuyn ng quay quanh hai trc ct nhau
-124-
ti mt im O c nh. Nh vy chuyn ng ca con quay l chuyn ng
quay quanh im O c nh. y chuyn ng tng i vi vn tc gc
r
l
chuyn ng quay ring
r
1
=
r
r
; cn chuyn ng ko theo vi vn tc l
chuyn ng quay tin ng cn
3
=0. Con quay thc hin chuyn ng quay
tin ng u .
Theo (9.4) ta c vn tc gc tuyt i =
r
r
=
r
e
Vc t c biu din bng ng cho hnh bnh hnh m hai cnh l
r

r
v
e
.
V
r
hp vi
e
mt gc 30 do d dng tm c:

2
=
r
2
+
e
2
+ 2
e
.
r
.cos30
0
hay: =
0
r e
2
e
2
r
30 cos . . 2 + +
Thay s ta c = 202
S
1
.
Gia tc gc tuyt i c xc nh theo (9.5).

r e e N
ON V = = =
r
r

=
e
(
e
+
r
) =
e

r
Vc t hng vung gc vi mt phng Ozz
1
nh hnh v v c gi tr:
=
e
.
r
sin30
0
= 200
2
.
2
S
1

Th d 9.2: Kho st chuyn ng
ca bnh xe t khi n chuyn ng u
trn ng trn bn knh R =10m.
1
W
0
a

I
p
W

P
Cho bit bn knh bnh xe r = 0,5m;
vn tc tm bnh xe (vn tc t) l V
0
=
36 km/h.
Xc nh vn tc gc, gia tc gc
Hnh 9-8
-125-
tuyt i ca bnh xe v vn tc, gia tc ca im P trn vnh bnh xe (hnh
9.8).
Bi gii:
Chuyn ng ca bnh xe c hp thnh t hai chuyn ng thnh phn:
Chuyn ng quay ca bnh xe quanh trc Oz ca n vi vn tc gc
1
v
chuyn ng ca trc bnh xe Oz
1
quay quanh trc Oz thng ng vi vn tc
gc
2
. Hai trc z v z
1
giao nhau ti im c nh I v th c th ni chuyn
ng tng hp ca bnh xe l chuyn ng quay quanh mt im I c nh.
Trong trng hp ny
1
l vn tc gc ca chuyn ng quay ring,
2
l vn
tc gc ca chuyn ng quay tin ng. Chuyn ng quay chng ng c
vn tc bng khng.
- Xc nh vn tc gc tuyt i
r
ca bnh xe. Theo cng thc (9.2) ta
c:
=
r r
1
+
r
2
V hai trc quay Iz v Iz
1
lun lun vung gc do :
r
1
vung gc
r
2
.
Mt khc v bnh xe ln khng trt trn ng nn vn tc im P l
V
P
=0.
Suy ra ng IP chnh l trc quay tc thi ca bnh xe. Cn c vo hnh
v xc nh c
1
=
2
.cotg.
Trong :
2
=
R
V
0
v tg =
R
r
.
V =
2
2
2
1
+
Thay s tm c:
1
= 20 (1/s),
2
= 1 (1/s) v = 20 (1/s).
Chuyn ng ca bnh xe l chuyn ng tin ng u do xc nh
gia tc gc tuyt i.nh sau:
=
r
N
V =
r
2
IN =
r
2

r
1
-126-
V tr s: =
2

1
sin
2
u
= 20 1/s
2
hng vo trong v vung gc vi mt
phng hnh v.
- Xc nh vn tc im P
Do P nm trn trc quay tc thi nn vn tc ca n V
p
= 0.
- Xc nh gia tc im P
Theo (9.7) W
P
= W

P
+ W

P
V P nm trn trc quay tc thi nn W

P
=
r
OP=0
Cn

P
hng vung gc vi mt phng cha vc t vo im P nh
hnh v vi tr s:

r
W

P
= IP. = 10.20 = 200 m/s
2
.

9.2. Chuyn ng tng qut ca vt rn (chuyn ng t do
ca vt rn)
9.2.1. Phng trnh chuyn ng
Kho st vt rn chuyn ng t do trong h trc to c nh Oxyz.
thit lp phng trnh chuyn ng ca vt ta chn mt im A bt k trn vt
lm tm cc v gn vo vt h trc Ox
1
y
1
z
1
c cc trc song song vi Ox, Oy,
Oz. Khi v tr ca vt s c xc nh bi v tr ca h Ax
1
y
1
z
1
so vi h
Oxyzv vi tr ca vt so vi h di ng o x y z. T suy ra thng s nh v ca
vt so vi h Oxyz s l to x
A
, y
A
, z
A
ca im A v 3 gc le , v ca
vt. Suy ra phng trnh chuyn ng ca vt s l:
x
A
= x
A
(t) y
A
= y
A
(t) z
A
= z
A
(t)
= (t) = (t) = (t) ( 9.7 )
Chuyn ng t do ca vt lun lun c th phn tch thnh 2 chuyn
ng:
-127-
- Tnh tin theo mt tm cc A
- Chuyn ng quay quanh tm cc A
9.2.2. Vn tc v gia tc ca c vt
Vn tc ca c vt c biu din qua vn tc ca tm cc A l
A
V
v
v vn
tc gc tc thi ca vt quay quanh trc quay tc thi i qua cc A.
Tng t gia tc ca vt cng c biu din bi gia tc ca tm cc A l
w
r
A
v gia tc gc tc thi trong chuyn ng quay tc thi quanh trc quay
tc thi i qua A.

9.2.3. Vn tc v gia tc ca mt im trn vt

Xt im M bt k trn vt rn chuyn ng t do. Vn tc ca im M s
c xc nh theo biu thc:
MA A M
V V V
r r r
+ = . ( 9.8 )
Vi
A
V
v
l vn tc tm cc A cn
MA
V
v
l vn tc ca im M trong
chuyn ng quay quanh im A. Ta c:
AM V
MA
=
v
r
; l vn tc gc tc thi ca vt trong chuyn
ng quay quanh A.
Tng t gia tc ca im M cng c xc nh theo bi thc:
( 9.9 )
MA A M
W W W
r r r
+ =
Trong : W
MA
= W

MA
+ W

MA

Vi: W

MA
=
r
MA
V
r
W

MA
=
r
MA
V
r
Cui cng ta c:
=
M
W
r

+ +
MA MA A
W W W
r r r
. ( 9. 10 )

-128-
Chng 10
HP chuyn ng ca vt rn

y
0
x
y
0
x
1
1
1
1
Trong chng ny m hnh kho st
l vt rn ng thi tham gia hai chuyn
ng tng i so vi h ng o
1
x
1
y
1
z
1
v
chuyn ng ko theo ca h ng
o
1
x
1
y
1
z
1
chuyn ng so vi h c nh
oxyz (Hnh 10.1).
Sau y s kho st chuyn ng
tng hp ca cc trng hp thng gp.

Hnh 10-1
10.1. Hp hai chuyn ng tnh tin

Kho st vt rn tham gia hai chuyn ng tng i v ko theo u l
chuyn ng tnh tin.
Do tnh cht ca chuyn ng tnh tin mi im trn vt rn s c chuyn
ng tng i v ko theo nh nhau v th chuyn ng tuyt i ca chng
cng nh nhau.
T i n kt lun: Hp hai chuyn ng tnh tin ca mt vt rn l
mt chuyn ng tnh tin. Vn tc v gia tc mi im trong chuyn ng tng
hp c tnh bng tng hnh hc cc vct vn tc hoc cc vect gia tc ca
hai chuyn ng thnh phn.
(10.1)
2 1
V V V
r r r
+ =

2 1
W W W + = (10.2)
Trong : V
r
v W l vn tc v gia tc ca chuyn ng tnh tin tng
-129-
hp; V
r r
1
, V
2
v W
1
, W
2
l vn tc v gia tc ca hai chuyn ng tnh tin
thnh phn.
10.2. HP hai chuyn ng quay quanh hai trc

Kho st vt rn ng thi tham gia hai chuyn ng: chuyn ng quay
tng i vi vn tc gc l
r
1
quanh trc quay Aa v chuyn ng quay ko
theo l chuyn ng ca trc Aa quay quanh trc Bb vi vn tc gc
r
2
.Ta s
kho st chuyn ng tng hp ca vt rn trong cc trng hp sau.
10.2.1. Khi hai vc t
1
v
2
song song cng chiu.
Xt vt rn l mt a phng chuyn
ng tng i quay quanh trc Aa vi vn tc
gc
1
vung gc vi mt a. Trc Aa li
quay quanh trc Bb song song vi vn tc gc

2
cng chiu vi
1
(hnh 10.2).
2

b' a'
b a
B A
Ta c nhn xt rng trong qu trnh
chuyn ng mt phng ca a c phng
khng i ngha l chuyn ng tng hp ca
n l chuyn ng song phng. Vn tc ca
im A v B trn a c th xc nh:
Hnh 10-2
V
A
=
2
.AB ; V
B
=
1
.AB
Phng chiu biu din trn hnh
(10.3).
D dng xc nh c tm vn tc
tc thi cu a l im C v trc Cc i qua
C song song vi Aa v Bb l trc quay tc
thi ca a. T vn tc ca im A v B ta
c th xc nh c vn tc gc tuyt i
r
ca a.
2

b'
c'
B
C
1

a'
A
2

(S)
v
B
v
A
A
C
B
Hnh 10-3
=
BC
V
AC
V
B A
=
-130-
hay: =
AB
V V
BC AC
V V
B A B A
+
=
+
+

Thay V
A
=
2
.AB v V
B
=
1
.AB vo biu thc trn ta c:
=
1
+
2
(10.3)
Kt lun: Hp hai chuyn ng quay cng chiu quanh hai trc song song
l mt chuyn ng quay tc thi vi vn tc gc bng tng vn tc gc hai
chuyn ng thnh phn quanh trc quay tc thi song song vi hai trc quay
cho v i qua im C chia trong on AB theo t l:

AB AC BC
2 1

=

10.2.2. Khi hai vc t
1
v
2
song song ngc chiu
Khi hai vc t
1
v
2
song song
ngc chiu ,vi cch biu din nh trn
chuyn ng ca a vn l chuyn ng
song phng biu din trn (hnh 10.4). Gi
thit rng
1

>
2
khi vn tc hai im
V
A
=
2
.AB v V
B
=
1
.AB nhng hai vc
t V
r
A
v V
r
B
song song cng chiu.
2

b'
a'
B A
1

c'
C
2

(S)
v
B
v
A
C
A
B
1
Trn a lc ny c th xc nh
c tm vn tc tc thi C l im chia
ngoi on AB theo t l
AB AC BC
2 1

=

v vn tc gc ca a c xc nh:
Hnh 10-4
=
AC BC
V V
AC
V
BC
V
A B A B

= = =
AB
V V
A B


Thay gi tr ca V
A
v V
B
vo biu thc trn ta c:
=
1
-
2
(10.4)
-131-
Kt lun: Hp hai chuyn ng quay ngc chiu quanh hai trc song
song l mt chuyn ng quay tc thi vi vn tc gc bng hiu s vn tc gc
hai chuyn ng thnh phn quanh trc quay tc thi song song vi hai trc
quay cho v i qua im C chia ngoi on AB theo t l:

AB AC BC
2 1

=

Trng hp c bit nu
1
=
2
ngha l 2 vc t
1
v
2
to thnh
mt ngu vc t, khi theo (10.4) ta c =
0. iu ny chng t vt s c chuyn ng
tng hp l tnh tin.
B
A
V

1

1

2
D
Th d bn p ca xe p (hnh 10.5).
Bn p quay quanh trc ca n vi
vn tc
1
trc bn p li quay quanh trc
gia ca xe vi vn tc
2
=
1
, hai vc t
ny song song ngc chiu do chuyn
ng tng hp ca bn p s l chuyn
ng tnh tin.
Hnh 10- 5
10.2.3. Khi hai vc t
1
v
2
giao nhau ti mt im
Kho st vt rn tham gia ng thi hai chuyn ng quay quanh hai trc
Oa v Ob ct nhau ti O v c vn tc gc l
1
,
2
.
Nh bit trong chng 9 chuyn ng tng hp ca vt trong trng
hp ny l chuyn ng quay quanh mt im c nh chnh l giao im O ca
2 vc t vn tc gc
1
,
2
. Ni cch khc chuyn ng tng hp ca vt rn
khi n ng thi tham gia hai chuyn ng quay quanh hai trc ct nhau s l
mt chuyn ng quay tc thi quanh trc quay tc thi i qua giao im O
ca hai trc quay trong chuyn ng thnh phn vi vn tc gc tuyt i =

1
+
2
.
Theo (9.6) v (9.7) th vn tc v gia tc ca mt im bt k trn vt s
-132-
c xc nh nh sau:
M
V =
r
+ OM ; W
M
= W
M

+ W
M

Th d: Xc nh vn tc gc tuyt i ca bnh rng nn 1 biu din trn

(hnh 10.6) cho bit tm A ca bnh xe chuyn ng vi vn tc V
A
v kch
thc AC = R; OA = l.
Bi gii: Chuyn ng ca bnh
xe c hnh thnh t hai chuyn ng
quay: tng i quanh trc OA ca bnh
xe v chuyn ng ko theo do trc OA
quay quanh trc OB. Nu gc
1
l vn
tc gc ca chuyn ng tng i ,
2

l vn tc gc ca chuyn ng ko theo
th hai vect
1
v
2
giao nhau ti O l
im c nh trn trc OB. Chuyn ng
tng hp ca bnh xe s l chuyn ng quay quanh im O c nh. V bnh xe
(1) n khp vi bnh xe 2 c nh nn im C c vn tc V
C
= 0. D dng nhn
thy OC l trc quay tc thi ca bnh xe. Nu gi vn tc gc tuyt i ca
bnh xe l theo (9.7) ta c:
Hnh 10-6

C
B
A O

2
=
1
+
2
. Trong
2
c phng OB hng xung di v c tr s

2
=
l
V
A
.
D dng tnh c: =

sin
2
vi sin =
2 2
R l
R
+
.
Cui cng nhn c: =
2
2
A
l
R
1
R
V
+ .

10.3. Hp hai chuyn ng tnh tin v chuyn ng quay.
Kho st vt rn tham gia ng thi hai chuyn ng tnh tin vi vn tc
v v quay quanh mt trc Aa vi vn tc gc .
-133-
Bi ton c th gp phi cc trng hp sau:
10.3.1 Khi vn tc chuyn ng tnh tin vung gc vi vn tc gc
ca chuyn ng quay.
Khi vn tc chuyn ng tnh
tin vung gc vi vn tc gc ca
chuyn ng quay. (hnh 10.7) d
dng nhn thy rng chuyn ng
tng hp ca vt l chuyn ng song
phng. C th xc nh c trc
quay tc thi Pp ca vt bng cch
quay V
A
i mt gc 90
0
theo chiu
quay vng ca trong mt phng
vung gc vi vect v ly trn im P cch A mt on AP=

A
V
.

A
v
P
(S)
a
p

Hnh 10-7
10.3.2. Khi vn tc chuyn ng tnh tin v vn tc gc song song vi
nhau .
Xt vt rn tham gia 2 chuyn ng, quay quanh trc Aa vi vn tc gc
v tnh tin vi vn tc v theo chiu Aa (hnh 10.8).
Chuyn ng tng hp ca vt lc ny gi l chuyn ng vt. Nu v v
Cng chiu ta c chuyn ng vt
thun v v, ngc chiu ra c chuyn
ng vt nghch.
v
A
a
M
h

v
M Kho st 1 im trn vt trong qu trnh
chuyn ng qu o ca n nm trn mt tr
c trc Aa bn knh bng khong cch gia
im n trc. Dng ca ng qu o l
ng xon vt. Sau khi quay c mt vng
th im ng thi cng di theo trc Aa mt
Hnh 10-8
-134-
on h = 2.

v
gi l bc vt.
Khi vt chuyn ng vt vn tc ca mt im M bt k c xc nh
theo cng thc:
V
M
= + . r v
2 2

Trong r l khong cch t M ti trc quay. Phng tip tuyn vi qu
o ( ng vt), ngha l hp vi ng sinh mt gc ( tg =
r . . 2
h

).
10.3.3 Khi v v hp vi nhau 1 gc bt k.
Xt chuyn ng ca vt quay
quanh trc Aa vi vn tc gc v ng
thi chuyn ng tnh tin vi vn tc v
theo phng hp vi Aa 1 gc .( Hnh
10.9). Trong trng hp ny nu phn
tch vect thnh hai thnh phn v
r
v
r
1

theo phng v v
r
2
vung goc vi
ngha l
2 1
v v v
r r r
+ = . Theo kt qu
mc 10.3.2 chuyn ng ca vt c v v
r
2
c thay th bng chuyn ng
quay tc thi quanh trc C (trc quay tc thi) vi cng vn tc . Kt qu
chuyn ng ca vt s thc hin hai chuyn ng: tnh tin vi vn tc v
r
1
v
quay quanh trc C vi vn tc gc song song vi v
1
v cch A mt on AP =
v
2
/ = v.sin/. Ta gi chuyn ng ny l chuyn ng vt tc thi.

A
v

A
v
v
v
1
2

b) a)
Hnh 10 - 9

-135-
Phn 3
ng lc hc

Chng 11
Cc nh lut ca niu-tn v phng trnh vi phn
chuyn ng
11.1. Cc khi nim c bn
ng lc l phn tng qut ca c hc. ng lc hc nghin cu chuyn
ng ca vt th di tc dng ca lc. ng lc hc thit lp cc nh lut lin
h gia lc tc dng vi nhng c trng ng hc v p dng cc nh lut
c th gii cc bi ton k thut.
Vt th trong ng lc hc c xt di dng m hnh : cht im, c h,
vt rn.
Cht im l mt im hnh hc c mang khi lng. Cht im l m
hnh n gin nht v c bn nht ca vt th trong ng lc hc.
C h l tp hp nhiu cht im chuyn ng ph thuc ln nhau.
Vt rn l c h c bit khi khong cch gia hai cht im bt k trong
lun lun khng i.
Khc vi tnh hc, lc trong ng lc hc c th l khng i, c th bin
i c v ln v phng chiu.
Lc ph thuc vo thi gian nh lc ko u my, ph thuc vo v tr ca
vt nh lc hp dn, lc n hi ca l xo, ph thuc vo vn tc nh lc cn ca
khng kh. Mt cch tng qut trong ng lc hc lc l mt hm ca thi gian,
v tr v vn tc. Ta c : ( ) v , r , t F F
r r
r r
= .
Trong ng lc hc cc lc c phn chia thnh ni lc, ngoi lc hay
hot lc v phn lc lin kt. Ni lc k hiu l
i
F
r
.
i
F
r
l lc tc ng tng h
-136-
gia cc cht im trong mt c h.
Ngoi lc k hiu l cc lc do cht im hay vt th ngoi h tc dng
vo h. Phn lc lin kt k hiu
e
F
r
N
r
l lc tc dng do cc vt gy lin kt ln c
h kho st. Hot lc l cc lc tc dng ln c h khng k phn lc lin kt,
thng k hiu l F
a
r
kho st chuyn ng ca vt bao gi cng chn trc mt h quy
chiu. H quy chiu khng ph thuc vo thi gian gi l h quy chiu qun
tnh, ngc li h quy chiu ph thuc vo thi gian gi l h quy chiu khng
qun tnh .
11.2. Cc nh lut ca Niu -Tn
C s l lun ca ng lc hc ch yu l cc nh lut ca NIU - TON.
I-sc Niu Tn (1643-1727) l nh bc hc li lc t nn mng cho c
hc c in v xy dng l thuyt c hc hon thin cn i. V th c hc c
in cn gi l c hc Niu - Tn.
Sau y gii thiu cc nh lut ca Niu - Tn v xem nh l h tin
ca c hc.
nh lut 1(nh lut qun tnh)
Cht im khng chu tc dng ca lc no s ng yn hoc chuyn
ng thng u.
Trng thi ng yn hoc chuyn ng thng u l trng thi chuyn
ng theo qun tnh. Khi chuyn ng theo qun tnh cht im s c :
v const v=
r
0 w=
r
.
nh lut 2 (nh lut c bn ca ng lc hc )
Di tc dng ca lc cht im s chuyn ng vi gia tc cng phng
chiu vi lc (hnh 9-1)
M
v
F
W
Hnh 11.1
W . m F
r r
=
-137-
m l h s t l, ph thuc vo lng vt cht c trong cht im.
Theo nh lut ny lc l nguyn nhn lm cho cht im chuyn ng c
gia tc.
Biu thc (11-1) cho thy : Nu lc F
r
khng i m cng ln cng nh
v ngc li, iu chng t kki lng m l s do qun tnh ca vt (tnh
ca vt)
W
r
T h thc (11-1) nu lc l trng lng ca vt s c :P = mg. y g
c gi l gia tc trng trng.
H thc (11-1) gi l phng trnh c bn ca ng lc hc.
nh lut 3 (nh lut v tnh c lp tc dng ca lc)
Di tc dng ng thi ca mt h lc cht im s chuyn ng vi gia
tc bng tng hnh hc cc gia tc m cht im thu c khi n chu tc dng
c lp tng lc mt .
n 2 1
w ..... w w w
r r r r
+ + + = . (11-2)
w
r
l gia tc ca cht im khi h lc cng tc dng ng thi ;
l gia tc ca cht im khi n chu tc dng tng lc:
c lp .
n 2 1
w , w , w
r r r
n 2 1
F ,.... F , F
r r r
T h (11-2) nu nhn hai v vi khi lng m s c :
n 2 1
w m ..... w m w m w m
r r r r
+ + + =
Theo nh lut hai th :

Do ta c :

=
= + + + =
n
1 i
n 2 1
F F ..... F F w m
r r r r
r
(11-3)
H thc (11-3) l phng trnh c bn ca ng lc hc khi cht im
chu mt h lc tc dng.
nh lut 4 (nh lut tc dng v phn tc dng )
-138-
Lc tc dng tng h gia hai cht im l nhng lc cng phng, cng
ln v ngc chiu.
nh lut ny m t tc dng tng h gia hai cht im v l c s
nghin cu cho ng lc hc ca h.
Cn ch rng hai lc tng h khng phi l mt cp lc cn bng v
chng t ln hai cht im khc nhau.
11-3. Phng trnh vi phn chuyn ng ca cht im
v c h.
Xt cht im chuyn ng trong h quy chiu qun tnh oxyz, di tc
dng ca cc lc
n 3 2 1
F ,.... F , F , F
r r r r
. i vi cht im t do cc lc ny l cc hot
lc t ln cht im. i vi cht im khng t do cc lc ny bao gm c
hot lc v phn lc lin kt. Cn c vo phng trnh c bn ca ng lc hc
ta c th thnh lp phng trnh vi phn chuyn ng ca cht im di cc
dng khc nhau.
11.3.1.Dng vc t
Gi vc t nh v ca cht im l r
r
ta c :
r
dt
r d
w
2
2
& &
r
r
= =
Khi phng trnh c bn vit cho cht im nh sau :

=
=
n
1 i
1
2
2
F
dt
r d
m
r
r
(11-4)
Phng trnh vi phn (11-4) c gi l phng trnh vi phn chuyn ng
ca cht im di dng vc t.
11.3.2. Dng to cc
Chiu phng trnh (9-4) ln cc trc to oxyz s c :
-139-
;

=
=
n
1 i
i
X x m& &
; (11-5)

=
=
n
1 i
i
Y y m& &
.

=
=
n
1 i
i
Z z m& &
y x, y, z l to ca cht im trong h oxyz, cn X
i
, Y
i
, Z
i
l hnh
chiu ca lc ln cc trc ox, oy, oz.
i
F
r
H phng trnh (11-5) c gi l h phng trnh vi phn chuyn ng
ca cht im di dng to cc.
11.3.3. Dng to t nhin
Gi W

, W

, W

l hnh chiu ca gia tc im v F

i

, F
i

, F
i

l hnh
chiu ca F
i
ln cc trc ca h to t nhin. Sau khi chiu phng trnh (11-
4) ln cc trc ca h to t nhin ta c :
;

=

= =
n
1 i
i
F s m mw & &

=

=

=
n
1 i
i
2
F
v
m mw ; (11-6)
.

=

= =
n
1 i
i
F 0 mw
i vi c h chng ta c th tch mt cht im trong h ra xt. Gi
hp cc ngoi lc tc dng ln cht im th k c tch ra l v hp cc ni
lc tc dng ln n l .
ke
F
r
ki
F
r
Phng trnh vi phn chuyn ng ca cht im vit di dng vc t :
ke ki k k
F F w m
r r
r
+ =
Trong m
k
v l khi lng v gia tc ca cht im th k .
k
w
r
-140-
Khi xt tt c cc cht im ta s thu c N phng trnh sau :

e 1 i 1 1 1
F F w m
r r
r
+ = ;

e 2 i 21 2 2
F F w m
r r
r
+ = ; (11-7)
...........................

ne ni n n
F F w m
r r
r
+ = .
H phng trnh (11-7) c gi l h phng trnh vi phn chuyn ng
ca h di dng vc t. Nu chiu h phng trnh (11.7) ln cc trc ca h
to cc hoc h to t nhin ta s c h phng trnh vi phn chuyn
ng ca c h di dng to cc v h to t nhin.
11-4. Hai bi ton c bn ca ng lc hc
T phng trnh vi phn chuyn ng ca cht im ta thy trong ng
lc hc c hai bi ton c bn sau y :
- Bi ton c bn th nht: Cho bit chuyn ng ca cht im xc nh
lc gy ra chuyn ng . Bi ton ny gi l bi ton thun.
- Bi ton c bn th hai: Cho bit cc lc tc dng ln cht im v iu
kin ban u ca chuyn ng xc nh quy lut chuyn ng ca cht im. Bi
ton ny gi l bi ton nghch.
Sau y gii thiu cch gii hai bi ton c bn ni trn.
i vi bi ton th nht ta thit lp phng trnh vi phn ca chuyn
ng cht im. T phng trnh vi phn ta xc nh c lc tc dng ln tng
cht im. iu c bn ca bi ton l xc nh gia tc ca cht im iu ny
c gii quyt trong ng hc.
i vi bi ton th hai, ta thay lc vo v phi ca phng trnh vi phn
sau tch phn phng trnh vi phn tm c. tm dng chuyn ng c th
ta xc nh hng s tch phn cn c vo cc iu kin ban u ca chuyn ng.
Nu phng trnh vi phn vit di dng to cc sau khi ly tch phn hai
-141-
ln s xut hin 6 hng s tch phn, ngha l cc nghim x, y, z thu c l cc
hm ca thi gian v 6 hng s tch phn :
x=f
1
(t,C
1
,C
2
....C
6
)
y= f
2
(t,C
1
,C
2
....C
6
)
z= f
3
(t,C
1
,C
2
....C
6
)
Cc hng s tch phn trn c xc nh t cc iu kin ban u ;
Khi t=0 x=x
0
; y=y
0
; z=z
0
;
0 0 0
z z ; y y ; x x & & & & & & = = =
Th d 11-1:
Cht im c khi lng m chuyn ng theo ng enlip x=acoskt v
y=bsinkt hy tm lc tc dng ln cht im (hnh 11-2).
Bi gii :
M
O
y
b
x
a
v
F
r
Bi ton ny thuc bi ton c bn th
nht. Cn c vo phng trnh chuyn ng
x=acoskt
y=bsinkt
Hnh 11.2
Xc nh c :
x k kt cos ak x
2 2
= = & & ;
; y k kt sin bk y
2 2
= = & &
Ta c phng trnh vi phn chuyn ng nh sau :
x mk F m x
2
x
= = & &
y mk F m y
2
y
= = & &
Lc tc dng ln cht im s l F vi :
r mk y x mk F F F
2 2 2 2 2
y
2
x
= + = + =
-142-
Cc gc ch phng ca F
r
l :

r
x
F
F
) x , F cos(
x

= =

r
y
F
F
) y , F cos(
y

= =
Mt khc ta cng c :

r
x
) x , r cos( =

r
y
) y , r cos( =
D dng nhn thy F
r
cng phng nhng ngc chiu vi vc t nh v
r
r
ca cht im.
Ta c : r mk F
r
r
= .
Th d 11-2 : phn loi ht ngi ta cho ht i qua mt sng dao ng
ngang c nhiu l. Bit rng vn tc ca ht khi bt u chuyn ng qua l
(hnh 11-3). Ht c hnh dng cu, bn knh R. B qua lc cn ca khng kh
xc nh di b nht b ca l ht c th ri qua l c.
0
v
r
-143-
Bi gii:
ht ri qua l sng trng
tm ca ht ti v tr bt u chm
mp bn kia ca l phi nm di
mt phng ngang ca sng. gii
quyt c iu kin ta xc
nh qung ng ht i c theo phng ngang (phng ox) khi tm ht ri
xung c mt on x=R. Lc tc dng ln ht coi nh bit l trng
lng bn thn ca n. Bi ton y thuc loi bi ton c bn th hai.
R
b
v

o
x
y
Hnh
Chn h to oxy gn vi sng (hnh 11-3) coi sng ng yn cn ht
chuyn ng so vi sng. Lc tc dng ln ht c :
F
y
= 0 F
x
= +mg.
Phng trnh vi phn chuyn ng ca ht vit c :
mg x m = & & ; hay ; g x= & &
0 y m = & & ; hay ; 0 y= & &
Tch phn hai v phng trnh trn ta c :
C gt x + = &
2 1
2
C t C
2
gt
x + + =

3
C y= &
4 3
C t C y + =
xc nh hng s tch phn ta da vo iu kin u cho ca chuyn
ng.
Khi t = 0 suy ra C
0
x x & & =
1
=0
x=x
0
suy ra C
4
=0.
Thay vo nghim tm c ta c :

2
gt
x
2
= t v y
0
=
-144-
Phng trnh qu o thu c :

g
x 2
v y
0
=
Khi x=R th
g
R 2
v R b y
0
= =
Suy ra
g
R 2
v R b
0
+ =
ht chc chn ri qua l ta phi c :

g
R 2
v R b
0
+
Th d 11.3 :
Mt cht im c khi lng m chuyn ng trong mt phng ngang di
tc dng ca lc ht v tm O l r m k F
2
r
r
= . y r
r
l vc t nh v cn k l
h s t l. Hy tm phng trnh chuyn ng v qu o ca cht im. Cho
bit ti thi im ban u t
0
= 0 , x
0
= 1 , y
0
= 0 , 0 x= & ,
0
v y= & (hnh 11-4)
Bi gii:
Bi ton ny thuc bi ton c bn th hai. Phng trnh vi phn chuyn
ng ca cht im vit di dng vc t :
r m k W m
2
r
r
=
ch h to oxy nh hnh v ta c th thit lp phng trnh vi phn di
dng to cc nh sau :
mx k x m
2
= & &
my k y m
2
= & &
Kh khi lng m hai v
phng trnh trn ta c :
M
y
x
y
F
O
l
x
Hnh 11.4
-145-
0 x k x
2
= = & &
0 y k y
2
= = & &
Nghim tng qut ca hai phng trnh c dng:
x=c
1
coskt + c
2
sinkt
y=c
3
coskt + c
4
sinkt
Cc hng s tch phn c
1
, c
2
, c
3
, c
4
c xc nh t cc iu kin u ca
chuyn ng.
Ki t =t
0
= 0 c :
x = x
0
= l = C
1
;
2
kC 0 x = = &
y = y
0
= 0 = C
3
;
4 0
kC v y = = &
Suy ra :
C
1
= 1; C
2
= 0; C
3
= 0; v C
4
= v
0
/k
Phng trnh chuyn ng cht im c vit :
x=lcoskt; y = (v
0
sinkt)/k
Kh t trong phng trnh trn s tm c phng trnh qu o dng
1
k / v
y
l
x
2 2
0
2
2
2
= +
y l phng trnh ng enlip nhn cc trc ox, oy l trc
Th d 11-4: Con lc ton hc gm cht im M c khi lng m treo vo
u si dy khng dn v khng trng lng, chuyn ng trong mt phng
thng ng. Xc nh phn lc N ca dy (hnh
v 11-5). Cho bit lc u con lc v tr M
0
v
c vn tc v
0


o
P

M
o
v
o

M
Bi gii :
Xt chuyn ng ca cht im M. Cc
Hnh 11.5
-146-
lc tc dng ln n gm P v N. C th thit lp phng trnh vi phn vit di
dng ta t nhin nh su :
= = sin mg sin P s m& & (a)
N cos mg N cos P
V
m
2
+ = + =

(b)
Thay l = s vo phng trnh (a)
Ta c : = sin mg ml & & hay : 0 sin
l
g
= + & &
Xt dao ng l nh ly sin , ta c
(c) Trong : 0 k
2
= + & &
l
g
k
2
=
Nghim tng qut ca phng trnh ny l : = Asin(kt + )
A, l hng s c xc nh bng iu kin u ca chuyn ng .
tm N cn c vo phng trnh (b).
Ta c :
+ = cos mg
l
mv
N
2

tnh v
2
ta ch :

d
d
dt
d
d
d
dt
d
dt
d
2

Thay kt qu trn vo phng trnh ( c) ta c :
0 sin
l
g
= + & & ta c :
=

sin
l
g
dt
d

c cos
l
g
d + =
-147-
Hng c c xc nh t iu kin ban u. Gi gc ban u v vn tc
gc ban u k
0
v
0
ta s c :

0
2
2
0
0
2
0
cos
l
g
l 2
v
cos
l
g
2
c =

=
Thay c vo biu thc (c) ta c :

0
2
2
0 2
cos
l
g
l
v
cos
l
g 2
+ = ;

0
2
0
2 2 2
cos (cos gl 2 v l v + = =
Cui cng nhn c :
) cos 2 cos 3
gl
v
( P N
0
2
0
+ =
Nh vy phn lc N ph thuc vo iu kin ban u v v tr ca im M.
Kt qu ny cng ng cho c khi dao ng l khng nh.

-148-
Chng 12
Cc nh l tng qut ca ng lc hc
Cc nh l tng qut ca ng lc hc l h qu ca nh lut c bn ca
Niu-Tn. N thit lp mi quan h gia cc i lng do chuyn ng ca cht
im hay c h vi cc i lng o tc dng ca lc.ln cht im hay c h
. Cc nh l tng qut ca ng lc hc cho php ta nghin cu tnh cht
quan trng ca chuyn ng m khng cn bit chi tit chuyn ng . V th
n cho php ta gii thun li mt s bi ton ca ng lc hc c bit l bi
ton v ng lc hc ca c h m nu p dng phng trnh vi phn gii th
s gp rt nhiu kh khn.
12.1. Cc c trng hnh hc khi ca c h v vt rn.
Khi kho st ng lc hc ca c h ngi ta phi n khi lng ca
chng v s phn b khi lng y trong khng gian. Cc c trng lin quan
n phn b khi lng ca c h hay vt rn l khi tm v m men qun tnh.
12.1.1. Khi tm ca h
Xt h N cht im M
1
, M
2
,...M
n
c khi lng m
1
, m
2
, ...m
.N
. Vc t nh
v chng l: r
r
1
, r
r
2
,.... r
r
N
.( Hnh 12.1) .Ta c nh ngha sau:
Khi tm ca h l im C xc nh
bng biu thc:
r
r
C
r
r
n
r
r
2
1
r
r
C
M
n
M
2
M
1
z
O
y
r
r
C
=
M
r m
N
1 k
k k

=
r
;
(12-1)
x
Vi M = .

=
N
1 k
k
m
Hnh 12.1
Chiu biu thc (12-1) ln cc trc
-149-
to oxyz (hnh 10-1) ta c:
x
c
=
M
x m
N
1 k
k k

=

y
C
=
M
y m
N
1 k
k k

=
(12-2)
z
C
=
M
z m
N
1 k
k k

=

Trong x
C
, y
C
, z
C
l to khi tm C; x
k
, y
k
, z
k
l to ca cht im
th k trong c h. Trng hp c bit trong trng trng lc h l vt rn khi
tm s trng vi trng tm ca vt.
12.1.2. M men qun tnh ca vt
12.1.2.1. M men qun tnh ca vt i vi mt tm
M men qun tnh ca vt i vi mt tm k hiu l J
o
bng tng cc tch
s gia cc khi lng ca mi cht im vi bnh phng khong cch gia
cht im vi im O (hnh 10-1)
J
o
= (12-3)

=
N
1 k
2
k k
r m
12.1.2.2. M men qun tnh ca vt i vi mt trc
M men qun tnh ca vt i vi mt trc z k hiu l J
z
bng tng cc
tch khi lng m
k
ca mi cht im trong vt vi bnh phng khong cch d
k

t cht im n trc (hnh 12-1).
J
z
= (12-4)

=
N
1 k
2
k k
d m
Gi to cc cht im M
k
trong h to oxyz l x
k
,y
k
, z
k
th m men
qun tnh ca h i vi cc trc to l ox, oy, oz v i vi gc to O vit
c:
-150-
J
x
=

+ ); z y ( m
2
k
2
k k
J
y
=

+ ); z x ( m
2
k
2
k k
J
z
= (12-5)

+ ); x y ( m
2
k
2
k k
J
o
=

+ + = ). z y x ( m r m
2
k
2
k
2
k k
2
k k
T suy ra:
J
x
+ J
y
+ J
z
= J
o
. (12-6)
Trong k thut ta tnh m men qun tnh ca vt i vi mt trc theo
biu thc:
J
z
= M.
2
M l khi lng ca vt, gi l bn knh qun tnh ca vt vi trc z.
12.1.2.3. M men qun tnh ca mt s vt ng cht
- Vt l mt thanh mng ng cht
Gi chiu di ca thanh l l, khi lng ca n l M. Chn trc Ax dc
theo thanh (hnh 12-2).
y
B
x
m
k
d
x
x
k
Xt mt phn t ca thanh c
chiu di dx v tr cch A mt on
x
R
, c khi lng dm =
1
.dx y

1
l khi lng ring trn mt n
v chiu di ca thanh

= M/l
A
Hnh 12-2
Biu thc m men qun tnh
ca thanh ly i vi trc Az vung gc vi
thanh ti A l:
J
Az
=
2
Ml
3
l
0
2
i
l
0
2
3
1
3
l
dx x dm x = = =


(127)
A
Hnh 12.3
B
x
D
C
dx
x
y
-151-
- Vt l mt tm phng hnh ch nht (hnh 12-3)
Gi cc cnh ca hnh l a, b, khi lng ca tm phng l M. Chia hnh
thnh nhiu gii nh song song vi trc o mi gii c b rng l dx, c m men
qun tnh i vi trc Ax l J
k
=
2
k
a m
3
1
(theo hnh 12-3)
Trong m
k
l khi lng ca gii ang xt.
M men qun tnh ca c hnh i vi trc A
x
l :
J
x
= ; m a
3
1
a m
3
1
J
n
1 k
k
n
1 k
2 2
k
n
1 k
kx

= = =
= =
J
x
= M a
3
1
2
(12-8)
Tng t suy ra:
J
y
= M b
3
1
2
(12- 9)
y
R
C x
- Vt l mt vnh trn ng cht
Gi bn knh v khi lng ca vnh l R v
M. Tnh m men qun tnh ca vnh i vi trc
Cz vung gc vi mt phng ca vnh v i qua
tm C. (hnh 12-4).
Hnh 12.4
Ta c:
x
y
R
O
d
rk
r
k
J
cz
= ; R m r m
n
1 k
2
k
n
1 k
2
k k

= =
=
J
cz
= (12-10) . MR m R
2
n
1 k
k
2
=

=
Cng thc (12-10) cng dng tnh m
men qun tnh ca mt ng trc trn ng cht i
vi trc ca n.
Hnh 12.5
-152-
- Vt l mt tm phng trn ng cht
Gi bn knh v khi lng ca tm l R v M. Ta c th tnh m men
qun tnh i vi trc Cz k hiu l J
cz
v m men qun tnh i vi trc Cx hay
Cy trng vi ng knh ca n k hiu l J
x
, J
y
.
Chia tm thnh nhiu vnh nh cng tm C bn knh mi vnh th k l r
k
.
B rng ca mi vnh th k l dr
k
. Khi lng ca lp vnh th k l :
m
k
= .2.r
k
.dr
k
Trong l khi lng ring ca tm trn mt n v din tch = .
R
M
2

Theo cng thc (12-10) m men qun tnh ca lp vnh th k ny i vi
trc Cz vit c.
J
k
cz
= m
k
r
k
2
= 2.r
k
3
dr
k
M men qun tnh ca c tm i vi tc Cz vit c:
J
cz
=

= =
=
n
1 k
k
3
k
n
1 k
k
cz
dr r 2 J
hay: J
cz
= . R
2
1
dr r 2
4
R
o
k
3
k
=

Cui cng ta c:
J
cz
=
2
MR
2
1
(12-11)
tnh J
cz
v J
cy
ta c nhn xt mi im ca tm c z
x
= 0, v th theo
(12-5) vit c:
J
cx
=

= =
= +
n
1 k
2
k k
n
1 k
2
k
2
k k
; y m ) z y ( m
J
cy
=

= =
= +
n
1 k
2
k k
n
1 k
2
k
2
k k
; x m ) z x ( m
-153-
J
cz
= . ) y x ( m
n
1 k
2
k
2
k k

=
+
T cc biu thc trn suy ra trong trng hp ny:
J
cz
= J
cx
+ J
cy
.
Do i xng nn s phn b khi lng ca tm i vi trc cx v cy hon
ton nh nhau. Ta c:
J
cx
= J
cy
= J
cz
/2= MR
2
/4. (12-11)
Cng thc (10-11) cng c th tnh m men qun tnh cho vt l mt trc
trn ng cht i vi trc ca n.
12.1.2.4. M men qun tnh i vi cc trc song song.
-nh l Huy-Ghen: M men qun tnh ca mt vt i vi mt trc z
1

no bng m men qun tnh ca n i vi trc z song song vi trc z
1
i qua
khi tm ca vt cng vi tch khi lng ca vt vi bnh phng khong cch
gia hai trc.
J
z1
= J
cz
+ Md
2
(12-12)
Chng minh:
x
z'
z

k d
d'
k
d
k
B
M
k
y
C
y
k
x
k
Theo nh ngha J
z1
=

(a)
2
k k
' d m
K trc cz song song vi z
1
v i qua khi
tm c (hnh 12-6)
Ta c:
2
k
' d = d
k
2
+ d
2
- 2d
k
dcos
k
.
Gi to ca im M
k
l x
k
, y
k
, z
k
.
x
k
= d
k
cos
k
suy ra:
d'
k
2
= d
k
2
+ d
2
- 2dx
k
Hnh 12.6
Thay kt qu vo biu thc (a) s c:
J
z1
=

m
k
(d
k
2
+ d
2
- 2x
k
d) =

m
k
d
k
2
+

m
k
d
2
- 2

m
k
dx
k
),
-154-
trong :

m
k
d
k
2
= J
cz
;

m
k
d
2
= Md
2
cn

m
k
dx
k
= d

m
k
x
k
= dMx
C
Do gc to trng vi khi tm c nn x
C
=0.
Do :

m
k
dx
k
= 0 Cui cng c: J
z1
= J
cz
+ Md
2
.
nh l c chng minh.
12.2. nh l ng lng v nh l chuyn ng ca
khi tm
12.2.1. nh l ng lng
12.2.1.1. ng lng ca cht im v ca h
ng lng ca cht im l mt i lng vc t k hiu l k
r
bng tch
gia khi lng v vc t vn tc ca cht im.
k
r
= m . (12-14) v
r
ng lng ca h l i lng vc t k hiu K
r
bng tng hnh hc
ng lng cc cht im trong h.
K
r
=

=
n
1 k
k
r
k
= m

=
n
1 k
v
v
r
k
. (12-15)
n v o ng lng l kgm/s
Ta cng c th biu din ng lng ca h qua khi lng v vn tc
khi tm ca h.
T (12-1) suy ra:

m
k
r
r
k
= M r
r
c
.
o hm hai v theo thi gian nhn c:

m
k
v
r
k
= Mv
r
o
.
ng lng ca h bng tch gia khi lng v vc t vn tc khi tm
ca h.
-155-
12.2.1.2. Xung lng ca lc (xung lc)
Lc tc dng trong mt khong thi gian nh b dt th i lng vc t o
bng tch gia lc vi khong thi gian v cng b l xung lng phn t ca
lc k hiu l d F
r
s
r
= .dt. (12-17) F
r
Nu lc F
r
tc dng trong khong thi gian hu hn t t
o
n t th i
lng vc t tnh bng tch phn cc xung lc phn t trong khong thi gian
gi l xung lng ca lc trong khong thi gian t t F
r
o
n t v k hiu l s
r
.
s
r
= (12-18)

=
t
to
t
to
dt F s d
r
r
Theo (10-18) nu lc = const th: F
r
s
r
= . F
r
y = t - t
o
12.2.1.3. nh l ng lng
nh l 12.1: o hm theo thi gian ng lng ca cht im bng hp
lc cc lc tc dng ln cht im.
) v m (
dt
d r

= (12-19)

=
n
1 i
i
F
r
Chng minh: Xt cht im c khi lng m chuyn ng vi vn tc v
di tc dng ca h lc ( F
r
1
, F
r
2
,... F
r
n
). Phng trnh c bn vit cho cht im:
m = W
r

=
n
1 i
i
F
r

Thay = W
r
dt
v d
r
vo biu thc trn s c:
m = W
r

=
=
n
1 i
i
F ) v m (
dt
d
r
r

nh l c chng minh.
Biu thc (12-19) thc cht l phng trnh c bn vit di dng ng
lng cho cht im.
-156-
nh l 12.2: Bin thin ng lng ca cht im trong khong thi gian
t t
o
n t
1
bng tng hnh hc xung lng ca cc lc tc dng ln cht im
trong khong thi gian .
mv
r
1
- mv
r
o
=

= =
=
n
1 k
k
n
1 k
1 t
to
k
S dt F
r r
(12-20)
Chng minh: T phng trnh (10-19) suy ra:
d(m ) = v
r

=
n
1 k
1 t
to
k
dt F
r
Tch phn hai v phng trnh ny tng ng vi cc cn ti t
o
v t
1
s c:

= =
= =
n
1 k
1 t
to
1 t
to
n
1 k
k
1 mv
mvo
; dt F dt F ) v m ( d
r r
r

mv
r
1
- mv
r
o
=

=
n
1 k
k
S
r
nh l c chng minh.
nh l 12.3: o hm theo thi gian ng lng ca h bng vc t
chnh ca cc ngoi lc tc dng ln h.

=
=
N
1 k
ke
F
dt
K d
r
r
(12-21)
Chng minh: Xt h gm N cht im. K hiu hp ngoi lc v hp ni
lc t ln cht im th k l F
r
ke
v F
r
ki
.
Phng trnh c bn ca ng lc hc vit cho cht im l:
m
k
( = ) W
k
r
F
r
ke
+ F
r
ki
(a)
Vit cho N cht im ca h ta s c N phng trnh (a) ngha l k = 1...N
Cng v vi v ca N phng trnh trn vi nhau ta s c:

= = =
+ =
N
1 k
ki
N
1 k
ke
N
1 k
k k
F F W m
r r r

Theo nh lut Niu Tn cc lc tc dng tng h bng nhau v ln,
-157-
cng phng nhng ngc chiu v vy tng hnh hc cc ni lc ( cc lc tc
dng tng h cu cc cht im trong h) lun lun bng khng.
Ta c:

F
r
ki
= 0
Cn li:

= =
=
N
1 k
ke
N
1 k
k k
F W m
r r

Thay , K
dt
d
v m
dt
v d
m W m
N
1 k
k k
N
1 k
k
k
N
1 k
k k
v
r
r
r
= = =

= = =

Ta c:

=
=
N
1 k
ke
F K
dt
d
r v
.
nh l c chng minh.
nh l 12.4: Bin thin ng lng ca h trong khong thi gian t t
o

n t
1
bng tng hnh hc xung lng cc ngoi lc tc dng ln h trong
khong thi gian .
k
r
1
- k
r
0
= (12-22)

=
N
1 k
ke
S
r
Chng minh:
T phng trnh (12-10) suy ra:
dk
r
= dt F
N
1 k
ke

=
r
Tch phn hai v biu thc ny tng ng vi cc cn ti thi im u v
cui s c:

= =
1 t
to
ke
1 t
to
ke
1 k
ko
dt F dt F dk
r r
;
k
r
1
- k
r
o
=

s
r
ke
.
nh l c chng minh.
Ch rng cc biu thc (10-19); (10-20), (10-21) v (10-22) l cc biu
-158-
thc vc t, nu chiu cc biu thc ny ln ba trc to oxyz ta s c cc
biu thc hnh chiu tng ng phn nh s bin thin ng lng ca cht im
v h theo hng cc trc to .
nh lut bo ton ng lng ca h
T biu thc (12-21) suy ra:
Khi

F
r
ke
= 0 th K = const.
Khi

X
k
= 0 th K
x
= const.
Ngha l khi vc t chnh ca ngoi lc hoc tng hnh chiu ca cc
ngoi lc ln mt trc no bng khng th ng lng ca h hoc hnh chiu
ng lng ca h ln trc bo ton.
Cui cng ch rng trong cc biu thc khng c ni lc iu ny chng
t ni lc khng c tc dng lm thay i ng lng ca mt h.
Th d 12-1: Mt ht ng cc c trng lng P trt trong rnh nm
nghing mt gc so vi phng ngang. Bit h s ma st gia cc ht v rnh
l f, vn tc ban u ca ht l v
o
. Tnh xem sau bao lu th vn tc ht tng ln
gp i. (hnh 12-7)
Bi gii
Xem ht nh mt cht im. Lc tc dng
ln ht gm trng lng P, lc ma st F
ms
v
phn lc php tuyn N.
x
ms
F
r
N
r
P
r

Vit biu thc hnh chiu ln trc ox ca
nh l ng lng ta c:
Hnh 12.7
m ( )

= =
t
0
ms i o 1
dt F sin P x x m x & &
; v x
1
= & F ; v x
o 0
= &
ms
= P.cos.f ta c:
mv-mv
o
= (Psin-fPcos)t.
Khi v = 2v
o
th thi gian cn thit l:
-159-
t =
) cos f (sin g
v
cos fmg sin mg
mv
o o

=

.
Th d 12-2: Nc chy ra t mt vi vi vn tc u = 10m/s v p thng
gc vo mt tng chn (hnh 10-8). ng knh ming vi d = 4cm. Xc nh
p lc ca nc ln tng. Ly khi lng
ring ca nc l = 1000kg/m
3
Hnh 12.8
R x
b
1
b
1
d
d
c
1 c
1
c c
ut
1
a
1
a
1 a
a
Bi gii:
Xt chuyn ng ca khi nc aabc
(xem hnh v 12.8). Ngoi lc tc dng ln
h gm:
Trng lng P, hp lc ca p lc ti
mt ct ca khi nc v p lc do phn lc
ca tng ln nc.
Theo biu thc (12-22) ta c:
k
1x
- k
ox
=

S
kk
(a)
Gi thit sau thi gian t
1
khi nc chuyn n v tr a
1
a
1
b
1
c
1
. T hnh v
ta thy phn nc c nh hng n s bin i ng lng ca khi nc ln
phng x l phn nm trong on aa
1
. V vy c th thy:
k
1x
- k
ox
= -mu
y m l khi lng ca phn nc nm trong on aa
1
m =
1
2
ut
4
d
g


Cn

S
x
l xung lc ca cc lc tc dng ln khi nc theo phng x.
Nu gi cc hp lc theo phng x ny l R
x
ta s c:

S
kx
= R
x
t
1
= Rt
1
.
Thay vo biu thc (a) cc kt qu tm c s c:
-160-
mu = Rt
1
R =
Nh vy ta tm c p lc ca nc ln tng cng bng R = 12,8kN c
phng vung gc vi tng theo chiu hng vo mt tng.
12.2.2. nh l chuyn ng ca khi tm
- nh l 12.5:Khi tm ca h chuyn ng nh mt cht im mang
khi lng ca c h di tc dng ca lc bng vc t chnh ca h cc ngoi
lc tc dng ln h.
M (12-23)

=
=
n
1 i
ke C
F W
r
Chng minh: Xt c h N cht im c khi lng l m
1
, m
2
, ...m
N
chuyn
ng di tc dng ca h ngoi lc F
r
1e
, F
r
2e
, ... F
r
Ne
v h cc ni lc F
r
1i
, F
r
2i
, ...
F
r
Ni
. y F
r
ke
v F
r
ki
l hp lc ca ngoi lc v ni lc tc dng ln cht im
th k.
Phng trnh chuyn ng vit cho h l:

=
n
1 k
m
k

= =
+ =
n
1 k
ki
n
1 k
ke
F F W
r r r
(a)
Mt khc t cng thc xc nh khi tm ca h ta c:

=
n
1 k
m
k
k
r
r
= Mr
r
C
Ly o hm theo thi gian hai v c:

=
n
1 k
m
k
dt
r d
M
dt
r d
C
2 2
=
r
hay m

=
n
1 k
k
W
r
k
= MW
r
C
Thay vo biu thc (a) trn v lu rng

=
n
1 k
F
r
ki
= 0 ta c:
MW
r
C
=

=
n
1 k
F
r
ke
.
-161-
nh l c chng minh.
T phng trnh vc t (12-21) khi chiu ln cc trc to oxyz ta c
phng trnh vi phn chuyn ng ca khi tm vit di dng sau:
M =
2
C
2
dt
X d

=
n
1 k
X
k
; M
2
C
2
dt
Y d
= Y

=
n
1 k
k
; M
2
C
2
dt
Z d
= Z

=
n
1 k
k
. (12-22)
- nh lut bo ton chuyn ng ca khi tm:
T biu thc (12-21) suy ra:
Nu

=
n
1 k
F
r
k
= 0 th W
c
= 0 v v
c
= const.
Ngha l: nu vc t chnh ca cc ngoi lc tc dng ln h bng khng
th chuyn ng khi tm ca h c bo ton. y l nh lut bo ton
chuyn ng ca khi tm.
Tng t t biu thc (12-20) suy ra:
Nu X

=
n
1 k
k
= 0 th W
x
=0 v v
x
= const.
Ngha l nu tng hnh chiu cc ngoi lc tc dng ln h ln mt trc x
no bng khng th chuyn ng ca khi tm theo trc x c bo ton.
y l nh lut bo ton chuyn ng ca khi tm theo mt trc.
Ch trong cc nh l v chuyn ng ca khi tm khng cp n
ni lc v vy c th kt lun ni lc khng lm thay i chuyn ng ca khi
tm.
Sau y l mt vi v d vn dng nh l chuyn ngca khi tm v
nh lut bo ton chuyn ng ca khi lng.
Th d 12-3:
Trng tm phn quay ca ng c in t lch tm so vi trc quay A
mt on AB =a. Trng lng ca phn quay l P, trng lng ca v ng c
(phn khng quay) l Q. (hnh 12-9)
-162-
Tm quy lut chuyn ng ca phn v ng
c trn sn nm ngang. Cho bit vn tc gc
ca phn quay khng i. Nu ta c
nh v ng c trn sn bng bu lng D th
lc ct ln bu lng c xc nh nh th no.
Coi ma st gia nn v ng c khng ng
k.

Bi gii:
1. Khi ng c t do trn sn. Ngoi
lc tc dng gm trng lng P v Q ca
ng c, phn lc php tuyn N ca sn ln
ng c. Cc lc ny u vung gc vi sn nn c:
x
m
A

P
r
B
Q
r
N
r

m
1
D
Hnh 12.9

X
k
= 0. Theo nh lut bo ton chuyn ng ca khi tm ta c
v
ox =
const. Lc u ng c ng yn nn suy ra x
o
= const.
Chn h to sao cho khi thi im t no gc quay = t cn cc
im A v B c cc to tng ng sau:
x
A
= x; x
B
= x + asin.
ta c: x
C
= 0
P Q
) sin a x ( P Qx
=
+
+ +

Hay: Qx + Px + Pasin = 0
Suy ra x =
Q P
sin s . a . P
+


y chnh l phng trnh chuyn ng dao ng ngang ca v ng c
trn sn quanh v tr ban u.
2. Khi c nh ng c trn sn bng bu lng D.
Gi R
x
l lc ct bu lng theo phng ngang ta c phng trnh vi phn
chuyn ng ca khi tm:
-163-
m
x
2
c
2
R
dt
x d
= ;
y : x
c
=
Q P
Px Qx
B A
+
+
.
V v ng c c nh nn x
A
= const = 0 cn x
B
= asin.
Ta c:
R
x
= M ; t sin a
Q P
P
g
Q P
dt
x d
2
2
C
2

+
+
=
R
x
= ; t sin a
g
P
2

y l lc do bu lng tc dng ln ng c, ngc li ng c cng tc
dng mt lc ct bu lng bng tr s nhng ngc chiu vi R
x
.
Lc ct ny s ln nht khi sint = 1 v bng Pa
2
/g, tng ng vi gc
quay =90
0
.
Th d 12-4: Tay quay AB c
chiu di r c trng lng P quay
u vi vn tc gc v truyn
chuyn ng cho cu lt gn lin vi
pt tng D c trng lng chung l
G. Pt tng D chu tc ng lc Q
theo phng ngang (hnh 12-10). Xc nh phn lc R
x
ln gi A theo phng
ngang. Cho bit khong cch t trng tm chung ca cult v pt tng t cch cu
lt mt on a.

y
A
R
z
G
a
B
P
x
Q
a D
Hnh 12.10
Bi gii:
Xt c h gm tay quay AB v cm cu lt pt tng. B qua ma st cc
mt trt, ngoi lc tc dng ln h gm : trng lng P
r
v G
r
, phn lc ti gi
R
r
A
. Cc phn lc php tuyn mt trt N
r
1
, N
r
2
v lc Q
r
. Cc lc P
r
, G
r
,
-164-
N
r
1
, N
r
2
vung gc vi mt ngang nn phng trnh vi phn chuyn ng khi
tm ca h theo phng ngang vit c:
M , Q R
dt
X d
x
2
c
2
= y: Mx
c
= m
1
x
1
+ m
2
x
2
,
m
1
= ,
g
P
x
1
= t cos
2
r
; m
2
= ;
g
G
x
2
= a rcost
Suy ra: Mx
c
= ) t cos r a (
g
G
t cos
2
r
g
P
+ +
Thay vo biu thc ta c: R
x
= Q + M ;
dt
X d
2
o
2

Hay : R
x
= Q - . t cos ) G
2
P
(
g
r
2
+

y chnh l phn lc theo phng ngang ti gi A. Phn lc ny c tr
s cc i bng:
R
x
= Q + ) G
2
P
(
g
r
2
+

khi = t= 180
0
12.3. nh l m men ng lng
Trong phn ny s kho st mi quan h gia i lng o chuyn ng
quay l mmen ng lng vi i lng o m men lc.
12.3.1. M men ng lng
M men ng lng ca mt cht im ly i vi tm O hay i vi trc
z l i lng k hiu l
o
hay l
z
bng m men ca vc t ng lng cht im y
ly i vi tm O hay trc z . Ta c:
; v . xm r ) v . m ( m l
o o
r r r r
r
= = (12-23)
h '. v . m ) v . m ( m l
z z
= =
r
(12-24)
Trong cc biu thc (12-23), (12-24) th m l khi lng, l vn tc v
r
-165-
cht im, v' l hnh chiu ca v
r
trn mt phng vung gc vi trc z. Biu thc
(12-24) ly du + khi nhn t chiu dng ca trc z s thy v' c chiu quay
vng quanh z theo chiu ngc chiu km ng h v ly du - trong trng hp
ngc li.
Tng t nh m men lc d dng suy ra rng:
[ ] [ ] . l ) v . m .( m ) v . m ( m l
z z
z
o
z
o
= = =
r r r
r

Ngha l: hnh chiu trn trc z vc t m men ng lng ca cht im
ly i vi mt im trn trc bng m men ng lng ca cht im i vi
trc .
Nu biu din m men ng lng ca cht im i vi 3 trc to
oxyz l hm theo to v hnh chiu ca cc ta ln cc trc ta c:
mz my mx
z y x
k j i
v . xm r ) v . m ( m l
o
r r r
r r r r
r
= = = =m(yz-zy) i
r
+m(zx-xz) +m(xyx) j
r
k
r
;
l
o
= l
x
i
r
+ l
y
j
r
+ l
z
k
r
. Suy ra :
l
x
= m(yz-zy);
l
y
= m(zx-xz); (12-25)
l
z
= m(xy- yx).
i vi mt h ta c cc nh ngha sau:
M men ng lng ca h i vi mt tm hay mt trc l tng m men
ng lng ca cc cht im trong h ly i vi tm hay trc . K hiu m
men ng lng ca h i vi tm O v i trc z l l
o
v l
z
ta c:
l
r
o
= =

=
n
1 k
k k o
) v m ( m
r r

=
n
1 k
r
r
k
xm
k
v
r
k
; (12-26)
l
z
= m

=
n
1 k
z
(m
k
v
r
k
) = l

=
n
1 k
kz
= m

=
n
1 k
k
k
k
v'
k
(12-27)
-166-
Khi h l vt rn quay quanh mt trc z vi vn tc gc (hnh 12-11) ta
c:
B
z
m
k
v
r
k
A

v
r
k
r
k

l
kz
= r
2
k
m
k
.
Gi =
z
ta c :
l
kz
= r
2
k
m
k

z
.
Thay vo biu thc (12-27) ta c:
l
z
=

l
=
n
1 k
zk
= r

=
n
1 k
2
k
m
k

z
=
z
. m

=
n
1 k
k
r
2
k
.
Thay m

=
n
1 k
k
r
2
k
= J
z
ta c: Hnh 12.11
J
z
= J
z
.
z
Thng ngi ta chn hng dng ca trc quay
z
= khi ta c:
l
z
= J
z
. (12-28)
12.3.2. nh l m men ng lng
nh l 12-6: o hm bc nht theo thi gian m men ng lng ca
cht im ly i vi mt tm hay i vi mt trc bng tng hnh hc hay
tng i s m men ca cc lc tc dng ln cht im ly i vi tm (hay trc
).
( ) (

=
=
n
1 i
i o o
F m v m m
dt
d
r
r r r
); (12-29)
( ) (

=
=
n
1 i
i z z
F m v m m
dt
d
r
r
); (12-29)
Chng minh: Gi thit cht im chu tc dng ca cc lc: F
r
1
,
2
F
r
,..
n
F
r
.
Phng trnh c bn ca ng lc hc vit c:
m = W
r

=
n
1 i
i
F
r
.
-167-
Ta c th bin i thnh:

=
i
F
dt
) v m ( d
r
r
.
Nhn hu hng hai v biu thc trn vi vc t nh v r
r
ni t tm o ti
cht im v lu rng:
0 v xm v v . xm
dt
r d
= =
r r r
r
v r
r
xm v
r
= m
r
o
(m v
r
) ta c :
r
r
x
( ) ( )
( )

=
= = + =
n
1 i
i
F r v xm r
dt
d
v xm
dt
r d
dt
v m d
r
dt
v m d
r
r r r r
r r
r
r
.
Biu thc (12-29) c chng minh.
Chiu biu thc (12-29) ln trc z ta s c biu thc (12-30).
nh l 12-7: o hm theo thi gian m men ng lng ca h i vi
mt tm hay mt trc bng tng m men ca cc ngoi lc tc dng ln h i
vi tm (hay trc ).
); F ( m l
dt
d
ke
n
1 k
o o
r r

=
= (12-31)
); F ( m l
dt
d
ke
n
1 k
z z
r
r
r

=
= (12-32)
Chng minh: Xt c h c N cht im. Tch mt cht im th k xt.
Gi m
k
, v
r
k
l khi lng v vn tc ca n; gi F
r
ki
, F
r
ke
l ni lc v ngoi lc
tc dng ln cht im. p dng biu thc (12-29) cho cht im ny ta c:
( ) (
ke o ki o ok
F m F m l
dt
d
)
r
r
r
r
r
+ = .
Cho k t 1 n N ta c h phng trnh dng trn. Nu cng v vi v
h phng trnh trnh trn ta c:
( ) ( )

= = =
+ =
N
1 k
ke o
N
1 k
ki o
N
1 i
ok
F m F m l
dt
d
r
r
r
r
r
.
trong :
-168-
o
N
1 i
ok
N
1 i
ok
l
dt
d
l
dt
d
l
dt
d
r r r
= =

= =
.
Cn ( )

=
N
1 k
ki o
F m
r
r
= 0 (theo tnh cht ca ni lc)
cui cng ( )

=
=
N
1 k
ke o o
F m l
dt
d
r
r
r

Ta d chng minh c biu thc (12-31)
Chiu biu thc (12-31) ln trc z s c biu thc (12-23).
nh l 12-7 c chng minh.
Ch : Ni lc khng c trong nh l 12-7 nn c th ni rng ni lc
khng lm thay i m men ng lng ca h.
12.3.3. nh lut bo ton m men ng lng
T biu thc (12-31) v (12-32) ta thy
khi m
r
o
( F
r
ke
) = 0 th l
r
o
= const
khi

=
n
1 k
m
z
( F
r
ke
) = 0 th l
z
= const
iu ny c th pht biu thnh nh lut gi l nh lut bo ton m
men ng lng ca h nh sau:
Nu tng m men cc ngoi lc tc dng ln h ly i vi mt tm o hay
vi trc z bng khng th m men ng lng ca h vi tm o hay i vi trc z
c bo ton.
Th d 12-5: Mt a trn ng cht trng lng P bn knh R quay
quanh trc cz thng ng t vung gc vi a. Trn vnh a c mt vin bi
trng lng Q. Ti thi im u t
o
= 0 vin bi ng yn trn a quay vi vn
tc
o
. Tnh vn tc ca a ti thi im vin bi chuyn ng tng i so vi
a vi vn tc u. (xem hnh 12-12)
Bi gii: Xt h gm a v vin bi.
-169-
Ngoi lc tc dng ln h gm: trng lng P
r
, phn lc ti cc trc R
r
A
,
R
r
B
.
A
A
B
z
P
r
O
M
o
B
R
r
Q
r
e
v
r
u
r
R
M
c im ca cc lc ny c m
z
( F
r
ke
) = 0
Do m men ng lng ca h c bo
ton. Ta c: l
z
(o)
= l
z
(1)
.
y:
L
z
(0)
= J
z

o
+
o
2
R
g
Q
= (
o
2 2
) R
g
Q
R
g 2
P
+

R
r
Cn:
Hnh 12.12
L
z
(1)
= J
z

1
+ ) R Ru
1
2
+ (
g
Q
=
1
2
1
2
R uR (
g
Q
R
g 2
P
+ + )
Suy ra:
(
g
Q
R
g 2
P
) R
g
Q
R
g 2
P
1
2
o
2 2
+ = +
1
2
R uR ( + )
Hay:
1
=
o
-
( ) R
u
Q P 5 , 0
Q
+

Vn tc gc ca a ti thi im t
1
nh hn vn tc ban u. Vn tc ny
cng nh khi vn tc u ca bi cng ln.
V d 12-6: Ti nng hng gm trng ti bn knh r, trng lng P, trn
n c cun lp dy cp. u ca dy cp mc vo vt c trng lng Q. B qua
khi lng ca dy, b qua ma st. Xc nh gia tc trng ti khi vt nng ri
xung thng ng. Bit bn knh qun tnh ca trng ti l . (Hnh 12-13).
Bi gii:
-170-
Xt c h gm trng ti v vt nng.
Cc ngoi lc tc dng ln h gm trng lc P
r
,
Q
r
v phn lc R
r
o.
o

Q
Q
A
O

R
r
Chn chiu dng ca trc quay oz hng vo
mt sau hnh v.
p dng nh l m men ng lng ta c:
v
) R ( m ) Q ( m ) P ( m ) F ( m
dt
l d
o z z z ke z
z
r r r r
r
+ + = =

Hnh 12.13
y ta c:
l
z
= l(trng) +l (vt) = J
z
+ ( ) r r
g
Q
.
l
z
= (
2 2
r
g
Q
g
P
+ )
m
z
(P) = 0; m
z
(Q) = rQ; m
z
(R
o
) = 0.
Thay vo biu thc trn ta c:

+ =
2 2
z
r
g
Q
g
P
dt
d
l
dt
d
= rQ.
Suy ra: =
dt
d
=
2 2
Qr P
Qrg
+

12.4. nh l ng nng
12.4.1. ng nng
ng nng ca cht im l mt i lng v hng k hiu t bng na
tch s gia khi lng v bnh phng vn tc ca cht im :
t =
2
1
mv
2
(12-33)
-171-
ng nng ca h l mt i lng v hng k hiu T bng tng ng
nng ca tt c cc cht im trong h :
T =

=
N
1 k
2
k k
v m
2
1
(12-34)
Khi h l mt vt rn c th xc nh ng nng trong mt s trng hp
sau y:
12.4.1.1. Vt rn chuyn ng tnh tin
V mi im trn vt u c vn tc nh nhau v bng vn tc khi tm
ngha l v
k
= v
o
. Do :
T =

=
N
1 k
k
m
2
1
v
2
c
=
2
c
N
1 k
k
2
c
Mv
2
1
m v
2
1
=

=
(12-35)
ng nng ca mt vt rn chuyn ng tnh tin bng na tch khi
lng ca vt vi bnh phng vn tc khi tm.
12.4.1.2. Vt rn quay quanh mt trc c nh
Nh bit trong ng hc, vn tc mt im trn vt bng v
k
= r
k
.
trong r
k
l khong cch t cht im th k n trc quay cn l vn tc gc
ca vt. Ta c:
T =
2
k
N
1 k
k
v m
2
1

=
=
2 2
k
N
1 k
k
r m
2
1

=
=
2
k
N
1 k
k
r m
2
1

=

Thay = J

=
N
1 k
2
k k
r m
z
l m men qun tnh ca vt i vi trc quay z ta
c:
T =
2
z
J
2
1
(12-36)
ng nng ca vt rn quay quanh mt trc bng na tch gia m men
qun tnh ca vt i vi trc quay v bnh phng vn tc gc.
12.4.1.3. Chuyn ng song phng
Nh thy trong ng hc vt rn chuyn ng song phng lun lun c
th thay th bng chuyn ng tnh tin ca vt theo khi tm C v chuyn ng
-172-
quay quanh khi tm C. Nu gi vn tc khi tm l v
c
v vn tc gc ca vt l
d dng tm c:
T =
2
c
2
c
J
2
1
Mv
2
1
+ (12-37)
trong M l khi lng ca c vt, J
c
l m men qun tnh ca vt i
vi trc quay qua khi tm C.
ng nng ca vt rn chuyn ng song phng bng ng nng ca n
trong chuyn ng tnh tin theo khi tm cng vi ng nng ca n trong
chuyn ng quay quanh trc i qua khi tm
v vung gc vi mt phng c s.
x
y
z
F
r

M
1 C
M
2


O
r
r

v
M
r

12.4.2.1. Cng nguyn t ca lc F (vi phn
cng)
Cng nguyn t ca lc F khi im t
di chuyn mt on v cng nh ds l i
lng v hng k hiu dA bng tch gia
hnh chiu F

ca ln phng tip tuyn vi

vi phn di ds.
F
r
Hnh 12-14
dA = F
r

ds
r

Thay F
r

= Fcos
ds
r
= dt v
r
ta c: dA = F.v.cosdt
V F.v.cos = . nn F
r
v
r
dA = F.V.dt = .d F
r
r
r
. (12-39)
Nu gi X,Y,Z l hnh chiu ca F
r
v dx, dy, dz l hnh chiu ca d r
r
ln
cc trc ta c th vit:
dA = Xdx + Ydy + Zdz (12-40)
-173-
12.4.2.2. Cng ca lc trn qung ng hu hn
Khi im t ca lc F di chuyn trn mt qung ng hu hn th cng
ca lc l mt i lng v hng k hiu A bng tch phn cng nguyn t
ca lc trn on ng M
r
F
r
o
M
1

A
MoM1
= (12-41)

1 MoM
dA
n v tnh cng l jun k hiu l J.
J = Niu tn x mt
Sau y tnh cng ca mt s lc thng gp
- Cng ca trng lc
y
z
M
1
(x
o
,y
o
,z
o
)
(C)
P
r
'
P
r
M
1
(x
1
,y
1
,z
1
)

O
xt mt cht im M c trng lng P
di ch theo ng cong C trong khng gian.
Nu chn h to c trc oz thng ng th
trng lng P s c cc hnh chiu l:
X= 0, Y = 0, Z= -P (hnh 12-15)
x
p dng cng thc tnh cng ta c:
A
MoM1
=

= + + =
1 M 0 M
1 M 0 M
) Zdz Ydy Xdx ( dA
Hnh12-15
= =P(z

1 z
2 z
Pdz
0
-z
1
) = P.h (12-42)
y h l hiu cao im u v im cui ca qung ng , ly
du + khi vt chuyn ng t cao xung thp v ly du (- ) khi vt chuyn ng
t thp ln cao.
T biu thc (12-42) ta thy cng ca trng lc khng ph thuc vo qu
o m ch ph thuc vo cao ca im u v im cui.
- Cng ca lc n hi tuyn tnh
Cc lc n hi tuyn tnh (lc n hi l xo, lc n hi ca cc thanh
chu un, xon) c tnh theo biu thc :
-174-
r
r
o

r
r

1
r
r
M
o
M
M
1
y
z
O
F
r
= -c r
r

Trong c l h s t l c gi l h
s cng, cn r
r
l vc t nh v ca cht im
so vi tm ca lc n hi (hnh 12-16).
Cng ca F
r
r
trn on ng M
0
M
1
c
th vit :
x
Hnh 12-16
A
M0M1
=

= =
1 r
0 r
1 r
0 r 1 M 0 M
crdr dr . F dA

1 r
0 r
2
) r ( d
2
c
.
A
M0M1
=-

1 r
0 r
2
) r ( d
2
c
= ) r r (
2
c
2
0
2
1
= ) r r (
2
c
2
1
2
0
(12-43)
Nu gi l bin dng ca l xo v chs rng lc n hi c chiu
ngc vi chiu chuyn ng cng ca lc n hi l xo t v tr cha bin dng
n khi bin dng l:
A = -
2
2
c
.
Nh vy cng ca lc n hi tuyn tnh
khng ph thuc vo dng qu o m ch ph
thuc vo v tr im u v im cui cu
chuyn ngv lun c du m .

F
r
O
z
F
r

C
ds
M
r
d

- Cng ca lc t ln vt rn chuyn
ng quay quanh mt trc c nh (hnh12-17).
dA = F
2
.dr = F.dr.cos = Fcos.r.d
Hnh 12-17
dA = m
z
(F)d (12-44)
trong m
z
(F) = F.cos.r = F

r l m men ca lc F
r
i vi trc quay z.
- Cng ca lc tc dng ln im M thuc vt rn chuyn ng song F
r
-175-
phng (hnh 10-18)
Theo ng hc ta c: v
r
M
= v
r
A
+ v
r
MA
nu vt c vn tc gc l th :
v
r
M
= v
r
A
+
r
.x. r
r
vi r
r
= AM.
Thay vo biu thc tnh vi phn cng ta c:
r
r

M
A
v
r
A

dA = F.V.dt = Fv
A
dt + F
r
( r x )dt.
dA = .d F
r
r
r
+ dt ; ) xF r (
r r

F
r

= .d F
r
r
r
+ m
r
A
(F).
r
dt
Nu gi gc hp bi gia m
A
(F) vi trc quay
l th
Hnh12-18
m
r
A
(F)
r
= m
r
A
( ) . .cos. F
r
Hay m
A
(F)cos = m
z
(F) ta c:
dA = d F
r
r
r
A
+ m
z
( ).d. F
r
Vi d = dt.
Trong trng hp chn ca A trng vi khi tm C ta c:
dA = .d F
r
r
r
C
+ m
c
( )d. (12-45) F
r
Cng ca lc tc dng ln vt rn chuyn ng song phng bng tng
cng nguyn t ca lc trong chuyn ng tnh tin theo khi tm v cng
nguyn t ca lc trong chuyn ng quay
quanh trc i qua khi tm v vung gc vi mt
phng c s. v
r
F
r
ms

ds
M
ms

P
r

N
r

d
Q
r
- Cng ca lc ma st:
i vi ma st trt do tnh cht ca lc
ma st l cn li s trt, d dng tnh:
Hnh 12-19
dA = - F
ms
.ds (12-46)
-176-
i vi ma st ln, m men ma st M
ms
chng li s chuyn ng ln ca
vt nn cng tnh c :
dA = -M
ms
d (12-47)
Nh vy cng ca lc ma st l nhng cng m.
- Cng ca cc ni lc trong vt rn
Xt hai cht im M
1
M
2
c cc lc tc dng tng h l F
12
v F
21
. Cc
lc ny hng theo ng M
1
M
2
v ngc chiu nhau F
12
= - F
21
. Tng cng
nguyn t ca hai lc ny l:
dA
1
1
+ dA
2
1
= F
r
12
d r
r
1
+ F
r
21
d r
r
2
= F
r
12
d r
r
- F
r
12
d r
r
2

= F
r
12
(d r
r
1
- d r
r
2
) = F
r
12
( v
r
1
- v
r
2
)dt.
Theo ng hc c:
1 M
V
r
= V
r
M2
+ V
r
M1M2
hay V
r
1
= V
r
2
+V
r
M1M2

suy ra V
r
1
- V
r
2
= V
r
M1M2
. Vc t ny lun lun vung gc vi M
1
M
2
V th ta c F
12
.V
M1M2
= 0.
Ngha l : dA
1
1
+ dA
2
1
= 0.
Suy ra tng cng ca tt c cc ni lc trong vt rn vi bt k chuyn
ng no cng bng khng.

=
n
1 k
dA
k
i
= 0
Cn ch rng nu h khng phi l vt rn th V
M1M2
s khng vung gc
vi M
1
M
2
do F
12
.V
M1M2
0 v suy ra:
dA
k
i
0.
12.4.3. nh l ng nng
nh l 12-7. Vi phn ng nng ca cht im bng tng cng nguyn
tc ca cc lc tc dng ln cht im .
-177-
d( )
2
mv
2
=

(12-48)
=
N
1 i
i
dA
Chng minh: Xt cht im khi lng m chu tc ng ca cc lc ( F
r
1
,
F
r
2
,... F
r
n
). Phng trnh c bn ca ng lc hc vit c:
m =

W
r
=
N
1 i
F
r
i
hay
m
dt
v d
r
=

=
N
1 i
F
r
i
Nhn v hng hai v vi d r
r
ta c :
md r
r
dt
v d
r
= m v d v
r r
=

=
N
1 i
F
r
i
d r
r
=

dA
=
N
1 i
1
.
Thay m.v.dv = d(
2
mv
2
) ta c biu thc: d(
2
mv
2
) =

dA
=
N
1 i
1
.
nh l c chng minh.
nh l 12-8: Bin thin ng nng ca mt cht im trn mt on
ng bng tng cng ca cc lc tc dng ln cht im trn on ng .
2
mv
2
mv
2
0
2
1
=

dA
=
N
1 i
i
(12-49)
Chng minh: Gi thit cht im chuyn ng trn on ng M
0
M
1
. Ti
v tr ban u M
o
cht im c vn tc V
r
o
.v ti v tr M
1
c vn tc V
r
1
. Theo
nh l 12-7 ta c:
d(
2
mv
2
) =

dA
=
N
1 i
i
Nu ly tch phn hai v phng trnh ny theo cc cn tng ng ti v tr
u v v tr cui ca qung ng ta c:

=
1 M 0 M
N
1 i
i
1 v
vo
2
dA )
2
mv
(
-178-
Hay:

=
=
N
1 i
i
2
0
2
1
dA
2
mv
2
mv

y chnh l biu thc (12-49)
nh l 12-9: Vi phn ng nng ca h bng tng vi phn cng ca
ngoi lc v ni lc tc dng ln h.
dT =

dA
=
N
1 k
k
i

+ dA

=
N
1 k
k
e .
Chng minh: Xt h N cht im. Gi ni lc v ngoi lc tc dng ln
cht im th k l F
r
ki
v F
r
ke
.
Theo nh l 12-7 vit c:
d(
2
v m
2
k k
) = dA
k
i
+ dA
e
k
.
Vit phng trnh trn cho N cht im ca h, ngha l cho k = 1...N ta
c h N phng trnh. Cng v vi v ca cc phng trnh s c:

=
N
1 k
d(
2
v m
2
k k
) =

dA
=
N
1 k
i
k
+ dA

=
N
1 k
k
e
Hay: d

=
N
1 k 2
v m
2
k k
=

dA
=
N
1 k
i
k
+

dA
=
N
1 k
k
e
dT =

dA
=
N
1 k
i
k
+ dA

=
N
1 k
k
e
y l kt qu cn chng minh.
nh l 12-10: Bin thin ng nng ca h trn mt on ng hu hn
M
o
M
1
no bng tng cng ca ni lc v ngoi lc tc dng ln h trn on
ng .
T
1
- T
0
=

A
=
N
1 k
i
k
+

A
=
N
1 k
k
e

(12-51)
Chng minh: Ly tch phn hai v biu thc (12-50) theo cc cn ng vi
-179-
v tr ban u v cui on ng M
o
M
1
ta c:

= =
+ =
N
1 k
1 MoM
k
e
N
1 k
1 MoM
k
i
1 T
To
dA dA dT
Hay T
1
- T
o
=

A
=
N
1 k
i
k
+ A

=
N
1 k
k
e
Ch : khc vi cc nh l khc trnh by nh l ng nng i vi
h c k n ni lc. Tr trng hp c h l vt rn tuyt i mi c th b qua
nh hng ca ni lc n bin i ca ng nng.
Th d 12-7: Vt nng treo vo u si dy c chiu di l (hnh 12-20)
c th t v tr M
o
tng ng c gc hp gia dy vi ng thng ng
o
v
khng c vn tc ban u. Tm vn tc ca vt ti thi im khi si dy hp vi
ng thng mt gc .
Bi gii:
O
P
r
T
r

0

M
0
M
h
Xt chuyn ng ca vt nng M. Cc lc
tc dng ln vt gm trng lc P, lc cng T ca
dy.
p dng nh l bin thin ng nng ca
vt rn trn on ng t M
0
n M ta c:

=
= =
N
1 i
1 M 0 M
2
0
2
A
2
mv
2
mv


Hnh 12-20
y v
o
= 0; cng ca lc cng T bng
khng v lc ny lun vung gc vi phng tip tuyn. Cng ca trng lc P
theo biu thc (10-42) vit c A(P) = + hP trong h l cao ca im u
so vi im cui ca qung ng.
T hnh v ta c:
h = l(cos - cos
o
)
Do A(P) = Pl(cos - cos
0
). Biu thc bin thin ng nng trong
-180-
trng hp ny vit c:
2
mv
2
= lP(cos - cos
o
)
Suy ra:
v = ) cos (cos gl 2
o

Th d 12-8: Mt vt nng c th t cao H so vi mt ngang ca x
n hi vi vn tc ban u bng khng v im ri l ga x (hnh 12-21). Khi
vt nm tnh trn x th x vng xung mt on f
t
. Hi vng f
d
ca x khi
vt ri xung x nu nh b qua trng lng
ca x v gi thit rng khi vt nng ri
xung khng b bn ln v khng b mt
nhit.
Bi gii:
Kho st chuyn ng ca mt vt
nng (coi nh mt cht im chuyn ng).
Trn on ng ri t do H n chu tc
dng ch c trng lc P. Khi chm x n
chuyn ng cng vi x trn on ng ny lc tc dng ln vt ngoi trng
lc cn c phn lc n hi F.
f
t
B
A
M
o
H
M
1
Hnh 12-21
p dng nh l bin thin ng nng trn c on ng t lc bt u
ri cho n khi x vng xung ta c:
2
mv
2
mv
2
0
2
1
= A(P) + A(F) (a)
trogn v
o
= 0; v
1
= 0.
A(P) = P(H+f
d
) y f
d
l vng ca x cn phi xc nh.
A(F) = -
2
1
cf
2
d
vi c l cng ca x.
-181-
xc nh c ta ch rng khi vt t tnh ln x vng ca x nh
cho l f
t
. T iu kin cn bng trng thi tnh ta c:
P = c.f
t
suy ra c = P/f
t
Thay kt qu tm c vo biu thc (a) ta c:
P(H+f
d
) -
2
d
t
f
f 2
P
= 0.
Hay f
d
2
- 2f
t
f
d
- 2Hf
t
= 0;
f
d
= f
t
+
t
2
t
Hf 2 f +
f
d
c gi l vng ng, n ln gp nhiu ln so vi vng tnh f
t
.
T biu thc xc nh f
d
ta thy ngay cao H =0 c f
d
= 2f
t
. H cng ln f
d

cng ln , th d khi ng vng tnh f
t
= 1mm, cao H = 20m th f
d
= 21mm =
21.f
t
ngha l gp 21 ln f
t
.
Th d 12-9: Mt t c trng
lng k c bnh l Q. Mi bnh xe c
trng lng l P bn knh r v bn knh
qun tnh l . Trn bnh xe ch ng
nhn mt m men ch ng t ng c l
M
d
lm cho t chuyn ng t trng
thi ng yn. Cho bit trong mi trc ca bnh xe chu mt m men ma st l
M
ms
; Lc cn ca khng kh t l bc hai vi vn tc ca t R
c
= - v
2
. Xc
nh vn tc ti hn ca t (hnh 12-22).
C
M
m
M
d

C
M
m
F
ms
F
ms
R
C

v
Hnh 12-22
Bi gii:
xc nh vn tc ti hn ca t ta p dng nh l vi phn ng nng.
ng nng T ca t xc nh c theo biu thc:
T =
2
0
2
2
2
o
2
0
v )
r
P 4 Q (
g 2
1
) J
2
1
( 4 v
g
Q
2
1
+ = +
v
o
l vn tc ca tm bnh xe v cng l vn tc t.
-182-
Ngoi lc tc dng ln t gm: trng lc P
r
, phn lc php tuyn ca
mt ng N
r
, lc ma st F
r
ms
, lc cn R
r
C
. Trong cc lc trn ch c lc cn R
r
C

sinh cng do :
dA = - R
C
ds
o
= -v
2
. ds
o
Ni lc trong h gm c m men ch ng M
d
v m men ma st M
ms
.
Cng ca cc lc ny tnh c:
dA
i
= (M
d
-M
ms
) d = (M
d
- M
ms
)
r
ds

Thay cc kt qu tm c vo biu thc (12-50) s c:
dt
ds
) r v M M (
r
1
dt
dv
v )
r
P 4 Q (
g
1
2
ms d
o
0
2
2
=

+
Thay v
o
=
dt
ds
v rt gn ta c:
) r v M M (
r
g
w )
r
P 4 Q (
2
ms d 0
2
2
=

+
Khi v
o
t ti gi tr ti hn th c nghi l gia t w
o
=0 do suy ra:
M
d
= M
ms
- rv
2
gh
= 0
Hay v
gh
=
r
M 4 Md
ms

y chnh l vn tc ti hn ca t.
Th d 12-10: B truyn ai c s nh hnh v (12-23). Bnh ai A
quay vi vn tc gc
o
. Trng lng
chung ca hai bnh ai A v B l P. Trng
lng ca dy ai l Q. hm h thng
dng li ta dng mt lc phanh F tc dng
vo m phanh, cho bit h s ma st gia
m phanh v bnh ai A l f. Xc nh s
Q
r
ms
F
r
P
r
B
P
r
B

F
r

A

A

Hnh 12-23
-183-
vng quay ca bnh ai A t lc bt u phanh cho ti khi n dng hn.
Bi gii:
Xt chuyn ng ca h bao gm h hai bnh ai A,B v dy ai. p dng
nh l bin thin ng nng cho h trong khong thi gian t khi bt u phanh
cho n khi c cu dng hn ta c:
T - T
o
= A
e
k
+ A
k
1
(a)
ng vi thi im cui l T = 0. Ti thi im u.
T
o
= T
A
+ T
B
+ T
d
Gi thit ai khng c trt ta c vn tc ai l V = R
0
vn tc gc
B

ca bnh ai B l:

B
=
r
R
o

Trong r l bn knh bnh ai B
Ta c: T
A
=
2
0
2
) R
g 2
P
(
2
1
;
T
B
=
2
o
2 B
2
2
o
2
2 B
B
2 B
R
g
P
4
1
r
R
) r
g 2
P
(
2
1
) r
g 2
P
(
2
1
=

= .
ng nng dy ai:
T
d
=
2
o
2 2
R
g
Q
4
1
v
g
Q
4
1
= .
Thay kt qu tm c vo biu thc ng nng ca c h v ch rng
P
A
+ P
B
= P ta c:
T
o
=
2
o
2
R
g
Q 2 P
4
1

+

Cc lc tc dng ln h gm trng lc, lc ma st F
ms
phanh. Trong
ch c lc ma st F
ms
l sinh cng, ta c:
-184-
A
i
= 0 v
A
e
= A(F
ms
) = -(f.F.R). = - f.F.R.2N (vng)
Thay vo (a) ta c:
T
o
=
2
o
2
R
g
Q 2 P
4
1

+
= f.F.R.2.N
Suy ra: N =
2
o
2
R
gfF 2
Q 2 P
4
1

+
(vng).
Th d 12-11: Mt xe gong c ko ln dc bi lc F = 16KN. Trng
lng cha k 4 bnh l P = 18KN. Trng lng mi bnh xe gong l Q = 2KN
(hnh 12-24).
Xc nh vn tc ca gong ti
thi im khi xe gong i c mt
on s = 4m. Cho bit lc u xe gong
ng yn tc v
o
= 0. Xc nh gia tc
ca xe gong. Gi thit cc bnh xe
chuyn ng ln khng trt v ma st
trong cc trc l khng ng k, gc
nghing = 30
0
.
F
r

S

P
r
+4Q
r

Hnh 12-24
Bi gii:
xc nh vn tc v
1
ca xe gong ta p dng nh l bin thin ng
nng cho xe trn on ng s. Ta c:
T
1
- T
o
= A
0
k
vi T
o
= 0
T
1
= ) v
g
Q
4
3
( 4 v
g
P
2
1
2
1
2
1
+ =
2
1
v ) Q 6 P (
g 2
1
+ .
Ngoi lc tc dng ln xe gong gm : lc ko F, trng lng P v 4Q, lc
ma st F
ms
ca mt ng ln bnh xe. Trong cc lc trn lc ma st khng sinh
cng v bnh xe ln khng trt.
-185-
Ta c: A
o
= A(F) + A(P) + 4A(Q)
= QS - (P+4Q)h = FS + (P+4Q)sin
Thay vo biu thc ban u c:
2
1
v ) Q 4 P (
g 2
1
+ = [F + (P+4Q)sin]S (b)
Suy ra:
v
1
=
Q 6 P
S )] Q 4 P ( F [ g 2
+
+ +
= 9,445 m/s
xc nh gia tc ta o hm bc nht theo thi gian hai v phng trnh
(b) s c:
] sin ) Q 4 P ( F [
dt
dv
v ) Q 4 P (
g
1
+ + = +
dt
ds

Thay W
dt
dv
= v
dt
ds
= v ta suy ra
W = g
Q 6 P
sin ) Q 4 P ( F
+
+
= 0,98 m/s
2
12.4.4. nh lut bo ton c nng
12.4.4.1. Trng lc v trng lc c th
Trng lc l khong khng gian vt l m cht im t trong s chu
tc dng mt lc ch ph thuc vo v tr cu cht im. Trng lc th l trng
lc m cng ca cc lc t ln cht im khng phc thuc vo dng qu o
ca chuyn ng m ch ph thuc vo v tr u v v tr cui qung ng di
chuyn ca cht im. Lc trong trng lc th gi l lc c th. Trng trng
lc, trng lc n hi l nhng v d v trng lc c th; Trng lc v lc n
hi l cc lc c th.
12.4.4.2 Th nng
Xt cht im M t trong trng lc c th. Nu gi v tr M
0
l " v tr
-186-
khng" hay cn gi l mc, v v tr ang xt l M
(1)
( Hnh 12.25 ) ta c nh
ngha sau:
Th nng ca cht im ti v tr M
(1)
bng cng ca lc c th tc dng
ln cht im khi n di ch t v tr M
(1)
v
v tr M
0
. K hiu th nng v tr M
(1)
l
(1)
.
x
z
O
M
z
1
h
H
Ta c:
(1)

= A
1-0
.
Theo nh ngha v trng lc th thi
cng ca lc c th ph thuc vo to ca
im ang xt do suy ra
(1)
=

(x
1
,y
1
,z
1
).
Hm

c gi l hm th.
Ch rng v im M
0
l v tr chn
tu do khi chn v tr M
o
khc nhau th
nng ca cht im ti mt v tr no s sai khc nhau mt hng s.
Hnh 12-25
T kt qu trn ta c th vit biu thc tnh th nng ca lc trng trng
v lc n hi.
i vi lc trng trng T ta c:
(1)

= A
M1M0
(P) = Ph
Trong h l cao ca im cui so vi im u v th ta chn h to
c gc O trng vi v tr khng cn trc oz l trc hng thng ng xung
di v k hiu H l cao ca im o, z
1
l to cu im ang xt ta c:
h = H - z
1
Suy ra biu thc tnh th nng:

(1)
= P(H-z
1
) (12-52)
Theo biu thc (12-52) nu chn im M
0
nm trn mt t th th nng
ca vt cao z
1
s tnh bng:

(1)

= Pz
1
.
i vi l xo: lc c th F = - cx. vi c l h s cng ca l xo.
-187-
Chn v tr M
(0)
l v tr m l xo trng thi t nhin (khng b nn hay
gin). Khi vt v tr M
(1)
ta c :
A
M1M0

=
2
cx
2
1

A
F
r

x
Do suy ra:

(1)


2
cx
2
1
(12-53)
M
1 M
o
Hnh 12-26
Trn y chng ta tnh th nng qua
cc biu thc tnh cng, ngc li chng ta cng c th biu din cng qua th
nng nh sau:
Xt cht im t trong trng lc th v di ch t v tr M
(1)
n v tr
M
(2)
. Khi ta c:
A
1-2
= A
1-0

+ A
0-2
= A
1-0
- A
2-0
Thay A
1-0
=
1
, A
2-0
=
2
th A
1-2
=
1
-
2
.
Nh vy cng ca lc c th t vo cht im chuyn di trn mt on
ng no bng hiu th nng ca cht im v tr cui ca on ng .
Mt khc thy rng nu hai im M
(1)
v M
(0)
gn nhau ngha l:
M
(1)
(x
1
,y
1
,z
1
) v im M
(2)
(x
1
+ dx,y
1
+ dy,z
1
+ dz) th c th vit:
dA =
(1)

-
(2)
= - d. Thay dA = Xdx + Ydy+ Zdz trong X,Y,Z l cc
thnh phn ca lc c th hng theo cc trc to oy.
Mt khc v

= (x,y,z) nn ta c:
d

= dz
z
dy
y
dx
x

+

i chiu gia cc biu thc dA v d ta rt ra:
X=
x

; Y =
y

; Z =
z

(12-55)
-188-
12.4.4.3 nh lut bo ton c nng
Xt h t trong trng lc th. nh l ng nng vit c:
T
1
- T
o
= A

=
n
1 k
e
k
+ A

=
n
1 k
k
i
= A

=
n
1 k
k
.
Khi h chuyn ng t v tr khng n v tr 1 ta c :

=
n
1 k
A
k
=
o
-
1
.
Trong l th nng ca h ni v ngoi lc. Ta c:
T
1
- T
o
=
0
-
1
.
Hay T
o
+

0
= T
1
+
1
Khi h chuyn ng trong trng lc th tng ng nng v th nng ca
h mi v tr l khng i v k hiu l E.
E = T +
H cc cht im nghim ng nh lut bo ton c nng c gi l h
bo toan, lc c th tc ng ln h gi l lc bo ton.
Th d 12-12: Kho st con lc
(hnh v 12-27), chuyn ng t v tr
ban u xc nh bi gc
0
vi vn tc
bng khng v c th nng
o
= Pz
0
.
Trong P l trng lng ca con lc,
z
o
l to trng tm ca con lc ti
thi im ban u. B qua lc cn, bit
m men qun tnh ca con lc i vi
im treo A l J
A
.
z
C
Co
A

o

z
o
Hnh 12-27
Xc nh vn tc gc ca con lc
ti v tr khi tm C c cao z.
Bi gii:
-189-
p dng nh lut bo ton c nng cho con lc ta c:
T
o
+
o
= T
1
+
1
(a)
T
o
v
o
l ng nng v th nng ca con lc ti thi im u tng ng
vi v tr tm c c cao z
o
. T
1
v
1
l ng nng v th nng ca con lc ti v
tr kho st.
Theo bi T
o
= 0;
0
= Pz
0
;
1
= Pz; T
1
= J
A

2
/2
Thay vo (a) ta c:
Pz
o
= J
A

2
/2 + Pz
Suy ra:
= ) z z (
J
P 2
o
A

Kt qu cho thy gi tr ph thuc vo v tr ca con lc.

-190-
Chng 13
L thuyt va chm
13.1. Cc c im v gi thit v va chm
13.1.1. nh ngha
Va chm l mt qu trnh ng lc hc c bit trong vn tc ca vt
bin i r rt v c ln v phng chiu trong mt thi gian v cng b.
Th d: Qu bng p vo tng lp tc bn tr li, ba p vo e s
dng li hn hay ny ln.v.v.
13.1.1.2. Cc c im v cc gi thit n gin ho
- Thi gian va chm: Theo nh ngha thi gian va chm l rt nh, thc t
thi gian va chm thng bng 10
-2
giy, 10
-3
giy hoc 10
-4
giy tu thuc vo
c l tnh ca vt va chm. V thi gian va chm rt nh nn c xem l mt
i lng v cng b.
Vn tc v gia tc: cng theo nh ngha th vn tc ca vt thay i t
ngt v do lng bin i vn tc v ca vt trong thi gian va chm l gii
ni. Mt khc theo gi thit thi gian va chm l v cng b nn gia tc trung
bnh trong qu trnh va chm w
tb
= v/ l i lng rt ln. Trong l thi
gian va chm.
Nu gi l l on ng dch chuyn trong thi gian va chm ca vt th:
l = =

0
dt v
r
. v
tb
r
V l i lng v cng b nn l cng l i lng v cng b. n
gin ngi ta a ra gi thit trong qu trnh va chm c h khng di chuyn v
tr.
- Lc v xung lc va chm
-191-
Khi va chm ngoi cc lc thng nh trng lc, lc cn.v.v. vt cn chu
tc dng ca phn lc ni tip xc (Lc tc dng tng h). Chnh lc ny l
nguyn nhn to nn gia tc chuyn ng ca vt
trong qu trnh va chm. Lc gi l lc va
chm k hiu N
r
.
N
t
N
*
O

Hnh 13-1
N(t)
Lc va chm N
r
khc vi lc thng F
r
n
ch xut hin trong qu trnh va chm, khng tn
ti trc v sau va chm.
Thng kh xc nh trc c lc va
chm nhng quy lut bin i ca n c th biu
din trn hnh (13. 1).
V gia tc trong va chm l rt ln nn lc va chm N
r
cng rt ln. Thng
thng lc va chm ln hn rt nhiu so vi lc thng F
r
. Mt khc lc va chm
li bin i rt r trong thi gian va chm v cng nh nn ngi ta nh gi
tc dng ca n qua xung lc.
p dng nh l bin thin ng lng cho h trong thi gian va chm c
th vit:
m
k
v
k
= + (k = 1...n).

0
k
dt F
r

0
dt N
r
Trong xung lc ca lc thng l rt nh so vi xung lc va
chm v nh hng ca n n lng bin i ng lng ca h khng ng k.
Ngi ta a ra gi thit l b qua tc dng ca lc thng. Ta c th vit biu
thc bin thin ng lng ca h trong va chm nh sau:

0
k
dt F
r
m
k
v
k
= = (13-1)

0
dt N
r
s
r
Biu thc (13-1) l phng trnh c bn trong qu trnh va chm.
- Bin dng v h s hi phc
-192-
Quan st qu trnh va chm ngi ta chia ra hai giai on: giai on bin
dng v giai on hi phc.
Giai on bin dng trong thi gian
1
t lc bt u va chm cho n khi
vt thi bin dng. Giai on hi phc ko di trong thi gian
2
t khi kt thc
giai on bin dng n khi ly li hnh dng ban u n mc nht nh tu
thuc vo tnh cht n hi ca vt. Cn c vo mc hi phc ca vt ta c
th chia va chm thnh ba loi: va chm mm l va chm m sau giai on bin
dng vt khng c kh nng hi phc tc l khng c giai an hi phc.
Va chm hon ton n hi l va chm m sau khi kt thc va chm vt
ly li nguyn hnh dng ban u.
Va chm khng hon ton n hi l va chm m sau khi kt thc va
chm vt ly li mt phn hnh dng ban u.
phn nh tnh cht hi phc ca vt giai on hai ( gia on hi
phc) ta a ra khi nim h s hi phc k. k bng t s gia xung lc giai on
2 v xung lc giai on 1 ta c:
k =
1
2
S
S

Vi khi nim trn ta thy ng vi va chm mm k = 0; vi va chm hon
ton n hi k =1 v va chm khng hon ton n hi 0 < k < 1.
13.2. Cc nh l tng qut ca ng lc hc p dng vo
va chm
Cn c vo cc gi thit v phng trnh c bn c th thit lp cc nh l
tng qut trong qu trnh va chm nh sau:
-193-
13.2.1. nh l bin thin ng lng
Xt va chm ca mt c h gm cc cht im M
1
, M
2
, ... M
n
c khi tm
c v vn tc v
r
c
. Gi khi lng ca h l M = m

=
n
1 k
k
, vi m
k
l khi lng ca
cht im th k. Ta c biu thc ng lng ca c h l:
K
r
= m

=
n
1 k
k
v
r
k
= Mv
r
C
Gi tng xung lng va chm ngoi tc dng ln cht im m
k
l S
r
k
e
v
tng xung lng va chm trong S
r
k
i
ta c S

=
n
1 k
r
k
i
= 0.
Nu b qua xung lng ca lc thng th nh l bin thin ng lng
cho h vit c:
MV
r
C(2)
- MV
r
C(1)
=

=
n
1 k
S
r
k
e
(11-2)
Trong V
r
C(2)
v V
r
C(1)
l vn tc khi tm ca h sau v trc lc va
chm.
Th d 13.1. Qa cu c trng lng P = 1KN ri cao H = 3m xung
mt phng nhn. Cho bit h s hi phc k = 5/9.
H
h
Xc nh xung lc va chm s trong thi gian va
chm v vn tc ca qu cu sau va chm (hnh 13.2).
Bi gii: p dng nh l bin thin ng lng
ta c:
M( s ) v u
r r r
=
v , u
r r
l vn tc ca qu cu lc va chm vo mt
phng. Cc vc t ny c phng thng ng. Chiu biu thc ln phng thng
ng ta c:
Hnh 13.2
M (u + v) = S (a)
-194-
Vn tc ca qu cu trc lc va chm l:
v = s / m 7 , 7 3 . 81 , 9 . 2 gH 2 =
xc nh vn tc u sau va chm ta p dng nh l bin thin ng lng
cho tng giai on bin dng v phc hi. Gi v' l vn tc ca qu cu ng vi
cui giai on bin dng ta c:
M(u+v') = S
1
S
1
l xung lng va chm trong giai on bin dng, y v' bng vn tc
mt sn nn bng khng, v' = 0 ta c:
Mv = S
1
i vi giai on hi phc ta cng c:
M(u+v') = S
2
Mu = S
2
Theo nh ngha v h s hi phc ta c:
k =
9
5
v
u
M
M
s
s
v
u
1
2
= = =
Suy ra u = kv =
9
5
.7,7 = 4,3 m/s
Thay vo biu thc (a) ta c:
s = ( ) KNS 2 , 1 k 1 . v .
g
P
+
Nu ly thi gian va chm = 0,0005 giy th lc va chm trung bnh l
N
tb
= KN 2400
S
=

.
13.2.2. nh l bin thin mmen ng lng
Tch mt cht im th k trong h l M
k
xt. Ta c th vit biu thc
bin thin mmen ng lng ca cht im nh sau:
( ) ( ) ( )
i
k 0
e
k 0 k k k k 0
s m s m v m u . m . m
r r r r r r r
+ =
Thit lp cho c h ta s c:
( ) ( ) ( ) ( )
i
k 0
N
1 i
e
k 0
N
1 i
k k 0 k k 0
s m s m v m m u . m m
r r r r r r r r

= =
+ =
-195-
y . Nu b qua lc thng th l mmen c
xung lc va chm ngoi i vi tm O.
( ) 0 s m
N
1 k
i
k 0
=

=
r r
(

=
N
1 k
e
k 0
s m
r r
)
Ta c:

( ) ( )
( )
e
k
N
1 k
0 1 0 2 0
S m L L
r
r
r r

=
= (13-13)
Trong ; l mmen ng lng ca h i vi tm O ti thi
im sau v trc lc va chm.
( ) 2 0
L
r
( ) 1 0
L
r
Chiu biu thc (13-3) ln mt trc Ox no ta c:
L
x
(2) - L
x
(1) = ( )

=
N
1 k
e
k x
s m
r
(13-3)'
Trong biu thc (13-3), L
x
(2) v L
x
(1) l mmen ng lng ca h i vi
trc Ox, cn l tng m men ly i vi trc Ox c xung lc va chm
ngoi S
(

=
N
1 k
e
k x
s m
r
)
k
e
.
Biu thc (13-3)' c p dng cho va chm ca cc vt chuyn ng quay.
Th d 13-2: Hai bnh rng c lp vi nhau quanh cng mt trc vi vn
tc gc l
1
v
2
. Cho bit mmen qun tnh ca chng i vi trc quay l
1

v
2
. Cho bit mmen qun tnh ca chng i vi trc quay l J
1
v J
2
. Cho hai
bnh rng t ngt n khp vi nhau. Xc nh vn tc gc sau va chm ca
hai bnh rng.
Bi gii:
B qua tc dng ca trng lng v
lc ma st. Xt h gm c hai bnh rng,
khi xung lc va chm ti rng n khp
l xung lc trong (ni xung lc).
Nh vy xung lc va chm ngoi
S
k
e
= 0. p dng nh l bin thin
mmen ng lng ta c:
J
1
.
1
J.
J
2
.
2
Hnh 13.3
-196-
L
x
(2) - L
x
(1) = 0 (a)
Mmen ng lng ca h trc lc va chm l:
L
x
(1) = J
1

1
+ J
2

2
Mmen ng lng ca h sau va chm l:
L
x
(2) = (J
1
+ J
2
)
Thay vo biu thc (a) ta c:
J
1

1
+ J
2

2
= (J
1
+ J
2
)
Suy ra: =
2 1
2 2 1 1
J J
J J
+
+

13.2.3. nh l ng nng
nh l bin i ng nng i vi cc bi ton va chm khng th p dng
c. Nguyn nhn trong qu trnh va chm ta gi thit di chuyn l khng
ng k. Mt khc thc t cho thy khi va chm ng nng ca vt thng b
mt mt chuyn ho thnh nhit nng v gy ra bin dng d (i vi va
chm khng hon ton n hi). Nu gi lng ng nng l T th r rng
T = T
1
- T
2
> 0.
Trong T
1
v T
2
l ng nng ca h ngay trc v sau va chm. Lng
mt ng nng T ph thuc vo nhiu yu t: Trng thi chuyn ng, tnh
cht c l ca vt. Trong k thut tu thuc vo yu cu ca bi ton t ra m ta
cn tng hay gim lng mt ng nng.
Th d khi s dng va chm vo vic gy bin dng nh rn, dp vt liu ta
phi tm cch tng lng mt ng nng T. Tri li khi cn s dng va chm
vo vic gy chuyn ca vt th nh ng cc, ng inh th phi tm cch gim
lng mt ng nng T.
13.3. Hai bi ton c bn v va chm
13.3.1. Va chm thng xuyn tm ca hai vt chuyn ng tnh tin
13.3.1.1. nh ngha
-197-
Xt hai vt c khi lng my bin p v m
2
chuyn ng tnh tin vi vn
tc v
1
v v
2
va chm vo nhau (hnh 13-4).
C
1
v
1
v
2
C
2
I
n
v
2
n
I
n'
C
2
v
1 C
1
n'
a)
b)
Hnh 13.4
- Va chm thng: L va chm trong cc vn tc v
1
v v
2
u song song
vi php tuyn chung nn'. ng nIn' gi l ng va chm.
- Va chm xuyn tm: l va chm trong ng va chm nIn' trng vi
ng xuyn tm c
1
Ic
2
ca vt (hnh 13-4b).
13.3.1.2. Bi ton va chm thng xuyn tm ca hai vt chuyn ng tnh tin
Cho hai qu cu c khi lng M
1
v M
2
chuyn ng tnh tin theo ng
xuyn tm c
1
c
2
vi cc vn tc
2 1
v , v
r r
va chm nhau. Cho bit M
1
, M
2
,
2 1
v , v
r r
v
h s hi phc k, tm vn tc
2 1
u , u
r r
ca hai qu cu sau va chm, ng thi thit
lp biu thc mt ng nng T ca h.
M hnh c hc c m t trn hnh (13-5).







v
1 v
2
C
2
I
C
1
N
12
N
21
u
u
C
2
I
C
1
N
max
N'
max
N'
21
N'
12
v
1
u
2
C
2
I
C
1
Bin dng
Hi phc

Hnh 13.5

-198-
p dng nh l bin thin ng lng cho mi qu cu giai on bin
dng v giai on hi phc ta c:
M
1
(u - v
1
) = S
21
= - S (a)
M
2
(u - v
2
) = S
1
= S (b)
Giai on hi phc:
M
1
(u
1
- u) = S'
21
= - S' (c)
M
2
(u
2
- u) = S'
12
= S (d)
Theo nh ngha v h s hi phc ta c thm phng trnh:
S' = k.S (e)
Trong 5 phng trnh trn c 5 n s l u, u
1
, u
2
, S, S' ta c th gii v tm ra
kt qu sau:
u =
2 1
2 2 1 1
2 1
2 2 1 1
M M
u M u M
M M
v M v M
+
+
=
+
+

u
1
= V
1
- (1+k). ( )
2 1
2 1
2
V V .
M M
M

+

u
2
= V
2
- (1+k). (
2 1
2 1
2
V V .
M M
M

+
) (13-4)
S =
2 1
2 1
2 1
V V
M M
M M

+

S =
2 1
2 1
2 1
u u
M M
M M

+

Trong trng hp ny lng mt ng nng T c xc nh nh sau:
T = T
1
- T
2
Vi T
1
=
2
v M
2
u M
2 2 1 1
+ l ng nng ca h sau va chm.
Ta c:
T = ( ) ( )
2
2
2
2
2 2
1
2
1
1
u V
2
M
u V .
2
M
+
Thay gi tr ca u
1
v u
2
t biu thc (11-4) ta c:
-199-
T =
( )
( )(
2
2 1
2
2 1
2 1
v v k 1 .
M M 2
M M

+
) (13-5)
So vi ng nng ban u ca ba T
0
=
2
v M
2
1 1

Ta c:
( ) =
+

=
+
=

2
1
2
2 1
2 2
0
M
M
1
k 1
M M
M
k 1
T
T

gi l hiu sut ca ba. R rng mun tng hiu sut ca ba ta phi
tng khi lng ca e.
Nu p dng biu thc (13-5) vo ba ng cc ta s thy kt qu ngc
li. V phi gim lng mt ng nng nn hiu sut ca ba c tnh theo biu
thc:
=
0 0
0
T
T
1
T
T T
=


Suy ra:
= 1 -
2
1
2
M
M
1
k 1
+

Mun tng hiu sut ca ba ta phi tng t s
2
1
M
M
ngha l phi tng khi
lng ca ba m bo khi lng ba ln hn nhiu
ln so vi khi lng cc.
B

A
13.3.2.2. Va chm ca vt rn chuyn ng quay quanh
mt trc
Kho st vt rn quay quanh trc (hnh 13-6). Ti thi
im no vt chu tc dng xung lc va chm S
r
. Khi p
dng nh l bin thin mmen ng lng c:
L
z
(1) - L
z
(2) = m
z
(S)
Hnh 13.6 Nu gi vn tc gc ca vt trc v sau va chm l
-200-

0
v
1
ta s c:
J
z
(
1
-
0
) = m
z
(S) (13-6)
T (13-6) c th tnh vn tc c vt sau va chm:

1
=
0
+
z
z
J
) S ( m
(13-7)
y J
z
l mmen qun tnh ca vt i vi trc quay z.
Trong va chm ca vt quay cc xung lc, phn lc l
A
s
r
v
B
s
r
rt
c hi v n lm tiu hao nng lng v gy h hng trc. Nhim v ca
bi ton l tm cch hn ch cc xung lc
A
s
r
v
B
s
r
.
Gii quyt vn trn ta p dng nh l ng lng i vi vt. n
gin ta gi thit lc u vt ng yn tc l =0, ta c:

B A 0 1
S S S K K
r r r r r
+ + =
V
0
= 0 nn = 0 phng trnh cn li:
0
K
r

B A c 1
S S S u M K
r r r
r
r
+ + = = (a)
M l khi lng ca vt, u
r
0
l vn tc khi tm ca vt sau va chm.
cho t (a) ta phi c iu kin 0 s s
B A
= =
r r
c
u M S
r
r
= .
V vt quay quanh trc z nn u
0
c phng
vung gc vi OC v nm trong mt phng
vung gc vi trc quay i qua C. (Xem hnh
13-7). Mt phng l mt phng oxy.
S
A
x
y
z
B
A
O
C
u
C
S
h

1
Hnh 13.7
S
B
A
s
r
Ta suy ra iu kin th nht v
B
s
r
trit tiu l xung lc S phi nm trong mt
phng vung gc vi trc quay v song song
vi vn tc u ngha l cng vung gc vi OC.
V tr s S = Mu
c
= M.a.
1
.
Thay
1
=
( )
Z
Z
J
S m
ta c: S = M. a.
Z
J
h . S

-201-
Suy ra: 1
J
h . a . M
Z
= hay h =
a . M
J
Z

Kt lun: xung lng va chm cc bng khng cn phi tho mn
cc iu kin sau:
1. Xung lc va chm S phi t trong mt phng oxy qua khi tm c ca vt
v vung gc vi trc quay z.
2. Xung lc S phi t vung gc vi ng OC ni t trc quay qua c ti
im k t cch trc quay mt on h.
h =
a . M
J
Z

im K c xc nh nh trn gi l tm va chm.
T biu thc (13-8) ta nhn thy rng khi khi tm C nm trn trc quay th
im K xa v cng v khi h = . Trong trng hp ny lun lun nhn
xung lc va chm khc khng.
Th d 13-3: Thanh AB c khi lng M, mmen qun tnh i vi trc
quay A l J
k
. Chuyn ng vi vn tc
0
va p vo vt C c khi lng m ang
t ng yn trn rnh k (hnh 13-8). Xc nh vn tc sau va chm ca thanh
AB v vt C cng nh xung lc ti trc A. Kch thc cho trn hnh v.
Bi gii:
Gi xung lc va chm tc dng ln vt C l
2
S
r
v xung lc tc dng ln vt
AB l S
r
1
ta c:
S
1
= S
2
= S
Phng trnh biu din nh l bin
thin mmen ng lng cho thanh AB vit
c:
J
A
(
1
-
0
) = -S.b (a)
b
y
B
a
x
S
2
A
C
S
1
K
S
2
C
D

2
Phng trnh biu din nh l bin
thin ng lng cho vt C vit c:
mu
c
- mv
c
= S y v
0
= 0
do ch cn:
Hnh 13.8
-202-
mu
c
= S (b)
Xt c h s:
L
A
(1)
- L
A
(0)
= m
A
( ( ) 0 S
c
=
r

suy ra: L
A
(1)
= L
A
(0)
hay
J
A

0
= J
A
.
1
+ m.u.b = J
A

1
+ m.
1
.b
2

1
(J
A
+ mb
2
) = J
A
.
0
suy ra:

1
=
A
2
0
2
A
0 A
J
mb
1
mb J
. J
+

=
+

u =
1
b =
A
2
0
J
mb
1
b
+

S = M.u =
A
2
0
J
b
m
1
b
+

-203-
Phn 4
Cc nguyn l c hc
Cng vi hai vn nghin cu l phng trnh vi phn ca chuyn
ng v cc nh l tng qut ca ng lc hc; cc nguyn l c hc trnh by
di y s cho ta mt phng php tng qut khc gii quyt c hiu qu v
nhanh gn nhiu bi ton ng lc hc ca c h khng t do.
Cc nguyn l c hc l phn c s ca c hc gii tch. Cn c vo ngun
nng lng v c im kt cu ca c h, c hc gii tch s dng cng c gii
tch ton hc thit lp phng trnh vi phn chuyn ng v tm cch tch
phn cc phng trnh . Trong phn ny ch gii thiu mt s vn c bn
nht ca c hc gii tch c th l ch thit lp phng trnh vi phn chuyn ng
cho c h khng t do v nu ln mt s tnh cht ca n m ta khng i su vo
phng php tch phn cc phng trnh .

Chng 14
Nguyn l di chuyn kh d
14.1. Cc khi nim c bn v c h
lm c s cho vic thit lp cc nguyn l c hc trc ht nu mt s
khi nim c bn v c h khng t do.
14.1.1. Lin kt v phn loi lin kt
14.1.1.1. C h khng t do
C h khng t do l mt tp hp nhiu cht im m trong chuyn ng
ca chng ngoi lc tc dng ra v tr v vn tc ca chng cn b rng buc bi
mt s iu kin hnh hc v ng hc cho trc.
-204-
14.1.1.2. Lin kt v phn loi lin kt
Lin kt l iu kin rng buc chuyn ng ln cc cht im ca c h
khng t do. Cc biu thc ton hc m t cc iu kin rng buc gi l
phng trnh lin kt. Dng tng qut ca phng trnh lin kt c th vit :
f
i
(r
k
,v
k
,t) 0 j = 1...m ; k = 1...n
j l s th t cc phng trnh lin kt.
k l s th t cc cht im trong h.
Phn loi lin kt
Cn c vo phng trnh lin kt ta c th phn loi lin kt thnh : lin
kt dng hay khng dng ,lin kt gi hay khng gi , lin kt hnh hc hay
ng hc
Nu lin kt m phng trnh khng cha thi gian t gi l lin kt dng.
Ngc li phng trnh lin kt cha thi gian t gi l lin kt khng dng hay
hu thi
Nu lin kt m phng trnh m t bng ng thc ta gi l lin kt gi
hay lin kt hai pha. Nu lin kt c phng trnh m t bng bt ng thc gi
l lin kt khng gi hay lin kt mt pha.
Nu lin kt c phng trnh khng cha vn tc v gi l lin kt hnh hc
hay lin kt h n nm. Ngc li nu lin kt c phng trnh cha yu t vn
tc v gi l lin kt ng hc hay khng h n nm.
Sau y nu mt vi th d v cc loi lin kt.
C cu bin tay quay OAB biu din trn hnh (14-1) c phng trnh lin
kt :
x
A
2
+ y
A
2
= r
2
;
(x
B

+ x
A
)
2
+ y
A
2
= l
2
;
y
B
= 0 .
Cc phng trnh lin kt trn th hin lin kt dng, gi v h n nm.
-205-
Bnh xe bnh knh R ln khng trt trn ng thng (hnh 14-2) c
phng trnh lin kt :
y
0
R ;
V
P
= 0 ;
Lin kt ny l lin kt dng, khng gi v khng h n nm.
Vt A treo vo u si dy vt qua rng dc c nh B. u kia ca dy
c cun li lin tc theo thi gian. Gi cho vt dao ng trong mt phng oxy
thng ng (hnh 14-3). Phng trnh lin kt c vit :
x
A
2
+ y
A
2
= l
2
(t) ;
z
A
= 0 .
Lin kt ny khng dng, khng gi v h n nm.

y
P
M
R
x




A
1
2
O
y
A
P(t)
B
C
B
Hnh 14.3 Hnh 14.2
Hnh 14.1
14.1.2. To suy rng.
To suy rng l cc thng s nh v ca c h. K hiu to suy
rng l q
j
; q
j
c th o bng n v di, n v gc quay, in lng...
Nu s cc to suy rng xc nh v tr ca h ta gi l to suy
rng . Nu s to d tha ngha l vt qu s to cn thit xc nh
v tr ca h gi l to d. S cc to d c lin h vi nhau bng biu
thc dng :
f
i
(q
k
,q
k
,t) 0 gi l phng trnh lin kt.
-206-
C cu tay quay thanh truyn biu din trn hnh 14-1 nu chn q
1
= v
q
2
= th gia q
1
v q
2
c phng trnh :
rsinq
1
- lsinq
2
= 0.
Nu chn q
1
= x
A
v q
2
= y
A
th gia q
1
v q
2
c phng trnh :
q
1
2
+ q
2
2
= r
2
;
q
1
= Rcosq
3
.
14.1.3. Di chuyn kh d ca c h
Di chuyn kh d l di chuyn v cng nh ca c h ti v tr ang xt
sang v tr ln cn m c h c th thc hin ph hp vi lin kt t lin h.
phn bit vi di chuyn thc dr ta k hiu di chuyn kh d l r .
Nu gi v
k
r
r
'
k
r
r
l vc t nh v ca cht im th k trong h ti v tr
ang xt v ti v tr ln cn th
'
k k k
r r r
r r r
= ta c :
f
j
(r
k
'
,v
k
'
,t) - f
j
(r
k
,v
k
,t) = 0 (j = 1...m).
Vi nh ngha trn ta thy di chuyn thc khc vi di chuyn kh d
ch :
Di chuyn thc r d
r
ph thuc vo lc tc dng v iu kin u v lin kt
t ln h cn di chuyn kh d ch ph thuc
vo lin kt t ln h m thi. Chnh v th di
chuyn thc ch c mt cn di chuyn kh d
c th c mt hoc nhiu. i vi h chu lin
kt dng di chuyn thc s trng vi mt
trong s cc di chuyn kh d. Trong c cu
tay quay thanh truyn (hnh 14-1) di chuyn kh d ca h l mt tp hp cc vc
t v tho mn iu kin lin kt nh sau : Hnh chiu ln AB ca
bng hnh chiu ln Ab ca
A
r
B
r
A
r
B
r . Cht im t ln mt cong (hnh 14-4) c
di chuyn kh d l tp hp cc vc t r
r
tip tuyn vi mt cong ti v tr ang
xt.
r
M
Hnh 14.4
-207-
14.1.4. Bc t do ca c h
Di chuyn kh d ca c h l c nhiu tuy nhin mc nhiu c hn
ch. Trong s cc di chuyn kh d ca c h c th c mt hay mt s m di
chuyn c s. Cc di chuyn cn li c biu din qua cc di chuyn c s ni
trn. Cc di chuyn c s c lp tuyn tnh vi nhau v ng bng thng s
nh v ca c h tc l bng s to suy rng . Ta goi cc s di chuyn kh
d c s ca h l s bc t do m ca h.
Trong c cu tay quay thanh truyn r rng s bc t do m = 1, v c th
chn mt trong hay lm di chuyn c s.
S bc t do ca h cng cao th mc tu ca cc di chuyn kh d
cng ln c th xc nh s bc t do ca c h bng biu thc : m = r - s.
Trong r l s to d v s l s phng trnh lin kt.
14.1.5. Lin kt l tng - Lc suy rng
14.1.5.1. Lin kt l tng
Nu tng cng nguyn t ca phn lc lin kt trong mi di chuyn kh d
ca c h u trit tiu th lin kt t ln c h c gi l lin kt l tng.
Gi l phn lc lin kt tc dng ln cht im M
k
N
r
k
; r
k
l vc t di
chuyn kh d ca cht im th theo nh ngha trn ta c :

=
=
n
1 k
k k
0 r . N
r
r
(14-1)
Trong thc t nu cn b qua lc ma st v tnh n hi ca vt th to
thnh c h th a s cc c h tho mn biu thc trn vsf nh vy chng chu
cc lin kt l tng. Khi phi k n cc lc ma st v tnh n hi ca vt th
ta vn dng dc khi nim lin kt l tng trn y nhng phi xem cc lc do
ma st hoc do tnh n hi ca vt th tc dng ln c h nh l cc hot lc.
Vt rn tuyt i t do l mt c h chu lin kt l tng.
-208-
Qu vy nu ta xt mt cp cht im M, N bt k trong vt th lc tc
dng tng h gia chng l F, F' vi F = -F'. Gi r v r' l cc vc t di
chuyn kh d ca cht im M, N, ta c :
( )
' ' '
2
1 k
k k
r r F r F r . F r N
r r
r
r r
r
r
r
+ = + =

=
.
Theo ng hc vt rn ta c :
MN r r
'
+ =
r r
ngha l : MN r r
'
=
r r
. Vc t MN c ln khng
i nn ( )
'
r r MN
r r
= vung gc vi F
r
. Cui cng suy ra ( ) 0 r r . F
'
=
r r
r
,
hay , iu ny chng t vt rn t do l c h chu lin kt l tng.

=
=
n
1 k
k k
0 r N
r
r
Hai vt rn c b mt trn nhn tip xc vi nhau to thnh mt c h chu
lin kt l tng.
Cng d dng nhn thy hai vt rn c b mt trn nhn tip xc vi nhau
to thnh mt c h chu lin kt l tng.
Dy mm khng dn vt qua rng rc khi b qua s trt ca dy v b
qua ma st trc cng l mt c h chu lin kt l tng.
14.1.5.2. Lc suy rng
Xt c h N cht im, c m to suy rng q
1
q
2
...q
m
. Biu thc tng
cng ca cc hot lc trong mt di chuyn kh d no ca c h c th vit:


= =
=
n
1 k
n
1 k
k
a
k
a
k
r F A
r
r
. (a)
Trong
a
k
F
r
l tng cc hot lc tc dng ln cht im M
k
; r
k
l di
chuyn kh d ca cht im M
k
ti v tr ang xt.
Biu din vc t nh v r
r
k
v di chuyn kh d r
r
k
qua cc to suy
rng ta c :
( )
m 2 1 k k
q . ,......... q q r r
r r
= ;
-209-

m
m
k
2
2
k
1
1
k
k
q
q
r
......... q
q
r
q
q
r
r

=
r r r
r
.
Thay kt qu vo biu thc (a) trn ta c


= =

=
N
1 k
N
1 k
m
m
k
2
2
k
1
1
k
k
a
k
q
q
r
......... q
q
r
q
q
r
F A
r r r
r


m
m
k
N
1 k
a
k 2
2
k
N
1 k
a
k 1
1
k
N
1 k
a
k
q
q
r
F ......... q
q
r
F q
q
r
F

=

= = =
r
r
r
r
r
r

=
= + +
n
1 j
j j n n 2 2 1 1
q Q q Q ...... .......... q Q q Q
i lng
j
k
N
1 k
a
k j
q
r
F Q

=
r
r
c gi l lc suy rng tng ng vi to
suy rng q
j
.
Ta c nh ngha : Lc suy rng Q
j
ng vi to suy rng q
j
l i lng
v hng biu th bng h s ca bin phn tng ng trong biu thc tng cng
ca cc hot lc tc dng ln c h trong di chuyn kh d bt k ca c h .
Bn cht vt l ca lc suy rng ph thuc vo bn cht vt l ca to
suy rng tng ng. Chng hn ta thng gp :
To suy rng q
j
l di th Q
j
l lc; l gc quay th Q
j
l m men lc
; q
j
l in lng th Q
j
l in th. q
j
l in th th Q
j
l in lng.
Trong thc hnh xc nh lc suy rng Q
j
ta c phng php sau y.
Cho h mt di chuyn kh d vi q
j
cn cc bin phn khc ca to suy
rng cho bng khng, sau tnh cng ca cc lc trong di chuyn ca h.
Theo nh ngha trn ta c :

= =
=
N
1 k
n
1 j
j j
a
k
q Q A
V cc bin phn q q
j
u trit tiu nn biu thc trn vit c :
-210-


= =
=
N
1 k
n
1 j
j j
a
k
q Q A
T y suy ra biu thc xc nh lc suy rng Q
j
;

j
N
1 k
a
k
j
q
A
Q

=

=

Th d 14.1 : Xc nh lc suy rng tng ng vi to suy rng ca h
con lc vt l kp biu din trn hnh (14-5). Cho bit trng lng ca mi con
lc u bng P v t ti im gia C1, Chng t ca cc con lc ; di ca
mi con lc l 1.
O
x
y

C
2
C
1
A
P
2
P
1

1
Bi gii :
Chn to suy rng ca h l cc gc
1

2

nh trn hnh v. Gi cc lc tnh nh l Q
1
, Q
2
. Trc
ht xc nh Q
1
, ta cho h mt di chuyn kh d sao cho

1
0 cn
2
= 0. Cng ca cc hot lc P
1
, P
2
trong di
chuyn tnh c :
Hnh 14.5

=
=
k
1 1 2 1 1
a
k
sin l P , sin
2
1
. P A ;
1 1 1 1
Q sin l
2
Pl 3
= = .
Suy ra :
1 1
sin l
2
Pl 3
Q = .
tnh Q
2
cho h mt di chuyn kh d vi
1
= 0 cn
2
0. Khi
ch c con lc AB di chuyn v cng ca hot lc trong di chuyn ny l :
2 2 2 2 2 2 2
N
1 k
a
k
Q sin
2
1
. P sin
2
1
. P A = = =

=
.
Suy ra : = sin
2
1
. P Q
2
.
-211-
14.2.1. Nguyn l di chuyn kh d
Khi c h chu lin kt dng v l tng th iu kin cn v n cn
bng ti v tr ang xt l tng cng ca cc hot lc trong mi di chuyn kh d
ca h ti v tr ng xt bng khng.
.

= =
=
0 r . F A
k ka
N
1 k
a
k
r
r
Trc ht ta chng minh iu kin cn. Xt c h chu lin kt dng v l
tng. Gi s v tr ang xt h can bng. Ta phi chng minh iu kin cn c
l

= 0 r . F
k ka
r
. Tht vy, v h cn bng nn cht im M
k
trong h cng cn
bng. Nu gi v l hot lc v phn lc lin kt tc dng ln cht im kho
st ta s c :
a
k
F
r
k
N
r
. 0 N F
k
a
k
= +
r r
Cho h mt di chuyn kh d ti v tr ang xt v gi
k
r
r
l di chuyn ca
cht im M
k
ta cng c th vit :
0 r . N r . F
k k k
a
k
= +
r
r
r
r
.
Vit cho c h, ngha l cho k tin t 1 n N sau cng v vi v ca
cc biu thc s c :
0 r . N r . F
k
N
1 k
k k
N
1 k
a
k
= +

= =
r
r
r
r
.
V lin kt l l tng nn 0 r . N
k
N
1 k
k
=

=
r
r
do cn phi c
0 r . F
k
a
k
=
r
r
.
Sau y chng minh iu kin .
Gi thit c h tho mn iu kin 0 r . F
k
N
1 k
a
k
=

=
r
r
ta phi chng minh rng
iu kin ny cho h t cn bng v tr ang xt. Tht vy nu c h tho
mn iu kin trn m khng cn bng th chng t n phi khi ng ti v tr
ang xt . Nh vy bin thin ca h phi dng. dT > 0. Theo nh l ng
nng ta c :
-212-


+ = =
=
k k
N
1 k
k
a
k
a
k
r . N r . F dA dT
r
r
r
r
.
Vi h chu lin kt dng th di chuyn thc dr s trng vi mt trong cc
di chuyn kh d. Ta c
k
r dr
r
= .
Thay vo biu thc trn ta c :


= =
> + =
N
1 k
N
1 k
k k k
a
. k
0 r . N r F dT
r
r
r
r

V h chu lc lin kt l tng nn :
. 0 r . N
k
N
1 k
k
= +

=
r
r
Ch cn li : .

=
> =
N
1 k
k
a
. k
0 r F dT
r
r
iu ny tri vi gi thit nu, chng t c h khng th khi ng ti
v tr ang xt ngha l khi tho mn iu kin 0 r . N
k
N
1 k
k
=

=
r
r
th chc chn c h
s cn bng.
14.2.2. Phng trnh cn bng tng qut ca c h khng t do
T iu kin cn bng 0 r . N
k
N
1 k
k
=

=
r
r
c th thit lp phng trnh tng
qut cho c h di hai dng to cc v to suy rng.
- Dng to cc .
Gi X
k
a
, Y
k
a
, Z
k
a
l hnh chiu ca hot lc
a
k
F
r
v x
k
, y
k,
z
k
, l hnh
chiu ca di chuyn ln cc trc to oxyz. Ta c th vit phng trnh cn
bng ca h di dng phng trnh sau y:
k
r
r

(

= =
+ + = =
N
1 k
k
a
k k
a
k k
a
k k
N
1 k
a
k k
z Z y Y x X r . F A
r
r
). (14-3)
Phng trnh ny gi l phng trnh cn bng tng qut ca h di dng
to cc.
- Dng to suy rng.
Xt h c m to suy rng q
1
q
2
....q
m
. iu kin cn bng ca h c
th vit :
-213-
.

= =
= = =
N
1 k
j j k
N
1 k
s
k k
0 q Q r . F A
r
r
Nu h chu lin kt hnh hc (h n nm) th cc q
j
l c lp vi nhau
v d dng suy ra cc iu kin cn bng sau y :
Q1 = 0 ; Q2 = 0 ; ......Qm = 0. (14-4)
Cc phng trnh (12-3) v (12-4) chnh l iu kin cn bng tng qut
ca c h chu lin kt dng, h n nm l l tng.
Sau y l cc bi ton th d.
Th d 14 .1
X kp gm hai on AC v chuyn ng ni vi nhau bng khp bn l
C. Trn on chuyn ng c lc tp trung P tc dng theo phng vung gc
vi x ti E. Xc nh phn lc ti gi di ng B. Kch thc kt cu x cho
trn hnh (14-6a).

A
l
1
a
B C E D
N
B
b
l
2
A D
B
C
E
s
B
s
E
s
C
P





Hnh 14.6b
Hnh 14.6a

Bi gii :
xc nh phn lc N
B
ta gii phng lin kt (gi ta di ng) ti B v
thay vo phn lc N
B
.
Cho h di chuyn kh d vi S
B
, S
c
, S
cE
nh hnh v.
Phng trnh cn bng tng qut cho h vit c :
0 S . P S N A
E B B
a
k
= =

. Trong :
B
2
1
E
S
l
l
a
b
S = .Phng trnh cn bng cn vit c :
0 S
l
l
.
a
b
. P S N
B
2
1
B B
= hay 0
l
l
a
b
. P N
2
1
B
=
-214-
Suy ra :

2
1
B
l
l
a
b
. P N = .
Kt qu cho ta gi tr dng chng t chiu ca phn lc N
B
chn nh
hnh v l ng.
Th d 142: Cho c cu chu tc dng cc lc cn bng biu din trn
hnh (14-7).
Xc dnh bin dng h ca l xo nu cho Q = 100N; cng l xo c = 5N/cm;
r
1
= 20cm; r
2
= 40cm; r
3
= 10cm; OA = 50cm; = 30
0
; = 90
0
.
O
1

P
r
1

r
2

1

1

s
K

3

s
1

G
3

G
1

r
3

3
o
2

F
B
x
s
A

A
y
s
B

Hnh 14.7
Q
Bi gii:
Xt h bao gm vt D n con trt B. b qua ma st trc v mt trt
lin kt t ln h l dng, mt pha, h n nm v l tng.
Hot lc tc dng ln h gm trng lng P , G , G , Q
3 1
r r r r
v cc lc n hi
F
r
ca l xo. Trong cc lc trn ch c lc Q
r
v F
r
l sinh cng.
Cho h mt di chuyn kh d vi s l di chuyn ca vt D lm c s. Ta
c th tm c ci chuyn ca im B nh sau :
-215-
Ta c :
1
1
r
s
=
im tip xc K gia hai bnh rng 2 v 3 c di chuyn s
1
vi :
s
r
r
r s
1
2
1 1 1
= = . di chuyn gc quay ca bnh rng 3 s l
3 1
2 1
3
r r
r s
= .
V thanh O
3
A gn vi bnh rng A nn im A c di chuyn :
s
r r
r
l . A O s
3 1
2
3 3 A
= = .
Ta c th xc nh di chuyn ca B thng qua s
A
. V thanh AB chuyn
ng song phng vi P l tm vn tc tc thi nn suy ra :
A
B
s
s
PB
PA

= , hay :
A B
s
PB
PA
a = .
Trong tam gic APB ta c :
0
30 cos
1
PA
PB
= .
Nn : s
30 cos r r
r
s
0
3 1
2
B
= .
Thit lp iu kin cn bng cho h nh nguyn l di chuyn kh d. Ta
c:
Thay F = c . h

= = 0 s F s Q r F
B k k
r
r
ta c : 0 s
30 cos r r
r
h . c s Q
0
3 1
2
= .
Suy ra : cm 74 , 1
50 . 40 . 5
87 , 0 . 10 . 20 . 100
s
r
30 cos r r
c
Q
h
2
0
3 1
= = = .
Nh vy h cn bng khi l xo b nn mt on h = 1,74cm.
-216-
Chng 15
nguyn l da lam be
15.1. Lc qun tnh v nguyn l Da lam be i vi cht im
Xt cht im c khi lng m chuyn ng vi gia tc di tc dng
cc ca lc (hnh 15-1).
W
r
n 2 1
F ..... F , F
r r r
M
F
n
Hnh 15.1
F
2
F
1
F
qt
Phng trnh c bn ca ng lc hc
vit cho cht im :

=
= + + =
N
1 i
i n 2 1
F F ...... F F W m
r r r r r
.
W
Chuyn cc s hng ca phng trnh trn
sang mt v c :
( ) 0 W m F
i
= +

r r
. (1)
S hng ( ) W m
r
c th nguyn ca lc bng tch s gia khi lng m
vi gia tc w, cng phng nhng ngc chiu vi gia tc c gi l lc qun
tnh ca cht im v k hiu l
qt
F
r
.
Ta c . W m F
qt
r r
=
Thay vo phng trnh (1) ta c :
0 F F
N
1 i
qt i
= +

=
r r
.
Cc lc

i
F
r
v lc ng quy ti cht im v vy c th vit :
qt
F
r
( ) 0 F , F ...... F F
qt n 2 1
=
r r r r
. (15-1)
Biu thc (15-1) biu din nguyn l a Lam Be cho cht im v c
pht biu nh sau :
Khi cht im chuyn ng, cc lc thc s tc dng ln cht im (bao
gm cc hot lc v phn lc lin kt) cng vi lc qun tnh ca n to thnh
mt h klc cn bng.
-217-
iu kin cn bng ca h lc biu din nguyn l a Lam Be cho cht
im vit c :
X
i
= X
1
+ X
2
+ ....... + X
n
+X
qt
= 0.
Y
i
= Y
1
+ Y
2
+ ....... + Y
n
+Y
qt
= 0.
Z
i
= Z
1
+ Z
2
+ ....... + Z
n
+Z
qt
= 0.
Trong :
X
i
, Y
i
, Z
i
v X
qt
, Y
qt
, Z
qt
l cc hnh chiu ca lc F
i
thc s rc ng len
cht im ca lc qun tnh ln cc trc oxyz.
qt
F
r
Ch :
1. Lc qun tnh khng t ln cht im, l lc tng tng thm
vo c nguyn l a Lm Be. Thc t lc qun tnh t vo lin kt ca cht
im. Th d khi buc mt vt nng vo u mt si dy v quay th lc thc s
tc dng ln vt trong trng hp ny ch c trng lc, lc cng ca dy, lc cn
khng kh, cn lc qun tnh ca vt li t ln si dy v c xu hng t dy.
qt
F
r
2. Khi cht im chuyn ng cong, gia tc ca cht im c hai thnh
phn tip tuyn v php tuyn do lc qun tnh cng c hai thnh phn tng
ng. Ta c :
n
W W W
r r r
+ =

.
n
qt qt
n
qt
F F W m W m W m F
r r r r r r
+ = = =

.
Trong lc qun tnh tip tuyn

qt
F
r
c phng tip tuyn vi qu o c
chiu ph thuc vo tnh cht chuyn ng ca cht im. Nu 0
dt
dv
W > = th
lc qun tnh tip tuyn ngc chiu vi vn tc ca cht im.
0
dt
dv
W < =

th lc qun tnh tip tuyn cng chiu vi vn tc ca cht

im. V vy gia tc php tuyn W
n
lun lun cng hng vo tm ca ng
conh ti v tr ang xt nen
n
qt
F
r
lun lun c chiu hng t tm ng cong ra
ngoi v th c gi l lc qun tnh ly tm (hnh 15-2)
n
qt
F
r
-218-

M
n
F
qt
W
n
F
qt

v
W

F
qt

W
n
M
W

v
n
F
qt






Hnh 15.2

Nh nguyn l a Lm Be ta c th gii thch cc bi ng lc hc ca
cht im bng phng php gii bi ton cn bng ca h lc ng quy bit
trong tnh hc.
Th d 15-1
M
W
O

P
F
e
qt
T
F
qt P
T

Mt bng n c trng lng P treo
trn trn ca toa tu ang chy. Ti mt thi
im no ngi ta thy dy treo n lch
i so vi phng ng mt gc . Tnh gia
tc ca tu ti thi im . Tnh lc cng
ca dy (hnh 15-3).
Hnh 15.3 Bi gii :
Xt chuyn ng ca bng n. Gi gia tc ca bng n l ta c : cc
lc thc s tc dng ln bng n l trng lc P
W
r
r
, lc cng T
r
ca dy. Lc qun
tnh ca bng n l :
W
g
P
F
qt
r r
= .
Theo nguyen l a Lm Be c :
( )
qt
F , T , P
r r r
0
H lc ny gm 3 lc ng quy ta c th thit lp iu kin cn bng ca
chng bng tam gic khp kn nh trn hnh (15-3b).
T tam gic lc ny suy ra : F
qt
= Ptg.
Hay mw = ptg = mgtg;
-219-
w = gtg.
Ti thi im xt coi bng n l cn bng tng i trong toa tu do
gia tc ca bng n cng chnh l gia tc ca toa xe.
Cui cng lc cng T tnh c ; P
cos
1
cos
P
T

= .
Ta c phng chiu biu din nh hnh v.
Th d 15-2 : Mt bnh hnh tr cha cht lng
quay quanh trc thng ng vi vn tc khng i
0
.
Tm dnh mt thong cht lng v tr cn bng tng
i (hnh 15-4).
Bi gii:
Xt mt phn t cht lng M nm trn mt
thong.
Gi thit mt phng oxy ct mt thong theo
giao tuyn AOB di qua im M (hnh 15-4). Cc lc
thc s tc ng ln cht im M gm : Trng lc P
r
phn lc ca phn cht
lng cn li tc dng ln cht im c hng theo php tuyn Mn.
N
r
O
M
B

F
qt
x
P
N
r
n
y
A
Hnh 15.4
Lc qun tnh ca cht im l W m F
qt
r r
= v khi lng quay u quanh
trc quay nn gia tc ch gm thnh phn php tuyn v lc qun tnh
c phng chiu nh hnh v :
W
r
n
W
r
qt
F
r
F
qt
= F
qt
n
= m
2
.x ,
y x l to ca im M.
p dng nguyn l a Lm Be cho cht im M ta c :
( )
qt
F , N , P
r r r
0.
Phng trnh cn bng ca h lc ny trn trc tuyn M vit c :
m x
2
cos - mgsin = 0 ;
l gc nghing ca ng tip tuyn vi trc x.
Suy ra x .
g
tg
2

=
-220-
Thay
dx
dy
tg = ta c : x .
g dx
dy
2

=
Hay dx . x .
g
dy
2

= .
Ly tch phn hai v theo cc cn tng ng c :
dx . x .
g
dy
y
0
2 y
0


= ,
Hay
2
2
x .
g 2
y

= .
Nh vy ng AOB l ng parabol v mt thong ca cht lng l mt
mt paraboloit trn xoay nhn trc oy l trc i xng.
15.2. Nguyn l a Lm Be i vi h
15.2.1. Nguyn l
Xt h gm n cht in : M
1
,M
2
, ........M
n
.
Tch mt cht im M
k
ra xt. Gi
i
k
F
r
v
e
k
F
r
l tng cc ni lc v tng
cc ngoi lc tc dng ln cht im. Nu cht im chuyn ng vi gia tc
th lc qun tnh ca cht im s l
k
W
r
k k qtk
W m F
r r
= .
p dng nguyn l a Lm Be cho cht im ta c :
( )
qtk
e
k
i
k
F , F , F
r r r
0.
Cho k tin t 1 ... n ta c n h lc cn bng vit theo dng trn. Tt c
cc h lc hp li thnh mt h lc cn bng :
( )
qtk
e
k
i
k
F , F , F
r r r
0. (k = 1.... n) (15-3)
Biu thc (15-3) biu din nguyn l a Lm Be i vi h v c pht
biu nh sau :
Khi h chuyn ng cc lc thc s tc dng ln h (k c ni lc v
ngoi lc) cng vi lc qun tnh ca h to thnh mt h lc cn bng.
H lc biu din bi biu thc (15-3) l h lc bt k trong khng gian v
vy iu kin cn bng ca h c th vit nh sau :
-221-
( )

=
= + +
N
1 ki
qtk
e
k
i
k
0 F F F
r r r
;
[ ]

=
= + +
N
1 ki
qtk 0
e
k 0
i
k 0
0 ) F ( m ) F ( m ) F ( m
r
r
r
r
r
r
.
V nn phng trnh cn li : 0 F
N
1 ki
i
k
=

=
r
( )

=
= +
N
1 ki
qt e
k
0 R F
r r
;
[

=
= +
N
1 ki
qt
0
e
k 0
0 M ) F ( m
r r
r
] (15-4)
Trong
qt
R
r
v l vc t chnh v m men chnh lc qun tnh ca
h.
qt
0
M
r
Nu vit di dng hnh chiu ta c 6 phng trnh sau :

= + 0 X X
qt e
k
;

= + 0 Y Y
qt e
k
;

= + 0 Z Z
qt e
k
;

= + 0 M ) F ( m
qt
x
e
k x
;

= + 0 M ) F ( m
qt
y
e
k y
;

= + 0 M ) F ( m
qt
z
e
k z
.
Trong : X
k
e
, Y
k
e
, Z
k
e
, X
qt
, Y
qt
, Z
qt
l cc thnh phn hnh chiu ln
cc trc oxyz ca ngoi lc
0
k
F
r
v vc t chnh ca lc qun tnh
qt
R
r
cn
v M ) F ( m ), F ( m ), F ( m
e
k z
e
k y
e
k x
r r r
x
qt
, M
y
qt
, M
z
qt
l m men i vi ba trc oxyz
ca ngoi lc v m men chnh ca lc qun tnh i vi ba trc.
0
k
F
r
Cng nh i vi cht im nguyn l a Lm Be i vi h cho ta
phng php gii cc bi ton ng lc hc cho h theo phng php tnh hc v
c gi l phng php tnh ng....Phng php tnh ng c p dng rng
ri gii cc bi ton ng lc hc c bit l nhng bi ton xc nh cc
phn lc lin kt. Khi s dng phng php kh khn chnh l vic xc nh vc
-222-
t chnh
qt
R
r
v m men chnh, M
c
qt
. Sau y s trnh by kt qu thu gn h lc
qun tnh trong mt s trng hp c bit.
15.2.2. Thu gn h lc qun tnh
15.2.2.1. Thu gn h lc qun tnh ca vt rn chuyn ng tnh tin
Cc cht im trong vt c gia tc nh nhau v bng gia tc khi tm :
. ( ) n .... 1 k W W
c k
= =
r r
Khi thu gn h lc qun tnh v khi tm C ta c :

= =
c c k
qt
c
W M W m R
r r r
;
( )

= = = = 0 W x r M W xm r W m m M
c cc c k k k k c
qt
c
r
r
r
r
r
r
.
V 0 r
cc
=
r
do ta chn C lm tm thu gn.
Nh vy trong trng hp vt chuyn ng tnh tin hp lc ca cc lc
qun tnh bng vc t chnh
c
qt
c
W M R
r r
= v i qua khi tm C.
15.2.2.2. Thu gn h lc qun tnh ca vt rn chuyn ng quay quanh mt
trc c nh i qua khi tm C
Gi vn tc v gia tc ca vt l v ta c :
0 W M W m R
c k k
qt
c
= = =

r r r
v 0 W
c
=
r
.
( ) ( ) ( )
qt
n
N
1 k
cz
qt
N
1 k
cz
qt
N
1 k
cz
qt
k
F m F m F m M
r r r

=

= =
+ = = .
Cc lc qun tnh php tuyn lun lun i qua trc quay do :
( )

=
k
qt
n cz
0 F m
r
. Ta c :
( )

=

= = =
N
1 k
oz k k k
qt
cz
qt
cz
J d m d F m M
r
.
M
cz
qt
= - J
oz
.
Vi J
oz
l m men qun tnh ca vt i vi trc quay.
Kt qu thu gn h lc qun tnh ca h chuyn ng quay quanh mt trc
i qua khi tm l :
0 R
qt
c
=
r
v M
cz
qt
= - J
oz
.
-223-
15.2.2.3. Thu gn h lc qun tnh ca vt rn chuyn ng song phng
Theo ng hc chuyn ng song phng ca vt c th phn tch thnh hai
chuyn ng c bn l tnh tin theo khi tm v chuyn ng quay quanh trc z
i qua khi tm C vung gc vi mt phng c s. Thu gn h lc qun tnh vi
tng chuyn ng c bn c trnh by trong hai trng hp trn. D
dng nhn thy khi thu gn cc lc qun tnh ca h chuyn ng song phng c
kt qu sau :
c
qt
C
W M R
r r
= v M
cz
qt
= - J
oz
.
trong M v J
oz
l khi lng v m men qun tnh ca h i vi trc
quay cz. W
c
v l gia tc khi tm v gia tc gc ca h.
Sau y gii mt s bi ton c vn dng nguyn l a Lm Be cho h.
Th d 15-3:
Hai vt A v B c trng lng P
1
v P
2
lin kt vi nhau bng mt si dy
khng dn trng lng khng ng k. Hai vt chuyn ng trn mt phng nm
ngang c h s ma st f nh tc dng lc Q vo vt B theo phng ngang ( hnh
15-5 ). Xc nh gia tc ca hai vt v lc cng ca si dy.
Bi gii :
Xt h gm c hai vt. Cc lc ngoi tc dng ln h gm trng lng
, phn lc php tuyn
2 1
P , P
r r
2 1
N , N
r r
, lc ma st trt
2 1
F , F
r r
v lc ko Q.

N
1
F
1
qt
N
2
P
2
F
2
qt
F
1
B A Q
P
1
F
2
P
2
N
2
F
2
qt
T
F
2




b)
a)

Hnh 15.5

Gi lc qun tnh t ln vt A v B l
qt
2
qt
1
F , F
r r
ta c :
2
2 qt
2 1
1 qt
1
W
g
P
F ; W
g
P
F
r r r r
= =
-224-
vi W W W
2 1
r r r
= = .
Theo nguyn l a Lm Be ta c :
( ) 0 F , F , Q , F , F , N , N , P , P
qt
2
qt
1 2 1 2 1 2 1
=
r r r r r r r r r

Cc lc ny c biu din trn hnh (15-5a). Phng trnh cn bng theo
phng trc ox nm ngang vit c:
0 F F F F Q
1 1
qt
2
qt
1
=
r r r r
,
hay ( ) 0 f P P W
g
P P
Q
1 2
1 2
= +
+
=
r
.
Suy ra gia tc hai vt :
g . f
P P
Q
W
1 2

+
=
T kt qu tm c nhn thy vt chuyn ng khi :

+
<
1 2
P P
Q
f .
tnh lc cng T ca dy ta phi tch mt trong hai vt ra xt chng
hn xt vt B. Cc lc thc s tc dng ln vt B l : ( ) T , Q , F , N , P
2 2 2
r r r r
. lc qun
tnh l . Cc lc ny c biu din trn hnh (15-5b).
qt
2
F
r
p dng nguyn l a Lm Be ta c :
( , P
r
N
r
,
2
F
r
, , T ,
qt
Q
r
r
F
r
2
) 0.
Vit phng trnh ca h cn bng ny ln phng ngang ta c:
Q - T - F
2
- F
2
qt
= 0
Q - T - p
2
.f - p
2
g
w
= 0
Thay gi tr tm c ca w vo phng trnh trn tnh c :
T =
2 1
1
P P
QP
+
.
Kt qu cho thy lc cng ca dy khng ph thuc lc ma st.

-225-

Th d 15-4:
Thanh ng cht c chiu di l, trng lng P
r
. u A c gi bng khp
bn l v u B c gi bng si dy (hnh 15.6). Xc nh lc cng ca dy
BD khi trc quay u vi vn tc
T
r
o
.
Cho bit gc hp bi gia thanh AB v trc quay AD l .
Bi gii:
Xt chuyn ng ca thanh AB. Cc lc ngoi tc dng ln thanh l:
Trng lc P , phn lc R
r r
A
v lc cng T
r
ca dy. Gi hp lc ca cc lc qun
tnh l
qt
R
r
. Theo nguyn l a lam be ta c:
( , , P
r
T
r
R
r
A
, R
qt
r
) 0.
Ta c nhn xt: Lc qun tnh F
r
qt
k
ca cc phn t trn thanh c cng
phng chiu v t l vi to x ca n.
k
y
A
y
A
x
A
P

2
xdm
R
n
E
E
B

o
D T
C

Hnh 15.8
h
iu ny cho php v biu phn b
cc lc qun tnh theo hnh (15-6). Ta nhn
thy rng hp lc ca h lc ny R
r
qt
= M.
W
r
c
v i qua trng tm ca tam gic ABE,
ngha l i qua im F cch A mt on
bng 21/3. D dng tm thy phng trnh
cn bng cho h lc:

= + + = 0 R X T X
qt
A
;
Y=Y
A
- P = 0 ;
2
1
P cos
3
2
. R cos . l . T ) F ( m
qt
i A
=

0 sin =
.Thay
2
c
qt
sin
2
l
g
P
W . M R = = v gii h phng trnh trn ta c :

= tg
2
1
sin
g 3
l
P T
2
0
;
P Y
A
= v
2
0
2
0
A
sin
2
l
g
P
tg
2
1
sin
g 3
l
P X

= .
-226-
Chng 16
Phng trnh tng qut ca ng lc hc -
Phng trnh lagrang loi 2
16.1. Phng trnh tng qut ca ng lc hc
Nh bit chng 12 v chng 13, nguyn l a Lm Be cho ta
phng php tnh gii quyt cc bi ton ng lc hc, cn nguyn l di
chuyn kh d cho ta phng php tng qut gii cc bi ton cn bng ca c h
t do. Kt hp hai nguyn l trn cho chng ta thit lp phng trnh vi phn
chuyn ng ca c h t do gi l phng trnh tng qut ca ng lc hc.
Xt c h chu lin kt dng v l tng chuyn ng di tc dng ca
cc hot lc v phn lc lin kt. Gi
k
a
k
N , F
r r
l hot lc v phn lc lin kt tc
dng ln cht im M
k
. Nguyn l a Lm Be cho cht im M
k
c th vit ;
0 W m N F
k k k k
= +
r r r
. (a)
Cho h di chuyn kh d, gi
k
r
r
l di chuyn ca cht im M
k
. Nhn hai
v ca phng trnh (a) vi
k
r
r
ta c
0 r W m r N r F
k k k k k k
a
k
= +
r
r
r
r
r
r
. (b)
Vit phng trnh (b) cho tt c cc cht im trong h ngha l cho k = 1
... N ta s c h N phng trnh :
0 r W m r N r F
1 1 1 1 1 1
a
= +
r
r
r
r
r
r
;
0 r W m r N r F
2 2 2 2 2 2
a
= +
r
r
r
r
r
r
;
..............................................
0 r W m r N r F
n n n n n n
a
n
= +
r
r
r
r
r
r
.
Tin hnh cng v vi v ca h N phng trnh trn ta c :
0 r W m r N r F
N
1 k
k k k
N
1 k
k k
N
1 k
k
a
k
= +

= = =
r
r
r
r
r
r
. (c)
V lin kt t ln h l lin kt l tng nn s hng th hai trong phng
trnh (c) trit tiu : . 0 r N
N
1 k
k k
=

=
r
r
-227-
Cui cng ta c :
0 r W m r F
N
1 k
k k k
N
1 k
k
a
k
=

= =
r
r
r
r

Hay : 0 r ) W m F (
k k k
N
1 k
a
k
=

=
r
r r
(16-1)
Phng trnh (16-1) l phng trnh vi phn chuyn ng ca h c gi
l phng trnh tng qut ca ng lc hc di dng vc t.
Cng c th vit phng trnh ny di dng to cc sau y.

= = =
= + +
N
1 k
N
1 k
k k k
a
k k k k
a
k
N
1 k
k k k
a
k
0 z ) z m Z .( y ) y m Y .( x ) x m X .(
r r r
(16-2)
T cc phng trnh tng qut ca ng lc hc ta thy khi c h chu lin
kt dng v l tng tng vi phn cng ca cc hot lc v cc lc qun tnh
lun lun bng khng. Ta c :
0 A . A .
N
1 k
qa
k
N
1 k
a
k
= +

= =
(16-3).
Th d 16-1
Trc ca b iu chnh ly tm t
thng ng v quay vi vn tc gc
(hnh 16-1). Trng lng ca mi qu
vng l P
1
= P
2
= P. Trng lng ca con
trt CC
1
l Q. Xc ng gc ca thanh
A
1
O
1
v A
2
O
2
hp vi trc quay l hm
theo vn tc gc . Cho A
1
O
1
= A
2
O
2
=
1; O
1
B
1
= O
2
B
2
= B
1
C
1
= B
2
C
2
= a
Bi gii :
Xem b iu chnh bao gm qu
vng A
1
A
2
v con trt l mt c h. Nu
b qua lc ma st cc trc v cc
khp ni ta c th xem c h ny chu lin kt dng v l tng. Cc hot lc tc
dng ln h bao gm trng lng ca cc qu vng v con trt l
2 1
P , P
r r
v Q.
Khi h quay n nh vi vn tc gc th lc qun tnh ca h ch bao gm cc

y
O
1
O
2
Q
3
x
P
1
F
1
n
A
2
A
1
B
2
B
1
C
1
C
2
P
2
F
2
n
Hnh 16.1
-228-
lc qun tnh ly tm ca hai qu vng. Do i xng cc lc qun tnh ny
c tr s bng nhau v bng :
qt
2
qt
1
F , F
r r
= = sin l
g
P
F F
2 qt
2
qt
1
r r
.
Phng trnh tng qut ca ng lc hc vit di dng to cc
chn nh hnh v l :
P
1
x
1
+ P
2
x
2
- F
1
qt
y
1
+ F
2
qt
y
2
+ Qx
0
= 0.
xc nh cc bin phn ca to t hnh v ta c :
x
1
= x
2
= lcos ;
y
1
= -y
2
= -lsin ;
x
c
= 2acos.
Suy ra: x
1
=x
2
= -lsin.;
y
1
=-y
2
= -lcos.;
x
c
= -2a.sin.;
Thay cc kt qu va tm c vo phng trnh thit lp trn :
0 sin . Q 2 cos l . sin l
g
P 2
sin a 2 . P 2
2
= + .
Suy ra :
g
Pl
Qa Pl
cos
2 2

+
= ,
Hay : g
Pl
Qa Pl
arccos
2 2

+
= .
V cos 1 nn cng t kt qu ny suy ra :
g
Pl
Qa Pl
2 2
2

+
.
c gc tch cho trc vn tc gc ca trc bao gi cng ln hn
hoc bng g
Pl
Qa Pl
2 2

+
.
-229-
Th d 16-2
C cu nng h c kt cu biu
din trn hnh (16-2). Bnh xe 1 c
trng P
1
, bn knh qun tnh
1
. Bnh xe
2 c trng P
2
, bn knh qun tnh
2
. Xc
nh gia tc ca vt nng A c trng
lng Q khi ta tc ng ln bnh xe mt
m men quay M.
Bi gii :
Xt h gm bnh xe 1, bnh xe 2
v vt nng A. Coi ma st trong trc
bnh xe l khng ng k th lin kt t ln h l lin kt dng v l tng.
Phng trnh vi phn chuyn ng ca h c vit di dng phng trnh tng
qut ca ng lc hc.
2
M
2
qt
M
1
M
t
qt

1
A
s
1

1
Q
F
A
qt
Hnh 16.2
0 r W m . r F .
N
1 k
k k k
n
1 k
k
a
k
=

= =
r
r
r

Hot lc tc dng ln h bao gm m men M v cc trng lc . Q , P , P
2 1
r r
Khi h chuyn ng, cc lc qun tnh tc dng ln h bao gm .
qt
2
qt
1
qt
A
M , M , F
r
Lc qun tnh ca vt A c th xc nh :
A
qt
A
W
g
Q
F
r r
=
Cc m men lc qun tnh ca bnh xe
2
2
2
2 qt
2 1
2
1
1 qt
1
g
P
M ;
g
P
M = = .
y l gia tc ca vt A ;
A
W
r
1
v
2
l gia tc ca gc ca bnh xe 1
v 2. Theo kt cu ca h ta c:
A
2
1
2
A
1
W
rr
r
;
r
W
= = .
Cho h mt di chuyn kh d vi di chuyn s
A
ca vt A lm c s. Theo
kt cu ta cng suy ra di chuyn ca cc bnh xe l :
r
s
r
r
r
r
;
r
s
A
2
1
2
1
2
A
1

= =

=
Phng trnh tng qut ca h ng lc hc vit c th s l :
-230-
- 0
r
s
r
r
M s
rr
r
g
P
r
s
g
P
s W
g
Q
s Q
A
2
1
A
2
1
2
2
2
2 A
1
2
1
1
A A A
=

.
Hay : 0
rr
r
M W
r r
r
g
P
r
W
g
P
)
g
W
1 ( Q
2
1
A
2
2
2
2
1 2
2
2
2
A 2
1
1 A
= + .
Suy ra :
1
2
2
2
1
2
2
2
1
2
1
A
P
r
r
r
P
r
rQ
rQ M
r
r
W

= .
16.2. Phng trnh Lagrang loi II
Phng trnh trnh tng qut ca ng lc hc vit di dng to suy
rng dc gi l phng trnh Lagrang loi 2.
Xt h chu lin kt dng v l tng. Phng trnh tng qut ca h l :
, 0 r ) W m F .(
N
1 k
k k k
a
k
= =

=
r
r r
hay : . 0 r W m . r F .
N
1 k
k k k
N
1 k
k
a
k
=

= =
r
r
r
r

Nh bit chng 14 ta c th thay :

= =
=
m
1 j
j j
N
1 k
k
a
k
q Q . r F .
r
r

y Q
j
l lc suy rng ng vi to suy rng q
j
.
c phng trnh Lagrang loi 2 ta cn phi bin i trc tip s hng
sang to suy rng. ta c :

=

N
1 k
k k k
r W m .
r
r
. q )
q
r
W m .( ) q
q
r
. ( W m . r W m .
j
m
1 j
j
k
N
1 k
k k
N
1 k
m
1 j
j
j
k
k k
N
1 k
k k k

=

= = = = =
r
r
r
r
r
r

trn thay : )
t
r
q
q
r
....... q
q
r
q
q
r
( r
k
j
m
k
j
2
k
j
1
k
k

=
r r r

t
j
k
N
1 k
k k
q
r
W m

=
r
r
= Z
j
ta s a phng trnh v dng:

= =
=
m
1 j
j j
N
1 k
k k k
q Z . r W m .
r
r

Sau y tm biu thc ca Z
j
:
-231-

= = =

=
N
1 k
1
k
k k
1
k
N
1 k
k k
N
1 k
1
k
k k j
)
q
r
(
dt
d
v m .
q
r
v m . (
dt
d
q
r
W m . Z
r
r
r
r
r
r
.
Thay ;
t
r
q
q
r
...... q
q
r
q
q
r
dt
r d
v
k
m
1
k
2
1
k
1
1
k k
k

= =
r
&
r
&
r
&
r r
r

.
t
r
q
q
r
v
m
1 j
k
j
j
k
k

=

=
r
&
r
r

T kt qu ny suy ra hai biu thc sau :
j
k
j
k
q
v
q
r
&
r r

(e)
Thay :
1
k
2
m
m j
k
2
2
2 j
k
2
1
1 j
k
2
j
k
q t
r
q
q q
r
........ q
q q
r
q
q q
r
)
q
r
(
dt
d

+ +

r
&
r
&
r
&
r r


= =

=
m
1 j
j
k k
j
j
k
j
m
1 j
j
k
2
j
j j
k
2
q
v
)
t
r
q
q
r
. (
q q t
r
q
q q
r
.
r r
&
r r
&
r

Suy ra : .
q
v
)
q
r
(
dt
d
j
k
j
k

r r
(g)
Thay kt qu tm c t biu thc (e) v (g) vo biu thc ca Z
j
ta c :

= =

=
N
1 k
j
k
N
1 k
k k
j
k
k k j
;
q
v
v m . )
q
v
v m . (
dt
d
Z
r
r
&
r
r


=

=
N
1 k
2
k
k
j
2
k
k k
j
. )
2
v
m . (
q
.
2
v
v m . (
q
.
dt
d r
&

Hay :
j j
j
q
T
)
q
T
(
dt
d
Z

=
&

Thay kt qu tm c vo phng trnh (d) ta c :
. 0 q . Z . q Q . r W m . r F .
m
1 j
j j
m
1 j
j j
N
1 k
k k k
N
1 k
2
a
k
= =

= = = =
r
r
r
r

Hay : ) m .... 1 j ( Q
q
T
)
q
T
(
dt
d
j
j j
= =

&
(16-4).
-232-
H phng trnh dng (16-4) c gi l phng trnh Lagrang loi 2.
Trong T l ng nng ca h. Q
j
l lc suy rng ng vi to suy rng q
j
.
Trong trng hp lc hot ng l lc c th
j
j
q
Q

= th phng trnh
(16-4) tr thnh :
. ) m .... 1 j (
q q
T
)
q
T
(
dt
d
j j j
=

&
(16-5)
Cn ch rng , 0
q
j
=

do :
)
q q
T
( )
q q
T
(
dt
d
j j j j

&
= 0
Nu t T - = L ( q
j
, ,t) th phng trnh Lagrang loi 2 c dng :
j
q&
. ) m ... 1 j ( 0
q
L
)
q
L
(
dt
d
j j
= =

&
(16-6)
Th d 16-1
Mt tr trn ng cht c khi lng M chuyn ng ln khng trt trn
mt phng nghing ca lng tr hnh tam gic c khi lng m v c gc
nghing vi mt ngang l . Lng tr c th trt trn mt ngang nhn
(hnh 16-3). Lp phng trnh vi phn chuyn ng ca c h.
Xt h lng tr v tr trn.
C h chu lin kt dng, gi, h
n nm v l tng. Hot lc tc
dng ln h gm c : Trng lc
P
r
v ca tr trn v lng tr
tam gic. Cc lc ny l lc c
th. Nu chn h to suy rng
ca h l q
Q
r
1
= x v q
2
= s (hnh
16-3) ta thy h c hai bc t do v phng trnh Lagrang loi 2 c th vit di
dng :

B
A
Q
P
O
x
y
O
1
x
Hnh 16.3
-233-
j j j
x x
T
)
x
T
(
dt
d

&
(a)
j j j
s s
T
)
s
T
(
dt
d

&
(b)
Th nng ca h ng vi lc P
r
tnh nh sau :
(P) = -Mg.sin.s + C
1
vi C
1
l hng s.
Th nng ca h ng vi lc Q l mt hng s
(Q) = const = C
2
Th nng ca c h = - Mg.S.sin + C ; C l hng s
Suy ra : 0
x
=

v =

sin Mg
s

ng nng ca h bao gm ng nng ca tr trn v ng nng ca lng
tr.
Lng tr chuyn ng tnh tin nn ng nng ca n c th vit :
2
x m
2
mV
T
2 2
1
&
= = .
Tr trn chuyn ng song phng nn ng nng tnh c :
2
J
2
MV
T
2
0
2
tr

= =
V
0
l vn tc tuyt i ca trc tr trn.
r c 0
V V V
r r v
+ =
Suy ra :
+ = + = cos S x V V V
rx cx x 0
&
&
+ = + = sin S y V V V
ry cy y 0
&
&
2 2 2
oy
2
ox
2
0
) sin S y ( ) cos S x ( V V V + + + = + =
&
&
&
&
+ + = cos S x 2 S x
2 2 2 2
&
&
&
&
R
S
R
V
R
V
r or
&
= = = v
2
2
2
R
s&
= cn
4
MR
J
2
0
=
Thay cc kt qu trn vo biu thc ca ng nng h ta c :
-234-
T
h
= [ ]
2
2
2 2
2
R
s
4
MR
) sin S y ( ) cos S x (
2
M
w
x m &
&
&
&
&
&
+ + + + +
+ + + = cos S x M
2
s
2
M 3
2
x
) m M (
2 2
&
&
& &
.
Suy ra : + + =

cos S M x ) m M (
x
T
; 0
s
T
; 0
x
T
&
&
&

+ + =

cos S M x ) m M ( )
x
T
(
dt
d
& &
& &
&

+ =

+ =

cos x M S
2
M 3
)
s
T
(
dt
d
; cos x M S
2
M 3
s
T
& &
& &
&
&
&
&

Phng trnh vi phn chuyn ng ca h phng trnh Lagrang loi 2
nhn c :
; 0 cos S M x ) m M ( = + +
& &
& &
. sin Mg cos x M S
2
M 3
= + & &
& &

T h phng trnh trn ta tm c :
0
cos M 2 ) m M ( 3
2 sin Mg
x
2
<
+

= & &
0
cos M 2 ) m M ( 3
sin g ) m M ( 2
S
2
>
+
+
=
& &

Nu ban u h ng yn th sau tr trn ln xung cn lng tr trt
qua phi. Cc chuyn ng u l chuyn ng bin i u.
Th d 16-2
z Con lc eliptic gm con trt A v qu cu B
ni vi A bng mt thanh treo AB. Cho bit khi
lng ca con trt m
1
, khi lng ca qu cu l
m
2
, khi lng thanh treo khng ng k. Con trt
A c th trt theo phng AY trn mt phng
ngang nhn. Con lc AB c th quay trn quanh trc
A trong mt phng thng ng oxy (hnh 16-4).
Thit lp phng trnh vi phn ca h.

B
l
A
y
y
Hnh 16.4
-235-
Bi gii
Xt h gm con trt A v con lc AB.
C th chn hai to suy rng ca h l :
q
1
= y v q
2
= .
Phng trnh vi phn ca h c th vit di dng :
; Q
y
T
)
y
T
(
dt
d
y
=

&

. Q
T
)
T
(
dt
d

&

Vi T l ng nng ca h, Q
y
v Q

l cc lc suy rng ng vi to
suy rng l y v .
Cc hot lc tc dng ln h gm
1
P
r
v
2
P
r
u l cc lc c th nn c th
vit :
. Q ;
y
Q
y


=

=


Th nng ca h c th tnh nh sau :
= -m
2
g.x + const = -m
2
glcos + const.
Suy ra : 0 Q
y
y
= =

v = =

sin gl m Q
2

ng nng ca h T = T
A
+ T
B
.
ng nng ca con trt : .
2
y m
2
V m
T
2
1
2
A 1
A
&
= =
ng nng ca qu cu : . ) y x (
2
m
2
V m
T
2
B
2
B
1
2
B 1
B
& & + = =
Vi x
B
= lcos v = sin l x
B
& ; y
B
= y + lsin v + = cos l y y
B
& & &
Ta c :
[ ]
2 2 2
B
) cos l y ( ) sin l (
2
m
T + + = & & . ) cos y l 2 y l (
2
m
2 2 2 2
+ + = & & & &
Biu thc ng nng ca h thu c :
-236-
). cos y l 2 y l (
2
m
2
y m
T T T
2 2 2 2
2
1
B A
+ + + = + = & & & &
&

T suy ra : ; cos y l m l m
T
2
2
2
+ =

& &
; sin y l m cos y l m l m )
T
(
dt
d
2 2
2
2
+ =

& & & & & &

&

; cos l m y ) m m (
y
T
2 1 2
+ + =

& &
&

; ) sin cos ( l m y ) m m ( )
T
(
dt
d
2
2 2 1
+ + =

& & & & &

&

; 0
T
=

. sin y l m
T
o 2
=

& &
Thay cc gi tr tm c vo phng trnh vi phn ca h ta c :
; sin gl m sin y l m sin y l m cos y l m l m
2 2 2 2
2
2
= + + & & & & & & & &
. 0 sin l m cos l m y ) m m (
2
2 2 2 1
= + + & & & & &
Sau khi rt gn c phng trnh vi phn chuyn ng ca h :
; 0 sin g y cos l = + + & & & &
+ + sin l m cos l m y ) m m (
2
2 2 2 1
& & & & &