1

A
B
D
E
a
PHN I: TNH HC VT RN

M U
Tnh hc l phn kho st trng thi cn bng (tnh) ca vt rn di tc dng ca
cc lc. C hai vn ln c nghin cu trong phn ny l:
Thu gn h lc: l bin i h lc tc dng ln vt thnh mt h lc khc tng
ng nhng c dng n gin hn. Khi h lc c bin i v dng n gin nht th h
lc c gi l dng ti gin ca h lc ban u.
Tm iu kin cn bng: l thit lp cc iu kin i vi h lc m di tc dng
ca n vt rn cn bng, gi tt l cc iu kin cn bng ca h lc.
CHNG 1: CC KHI NIM C BN H TIN TNH HC
I. CC KHI NIM C BN CA TNH HC.
1. Vt rn tuyt i.
Vt rn tuyt i l tp hp v hn cc cht im m khong cch gia hai cht
im bt k lun lun khng i.
Trong thc t cc vt khi chu lc u b bin dng. Nu bin dng qu b hoc
bin dng khng lm nh hng n kt qu ca bi ton kho st th c th b qua bin
dng v nh vy c th coi l vt rn tuyt i. Vt rn tuyt i c gi tt l vt rn.
2. Vt rn cn bng.
Vt rn c coi l cn bng trong mt h quy chiu no nu n ng yn hay
chuyn ng tnh tin thng v u i vi h quy chiu y.
Chuyn ng tnh tin thng v u l chuyn ng m mi im thuc vt rn u
chuyn ng thng vi vn tc khng i.
3. Lc.
Lc l i lng biu th tc dng c hc ca vt th ny ln vt th khc. Lc l
mt i lng c hng, qua thc nghim ngi ta xc nh c lc c cc yu t c
trng sau:
im t ca lc: l im m vt nhn c tc dng c hc t vt khc.
Phng, chiu ca lc: l phng, chiu chuyn ng ca cht im (vt c kch
thc b) t trng thi cn bng khi chu tc dng ca lc y.
Cng ca lc: l i lng xc nh mnh hay yu ca lc, xc nh bng
cch so vi mt lc chun gi l lc n v. n v ca lc l Niutn, k hiu l N.
Lc c biu din bng mt vect nh hnh 1-1, gi l vect lc. Vect lc c
nhng c trng sau:
im t (A) ca vect l im t ca lc.
Phng, chiu ca vect lc ( AB
uuur
) trng vi phng, chiu
ca lc.
di a ca vect AB
uuur
biu din cng ca lc.
Vect lc thng c k hiu l F, P
r ur
hoc Q
ur
. ng thng DE
cha vect lc AB
uuur
c gi l ng tc dng ca lc.
4. Cc nh ngha khc v lc.
a, H lc: l tp hp nhiu lc cng tc dng ln mt vt rn hay mt cht im. H
lc gm cc lc 1 2 n F , F ,..., F
r r r
c k hiu l
( )
1 2 n F , F ,..., F
r r r
.

2
b, H lc tng ng: Hai h lc c cng tc dng c hc th c gi l hai h
lc tng ng.
H lc
( )
1 2 n F , F ,..., F
r r r
v h lc
( )
1 2 n P , P ,..., P
ur ur ur
tng ng nhau th c k hiu l:
( ) ( )
1 2 n 1 2 n F , F ,..., F P , P ,..., P
r r r ur ur ur
.
c, H lc cn bng: H lc cn bng l h lc nu tc dng ln vt rn s khng
lm thay i trng thi c hc m vt ang c. H lc cn bng cn c gi l h lc
tng ng vi khng v c k hiu:
( )
1 2 n F , F ,..., F 0
r r r
.
d, Hp lc ca h lc: Nu h lc cho tng ng vi mt lc duy nht th lc
y c gi l hp lc ca h lc cho. Nu R
ur
l hp lc ca h lc
( )
1 2 n F , F ,..., F
r r r
th
ta k hiu:
( )
1 2 n R F , F ,..., F
ur r r r
.
II. KHI NIM V MMEN LC.
1. Mmen ca lc i vi mt im.
a, nh ngha: Mmen ca lc
ur
F i vi im O l mt vect, k hiu l
( )
ur
r
O
m F , c
cc tnh cht sau:
im t: ti O
Phng: vung gc vi mt phng cha lc
F
r
v im O.
Chiu: Xc nh theo quy tc ci inh c (quay
ci inh c theo chiu ca lc F
r
quanh O, chiu tin
ca ci inh c l chiu vect mmen).
ln: bng tch s ca cng lc F
r
vi
cnh tay n d (d =OH).

( ) ( ) O O
m F F d F r sin(r,F) m F r F
r r r r
r r r r
. . . .
b, Tnh cht:
( ) O
m F
r
r
l i lng c trng cho tc dng quay ca lc F
r
quanh tm
O. Ta thy
( ) O
m F 0 F d 0
r
r
. , c hai trng hp xy ra:
F 0 : Trng hp ny khng c lc tc dng.
d 0 : Trng hp ny ng tc dng ca lc qua tm O.
Khi cc lc 1 2 n F , F ,..., F
r r r
nm trong cng mt phng (ng phng) th cc vect
( )
i
O
m F
r
r
(i=1n) cng phng. Do ngi ta a ra khi nim mmen i s ca lc F
r

i vi im O, k hiu l
( ) O
m F
r
.
( ) O
m F F.d t
r
, ly du + khi F
r
vng quanh O ngc
chiu kim ng h v ngc li.

( ) O OAB
m F F d 2S

r
r
. , (
OAB
S

l din tch tam gic OAB)

c, Biu thc: Gi x,y,z l ta im t lc A trong h ta Oxyz,
x y z
F , F , F l
hnh chiu ca lc F
r
ln cc trc Ox, Oy, Oz. i , j, k
r r r
.
Theo nh ngha ta c:
( ) O
x y z
i j k
m F r F x y z
F F F

r r r
r r
r r
(1-1)

F
r

B
A
O
H
d
( ) O
m F
r
r

r
r


3
Hnh chiu ca
( ) O
m F
r
r
ln cc trc l:
( ) ( )
( ) ( )
( ) ( )
O z y Ox
x
O x z Oy
y
O y x Oz
z
m F y.F z.F m F
m F z.F x.F m F
m F x.F y.F m F

1

]

1

'
]

1

]

r r
r
r r
r
r r
r
(1-2)
2. Mmen ca lc i vi mt trc.
a, nh ngha: Mmen ca lc
ur
F i vi trc k hiu l
( )
ur
m F , l mmen i s
ca lc
uur
F i vi im O, vi
uur
F l hnh chiu ca lc
ur
F ln mt phng vung gc trc
cn O l giao im gia trc v mt phng .

( ) ( ) O
m F m F

r ur
(1-3)
b, Tnh cht:
( ) ( ) O
m F 0 m F F .d 0

r ur

F 0 : ng tc dng ca lc F//
r
.
d 0 : ng tc dng ca lc F
r
ct trc .
Trong c hai trng hp ny ta thy ng tc
dng ca lc F
r
v ng phng. Do khi xt h lc
ng phng v trc cng nm trong mt phng y th khng cn a
ra khi nim ny.
Vi d u a p d u n g : Cho lc F
r
l ng cho hnh lp phng
cnh a nh hnh v hy xc nh:
( ) O
m F
r
r
,
( ) ( ) ( ) O O O
x y z
m F , m F , m F
1 1 1
] ] ]
r r r
r r r
.
3. nh l lin h gia mmen lc i vi
im v i vi trc.
a, nh l: Mmen ca lc
ur
F i vi trc bng hnh chiu ln trc y ca vect
mmen ca lc
ur
F i vi tm O ngay trn trc.
( ) ( ) O
m F m F

]
r r
r
(1-3)
b, Chng minh: Phn tch lc 1 2 F F F +
r r r
.
Ta c
( ) ( )
1 2
O
m F r F r F F +
r r r r
r r
hay

( )
1 2
O
m F r F r F +
r r r
r r

Chiu ln trc ta c:

( )
1 2
O
m F r F r F

1 1 1
+
] ] ]
r r r
r r

R rng 2 r F 0

1

]
r
r
v 1 1 r F r F

1

]
r r
r r

vy:
( ) ( )
1
O
m F r F m F

1

]
r r r
r
(PCM)
p dng nh l trn cho cc trc ta ta c:
( ) ( )
( ) ( )
( ) ( )
x O
x
y O
y
z O
z
m F m F
m F m F
m F m F

'
]

r r
r
r r
r
r r
r
h (1-4)
F
r
F
ur

A
B
1
B
d



F
r

r
r

1 F
r

2 F
r

r F
r
r

2 r F
r
r

1 r F
r
r


O
F
r

O
x
y
z

4
III. H TIN TNH HC.
1. Tin 1 (tin v hai lc cn bng).
iu kin cn v hai lc cn bng l chng c cng ng tc dng, hng
ngc chiu nhau v c cng cng .
Hai lc F
r
v F
ur
cn bng c k hiu:
( )
F, F 0
r ur
.
Hai lc nh th cn c gi l hai lc trc i. Hnh a
cho ta hnh nh v vt rn cn bng chu ko v hnh 1-6 l
vt rn cn bng chu nn.
Tin 1 nu ln mt h lc cn bng chun gin n
nht. Khi cn xc nh h lc cho c cn bng hay khng
ta tm cch bin i chng minh n c tng ng vi
hai lc cn bng hay khng.
2. Tin 2 (tin thm bt lc).
Tc dng ca h lc khng thay i nu ta thm vo
hoc bt i mt cp lc cn bng.
Nu
( )
F, F 0
r ur
th
( ) ( )
1 2 n 1 2 n F , F ,..., F F , F ,..., F , F, F
r r r r r r r ur
.
Tin ny cho ta hai php bin i c bn l thm vo mt cp lc cn bng v bt
i mt cp lc cn bng.
* H qu 2.1 (nh l trt lc): Tc dng ca lc khng thay i khi ta trt lc
trn ng tc dng ca n.
Chng minh: Cho lc F
r
tc dng ln vt rn ti A.
Ti im B thuc ng tc dng ca lc F
r
ta thm vo hai
lc cn bng
( )
1 2 F , F
r r
nh hnh v.
Theo tin 2:
( ) ( )
1 2 1 2 F F, F , F F, F F +
r r r r r r r
. Theo tin 1 ta c
( )
1 F, F
r r
l cp lc cn
bng vy theo tin 2 ta c th b i. Do 2 F F
r r
.
T nh l trn ta thy im t khng gi vai tr g trong vic m t tc dng ca
lc ln vt rn.
Ch : Tnh cht trn ch ng vi vt rn tuyt i. Vi vt rn bin dng khi thay
i im t th ng x ca bin dng trong vt s thay i.
* H qu 2.2 (nh l v hp lc ca h): Khi h lc cn bng th mt lc bt k ca
h lc y s l lc trc i vi hp lc ca cc lc cn li.
Chng minh: Cho h lc
( )
1 2 n F , F ,..., F 0
r r r
, t
( )
2 n R F ,..., F
ur r r
, ta c:
( ) ( )
1 2 n 1 F , F ,..., F F , R 0
r r r r ur
, c ngha l 1 F
r
l lc trc i vi R
ur
hay 1 F
r
l lc trc
i vi hp lc ca cc lc
( )
2 n F ,..., F
r r
.
3. Tin 3 (tin hnh bnh hnh lc).
H hai lc cng t ti mt im tng ng vi mt lc t ti
im t chung y v c biu din bng vect ng cho hnh bnh
hnh m hai cnh l hai vect biu din cc lc cho.
( )
1 2 1 2 F , F R F F +
r r ur r r

Tin ny cho ta hai php bin i c bn, l: c th tng hp hai lc ng quy
thnh mt lc v ngc li c th phn tch mt lc thnh hai lc ng quy theo quy tc
hnh bnh hnh.
* H qu 3.1 (nh l v ng tc dng ca 3 lc ng phng): Khi ba lc ng
phng cn bng, ng tc dng ca chng hoc ng quy hoc song song.
B
A 2 F
r
F
r
1 F
r

A
1 F
r

2 F
r

R
ur

A B F
ur

F
r

Hnh a
A B
F
ur

F
r

Hnh b

5
Chng minh: Cho h
( )
1 2 3 F , F , F 0
r r r
. Nu 1 F //
r
2 F
r
: ng tc
dng ca chng ng quy (gi s ti A). Theo tin 3 ta c:
1 2 F F R +
r r ur

( ) ( )
1 2 3 3 F , F , F R, F 0
r r r ur r
.
R rng R
ur
v 3 F
r
l hai lc cn bng, vy ng tc dng R
ur

cng phi qua A. Nh vy ng tc dng ca c ba lc u ng quy
ti A.
Nu 1 2 F // F
r r
th 1 2 R F F +
ur r r
cng song song vi chng. Ta c:
( ) ( )
1 2 3 3 F , F , F 0 R, F 0
r r r ur r
hay 3 R // F
ur r
tc 1 2 3 F // F // F
r r r
. nh l c chng minh.
4. Tin 4 (tin tc dng v
phn tc dng).
Lc tc dng v lc phn tc dng gia hai vt
l hai lc c cng cng , hng ngc chiu
nhau v c cng cng .
Ch rng lc tc dng v lc phn tc
dng khng phi l hai lc cn bng v chng khng
cng tc dng ln mt vt.
Cc tin trc ch xt cc lc tc dng ln
mt vt nhng trong thc t ta thng phi gii quyt nhng bi ton cn bng ca nhiu
vt c lin quan vi nhau. Tin 4 cho ta c s chuyn t bi ton cn bng mt vt
sang bi ton cn bng ca nhiu vt.
5. Tin 5 (tin ha rn).
Khi vt bin dng cn bng th ha rn li n vn cn bng..
Tin ny coi mt vt rn bin dng ang cn bng l vt rn cn bng. V vy
nhng iu kin cn bng ca vt rn cng l nhng iu kin cn (nhng khng ) ca
vt rn bin dng cn bng.
Tin ny l c s gii quyt mt phn cc bi ton cn bng ca vt rn bin
dng cn bng.
IV. LIN KT - PHN LC LIN KT. NGUYN L GII PHNG LIN KT.
1. Vt t do v khng t do Lin kt.
a, Vt t do v vt khng t do:
Vt rn c th thc hin mi di chuyn v cng b t v tr ang xt sang nhng v
tr ln cn ca n c gi l vt rn t do.
Ngc li, nu mt s di chuyn no ca vt b cn tr bi nhng vt khc th
ta gi l vt khng t do hay l vt chu lin kt.
V d: Qu bng bay l lng trong khng gian c th coi l vt rn t do bi n c
th thc hin nhng di chuyn v cng b sang nhng v tr ln cn n. Quyn sch t
trn mt bn khng th chuyn ng xung pha di (ln vo mt bn) do theo phng
ny quyn sch b cn tr chuyn ng. Nh vy quyn sch l vt khng t do hay cn
gi l vt chu lin kt. C th y l chu lin kt vi mt bn.
b, Lin kt: Nhng iu kin cn tr di chuyn ca vt kho st c gi l nhng
lin kt t ln vt y.
Trong tnh hc ta ch kho st nhng lin kt hnh hc tc l nhng lin kt thc
hin bng s tip xc hnh hc gia vt th kho st v vt th khc.
Trong nhng bi ton c th, bao gi ta cng xt s cn bng ca nhng vt th
nht nh, gi l vt kho st. Cc vt khc c lin kt vi vt kho st gi l vt lin kt.
Tm li: vt kho st l vt nhn lin kt, vt gy lin kt gi l vt lin kt.
A B
F
ur

F
r

B A
F
r
F
ur

A
1 F
r

2 F
r

R
ur

3 F
r


6
2. Lc lin kt v lc hot ng Phn lc lin kt.
a, Lc lin kt v lc hot ng:
Nhng lc c trng cho tc dng tng h gia cc vt c lin kt vi nhau qua
ch tip xc hnh hc gi l lc lin kt.
Xt m hnh vt t trn mt bn. Vt c trng lng l P
ur
, nh vy cn bng th
mt bn phi tc dng ln vt mt lc N
ur
cn bng vi lc P
ur
. Ngc li vt cng tc dng
ln mt bn mt lc N
uur
. Theo nh ngha ta c nhng lc c trng cho tc dng tng h
ti ch tip xc hnh hc chnh l N
ur
v N
uur
. Do chng l nhng lc lin kt.
Lc N
ur
v N
uur
l cc lc tc dng v phn tc dng nn theo tin 4
chng c cng cng hng ngc chiu nhau v cng ng tc dng.
Lc hot ng l nhng lc tc dng ln vt kho st c th gy ra
chuyn ng nu khng c lin kt.
Nh vy ta thy nu b lin kt, tc b mt bn i th vt s chuyn ng
xung pha di di tc dng ca trng lc P
ur
, nh vy P
ur
chnh l lc hot
ng. Khi lc lc P
ur
cng ln th cc lc lin kt N
ur
v N
uur
cng ln theo tng
ng. Nh vy lc hot ng c tnh ch ng, lc lin kt c tnh th ng, c lc hot
ng th mi c lc lin kt.
b, Phn lc lin kt:
Lc lin kt do vt gy lin kt tc dng ln vt kho st gi l phn lc lin kt.
Trong m hnh trn vt gy lin kt l mt bn tc dng ln vt kho st lc N
ur
,
vy N
ur
l phn lc lin kt.
Lc lin kt do vt kho st tc dng ln vt gy lin kt gi l p lc. Trong v d
trn N
uur
chnh l p lc ca vt tc dng ln mt bn.
Tnh cht ca phn lc lin kt:
Phn lc lin kt bao gi cng t vo vt kho st, ti ch tip xc vi vt gy
lin kt.
Phn lc lin kt bao gi cng hng cng phng ngc chiu vi di chuyn ca
vt kho st b cn tr bi lin kt kho st .
Cng ca phn lc lin kt ph thuc vo lc hot ng v cc lc lin kt
khc v ta cn phi xc nh chng.
3. Cc loi lin kt thng gp.
a, Lin kt ta: Hai vt c lin kt ta khi chng ta trc tip ln nhau. Nu b mt
ta hon ton nhn th phn lc lin kt vung gc vi mt ta. Trng hp mt trong hai
mt tip xc l mt im th phn lc ta vung gc vi mt ta cn li.

Lin kt ta c th l ta theo mt, ta theo im hay ta theo ng. Hnh v trn
m t mt s lin kt ta hay gp trong thc t.
b, Lin kt dy mm, thng: Phn lc lin kt bao
gi cng t ti ch buc dy v hng vo dy. Phn lc
lin kt ny cn gi l sc cng dy v thng k hiu l T
ur
.
Trong trng hp dy vng qua vt th phn lc dy hng
dc dy v hng ra ngoi mt ct ca dy.
c, Lin kt bn l: Hai vt c lin kt bn l khi
N
ur

N
ur

1 N
ur

2 N
ur
N
ur
P
ur

N
ur

N
uur

T
ur
T
ur
T
ur

7
chng c trc (cht) chung. Trong trng hp ny hai vt ta vo nhau vi ng ta cha
xc nh.
Theo tnh cht ca lin kt ta phn lc ta c phng vung gc mt ta do
phn lc lin kt R
ur
trong trng hp ny i qua tm trc v c phng chiu cha xc
nh. Ta c th phn R
ur
thnh hai thnh phn vung gc vi nhau X R
ur
v Y R
ur
nm trong
mt phng vung gc vi ng trc tm bn l nh hnh v.

d, Lin kt gi: Lin kt gi c hai loi l lin kt gi c nh v lin kt gi di
ng. Lin kt gi di ng cn c gi l lin kt gi con ln.

Lin kt gi c nh: Phn lc c xc nh nh khp bn l.
Lin kt gi di ng: Phn lc c xc nh nh lin kt ta.
e, Lin kt gi cu: Lin kt gi cu bao gm hai phn, phn v cu bn ngoi ni
vi chn v phn qu cu bn trong ni vi vt kho st. Hai mt cu ny tip xc nhau
(ta ln nhau) ti mt im khng xc nh nhng phn lc lin kt lun i qua tm ca
phn v cu. thun tin ngi ta thng phn phn lc ny thnh ba thnh phn theo 3
trc ta nh hnh v. Mt trng hp t bit ca lin kt ny l lin kt ci vi phn v
cu suy bin thnh tr rng v khi cu thnh tr trn.

f, Lin kt ngm: Lin kt ngm l lin kt m vt kho st c ni cng vi vt
gy lin kt.
Ngm phng: Phn lc lin kt gm hai lc vung gc nhau v mt ngu lc
trong mt phng ca hai lc thnh phn.
Ngm khng gian: Phn lc gm 3 thnh phn lc vung gc nhau v ba ngu lc
nh hnh v.
O
R
ur
Y R
ur
X R
ur
Z R
ur
X
Y
Z
R
ur
Z
X
O
Z R
ur
X R
ur
Y R
ur
Y
Gi c nh
Gi di ng
Y R
ur

X R
ur

P
ur

N
ur

P
ur

X R
ur

Y R
ur

Z
M

Z R
ur

Y R
ur

X
M

X R
ur

Z
M

Y
M

P
ur


8
g, Lin kt thanh: Lin kt thanh l lin kt m vt kho st c ni vi vt gy
lin kt bng cc thanh tha mn cc iu kin sau:
Ch c lc tc dng hai u thanh, phn gia thanh khng c lc tc dng.
Trng lng thanh khng ng k so vi chiu di thanh (Thanh mnh).
Lin kt hai u thanh l lin kt bn l tr, bn l cu hoc lin kt ta.
4. Tin 6. (tin gii phng lin kt)
Vt khng t do (tc vt chu lin kt) cn bng c th c xem l vt t do cn
bng nu gii phng cc lin kt, thay th tc dng ca cc lin kt c gii phng bng
cc phn lc lin kt tng ng.
Nh tin gii phng lin kt, cc tin pht biu cho vt rn t do vn ng vi
vt rn chu lin kt.

9
CHNG 2: H LC NG QUY H NGU LC
I. H LC NG QUY.
1. Khi nim v h lc ng quy.
H lc ng quy l mt h lc m cc ng tc dng ca chng ng quy ti
mt im.
Theo h qu trt lc, bao gi ta cng c th trt cc lc cho theo ng tc
dng ca chng ti im ng quy ca cc ng tc dng.
2. Hp lc ca h lc ng quy.
a. nh l: H lc ng quy tng ng vi mt hp lc t ti im ng quy ca
chng. Vect biu din hp lc bng tng hnh hc ca cc vect biu din cc lc cho.
b.Chng minh: Gi s ta c h lc ng quy
( )
1 2 n F , F ,..., F
r r r
t ln vt rn ti im O.
Theo tin 3 ta c: 1 2 1 F + F R
ur ur ur
t ti O, hp 1 R
ur
v 3 F
ur
ta c
2 1 3 1 2 3 R R + F F F F + +
ur ur ur ur ur ur
t ti O. Tip tc nh vy ta c:
( ) 1 2 n ... n-2 n R R + F =F F F + + +
ur ur ur ur ur ur

3. Phng php xc nh hp lc ca h lc ng quy.
a. Phng php v: Ly mt im A chn tu lm cc, v cc vect A
1
A
uuuur
= 1 F
ur
,
1
A A
2
uuuuur
= 2 F
ur
,,
n 1 n
A A

uuuuuuur
= n F
ur
nh hnh v. Ta c:
n
AA
uuuur
= A
1
A
uuuur
+
1
A A
2
uuuuur
++
n 1 n
A A

uuuuuuur
= 1 2 n ... F F F + + +
ur ur ur
=
R
uur

Vy R
uur
= 1 2 n ... F F F + + +
ur ur ur
(2.1)

n
A, A
uuuuuur
=
n
k
k 1
F

ur
c gi l vect chnh ca h
lc cho, k hiu l R
uur
. Nh vy vect biu din
hp lc ca h lc ng quy bng vect chnh ca h lc y.
S khc nhau gia vect chnh R
uur
v hp lc R
ur
.
- Vect R
ur
biu din hp lc ca h lc ng quy nn l vect trt v i qua im
ng quy ca h lc cho.
- Vect R
uur
l tng hnh hc ca cc vect biu din cc lc cho nn l vect v
v u cng c.
b. Phng php chiu (gii tch): Gi cc hnh chiu ca lc bt k
k
F
uur
thuc h lc
cho l
kx
F ,
ky
F ,
kz
F hoc l X
k
,Y
k
,Z
k
. Hnh chiu vect R
ur
ln cc trc to s ln lt
bng tng i s ca cc hnh chiu y.
1 F
r

2 F
r
3 F
r

i F
r

n F
r

i F
r

2 F
r
3 F
r

n F
r

Trt lc
A
A
1
A
2
A
n
R
uur

A
3

10
n n
x x 1x 2x nx kx k
K 1 K 1
n n
y y 1y 2y ny ky k
K 1 K 1
n n
z z 1z 2z nz kz k
K 1 K 1
R R F F F F X
R R F F F F Y
R R F F F F Z

+ + +

+ + +
'

+ + +

L
L
L
(2.2)
Cng v hng ca R
ur
c xc nh nh sau:
2 2 2
x y z
y
x z
R R R R
R
R R
Cos , Cos , Cos
R R R

+ +

'

(2.3)
(, , l gc hp bi R
ur
vi Ox, Oy, Oz.)
II.H NGU LC.
1. Khi nim v ngu lc.
a. nh ngha: Ngu lc l mt h lc gm
hai lc song song ngc chiu v cng cng ,
k hiu
( )

ur uur
F, F , gi tt l ngu.
b. Cc c trng ca ngu lc: Ngu lc
c 3 c trng c bn nh sau:
- Mt phng tc dng: l mt phng cha
hai lc thnh phn .
- Chiu quay ca ngu lc trong mt phng.
- Cng tc dng ca ngu lc: bng tch s F d . Trong F l gi tr lc
thnh phn, d l khong cch hai ng tc dng.
c. Vect mmen ca ngu lc: biu din cc c trng ca ngu lc, ngi ta
dng vect mmen ngu lc, k hiu m
uur
c:
- Gc nm tu trong mt phng tc dng ca ngu lc.
- Phng vung gc vi mt phng tc dng.
- Chiu sao cho khi nhn t u mt ca vect xung mt phng tc dng th thy
chiu quay ca ngu lc ngc chiu quay kim ng h.
- ln bng tch F d .
2. Cc nh l v bin i tng ng ngu lc.
a. nh l 1-nh l v hai ngu lc tng ng: Hai ngu lc cng nm trong
mt phng c cng chiu quay v cng gi tr mmen th tng ng nhau.

h

2 F
ur
1 F
ur
F
ur
B
A 2 F
r
F
r
1 F
r d

ur

uur
F
r
F
ur
P
ur
P
uur

ur

uur
R
ur
R
ur
Trng hp a
Trng hp b
m
uur

F
r

F
ur

d

11
Chng minh: Gi s hai ngu lc
( )
F, F
ur uur
v
( )
,
ur uur
cng nm trong mt mt
phng, c cng chiu quay v c cng gi tr mmen F.d = .h nh hnh v.
- Trng hp a: xt trng hp F
ur
khng //
ur
. ng tc dng ca F
ur
v
ur
ct
nhau ti A, ca F
uur
v
uur
ct nhau ti B.
Trt F
ur
v F
uur
v cc giao im A, B nh hnh v. Theo tin 3, bin i F
ur
, F
uur

thnh hai thnh phn 1 F
ur
, 2 F
ur
v 1 F
uur
, 2 F
uur
theo hai phng.
Ta c:
( ) ( )
1 2 1 2 F F , F , F F , F
ur ur ur uur uur uur

( ) ( ) ( ) ( )
1 2 1 2 1 1 2 2 F, F F , F , F , F F , F va F , F
ur uur ur ur uur uur ur uur ur uur
.
R rng
( )
1 1 F , F 0
ur uur

( ) ( )
2 2 F, F F , F
ur uur ur uur

2
F.d F .h
Theo gi thit F.d .h
2
F = , ta d thy 2 F
ur
v
ur
, 2 F
uur
v
uur
cng ng tc
dng v cng chiu
( ) ( ) ( )
2 2 F , F , F, F
ur uur ur uur ur uur

- Trng hp b:
ur
F //
ur
: Bin i (
( ) ( )
F, F P, P
ur uur ur uur
vi P
ur
khng // F
ur
ri tr v
trng hp u.
b. nh l 2- nh l v di ngu lc theo mt phng song song: Tc dng ca ngu lc
khng thay i khi di ngu lc n nhng mt phng song song.
Chng minh: Gi s ngu lc
( )
F, F
ur uur
mt phng . Ta ly mt phng
1
song song
vi mt phng . Trn mt phng
1
chn A
1
, B
1
sao cho
1 1
A B
uuuuur
= AB
uuur
ABB
1
A
1
l hnh
bnh hnh.
Gi I l giao im ca AB
1
v A
1
B. Ti I ta t thm hai lc cn bng
ur
v
uur
sao
cho
ur
= F
ur

( )
F, F
ur uur

( ) ( ) ( )
F, F , , F, va F ,
ur uur ur uur ur uur uur ur
.
p dng nh l 1 ta c:

( ) ( )
1 F, , F
ur uur uur
vi 1 F
uur
=
uur
= F
uur
t ti B
1
.

( ) ( )
1 F , , F
uur ur uur ur
vi 1 F
ur
=
ur
= F
ur
t ti A
1
.

( )
F, F
ur uur

( )
1 , F
uur
v
( )
1 , F
uur ur

( )
1 1 , , F , F
uur ur uur

Ta c:
( )
, 0
uur

( )
F, F
ur uur

( )
1 1 F , F
ur uur

Nh vy ngu lc
( )
1 1 F , F
ur uur
chnh l ngu lc
( )
F, F
ur uur
di n mt phng
1
.
Nhn xt:
- Vect mmen ca ngu lc m
uur
l vect t do (c im t t do).
- Tc dng ca ngu lc khng thay i khi:
Di tu ngu lc trong mt phng tc dng ca n.
Di n cc mt song song.
Thay i cnh tay n hoc thay i gi tr ca lc thnh phn m khng
lm thay i gi tr ca mmen ngu lc.

B

A

A
1
B
1 I

F
ur

F
r
1 F
r

1 F
ur

ur


uur


12
c. nh l 3- nh l v hp ngu lc.
- nh l v hp hai ngu lc: Hp hai ngu lc c mt ngu lc c vect mmen
bng tng cc vect mmen ca hai ngu lc cho.
Chng minh: Gi s c hai ngu lc nm
trong hai mt phng
1
v
2
giao nhau theo giao
tuyn AB. Ta c th bin i hai ngu lc trn thnh
hai ngu lc
( )
F, F
ur uur
v
( )
P, P
ur uur
nh hnh v c vect
mmen tng ng 1 m
uur
, 2 m
uur
.
R rng F
ur
v F
uur
, P
ur
v P
uur
i xng qua tm
I (trung im AB).
Theo tin 3 ta c:
( )
F, P
ur ur

ur
v
( )
F , P
uur uur

uur


( )
F, F , P, P
ur uur ur uur

( )
,
ur uur
.
Do tnh cht i xng nn
( )
,
ur uur
cng l mt ngu lc.Ta c:
1 m
uur
=BA F
uuur ur
, 2 m
uur
=BA P
uuur ur

1 m
uur
+ 2 m
uur
= BA F
uuur ur
+BA P
uuur ur
= BA (F P) +
uuur ur ur
=BA
uuur ur
= m
uur
.
Vi m
uur
l vect mmen ngu lc
( )
,
ur uur
.
- nh l v hp h ngu lc: Hp h ngu lc c mt ngu lc c vect
mmen bng tng cc vect mmen ca cc ngu lc cho.
n
i
i 1
m m

uur uur
(2.4)
Chng minh: Gi s ta c h ngu lc nh sau:
( ) ( ) ( )
1 1 2 2 n n F , F , F , F ,..., F , F
ur uur ur uur ur uur
. Cc
h ngu lc ny c cc vect mmen ngu lc tng ng l 1 2 n m , m ,..., m
uur uur uur

Theo nh l 3 ta c:

( ) ( ) ( )
1 1 2 2 1 1 F , F va F , F R , R
ur uur ur uur ur uur

1 2 1 m m m +
uur uur uur
.

( ) ( ) ( )
1 1 3 3 2 2 R , R va F , F R , R
ur uur ur uur ur uur

1 3 2 m m m +
uur uur uur

( ) ( ) ( ) ( ) ( )
n 2 n 2 n n R , R va F , F F, F

ur uur ur uur ur ur


( ) n 2 n m m m
+
uur uur uur



( ) ( ) ( ) ( )
1 1 2 2 n n F , F + F , F F , F F, F + +
ur uur ur uur ur uur ur uur
L
1 2 n m m m m + + +
uur uur uur uur
L
H qu: Khi cc ngu lc c cng chung mt phng tc dng th:
n
i
i 1
m m

(2.5)
Nh vy h ngu lc phng tng ng vi mt ngu lc tng hp c mmen i
s bng tng i s ca nhng mmen ngu lc cho.

1
B
A
P
ur

F
r

ur

P
uur

F
ur

uur

I
1 m
uur

2 m
uur

m
uur


13
CHNG 3: H LC KHNG GIAN
I. VECT CHNH V MMEN CHNH CA H LC KHNG GIAN.
1. Vect chnh ca h lc khng gian.
a. nh ngha: Vect chnh ca h lc khng gian, k hiu
uur
R , l tng hnh hc ca
cc vect biu din cc lc ca h lc.
R
uur
= 1 2 n F F F + + +
r r r
L =
n
k
k 1
F

r
(3.1)
b. Phng php xc nh:
- Phng php v: Ly im O bt k trong khng gian, ln lt v cc vect
1
1
OA F
uuuur r
, 2
1 2
A A F
uuuuur r
, ,
( )
n
n 1
A A F

uuuuuuur r
=
n
F
uur
.
ng gy khc
( ) 1 2 n n-1
OA A ...A A gi l a gic lc. Vect
n
OA
uuuur
=R
uur
gi l vect
khp kn ca a gic lc.
- Phng php gii tch (chiu):
n
x 1x 2x nx kx
k 1
n
y 1y 2y ny ky
k 1
n
z 1z 2z nz kz
k 1
R F F F F
R F F F F
R F F F F

+ + +

+ + +
'

+ + +

L
L
L
(3.2)
2 2 2
x y z
y
x z
R R R R
R
R R
Cos ; Cos ; Cos
R R R

+ +

'





(3.3)
(3.4)

Vi ,, l cc gc hp bi R
uur
v cc trc Ox, Oy, Oz.
2. Mmen chnh ca h lc khng gian.
a. nh ngha: Mmen chnh ca h lc khng gian i vi tm O, k hiu
uur
O
M , l
mt vect bng tng hnh hc cc vect mmen cc lc thuc h lc i vi tm O.
( ) ( )
n n
O
O k k
k
k 1 k 1
M m F r F



uur uur r r
r
(3.5)
b. Phng php xc nh:
- Phng php v: Ly im O bt k trong khng gian, ln lt v cc vect :

1
OA
uuuur
= O1 m
uur
=
( )
O 1 m F
uur r
,
1 2
A A
uuuuur
= O2 m
uur
=
( )
O 2 m F
uur r
, ,
n 1 n
A A

uuuuuuur
= On m
uur
=
( )
O n m F
uur r

a gic
( ) 1 2 n n-1
OA A ...A A gi l a gic vect mmen
n
OA
uuuur
=
O
M
uur
gi l vect khp
kn ca a gic.
- Phng php chiu:

14
( ) ( ) ( )
( ) ( )
( )
( ) ( ) ( )
n n n
Ox
Ox k x k
k kz k ky
k 1 k 1 k 1
n n n
Oy
Oy k y k
k kx k kz
k 1 k 1 k 1
n n n
Oz
Oz k z k
k ky k kx
k 1 k 1 k 1
M m F m F y F z F
M m F m F z F x F
M m F m F x F y F

'

r r
r r
r r
(3.6)
Trong :
k k k
x , y , z l to ca im t lc k F
ur
.
kx ky kz
F , F , F l hnh chiu ca k F
ur

trn cc trc Ox, Oy, Oz.
( ) ( ) ( )
2 2 2
O
O O O
M = M M M
M M M
C ; C ; C
M M M

+ +

'

Ox Oy Oz
Ox Oy Oz
(3.7)
os = os = os = (3.8)

c. nh l bin thin mmen chnh:
nh l: Bin thin mmen chnh ca h lc khi tm ly mmen thay i t O n O
bng mmen ca vect chnh t ti O ly i vi im O.
( )
O O
O O M M m R

uur uur uur uur
(3.9)
Chng minh:
Ta c:
( ) ( )
n n
O
O k k
k
k 1 k 1
M m F r F

uur uur r r
r


( ) ( )
n n
O
O k k
k
k 1 k 1
M m F r F



uur uur r r
r


O
M

uur
-
O
M
uur
=
( )
n
k
k
k 1
r F

ur
r
-
( )
n
k
k
k 1
r F

ur
r
= ( )
n
k
k k
k 1
r r F

1
]

r
r r

Ta c
k k
r r OO
uuuur
r r
nn:
O
M

uur
-
O
M
uur
=
( )
n
k
k 1
OO F

uuuur r
=
( )
n
k
k 1
OO F

uuuur r
= O OO R
uuuur uur
=
( )
O O m R
uur uur

Nhn xt:
Trng hp h lc ng quy ti O ta c:
O
M 0
uur

( )
O
O M = m R

uur uur uur
(3.10)
Trng hp h lc phng:
( )
n
O
O k
k 1
M m F

r
(3.11)
II.THU GN H LC KHNG GIAN.
1. nh l di lc song song.
nh l: Lc
ur
F t ti A tng ng vi lc
uur
F song song, cng chiu, cng cng
vi lc
ur
F nhng t ti O v mt ngu lc c mmen bng mmen ca lc
ur
F ly i vi
im O.
Chng minh:
O
O
k
r
r

k
r
r

k F
r

Z
Y
X

15
t ti O hai lc F
uur
v F
uur
vi
( )
F , F 0
uur uur
v F
ur
=F
uur


( )
F
ur

( )
F, F , F
ur uur uur
F
uur
v
( )
F, F
ur uur


( )
F
ur
F
uur
v
( )
O m F
uur ur
.
Nhn xt:
Nhn thy M
uur
=
( )
O m F F
uur r r
.
H lc gm mt lc F
uur
v mt vect mmen
M
uur
vung gc vi F
uur
s tng ng vi mt lc F
ur

cch F
uur
mt on
M
d
F
. im t ca lc F
ur
ph thuc vo chiu ca M
uur
.
2. Thu gn h lc khng gian v tm.
nh l: H lc khng gian bt k tng ng vi mt lc v mt ngu lc t ti
mt im tu , chng c gi l lc thu gn v ngu lc thu gn. Lc thu gn c biu
din bng vect chnh ca h lc t ti tm thu gn, cn ngu lc thu gn c vect
mmen bng mmen chnh ca h lc i vi tm thu gn.
Chng minh:
Ln lt di cc lc 1 2 n F , F ,..., F
r r r
v tm tm thu gn (gi s l O).
( )
( )
( )
1 1 1 O 1
2 2 2 O 2
n n n O n
F F va m m F
F F va m m F
........................................ ..
F F va m m F

'

ur uur uur uur ur

ur uur uur uur ur
ur uur uur uur ur

Cng tng v ta c:
( ) ( ) ( )
1 2 n 1 2 n 1 2 n , ,..., , ,..., m , m ,..., m F F F F F F va
ur ur ur uur uur uur uur uur uur

V
( )
1 2 n , ,..., F F F
uur uur uur
l h lc ng quy ti O nn:
( )
1 2 n , ,..., F F F
uur uur uur
O R
uur
=
n
k
k 1
F

ur
=
n
k
k 1
F

r
=R
uur
.
V
( )
1 2 n m , m ,..., m
uur uur uur
=
O
M
uur
=
( )
n
O k
k 1
m F

uur r

Vy khi thu gn h lc khng gian v O ta c:
( )
n
O k
k 1
n
O
O k
k 1
R F R
M m F

'

uur r uur
uur uur r
(3.12)
3. Cc bt bin ca h lc khng gian.
T (3.12). Ta c: O R R Const
ur uur
(3.13)
y l bt bin th nht ca h lc khng gian. Mt khc theo nh l bin thin
mmen chnh khi thay i tm thu gn ta c:
( )
O O
O O M M m R

uur uur uur uur
, nhn hai v vi O R
ur
ta
c:
O
M

uur
. O R
ur

O
M
uur
. O R
ur
=
( )
O O m R
uur uur
.
O
R
uuur
. M
( )
O O m R
uur uur
O R
ur

( )
O O m R
uur uur
. O R
ur
= 0
nn:
Thay vo ta c
O
M

uur
. O R
ur

O
M
uur
. O R
ur
= 0 hay
O
M

uur
. O R
ur
=
O
M
uur
. O R
ur
= const. (3.14)
O
A
( )
O m F
uur r

F
r

F
ur

F
uur


16
y l bt bin th hai ca h lc khng gian: Tch v hng ca mmen thu gn v
lc thu gn ca h lc khng gian l mt hng s. Hay Hnh chiu ca mmen thu gn
ln lc thu gn l mt hng s
* Cc trng hp xy ra:
1. O R
uur
= 0,
O
M
uur
= 0 h lc khng gian cn
bng
2. O R
uur
= 0,
O
M
uur
0 h lc khng gian
tng ng vi mt ngu lc ti O.
3. O R
uur
0,
O
M
uur
= 0 h lc khng gian
tng ng vi mt hp lc t ti O.
4. O R
uur
0,
O
M
uur
0
a) O R
uur

O
M
uur
H lc khng gian tng
ng vi mt hp lc R
ur
bng vect chnh R
uur
v
cch O mt on
O
O
M
d
R

.
b) O R
uur
//
O
M
uur
:
O R
uur

O
M
uur
H lc khng gian
tng ng vi h xon thun.
O R
uur

O
M
uur
H lc khng gian
tng ng vi h xon ngc.
c)
( )
O
O R , M
uur uur
=
2

H lc khng gian tng ng mt h xon nhng

trc xon khng i qua tm thu gn.
Chng minh:
Phn tch
O O O
1 2 M M M +
uur uur uur

( )
O
O R , M
uur uur

( )
O O
O 2 1 R , M va M
uur uur uur

Theo trng hp u tin ta
c:
( )
O
O 2 R , M
uur uur
O1 R
uur
vi O1 R
uur
c im
t cch O mt on
O
2 M
d
R

uur
.
Vy
( )
O
O R , M
uur uur

( )
O
1 O1 M , R
uur uur
.
R rng y l mt h xon v
trc xon khng i qua tm thu gn O m i qua O
1
cch O mt khong d.
III. CC KT QU KHI THU GN H LC KHNG GIAN V TM THU GN
(CC DNG TI GIN CA H LC KHNG GIAN)
1. nh l Varinhng.
Nu h lc khng gian c hp lc th mmen ca hp lc i vi mt tm bt k
bng tng mmen ca cc lc thnh phn i vi tm y.
Trng hp a
O
M M
uur uur

O R R
ur ur

O
R
ur

Trng hp b
O
M M
uur uur

O
O R R
ur ur

O
M M
uur uur

O R R
ur ur

O
H xon
thun
H xon
ngc
O R R
uur ur

O
O
M
uur

O
1 M
uur

O
2 M
uur

O
d
O
1 M
uur

O1 R R
uur ur

O
1

17
( ) ( )
n
O O k
k 1
m R m F

uur ur uur r
. (3.15)
Chng minh: Gi s h lc khng gian c hp lc R
ur
. Gi O
1

l im nm trn ng tc dng ca R
ur
. Theo nh l bin thin
mmen chnh ta c:
( )
O O1
O O1 M M m R
uur uur uur uur
.
D dng thy
O
M
uur
= 0 nn
O
M
uur
=
( )
O O1 m R
uur uur
. Mc khc O1 R
uur
=
R
ur

O
M
uur
=
( )
O O1 m R
uur uur
=
( )
n
O k
k 1
m F

uur r
. (PCM)
2. Cc dng chun ca h lc khng gian.
1. R
uur
= 0,
O
M
uur
= 0: H lc khng gian cn bng
2. R
uur
= 0,
O
M
uur
0: H lc khng gian tng ng vi mt ngu lc (khng ph
thuc vo tm thu gn).
3. R
uur
0,
O
M
uur
= 0: H lc khng gian tng ng vi mt hp lc.
4.
O
R
uuur
0,
O
M
uur
0
a)
O
R
uuur

O
M
uur
: H lc khng gian tng ng vi mt hp lc R
ur
bng vect
chnh R
uur
v cch O mt on
O
O
M
d
R

b)
O
R
uuur
//
O
M
uur
: H lc khng gian tng ng vi mt h xon.
c) (
O
R
uuur
,
O
M
uur
) =
2

: H lc khng gian tng ng mt h xon nhng trc

xon khng i qua tm thu gn.
IV. CC DNG TI GIN CA CC H LC C BIT.
1. H lc ng quy.
V
( )
n
O
O k
k 1
M m F

uur uur r
=0
R 0
R 0

uur
uur
He l c o ng quy ca n ba ng
He l c o ng quy co h p l c

2. H ngu lc.
V
n
k
k 1
R F 0

uur r
nn
O
O
M 0
M 0

uur
uur

He nga u l c ca n ba ng
He nga u l c tng ng v i mo t nga u l c.

3. H lc song song.
V
n
k
k
k 1
F R // F

uur uur r

( )
n
O
O k
k 1
M m F R

uur uur r uur

.

( )
O
O
O
O O
M 0, R 0
M 0, R 0
M 0, R 0
M 0, R 0; M R

uur uur
uur uur
uur uur
uur uur uur uur

He ca n ba ng
He co nga u l c
He co h p l c
He co h p l c kho ng i qua ta m thu go n

O
M M
uur uur

R
ur

O
1
O

O1 R
uur


18
* Nu h lc song song cng chiu th:
n
k
k 1
R F 0

uur r
H c hp lc
4. H lc phng.
Ly tm thu gn O trong mt phng tc dng ca h lc th
( )
O k m F
uur ur
k F
ur

O
M
uur
R
uur
.

( )
O
O
O
O O
M 0, R 0
M 0, R 0
M 0, R 0
M 0, R 0, M R

uur uur
uur uur
uur uur
uur uur uur uur

He ca n ba ng
He co nga u l c
He co h p l c
He co h p l c kho ng i qua ta m thu go n

5. H lc phn b.
Xt mt dm thng chu tc dng ca h
lc song song phn b theo quy lut:
( )
x 0
q
q x lim
x

( ) q x :c gi l cng ca phn b
lc trn dm theo chiu di.
Ta ch xt hm ( ) q q x n tr. Chia
nh dm thnh n on. Xt on dm
k
x . H
lc phn b trn
k
x c xem nh khng i
v tng ng vi lc.
k k
F = q(x ) . x
ur
vi
( ) k k k 1
x x x
+
< < .
Vect chnh ca h lc song song cng chiu k F
ur
c gi tr:
R = ( )
n
k k
k 1
q x . x

. Cho n ta c: R = ( )
n
k k
n
k 1
lim q x . x

.
Hay ( )
l
0
R q x .dx

= Din tch ca biu lc phn b. (3.16)

Mmen chnh ca h lc i vi im O (u mt ca dm) s l:
( )
n
O
k k k
n
k 1
M lim q x . x .x

= ( )
l
0
.x.dx q x

(3.17)
Vy h lc tng ng vi hp lc R
uur
cch O mt on:
( )
( )
l
O
0
l
0
.x.dx
M
d
R
.dx
q x
q x

(3.18)
* Cc trng hp c bit ca h lc
phn b:
a. Cng lc phn b u: [q(x) = q
0
]


l
0
0
.dx q .l
0
R q

;
( ) k
K k
F q x . x
r

x
l
k
x
k
x
o
q
l

19
l
2
0
0
l
0
0
l
.x.dx
q
l
2
d
q .l 2
.dx
0
0
q
q

Vy hp lc t ra ti im gia ca dm, c tr s bng din tch ca hnh ch nht phn
b lc.
b. Cng lc phn b tuyn tnh: ( )
0
x
q x q
l
1

1
]

l
0 0
0
x l
q .dx q .
l 2
R

;
l
3
0
0
0
l 2
0
0
0
x
q l
q .x.dx
l 2
l 3
d l
q l 3 x
q .dx
l 2 l

Vy h lc phn b tam gic c hp lc bng
0
l
q .
2
R (Din tch ca tam gic phn b lc), v cch nh ca tam gic phn b lc mt
on bng
2
d l
3
(qua trng tm ca tam gic).
V. KCB V CC PHNG TRNH CB CA H LC KHNG GIAN.
1. iu kin cn bng ca h lc khng gian.
nh l: iu kin cn v cho mt h lc bt k cn bng l vect chnh v
mmen chnh i vi tm bt k ca h lc y u trit tiu
( )
( )
n
k
k 1
1 2 n
n
O
O k
k 1
R F 0
, ,..., 0
M m F 0
F F F

'

uur r
ur ur ur
uur uur r
(3.19)
2. Cc phng trnh cn bng ca h lc khng gian.
Chiu h (3.19) ln 3 trc to ta c:
( ) ( ) ( )
n n n
kx ky kz
k 1 k 1 k 1
n n n
x k y k z k
k 1 k 1 k 1
F 0; F 0; F 0
m F 0; m F 0; m F 0

'

r r r
r r r
(3.20)
VI. KCB V CC PT CN BNG CA CC H LC T BIT.
1. H lc ng quy. iu kin cn v h lc ng quy cn bng l vect
chnh ca h lc trit tiu.
n
k
k 1
R F 0

uur r
(3.21)
n n n
kx ky kz
k 1 k 1 k 1
F 0; F 0; F 0



(3.22)
i vi h lc phng ng quy th s phng trnh cn li 2
2. H ngu lc. iu kin cn v h ngu lc
( )
1 2 n m , m ,..., m
uur uur uur
cn bng l
ngu lc tng cng ca n trit tiu.
l
0
q


20
n
k
k 1
M m

uur uur

( ) ( ) ( )
n n n
x k y k z k
k 1 k 1 k 1
m F 0; m F 0; m F 0



r r r
(3.23)
i vi h ngu lc phng s phng trnh cn bng cn 1.
3. H lc song song. iu kin cn v h lc song song cn bng l
tng hnh chiu ca chng trn trc z song song vi cc lc thnh phn v tng mmen
ca chng i vi hai trc vung gc vi nhau x,y (v vung gc vi trc z) trit tiu.
( ) ( )
n n n
x k y k
kz
k 1 k 1 k 1
F 0; m F 0; m F 0



r r
. (3.24)
i vi h lc song song phng, s phng trnh cn bng cn hai.
4. H lc phng.
a. Dng 1: iu kin cn v h lc phng cn bng l tng hnh chiu ca cc
lc trn hai trc to vung gc v tng mmen ca cc lc i vi im O bt k trn
mt phng tc dng ca h lc trit tiu.
( )
n n n
kx ky O k
k 1 k 1 k 1
F 0; F 0; m F 0



r
(3.25)
Chng minh: Chn h trc Oxyz c Oz vung gc vi mt phng tc dng lc. Cc
phng trnh
( ) ( )
n n n
x k y k
kz
k 1 k 1 k 1
F 0; m F 0; m F 0



r r
t tha mn. Nh vy iu kin cn
bng ch cn ba phng trnh trn.
b. Dng 2: iu kin cn v h lc phng cn bng l tng mmen ca cc lc
i vi hai im A,B v tng hnh chiu ca cc lc trn trc khng vung gc vi on
AB trit tiu.
( ) ( )
n n n
A k B k
kx
k 1 k 1 k 1
m F 0; m F 0; F 0



r r
. Vi Ox khng AB (3.26)
Chng minh:
* iu kin cn: Da vo cc dng chun ca h lc khng gian, nu cc iu kin trn
khng tha mn th h lc tng ng vi h ngu lc hoc c hp lc nn khng tha
tin 1, ngha l h lc khng cn bng.
* iu kin :
n
kx
k 1
R 0
F 0
R 0 R Ox

uur
uur uur
Gi s R 0
uur
v R Ox
uur
. V Ox khng AB nn R
uur
khng // AB.
Mt khc R
uur
0,
( ) ( )
n n
A k B k
k 1 k 1
m F 0; m F 0



r r
nn theo nh l bin thin mmen
chnh ta c:
( )
A B
A B M M m R 0
uur
R
uur
phi c ng tc dng qua A,B.
Mu thun vi R
uur
khng // AB R
uur
= 0.
T cc iu kin R
uur
=0,
A B O
M = M = M = 0
uur uur uur
(im O bt k thuc mt phng tc
dng ca lc) H lc phng cn bng
c. Dng 3: iu kin cn v h lc phng cn bng l tng cc mmen ca cc
lc i vi 3 im A, B, C khng thng hng trit tiu.
( ) ( ) ( )
n n n
A k B k C k
k 1 k 1 k 1
m F 0; m F 0; m F 0



r r r
(3.27)
Chng minh: Ta c:
( ) ( )
n n
A B
A k B k
k=1 k=1
M = m F = 0; M = m F = 0

r r
theo (3.9) ta c:

21
( )
A B
A B M M m R
uur
=0
R 0
R 0 R ng ta c du ng qua A,B

uur
uur uur
Tng t :
( )
B C
B C M M m R
uur
= 0
R 0
R 0 R ng ta c du ng qua B,C

uur
uur uur
Nu R
uur
0 v R
uur
i qua A, B, C iu v l bi A, B, C khng thng hng.
Nu R
uur
= 0
( )
O A
O A M M m R 0
uur

O
M =
A
M =
B
M =
C
M = 0, vi O bt k.
H lc phng cn bng.
VII. PHNG PHP GII BI TON TNH. CC BI TON C BIT. BI TON
SIU TNH.
1. Phng php gii bi ton tnh.
a. Phng php gii bi ton tnh:
- t cc lc hot ng vo vt kho st.
- Gii phng cc lin kt v thay vo cc phn lc lin kt tng ng, vi chiu tu
chn trc.
- Xc nh loi h lc tc dng ln vt kho st.
- Vit h phng trnh cn bng tng ng vi loi h lc.
- Gii h phng trnh.
- i li chiu ca cc phn lc lin kt nu chng c gi tr m Bin lun.
b. Bi ton h vt. iu kin cn bng. Phng php tch vt v ha rn:
1. Ngoi lc v ni lc:
- Ngoi lc, k hiu l
e
F
r
l cc lc do cc vt khng thuc h tc dng ln cc
vt thuc h.
- Ni lc, k hiu l
i
F
r
, l cc lc tc dng tng h gia cc vt thuc h m
trng hp ring l nhng lc lin kt ca cc lin kt trong, tc l nhng lin kt gia cc
vt thuc h.
Theo tin tc dng v phn tc dng ta c:
n
i i
k
k 1
R F 0

uur r
;
n
i i
k
k 1
M M 0

uur uur

2. Phng php tch vt:
Kho st h vt rn gm n vt rn nm cn bng di tc dng ca h ngoi lc
e
k F
r

( k 1 n ). V h vt rn cn bng nn tng vt rn phi cn bng. p dng tin gii
phng lin kt ta lp c iu kin cn bng cho cc h lc tc dng ln tng vt.
Gi
1
S : l h lc tc dng ln vt 1

2
S : l h lc tc dng ln vt 2

k
S : l h lc tc dng ln vt k ( k 1 n )
( )
k
R S 0
uur
; ( )
O
k
M S 0
uur
( k 1 n ) (3.28)
Nh vy ta c 6n phng trnh cn bng. Gii h 6n phng trnh ny ta s tm c
cc phn lc lin kt.
3. Phng php ho rn:
p dng tin ho rn, coi h nh mt vt rn nm cn bng di h lc (S). Suy ra
(S) l h ngoi lc. Khi tt c cc ni lc trong h lc trit tiu nhau.

22
( ) R S 0
uur
; ( )
O
M S 0
uur
(3.29)
gii c bi ton cn phi tch thm mt s vt ring thch hp ri vit phng
trnh cho cc vt ny sao cho s n bng s phng trnh.
* Nhn xt: Phng php ho rn ch l trng hp ring ca phng php tch vt.
Th d: Hai thanh ng cht AC = 2m, DB=1m, c trng lng tng ng P
1
v P
2
ni
vi nhau bng bn l nh hnh v. Ti C treo mt vt nng c trng lng P. Tm cc phn
lc lin kt ti A,D v lc lin kt ti B.
P = 50 N, P
1
=10 N, P
2
=5
N, a=1m.
Bi gii:
1) Phng php tch
vt:
Gi s cc lc hot ng
P
ur
, 1 P
ur
, 2 P
ur
(ngoi lc) v cc
lc lin kt c chiu nh hnh
v. Xt thanh AC. Lc tc
dng ln thanh AC gm:
+ Ngoi lc: P
ur
, 1 P
ur
,
A X
ur
, A Y
ur

+ Ni lc: B X
uur
, B Y
uur

V thanh OA cn bng
nn:

( )
1 A A B B P,P , X , Y , X , Y 0
ur ur ur ur uur uur

y l h lc phng cn
bng nn ta c:
A B
A B 1
B A
X X X 0
Y Y Y P P 0
M P Y a 0

'

a

(a)
Lc tc dng ln thanh DB gm:
+ Ngoi lc: 2 D D P , X , Y
ur ur ur

+ Ni lc: B B X , Y
ur ur

V thanh DB cn bng nn:

( )
2 D D B B P , X , Y , X , Y 0
ur ur ur ur ur

y l h lc phng cn bng nn ta c:
D B
D 2 B
B 2 D D
X X X 0
Y Y P Y 0
M P 0, 5a Y a X a 0
+

+
'

(b)
T (a) v (b) ta c 6 phng trnh vi 8 n l: X
A,
Y
A
, X
B,
Y
B
, X
B,
Y
B
, X
D,
Y
D.

Ta c X
B
= X
B
, Y
B
= Y
B
nn h phng trnh cn li 6 n.
a

A
D
a a
2 P
ur

1 P
ur

P
ur

C
B
D
D X
ur

D Y
ur

A Y
ur

A X
ur

A
2 P
ur

B
B Y
ur

B X
ur

B X
uur

B Y
uur

1 P
ur

C
P
ur


23
( )
( )
a
b

'

A B
A B 1 B
A
D B
D 2 B B
D 2 D
X X
Y Y P P Y 10 50
Y P 50
X X
Y P Y 5 Y
Y 0, 5P X

+ + + +

'

A
A
B B
B
D
D
X 112, 5N
Y 50N
X 112, 5N X
Y 110N
X 112, 5N
Y 115N

'

2) Phng php ho rn:
Xem h nh l mt vt rn chu tc dng ca h lc sau
( )
1 2 A A D D P, P , P , X , Y , X , Y
ur ur ur ur ur ur ur
.
V h cn bng nn:
( )
1 2 A A D D P, P , P , X , Y , X , Y 0
ur ur ur ur ur ur ur

y l h lc phng cn bng nn ta c:
D A
A D 1 2
A 1 2 D
X X X 0
Y Y Y P P P 0
M P 2a P a P 0, 5a X a 0
+

+
'

+ + +

X
D
= -112,5 N; X
A
= 112,5 N.
tm Y
D
ta xt thanh DB v vit phng
trnh mmen vi im B. Ta c

B D D 2
M X a Y a P .0, 5a 0 +

D 2 D
Y 0, 5.P X =2,5-(-112,5)=115 N.
Thay vo (2) ta c: Y
A
=50+10+5-115=-50
N.
Mun bit X
B
,Y
B
ta tch thanh DB v vit cc phng trnh cn bng i vi thanh ny
ta s tm c X
B
,Y
B
.
2. Cc bi ton c bit.
a. Bi ton n.
nh ngha: n l mt vt rn quay c quanh mt trc c nh v chu tc dng
ca h lc hot ng nm trong mt mt phng vung gc vi trc quay ca n.
iu kin cn bng: Gi s tc dng ln n h lc
( )
1 2 n , ,..., F F F
ur ur ur
v cc phn lc
lin kt ti trc quay O O , X Y
ur ur
. iu kin n cn bng:
( )
1 2 n O O , ,..., , , 0 F F F X Y
ur ur ur ur ur

( ) ( )
n
x kx O
k 1
n
y ky O
k 1
n
O O k
k 1
F F X 0
F F Y 0
m F m F 0

+
'

r r

Hai phng trnh u lun tha mn nh trc O to ra
cc phn lc O O , X Y
ur ur
. Vy n cn bng l do iu kin th 3 quyt nh.
nh l: iu kin cn v n cn bng l tng mmen ca cc lc hot ng
i vi trc quay ca n phi trit tiu.
( )
n
O k
k 1
m F 0

ur
(3.30)
O
1 F
r

2 F
r

3 F
r

4 F
r

D
A
B
C
1 P
ur

D Y
ur

D X
ur

2 P
ur
P
ur


24
b. Bi ton vt lt:
nh ngha: Vt lt l vt c lin kt ti hai im hoc l hai lin kt ta, hoc l mt
lin kt ta v mt lin kt bn l.
iu kin cn bng (khng lt): Gi s vt lt chu tc dng ca h lc
( )
1 2 n , ,..., F F F
ur ur ur
v hai phn lc lin kt A N
ur
, B N
ur
. Vt c xem l b lt nu n mt lin kt
ti B (lt quanh A) hoc mt lin kt A (lt quanh B). Khi
vt c xem l mt n.
Ta cn tm iu kin vt khng lt,gi s quanh A. Chia
cc lc hot ng thnh 2 nhm:
- Nhm gm cc lc gy lt: l cc lc c mmen
vi A theo chiu vt b lt, c tng mmen l M
A
La t
.
- Nhm gm cc lc chng lt: l cc lc c mmen
i vi A ngc chiu vt b lt, c tng mmen l M
A
Cho ng
.
nh l: iu kin cn v vt khng b lt l mmen lt khng ln hn mmen
chng lt.
M
La t
M
Cho ng
(3.31)
Tht vy, mun vt khng b lt quanh A, tc l n cn cn bng v lin kt ti B vn
cn hot ng th:
( ) A
m F

ur
=
( )
B
A
m N M M
La t Cho ng
+
ur
= 0
La t
M =
Cho ng
M -
( )
B
A
m N
ur

m
( ) A B
m N
uuur
0
La t
M
Cho ng
M (pcm)
Th d: Cho cn trc nh hnh v. Khong cch gia 2 bnh xe l 1 m. Trng lng
bn thn cn trc l P
1
=60 KN. Trng lng i trng l P
2
=10 KN t cch tm quay 2m.
Trng lng thng b tng l Q=10 KN.
Tm tm vi ca cn trc (l khong cch t tm quay n lc Q)
Bi gii:
Gi s tm vi ca cn trc l a (m)
Kim tra kh nng lt quanh A.
La t
M =P
2
x(2-0,5);
Cho ng
M = P
1
x0,5 + Qx(a+0,5)
La t
M
Cho ng
M 1,5P
2
0,5P
1
+Q.(a+0,5)
a 5 , 0
10
60 5 , 0 10 5 , 1

= -2 m (< 0).
Vy cn trc khng th lt quanh A
Kim tra kh nng lt quanh B.

La t
M =Qx(a-0,5)

Cho ng
M = P
1
x0,5 + P
2
x(2+0,5)
La t
M
Cho ng
M Qx(a-0,5) P
1
x0,5 +
P
2
(2+0,5) a 5 , 0
10
10 5 , 2 60 5 , 0
+
+
= 6 m.
Vy tm vi ca cn trc l a 6m.
3. Bi ton siu tnh.
Khi lp h phng trnh cn bng cho mt vt hoc h vt, nu:
- S phng trnh bng s n ta c bi ton tnh nh.
- S phng trnh nh hn s n ta c bi ton siu tnh.
Mt trong nhng nguyn nhn gy nn bi ton siu tnh l bin dng m vt ta xt
y l vt rn tuyt i, tc b qua bin dng nn khng th gii c bi ton.
1 F
r

2 F
r

2 F
r

B N
ur

A N
ur

A B
2 P
ur

Q
ur

B N
ur

A N
ur

A B

25
Bi ton siu tnh s c gii quyt trong cc gio trnh c hc ca vt bin dng.


26
CHNG 4: MA ST.
I. KHI NIM V PHN LOI MA ST.
1. nh ngha.
Trong thc t do tnh khng
tuyt i rn v tuyt i nhn ca hai
mt ta nn vt rn tip xc vi mt
ta khng phi ti mt im m ti v
s im.
C th xem rng ti mi tip im,
mt ta tc dng ln vt kho st mt
php tuyn k N
ur
v do vt kho st
phi chu tc dng mt h phn lc lin kt ( k N
ur
). Thu gn h lc v mt im A trn mt
tip xc, ta s c phn lc A R
ur
v ngu lc c mmen
A
M
uur
.
Phn tch A R
ur
thnh 2 thnh phn N
ur
v ms F
r
trong N
ur
nm theo php tuyn An
uuur
v
ms F
r
nm trong mt phng tip tuyn .
Mmen
A
M
uur
cng tch ra thnh hai thnh phn
1 M
uur
v 2 M
uur
. Trong 1 M
uur
hng theo php tuyn
An
uuur
, 2 M
uur
nm trong mt phng tip tuyn .
Tc dng ca cc phn lc thnh phn nh sau:
- Phn lc php tuyn N
ur
cn vt kho st
ln vo mt ta (gi thuyt rn tuyt i).
- Phn lc tip tuyn ms F
r
cn chuyn ng
trt hay xu hng trt ca vt kho st trn mt
ta.
- Ngu lc 1 M
uur
cn chuyn ng xoay hoc
xu hng xoay quanh An
uuur
.
- Ngu lc 2 M
uur
cn chuyn ng ln hoc xu hng ln ca vt trn mt ta.
Nh vy: Ma st l hin tng xut hin nhng lc v ngu lc c tc dng cn tr
cc chuyn ng hoc cc xu hng chuyn ng tng i ca hai vt trn b mt ca
nhau.
2. Phn loi.
a. Ma st tnh v ma st ng:
- Ma st c gi l tnh khi gia hai vt mi ch c xu hng chuyn ng tng
i nhng cn vn trng thi cn bng tng i.
- Ma st c gi l ng nu hai vt tip xc chuyn ng tng i vi nhau.
b. Ma st trt v ma st ln:
- Nu xu hng chuyn ng hoc chuyn ng xy ra gia hai vt l trt, ta c ma st
trt.
- Nu xu hng chuyn ng hoc chuyn ng xy ra gia hai vt l ln, ta c ma st
ln.
c. Ma st kh v ma st t:
- Ma st c gi l kh khi hai vt tip xc trc tip vi nhau.
1 N
ur

2 N
ur

3 N
ur
4 N
ur
5 N
ur

A
n
A R
ur

A
M
uur

n

1 M
uur

N
ur

A
M
uur

2 M
uur

A R
ur

ms F
r


27
- Ma st c gi l t khi hai vt tip xc gin tip vi nhau thng qua mt mng
bi trn (du, kh)
Ta ch kho st ma st tnh v ma st kh.
II. MA ST TRT . NH LUT CULNG. GC V NN MA ST.
1. Ma st trt.
Xt vt rn trn mt nm ngang, chu lc p Q
ur
thng gc vi mt ngang v chu lc
ko P
ur
theo mt ngang. Ta thy vt vn cn bng khi tr s ca lc P
ur
khng vt qu gi
tr P
0
tc l
0
P P . Gi tr P
0
t l vi lc p Q theo h s t l f, ngha l:
0
P f .Q
f ph thuc:
+ Va t lie u ta o ca c ma t tie p xu c.
+ Tra ng tha i be ma t tie p xu c (tho , nha n) gi a ca c be ma t.

'

Nh vy:
- Ngoi phn lc php tuyn N
ur
cn bng vi lc p Q
ur
cn c lc cn bng vi lc
ko P
ur
gi l lc ma st, k hiu ms F
r
. Lc ma st ngc chiu vi lc ko P
ur
ngha l
ngc chiu vi xu hng trt.
- Gi tr ca lc ma st trt khng th ln tu m b hn ch, gi tr cc i ca n
t l vi gi tr ca lc p Q
ur
, ngha l t l vi gi tr ca phn lc php tuyn N
ur
,
2. nh lut Culng.
Lc ma st trt xut hin khi c xu hng trt tng i, nm theo tip tuyn
ca mt ta tip xc, ngc hng trt v c gi tr b chn trn.
F
ms
f.N = F
ms

max
. (4.1)
Du bng xy ra khi vt sp b trt.
Trong : f: H s ma st trt tnh, kh.
N: Gi tr ca lc php tuyn.
3. Gc v nn ma st.
- Gc ma st, k hiu l , c xc nh bi h
thc:
ms max
F
tg f
N
= arctg(f) (4.2)
- Nn ma st l phn gii hn bi hai na ng
thng xut pht t im tip xc ca hai vt v nghing vi
php tuyn mt gc bng gc ma st (nu f= tg c cng
gi tr theo mi hng trt th trong khng gian c nn ma st trn xoay).
C th biu din hnh hc nh lut Culng:
ms
ms
F
F f .N f
N
. Ta c
ms
F
tg
N
. ( l to bi R
ur
, N
ur
)
tg f = tg (4.3). Du bng xy ra khi vt sp b trt.
4. Bi ton cn bng khi c ma st trt.
Gm cc bc sau:
- Phn tch h lc tc dng ln vt kho st.
- Vit h phng trnh cn bng cho h lc.
- Vit phng trnh ma st trt dng tng qut hoc dng ti hn.
- Bin lun tm kt qu.
* iu kin vt chu ma st trt cn bng l: Phn lc ton phn ca cc lin
kt ta c ma st trt nm trong nn ma st
Q
ur
P
ur
ms F
r
R
ur
N
ur




28
Th d: Mt vt rn nm trn mt phng khng nhn c h s ma st trt f, nghing
vi mt phng ngang mt gc .
1. Xc nh gc vt rn cn bng di tc dng ca lc P
ur
hng thng ng
xung di v c gi tr ln tu .
2. Gi s lc P
ur
cho trc v vt chu tc dng
ca lc Q
ur
nm ngang: xc nh gc vt c th
trt ln.

Bi gii:
1. Vt chu tc dng ca:
Trng lc P
ur
hng xung.
Phn lc N
ur
hng vung gc vi mt
ta.
Lc ms F
r
hng song song mt ta.
Nh vy vt chu tc dng ca h lc ng quy
( )
ms P, N, F
ur ur r
. iu kin cn bng ca vt:
( )
ms P, N, F 0
ur ur r

kx ms
ky
F F Psin 0
F N Pcos 0

'

(1)
T (1)
ms
F Psin sin=
ms
F
P
. Thay
ms
F f .N vo ta c: sin
f .N
P

Mt khc (1)N Pcos tc sin
f .P.c
f .c
os
os
P

Vi 0
2

th cos 0
sin
f tg
cos

,
Theo (4.2) th f tg nn f tg tg .
Vy iu kin vt cn bng l: .
Cng c th xt theo iu kin: vt cn bng th phng ca lc hot ng P
ur
phi
khng c nm ngoi nn ma st .
2. Vt chu tc dng ca h lc
( )
ms P, N, F , Q
ur ur r ur
. iu
kin cn bng:
( )
ms P, N, F , Q 0
ur ur r ur

kx ms
ky
F Qcos F Psin 0
F N Qsin Pcos 0

'

(1)
trng thi gii hn: F
ms
= f.N (2).
T (1)
ms
F Qcos Psin
N Qsin Pcos

'
+

ms
F Psin
f
N Pcoss
Qcos
Qsin


+
Q (cos - fsin) = P (sin +fcos).
V phi lun lun dng do vy phng trnh c nghim th v tri cng phi
dng
(cos - fsin) > 0 tg<
1
f
=cotg
2

< .
vt trt ln c th
P(sin f cos )
Q
cos f sin
+

.



N
ur

Q
ur

P
ur

ms F
r

y
x





N
ur

R
ur

ms F
r

P
ur


29
III. MA ST LN:
1. Ma st ln: Xt bnh xe c bn knh R, t trn mt bn nm ngang chu lc
nn Q
ur
thng ng qua tm, v chu lc ko P
ur
t ti tm nm ngang nh hnh v.
Di // lc P
ur
n tip im ta c lc P
uur
v mt ngu lc cng chiu quay ca P
ur

quanh I c mmen M = P.R. Lc P
ur
gy trt v mmen M = P.R gy ln.
bnh xe ln khng trt th: P F
ms
= f.N = f.Q
bnh xe khng ln th M M
l


M
l
c gi l mmen ma st ln. Thc nghim chng t rng mmen ma st ln t
l vi lc nn Q
ur
, tc l lc N
ur
, qua h s t l k: M
l
= k.N
k: gi l h s ma st ln, c th nguyn di, ph thuc vo vt liu to thnh 2
vt tip xc v trng thi b mt tip xc. Thng thng k << f.
2. Ngu lc ma st ln v nh lut ma st ln:
M
l
gi l mmen ca ngu lc ma st ln c tc dng chng li s ln ca bnh xe do
ngu lc M gy ln sinh ra.
C th din ta kh nng chng ln bng cch di song song lc N
ur
v pha bnh xe
c xu hng ln mt on:
l
M kN
d k
N N
d k.
Vy khi c ma st ln, phn lc php tuyn N
ur
nm
pha vt c xu hng ln n v cch php tuyn mt
on d k.
* nh lut ma st ln: Ngu lc ma st ln xut
hin khi c xu hng ln tng i, c chiu ngc vi
chiu ca xu hng ln v c gi tr: M
l
kN.
V k << f nn trong nhiu trng hp c th b qua.
3. Bi ton cn bng khi c ma st
ln:
Gm cc bc sau:
- Phn tch h lc tc dng ln vt kho st.
- Vit h phng trnh cn bng cho h lc.
- Vit phng trnh ma st trt, ma st ln dng tng qut hoc dng ti hn.
- Bin lun tm kt qu.
Th d: Trn mt phng nm ngang c bnh xe ng cht
tm O bn knh R, trng lng P chu tc dng ca ngu lc M
uur
v
lc Q
ur
nh hnh v. Bit h s ma st trt l f, h s ma st ln k.
xc nh tr s ca mmen M
uur
v ca lc Q
ur
bnh xe c th ln
khng trt.
Q
ur

Q
ur

P
ur

P
uur
ms F
r

M
l
M
I I
Q
ur

P
ur

N
ur

ms F
r

d
P
ur

Q
ur

N
ur

F
r

l
M
M

30
Bi gii:
Vt chu tc dng ca h lc
( )
l P, Q, N, M, M
ur ur ur uur uur
.
iu kin cn bng:
( )
l P, Q, N, M, M 0
ur ur ur uur uur


X ms
Y
I l
F F Q 0
F P N 0
M Q R M M 0

'

ms
l
F Q (1)
P N (2)
M M Q.R (3)

'

vt ln th :
l
M Q.R M k.N M k.N Q.R k.P Q.R > > + +
vt khng trt th:
ms
Q F f .N f .P <
vt ln khng trt th :
M k.P Q.R
Q f .P
> +
'
<

(4) .
Mt khc thay (1) vo (3) ta c
l ms
M M F .R + . M
ms
F f .N f .P v
l
M k.N k.P
( ) M k.P f .P.R P k f .R + + (5).
Kt hp (4) v (5) ta c
( ) P k f .R M k.P Q.R
Q f .P
+ > +
'
<

31
CHNG 5: TRNG TM
I. TM CA H LC SONG SONG.
1 nh l v hp lc h lc song song.
Trng hp h lc song c hp lc, nu gi nguyn im t, cng v quan h
song song gia cc lc thnh phn nhng thay i phng chung ca chng mt cch tu
, th hp lc cng thay i phng theo nhng lun i qua mt im C c nh. im C
c gi l tm h lc song
song.
Chng minh:
Xt h lc song song bt k
( )
1 2 n , ,..., F F F
ur ur ur
trong khng gian,
t ti cc im tng ng
1 2 n
A , A ,..., A .
Ta ln lt hp cc lc khng
to thnh ngu lc tng i mt.
Hp lc 1 F
r
v 2 F
ur
ta c 1 R
ur

t ti C
1
nm trn A
1
,A
2
.
1
R =
1
F +
2
F v
1 1 2
1 1 2
C A F
F C A

uuuuur
uuuuur (a).
Tip tc hp 1 R
ur
v 1 F
ur
ta c 2 R
ur
t ti C
2
nm trn C
1
A
3
. Vi :
2 1 3 1 2 3
R R F F F F + + + v
3 3 2 1
1 1 2 2 3
F F C C
R F F C A

+
uuuuur
uuuuur (b)
Tip tc hp ln lt cc lc ta c
( ) n 2 R
ur
t ti
( ) n 2
C

. Tip tc hp lc ny vi
n F
ur
ta c hp lc R
ur
ca h t ti im C thuc
( ) n n 2
C A

vi :
n 2 n 1 2 n
R R F F F F

+ + + + L v
( )
( ) ( )
n 2
n n
1 2 n 2 n 1 n
CC
F F
R F F F CA

+ + +
uuuuuuur
uuuur
L
(c)
Gi
K
OA
uuuuur
l vect nh v im A
K
v OC
uuur
l vect nh v im C. T (a) ta c:
1 1 1 1 2 2
C A .F C A .F 0 +
uuuuur uuuuur

1 1 1 2 1 2
(OA OC ).F (OA OC ).F 0 +
uuuur uuuur uuuur uuuur


1 1 2 2 1 1 2
OA .F OA .F OC (F F ) + +
uuuur uuuur uuuur
(a)
Bin i (b), (c) tng t ta cng c :
1 1 2 3 3 2 1 2. 3
OC (F F ) OA .F OC (F F F ) + + + +
uuuur uuuur uuuur
(b)
n 2 1 2 n 1 n n 1 2 n
OC .(F F F ) OA .F OC(F F F )

+ + + + + + +
uuuuuur uuuur uuur
L L (c)
Bin i (a) thnh:
1 1 2 2
1
1 2
OA .F OA .F
OC
F F
+

+
uuuur uuuur
uuuur
thay vo (b) ta c:
1 1 2 2
1 2 3 3 1 1 2 2 3 3 2 1 2. 3
1 2
OA .F OA .F
.(F F ) OA .F OA .F OA .F OA .F OC (F F F )
F F
+
+ + + + + +
+
uuuur uuuur
uuuur uuuur uuuur uuuur uuuur

Tip tc bin i tng t ta c:
1 1 2 2 n n 1 2. n
OA .F OA .F OA .F OC(F F F ) + + + + + +
uuuur uuuur uuuur uuur
L L (5.1)
A
1
A
2
C
1
A
3
C
2
A
n
C

1 F
r

2 F
r

3 F
r

n F
r

1 R
ur

2 R
ur

R
ur


32
R rng v tr im C khng ph thuc vo phng chung ca cc vect thnh phn
m ch ph thuc gi tr i s ca cc lc v im t ca chng. Nh vy nh l c
chng minh.
2 Tm h lc song song.
T (5.1) ta rt ra:
n
k k
k 1
n
k
k 1
OA .F
OC
F

uuuur
uuur
.
Nu gi
K
r
r
l vect nh v im A
K
v
C
r
r
l vect nh v im C th : im hnh hc C
c gi l tm ca h lc song song c xc nh theo cng thc:
n
k
k
k 1
C n
k
k 1
F .r
r
F

r
r
(5.2).
Chiu ln cc phng ta c:
k k k k k k
k k k
C C C
k k k
k k k
x .F y .F z .F
x ; y ; z
F F F



(5.3)
II. TRNG TM CA VT RN.
1. nh ngha trng tm ca vt.
Kho st vt rn nm gn mt t chu tc dng ca trng lc P
ur
hng v tm qu
t. Chia vt rn thnh nhiu phn t nh. Mi phn t chu lc ht ca qu t (trng lc
hng v tm qu t).
V khong cch t mi phn t n tm qu
t rt ln nn c th coi h cc trng lc l h lc
song song cng chiu, gi tr ca trng lc c
gi l trng lng ca phn t.
K hiu M
k
l mt im no thuc phn
t th k, n c trng lng P
k
v
k
r
r
l vect nh
v ca im M
k
.
T (5.2) ta c:
n
k k
k 1
C n
k
k 1
P .r
r
P

r
r
(5.4)
Theo ton hc khi n th
C
r r
r r
v
k
P P

. Khi C c gi l trng tm
ca vt rn v:
V
C
r.dP
r
P

r
r

nh ngha :Trng tm ca vt l im hnh hc c xc nh bng cng thc:
C
V
1
r r.dP
P

r r
(5.5)
2. Cc cng thc xc nh trng tm ca vt.
Chiu (5.5) ln 3 trc to ta c:
x
y
z
C
x
C
y
C
z
C
M
k
k P
ur

P
ur

O
C
r
r

k
r
r


33
C
V
1
x x.dP
P

;
C
V
1
y y.dP
P

;
C
V
1
z z.dP
P

(5.6)
(5.5) v (5.6) gi l cc cng thc xc nh trng tm ca vt.
III. TRNG TM CC VT NG CHT:
1. Khi ng cht:
Mt khi c gi l ng cht nu tho mn:
dP
conts
dV
dP=.dV P=.V.
Vi gi l trng lng ring ca vt
Khi :
C
V
1
r r. .dV
P

r r
=
C
V
r r.dV
.V

r r
=
V
1
r.dV
V

r
(5.7)
Hoc
C
V
1
x x.dV
V

;
C
V
1
y y.dV
V

;
C
V
1
z z.dV
V

(5.8)
2. Mt ng cht (tm ng cht):
Mt tm (mt) c gi l ng cht nu tho mn:
dP
conts
dS
dP=.dS
P=.S.
Khi :
C
S
1
r r.dS
S

r r
(5.9), hoc:
C
S
1
x x.dS
S

;
C
S
1
y y.dS
S

;
C
S
1
z z.dS
S

(5.10)
3. Thanh, ng ng cht:
Mt ng (thanh) gi l ng cht nu tho mn:
dP
const
dL
dP=.dL
P=.L.
Khi :
C
L
1
r r.dL
L

r r
(5.11), hoc:
C
L
1
x x.dL
L

;
C
L
1
y y.dL
L

;
C
L
1
z z.dL
L

(5.12)
IV: CC PP XC NH TT CA VT V CC NH L LIN QUAN.
1. Phng php i xng.
nh l 1: Nu vt rn ng cht c tm (trc, mt phng) i xng th trng tm
ca n nm ti tm (trc, mt phng) i xng.
Chng minh: Xt vt c tm i xng O, ng cht. ng vi phn t M
K
c trng
lng P
K
v vect nh v
K
r
r
th c phn t
K
M c trng lng P
K
i xng qua tm O,
tc vect nh v ca n l
k
r
r
. Phn hoch vt rn thnh tng cp phn t i xng qua
tm v tnh tng.
( )
k k k k
C
P .r P r
r 0
P
+


r r
r
(pcm)
Xt vt c trc i xng, chn Oz lm trc i xng. Khi ng vi mi im M
K

c to x
K
, y
K
v trng lng P
K
th c im
K
M c to -x
K
, -y
K
v trng lng P
K


34

( )
( )
k k k k
k k
C
k k k k
k k
C
x . P x . P
x 0
P
y . P y . P
y 0
P
+

'
+

C nm trn trc Oz l trc i xng
nh l 2:Nu vt rn gm cc phn m trng tm ca cc phn nm trn mt
ng thng ( mt phng) th trng tm ca vt cng nm trn ng thng (mt phng)
.
Chng minh: Gi thit vt rn gm n phn c trng lng l
1 2 n
P , P ,..., P v c trng
tm tng ng l
1 2 n
C , C ,..., C . Trng tm ca c vt kho st l tm ca h lc song song
( )
1 2 n , ,..., P P P
ur ur ur
ngha l:

n
C k k
k 1
1
x x .P
P

;
n
C k k
k 1
1
y y .P
P

;
n
C k k
k 1
1
z z .P
P

(1)
Nu
1 2 n
C , C ,..., C thuc ng thng th chn ng thng lm trc Oz. Khi
x
k
=0, y
k
= 0 thay vo (1) ta c x
C
= 0, y
C
= 0. Nh vy im C cng thuc trc Oz hay C
thuc .
Tng t nu C
i
thuc mt phng th ta chn lm mt phng Oxy z
i
= 0. Thay
vo (1) ta c z
C
= 0. Nh vy im C thuc mt phng .
2. Phng php phn chia thm bt.
nh l 1: (nh l phn chia thm bt, vt ghp)
Nu vt rn c ghp t m phn, mi phn c trng lng P
i
v trng tm C
i

(x
i
,y
i
,z
i
) th trng tm ca vt c xc nh nh cng thc:
m
i i
i 1
C m
i
i 1
P.x
x
P

;
m
i i
i 1
C m
i
i 1
P.y
y
P

;
m
i i
i 1
C m
i
i 1
P.z
z
P

(5.13)
Chng minh: Trng tm ca vt rn l tm ca h lc song song
1 2 m
P , P ,..., P . T
(5.3) ta c (5.13)
Xt trng hp vt rn b khuyt. Khi cng thc trn vn ng v phn khuyt
c xem nh l phn ghp c trng lng m.
3. Phng php tch phn.
Xc nh qui lut bin thin ca trng tm tng phn t khi phn hoch. Kt hp vi
i bin s ca tch phn ta dng cc cng thc (5.7), (5.8),..., (5.12) tm trng tm ca
vt.
4. Phng php quay nh l Guynanh. (Tham kho).
5. Phng php thc nghim.
Phng php cn
Phng php treo
Phng php tm lc.
V: TRNG TM CA MT S VT N GIN.
1. Thanh ng cht.
p dng nh l 1 ca phng php i xng ta d dng nhn thy trng tm ca
thanh ng cht l im gia ca thanh.

35
2. Cc vt c dng hnh hc c bn.
p dng phng php i xng ta d dng nhn thy trng tm ca hnh bnh hnh,
ch nht, hnh vung, khi hp, khi ch nht, khi lp phng ng cht chnh l tm
hnh hc ca chng.
3. Tam gic.
Chia tam gic thnh cc di mng song song vi y BC
ca tam gic. Trng tm ca mi di nm trn trung im ca
n tc s nm trn trung tuyn AM. Nh vy trng tm tam gic
nm trn trung tuyn AM. Tng t chia tam gic theo cnh
y AC ta thy trng tm tam gic phi nm trn trung tuyn
BN. Nh vy trng tm tam gic chnh l giao ca 3 ng
trung tuyn. CM=
1
AM
3
.
3. T din.
Phn hoch t din SABD thnh nhng lt v cng mng hnh tam gic song song vi
y ABD. Trng tm mi tam gic nm ti giao ca cc ng trung tuyn. Do vy trng tm
ca t din nm trn ng SM l ng ni nh t din v trng tm y tam gic. Tng t
ta cng chng minh c trng tm t din cng phi nm trn on BN. Nh vytrng tm t
din l giao ca hai ng SM, BN. Theo hnh hc ta c cng thc: CM=
1
SM
4
.
4. Hnh chp
Vi hnh chp y l a gic ta c th phn a gic ny thnh cc tam gic. Trng
tm ca cc t din ny nm trn mt mt phng song song vi y v khong cch t mt
phng ny n nh chp gp 3 ln khong cch n y. Cng c th phn hoch hnh
chp thnh cc lt mng song song vi y, nh vy trng tm hnh chp phi nm trn
ng ni gia nh chp v trng tm y a gic. Kt hp hai phn tch trn ta c trng
tm hnh chp nm trn ng ni nh chp S vi trng tm ca y M. CM=
1
SM
4
.
Vi hnh chp y l ng cong khp kn ta c th coi l a gic khi s cnh
tin n v cng v ta cng nhn c kt qu tng t.

S
D
B
A
N
M
C
S
A
B
D
E
F
M
C
C
M
S
A
D
C
M
N

36
5. Cung trn.
Xt cung trn ng cht

AB c gc tm l

AOB 2 . Theo phng php i

xng ta thy trng tm ca cung trn nm trn trc i xng
Ox. Theo cng thc (5.12) ta c:
C
L
1
x x.dL
L

.
Trong : x R. cos ; L 2 .R ; dL R.d . Thay
vo ta c:
C
L
1 1
x x.dL R.cos .R.d
L 2 .R

=
Sin
R

(5.14)
Nu l na ng trn th
C
2R
x

(5.15)
6. Qut trn.
Xt qut trn ng cht AOB c gc tm l

AOB 2 . Chia hnh qut thnh cc

hnh qut nh vi gc tm l d, bn knh R. C th xem l cc tam gic c trng
tm nm cch tm
2
R
3
, chiu cao l R, y l Rd. Theo phng php i xng ta thy
trng tm ca qut trn nm trn trc i xng Ox. Theo cng thc (5.10) ta
c:
C
S
1
x x.dS
S

.
Trong :
2
x R.cos
3
;
2
S .R ;
2
1 R
dS R.R.d d
2 2
. Thay vo ta c:
2
C 2
S
1 1 2 R R
x x.dS R.cos . .d cos .d
S .R 3 2 3.





=
2 Sin
R
3

(5.16)
Nu cung trn l na mt trn th
C
4R
x
3

(5.17).


O
B
M
M
A
x
C


d