M U............................................................................................................

5
nh ngha C hc: ..................................................................................................5
i tng nghin cu: ........................................................................................5
Phng php nghin cu.........................................................................................5
Mc ch ca mn hc..............................................................................................5
Ni dung....................................................................................................................5

PHN 1. TNH HC ..........................................................................................6

1. CC KHI NIM C BN V H TIN TNH HC...........................................6
1.1. Cc khi nim c bn............................................................................................6
1.2 Cc nh lut tnh hc (H tin tnh hc) ..........................................................8
1.3 Cc dng lin kt - m hnh lc ca cc lin kt ...................................................8
1.4 Cc h qu .............................................................................................................9
1.4.1. Cc php bin i lc.....................................................................................9
1.4.2. Cc php bin i ngu lc..........................................................................10
2. H LC KHNG GIAN ..........................................................................................10
2.1 Hai i lng c trng ca h lc khng gian...................................................10
2.1.1 Vct chnh ca h lc khng gian...............................................................10
2.1.2 Mmen chnh ca h lc khng gian i vi mt im................................11
2.2 Thu gn h lc khng gian...................................................................................12
2.2.1 nh l di lc song song...............................................................................12
2.2.2 Thu gn h lc phng v tm O....................................................................13
2.3 iu kin cn bng v cc phng trnh cn bng ca h lc khng gian........13
2.3.1 iu kin cn bng .......................................................................................13
2.3.2 Cc phng trnh cn bng ca h lc khng gian......................................14
3 CC BI TON C BN CA TNH HC VT RN.............................................15
3.1 Bi ton mt vt rn cn bng di tc dng ca h lc ...................................15
3.1.1. Cc bc gii ...............................................................................................15
3.1.2. Cc dng bi ton.........................................................................................15
3.2 Bi ton cn bng ca h vt rn.........................................................................16
3.2.1.Cc bc gii ................................................................................................16
3.2.2. Cc dng bi ton.........................................................................................16
3.3 Bi ton cn bng vt rn c ma st ...................................................................16
3.3.1. nh lut ma st trt...................................................................................17
3.3.2. nh lut ma st ln......................................................................................17

3.3.3 Cc bc gii.................................................................................................17
4 TRNG TM VT RN...........................................................................................17
4.1 Tm ca h lc khng gian song song.................................................................17
4.2 Trng tm ca vt rn...........................................................................................18
PH LC PHN 1. C IM CC PHN LC LIN KT THNG GP............20

PHN 2. NG HC......................................................................................21
1. NG HC CHT IM........................................................................................21
1.1. Kho st cht im bng phng php vc t...................................................21
1.1.1. Phng trnh chuyn ng...........................................................................21
1.1.2. Vn tc..........................................................................................................21
1.1.3. Gia tc...........................................................................................................22
1.1.4. Du hiu v nhanh dn v chm dn ca chuyn ng..............................22
1.2. Kho st cht im bng phng php ta cc.......................................22
1.2.1. Phng trnh chuyn ng...........................................................................22
1.2.2. Vn tc..........................................................................................................23
1.2.3. Gia tc...........................................................................................................23
1.2.4. Du hiu v nhanh dn v chm dn ca chuyn ng..............................24
1.3. Kho st cht im bng phng php ta t nhin....................................24
1.3.1. Phng trnh chuyn ng...........................................................................24
1.3.2. Vn tc..........................................................................................................25
1.3.3. Gia tc...........................................................................................................25
1.4. Kho st mt s chuyn ng thng gp.........................................................25
1.4.1. Chuyn ng u..........................................................................................25
1.4.2. Chuyn ng bin i u............................................................................26
1.5. Cc loi bi ton trong phn ng hc cht im...............................................26
2. CHUYN NG C BN CA VT RN.............................................................30
2.1 Chuyn ng tnh tin ca vt rn........................................................................30
2.2. Chuyn ng ca vt rn quay quanh mt trc c nh......................................30
2.2.1. Kho st chuyn ng ca vt.....................................................................31
2.2.2. Kho st chuyn ng ca cc im thuc vt............................................32
2.2.3 Biu din vc t mt chuyn ng quay.......................................................33
2.3. Mt s dng truyn ng nh cc chuyn ng c bn.....................................34
2.3.1. Truyn ng bng c cu bnh rng, ai, xch............................................34
2.3.2. Truyn ng bng bnh rng thanh rng..................................................35

2.3.3. Truyn ng bng c cu cam.....................................................................35

2.4. Cc loi bi ton phn chuyn ng c bn ca vt rn....................................35
2.4.1. Cc dng bi ton.........................................................................................35
2.4.2. Phng php gii.........................................................................................36
3. TNG HP CHUYN NG IM........................................................................36
3.1. nh ngha v cc loi chuyn ng....................................................................36
3.2. nh l hp vn tc..............................................................................................37
3.3. nh l hp gia tc...............................................................................................38
3.4. Cc dng bi ton ...............................................................................................40
3.4.1. Dng bi ton................................................................................................40
3.4.2. Phng php gii.........................................................................................40
4. TNG HP CHUYN NG VT RN.................................................................41
4.1. Tng hp chuyn ng song phng ca vt rn.................................................41
4.1.1. Chuyn ng ca hnh phng.......................................................................41
4.1.2 Cc yu t ng hc ca cc chuyn ng thnh phn...............................42
4.1.3 Kho st chuyn ng ca im...................................................................42
4.1.4 Cc dng bi tp............................................................................................46
4.2. Tng hp hai chuyn ng quay quanh hai trc song song...............................46
4.3. Chuyn ng inh c...........................................................................................48
4.3.1 Cc yu t ng hc ca cc chuyn ng thnh phn...............................48
4.3.2. Kho st chuyn ng ca im..................................................................48

PHN 3. NG LC HC..............................................................................50
1. CC KHI NIM V CC NH LUT CA NG LC HC.............................50
1.1. Cc khi nim c bn..........................................................................................50
1.1.1. Cc m hnh vt th......................................................................................50
1.1.2. Lc tc dng ln c h.................................................................................50
1.1.3. H quy chiu qun tnh.................................................................................51
1.2 Cc nh lut c bn ca ng lc hc................................................................52
1.3. Phng trnh vi phn chuyn ng ca cht im.............................................52
1.4. Hai bi ton c bn ca ng lc hc.................................................................53
2. CC NH L TNG QUT CA NG LC HC..............................................53
2.1. Cc c trng hnh hc khi ca c h v vt rn.............................................53
2.1.1 Khi tm ca c h v vt rn.......................................................................53
2.1.2. M men qun tnh ca vt rn......................................................................54

2.2. nh l ng lng...............................................................................................57
2.3. nh l chuyn ng khi tm..............................................................................58
2.4. nh l m men ng lng................................................................................58
2.5. nh l ng nng................................................................................................59
2.5.1. nh l ng nng: ........................................................................................59
2.5.2. p dng.........................................................................................................60
2.6. nh l bo ton c nng.....................................................................................62
2.6.1. Trng lc th Th nng...........................................................................62
2.6.2. nh l bo ton c nng. ............................................................................62
2.6.3. Biu thc tnh th nng ca mt s lc th.................................................63
3. MT S NGUYN L C HC.............................................................................63
3.1. Cc khi nim c bn..........................................................................................63
3.1.1. Di chuyn kh d v s bc t do ca h....................................................63
3.1.2. To suy rng............................................................................................63
3.1.3. Lc suy rng.................................................................................................64
3.1.4. Lin kt l tng...........................................................................................64
3.2. Nguyn l cng o...............................................................................................65
3.2.1. Nguyn l cng o: ......................................................................................65
3.2.2. iu kin cn bng ca c h trong to suy rng .............................66
3.3. Nguyn l d'Alembert...........................................................................................66
3.3.1. Lc qun tnh ca cht im........................................................................66
3.3.2. Nguyn l d'Alembert i vi cht im........................................................66
3.3.3. Nguyn l d'Alembert i vi c h...............................................................67
3.4. Nguyn l d'Alembert-Lagrange..........................................................................67
3.5. Phng trnh Lagrange loi 2..............................................................................68
3.5.1. Vt rn chuyn ng tnh tin.......................................................................68
3.5.2. Vt rn quay quanh mt trc c nh............................................................68
3.5.3. Vt rn chuyn ng song phng.................................................................69
3.5.4. Phng trnh vi phn chuyn ng ca c h Phng trnh Lagrange loi
II........................................................................................................................................70

M U
nh ngha C hc:
C hc l khoa hc nghin cu v chuyn ng v cn bng ca cc vt th.
i tng nghin cu:
Cc h k thut nh my cng trnh xy dng, phng tin giao thng.
nghin cu v tnh ton chuyn ng ca cc h k thut trc ht phi xy dng
m hnh c hc cho cc i tng kho st. Cc m hnh c hc ang c s
dng gm: h cc cht im; h cc vt rn; h cc vt th bin dng; h mi trng
lin tc; cc h hn hp. Trong khun kh ca C hc l thuyt ta ch xt m hnh
vt rn v h cc vt rn phng.
Phng php nghin cu
Phng php suy din

Phng php m hnh

i tng kho st

Thc t, thc nghim

Xy dng
H thng cc khi nim H
tin
Suy din ton hc
Cc nh l C hc
Cc phng trnh chuyn ng

Kt qu
thc

Xy dng cc m hnh c
hc
p dng cc nh lut c hc
Xy dng m hnh ton hc
Kt qu tnh ton

p dng
Gii quyt cc bi ton thc t

So snh

Cha tt

Tt
p dng vo cc bi ton
thit k v cng ngh

Mc ch ca mn hc

Cung cp kin thc c bn v tng qut v chuyn ng v cn bng ca vt

rn, h vt rn phng

Trang b kin thc c hc c bn tip cn vi h my mc v cng trnh

Ni dung
Phn 1. Tnh hc - Lc, s cn bng ca vt rn di tc dng ca lc
Phn II. ng hc - Chuyn ng c hc ca vt th v mt hnh hc.
Phn III. ng lc hc - Chuyn ng c hc ca vt th di tc dng ca lc

PHN 1. TNH HC
Tnh hc nghin cu trng thi cn bng ca vt rn di tc dng ca lc. Ni
dung ca phn ny gm cc vn sau:

Thu gn h lc: bin i h lc cho thnh mt h lc khc tng ng

nhng n gin hn

Tm iu kin cn bng ca mt vt rn v h vt rn di tc dng ca lc

1. CC KHI NIM C BN V H TIN TNH HC

1.1. Cc khi nim c bn

Vt rn tuyt i (vt rn) - l tp hp cc cht im m khong cch gia hai

im bt k ca n khng i. y l s l tng ho v nh vy di tc dng
ca lc vt rn khng b bin dng.

Cn bng - l trng thi ng yn ca vt rn so vi mt vt rn khc c chn

lm chun (h quy chiu)
H quy chiu - l vt th c chn lm mc theo di chuyn ng. Trong

c hc ta gn h to vo h quy chiu.

Lc - l tng tc gia cc vt m kt qu ca n gy ra s bin i trng thi

chuyn ng c hc (thay i v tr) m cn bng ch l trng hp ring.
T kinh nghim v thc nghim lc c c trng bi 3 yu t: im t,

Phng chiu v ln,

M hnh ton hc ca lc l vct lc, k hiu l F . Trong h to

Descartes vung gc, vec t F c biu din di dng

F = F x e + Fy e y + F z e z

trong e , e y , e z l cc vct n v trn cc trc to Ox, Oy, Oz v Fx , Fy , Fz

l hnh chiu ca F ln cc trc Ox, Oy, Oz.

2
2
2
Mdun ca vct lc F = Fx + Fy + Fz

F
Fy

F
, cos( Oz , F ) = z
Hng ca lc F cos( Ox , F ) = x , cos( Oy, F ) =
F
F
F

n v ca lc l Newton, k hiu l (N)

H lc l tp hp cc lc tc dng ln mt vt rn, c k hiu (F1 , F2 , , FN )

Hai h lc tng ng - 2 h lc (F1 , F2 , , FN ) v ( 1 , 2 , , N ) tc dng ln

cng mt vt rn l tng ng nu chng gy nn trng thi chuyn ng ca vt
rn nh nhau.

( F1 , F2 , , F N ) ( 1 , 2 , N )

Hp lc ca h lc - l mt lc R tng ng vi h lc ( F1 , F2 , , F N )

R ( F1 , F2 , , F N )

H lc cn bng l h lc ( F1 , F2 , , F N ) m di tc dng ca n vt rn khng

thay i trng thi chuyn ng hay cn bng

( F1 , F2 , , F N ) 0

Ngu lc -Mt h gm hai lc song song, ngc chiu cng ln c gi l

ngu lc. Mt ngu lc c c trng bi cc yu t

Mt phng tc dng - l mt phng cha 2 thnh phn ca ngu lc

Chiu quay ca ngu lc

Cng tc dng ca ngu lc c c trng bng tch Fd, trong F gi

tr ca lc thnh phn, d khong cch gia hai ng tc dng ca hai lc
thnh phn gi l cnh tay n ca ngu lc. n v ca ngu lc l
Newton.mt, k hiu l (Nm)

Trong khng gian ngu lc biu din bng vct m men ngu lc m , c

xc nh bng

Phng vung gc vi mt phng cha ngu lc

Chiu: nhn t nh xung thy chiu quay ca lc ngc chiu kim ng h

M un ca vec t ngu lc bng F.d

Quy c gc ca vct m nm trong mt phng

Trong mt phng ngu lc biu din qua m men i s ngu lc Fd, (+) khi
chiu quay ca ngu lc ngc chiu kim ng h.

Lin kt v phn lc lin kt. Lin kt l cc iu kin cn tr di chuyn ca vt.

Vt b cn l vt khng t do.

Lc lin kt - lc tc dng gia cc vt khng t do.

Phn lc lin kt - l lc lin kt do vt khc tc dng ln vt ang kho st

Cn bng ca h nhiu vt rn. H nhiu vt rn c gi l cn bng nu mi

vt rn thuc h cn bng

1.2 Cc nh lut tnh hc (H tin tnh hc)

nh lut 1 (Tin v s cn bng ca vt rn) - iu kin cn v mt vt

rn cn bng di tc dng ca hai lc l 2 lc ny c cng ng tc dng,
cng cng v ngc chiu nhau - tiu chun cn bng ca vt t do di
tc dng ca h lc n gin nht

nh lut 2 (tin thm hoc bt mt cp lc cn bng) - tc dng ca mt h

lc khng thay i nu ta thm (bt) i hai lc cn bng - quy nh v mt php
bin i tng ng c bn v lc
H qu (nh l trt lc). Tc dng ca lc khng thay i khi ta trt lc trn

ng tc dng ca n

nh lut 3 (Tin hnh bnh hnh lc) - Hai lc tc dng ti mt im tng

ng vi mt lc tc dng ti cng im v c vct lc bng vct cho
ca hnh bnh hnh c hai cnh l 2 vct lc ca cc lc cho

nh lut 4 (tin tc dng v phn tc dng) - Lc tc dng v lc phn tc

dng gia hai vt c cng cng , cng ng tc dng v hng ngc
chiu nhau.

nh lut 5. (tin Ho rn) - mt vt bin dng cn bng di tc dng ca

mt h lc th khi ho rn n vn trng thi cn bng

nh lut 6 (Tin thay th lin kt) Vt khng t do cn bng c th c xem

l vt t do cn bng bng cch gii phng tt c cc lin kt v thay th tc
dng cc lin kt c gii phng bng cc phn lc thch hp

1.3 Cc dng lin kt - m hnh lc ca cc lin kt

Lin kt ta - phn lc ta c phng vung gc vi mt ta

Lin kt dy mm, thng khng dn - phn lc ca dy tc dng ln vt kho

st t vo im buc dy v hng vo dy

Lin kt bn l - Phn lc i qua tm trc bn l phng chiu cha xc inh

nn ta phn thnh hai thnh phn Rx v Ry nm trong mt phng vung gc vi
trc tm bn l

Lin kt gi - c hai loi:

gi c nh phn lc xc nh nh lin kt bn l,

gi con ln phn lc lin kt xc nh theo lin kt ta.

Lin kt gi cu - qu cu gn vo vt chu lin kt c t trong v cu gn

vi vt gy lin kt. Phn lc i qua tm O ca qu cu c phng chiu cha
xc nh ta phn thnh 3 thnh phn (Rx, Ry, Rz)

Lin kt ngm - ni cng. Phn lc lin kt gm 3 lc thng gc v 3 ngu lc

trong 3 mt phng to . Trng hp phng cn 3 thnh phn lc v 1 ngu
lc

Lin kt thanh - thanh lin kt tho mn cc iu kin:

+

ch c lc tc dng hai u

dc thanh khng c lc tc dng

trng lng thanh b qua

Phn lc c phng qua hai im chu lc

Tm li: tng ng vi hng di chuyn thng b ngn tr c phn lc ngc chiu,
tng ng vi hng di chuyn quay b ngn tr c ngu phn lc ngc chiu
(xem ph lc 1 phn 1)
1.4 Cc h qu
1.4.1. Cc php bin i lc

Gi s c h lc ( F1 , F2 , , F N ) t ti O. p dng nh lut hnh bnh hnh lc

ta tm c hp lc R ca h lc
N

R = F1 + F2 + + F N = Fk

(1.1)

k =1

Vit di dng cc thnh phn lc chiu ln trc to ta c

N

Rx = F1x + F2 x + + F Nx = Fkx ;
k =1
N

Ry = F1y + F2 y + + F Ny = Fky ;
k =1
N

Rz = F1z + F2 z + + F Nz = Fkz
k =1

T y ta xc nh ln, phng chiu ca hp lc:

(1.2)

Ry
R
R
R = R x2 + Ry2 + R z2 ; cos( Ox , R) = x , cos( Oy, R) =
, cos( Oz , R) = z
R
R
R
nh l 1.1.1. Hp lc ca h lc ng quy c biu din bng vct chnh ca h
lc t ti im ng qui
1.4.2. Cc php bin i ngu lc
nh l 1.1.2. Hai ngu lc cng nm trong mt mt phng c cng chiu quay v
cng tr s m men (tc cng m men i s) th tng ng nhau
nh l 1.1.3. Tc dng ca ngu lc khng i khi di n nhng mt phng //
nh l 1.1.4. Hai ngu lc c cng vct m men th tng ng nhau
Tc dng ca ngu lc c c trng hon ton bng vct m men ngu
lc (m men i s ngu lc trong trng hp phng)
nh l 1.1.5. Hp cc ngu lc c mt ngu lc c vct bng tng cc vct
mmen cc ngu lc cho
N
m = mk

(1.3)

k =1

Hp cc ngu lc trong cng mt mt phng c mt ngu lc nm trong mt

phng cho c m men i s bng tng cc mmen i s cc ngu lc cho
N

m = mk
k =1

2. H LC KHNG GIAN

Trong mc ny ta xt 2 bi ton: Bin i h lc khng gian v dng n gin

v tm iu kin cn bng ca vt rn khng gian
2.1 Hai i lng c trng ca h lc khng gian
2.1.1 Vct chnh ca h lc khng gian

nh ngha. Vct chnh ca h lc k hiu l R , l vct tng ca cc vec t lc

thnh phn ca h lc
N

R = F1 + F2 + + F N = Fk

(1.4)

k =1

Xc nh vec t chnh. Chiu lc thnh phn Fk ln 3 trc to vung gc Ox, Oy

v Oz ta c Fk ( Fkx , Fky , Fkz ) t (1.1.4) ta c hnh chiu ca R ln 3 trc to l

k =1

k =1

Rx = F1x + F2 x + + F Nx = Fkx Ry = F1y + F2 y + + F Ny = Fky

N

R z = F1z + F2 z + + F Nz = Fkz

(1.5)

k =1

Gi tr v phng chiu ca vct chnh c xc nh

Ry
R
R
R = Rx2 + Ry 2 + Rz 2 , cos( Ox , R) = x , cos( Oy, R) =
, cos( Oz , R) = z .
R
R
R
2.1.2 Mmen chnh ca h lc khng gian i vi mt im

Mmen ca mt lc i vi mt im. Mmen ca lc F i vi im O, k hiu

l m O (F ) , l vct c:

Phng vung gc vi mt phng cha im O v lc F ,

Chiu: khi nhn t u mt xung F quay ngc chiu kim ng h quanh O

Tr s bng Fd, y d l khong cch t O n ng tc dng. n v Nm

Vct m men lc i vi mt im khng i khi lc trt trn ng tc

dng ca n v trit tiu khi i qua im ly m men. Tr s m men bng 2 ln din

tch tam gic OAB, (A im t lc, B im mt ca lc)

Vct m men ca lc F i vi im O l tch vec t ca vec t nh v

r = OA im t lc vi vec t lc F (h8-2)


mO ( F ) = r F
(1.6)

M men ca lc i vi mt trc. M men ca lc F i vi trc k hiu

m (F ) l m men i s ca lc F vi im O, F l hnh chiu ca F

trn mph vung gc vi trc , cn O l giao im ca trc vi mph

m ( F ) = mO ( F ) = F d

Khi F // v ct trc th m (F ) = 0

(1.7)

Lin h gia m men ca lc i vi im v m men ca lc i vi trc

nh l 1.3.1. M men ca lc F i vi trc bng hnh chiu trn trc y ca

vct m men ca lc F i vi im O nm trn trc

m ( F ) = hch [mO ( F )]
(1.8)

S dng cng thc (1.1.6) cho ln lt cc trc Ox, Oy v Oz ta c c hnh

chiu ca vct m men ca lc F i vi im O

mOx ( F ) = m X ( F ) = yF z zFy

mO ( F ) = mOy ( F ) = mY ( F ) = zF x xF z
(1.9)

m ( F ) = m ( F ) = xF yF
Z
y
x
Oz

vec t m men chnh ca h lc khng gian i vi im O, k hiu l mO l mt

vct bng tng hnh hc cc vct mmen ca cc lc i vi O
N

mO = mO ( F1 ) + mO ( F2 ) + + mO ( F N ) = mO ( Fk )

(1.10)

k =1

S dng nh l (1.3.1), d dng xc nh gi tr v phng chiu ca vct m

men chnh
N
N

m
=
m
(
F
)
=
m
(
F

X
k)
Ox Ox k
k =1
k =1

N
N

mO = mOy = mOy ( Fk ) = mY ( Fk )
k =1
k =1

N
N
m = m ( F ) = m ( F )

Oz
k
Z
k
Oz
k =1
k =1

(1.11)

Nhn xt

M men chnh ca h lc ng quy bng 0

M men chnh ca h ngu lc i vi bt k im no cng bng vct ngu

lc tng
N

mO = mk

(1.12)

k =1

Vct chnh khng ph thuc vo im t (t do), cn vct moment chnh

thay i theo im ly mment

mO1 = mO + mO1 ( RO )

(1.13)

2.2 Thu gn h lc khng gian

2.2.1 nh l di lc song song

nh l 1.2.1. Lc F t ti A tng ng vi mt lc F = F t ti O v mt

ngu lc c mmen bng momen ca lc F i vi im O.

(1.14)
F = F v m = mO (F )

2.2.2 Thu gn h lc phng v tm O

S dng nh l di lc // di cc lc v tm O ta c

F1 = F1 v ngu lc m1 = mO ( F1 ) ,

F2 = F2 v ngu lc m 2 = mO ( F2 ) ,

... F N = F N v ngu lc m N = mO ( F N )

Nh vy thu gn h lc ( F1 , F2 , , F N ) v tm O ta c h lc ng quy

(khng gian) ti O: ( F1, F2, , F N ) v h ngu lc (khng gian) (m1 , m 2 , , m N )

N
N

RO = Fk = Fk = R
k =1

(1.15)

k =1

m = m1 + m 2 + + m N = mO ( F1 ) + mO ( F2 ) + + mO ( F N )
N

m = m O ( Fk ) = m O

(1.16)

k =1

theo(1.10)

nh l 1.2.2. (Thu gn h lc) H lc khng gian bt k ( F1 , F2 , , F N ) tng

ng vi mt lc thu gn v mt ngu lc thu gn t ti im O. Lc thu gn t
ti O c vct lc bng vct chnh ca h lc, ngu lc thu gn c mmen bng
mmen chnh ca h lc ly i vi im O.

Phng chiu, gi tr ca lc thu gn khng ph thuc vo tm thu gn. cn

ngu lc ph thuc vo tm thu gn (xem 1.13)

i vi h lc khng gian, lc thu gn khng nm trong mt phng ngu lc

thu gn nh trng hp phng (vct chnh v m men chnh khng vung
gc vi nhau) - s khc bit gia h lc phng v h lc khng gian

2.3 iu kin cn bng v cc phng trnh cn bng ca h lc khng gian

2.3.1 iu kin cn bng
nh l 1.2.3. iu kin cn v h lc khng gian cn bng l vec t chnh v
momen chnh ca h lc i vi im O bt k phi ng thi trit tiu
N

R
=
Fk = 0

k =1
( F1 , F2 , , Fn ) 0
N

mO = mO ( Fk ) = 0

k =1

Chng minh:

(1.17)

K cn: Nu cc iu kin trn khng tho mn khi h lc tng ng vi mt

lc hoc mt ngu lc khng tho mn nh lut 1.

K : hin nhin khi R = 0 h lc tng ng vi mt ngu lc. Ngu lc bng 0

th hai lc l hai lc cn bng
2.3.2 Cc phng trnh cn bng ca h lc khng gian
vct chnh v m men chnh trit tiu th cc hnh chiu ca chng trn 3
trc to vung gc phi trit tiu
N

Fkx = 0,

Fky = 0,

m x ( Fk ) = 0,

m y ( Fk ) = 0,

m z ( Fk ) = 0,

k =1
N
k =1

k =1
N
k =1

k =1
N

kz

= 0,
(1.18)

k =1

y l phng trnh cn bng ca h lc khng gian

nh l 1.2.4. iu kin cn v h lc khng gian cn bng l tng hnh chiu
ca cc lc trn 3 trc vung gc v tng m men ca cc lc i vi ba trc y u
trit tiu
i vi cc h c bit

H lc ng quy khng gian

N

F
k =1

kx

= 0,

F
k =1

m x ( Fk ) = 0,
k =1

F
k =1

kz

= 0,

(1.18a)

m y ( Fk ) = 0,
N

k =1

m
k =1

( Fk ) = 0,

(1.18b)

H lc song song khng gian - ly trc Oz song song vi cc vct lc

m x ( Fk ) = 0,
N

k =1

= 0,

H ngu lc khng gian

N

ky

m y ( Fk ) = 0,
N

k =1

F
k =1

kz

= 0,

(1.18c)

H lc phng nm trn mt phng sng song vi mt Oxy, c 3 dng phng

trnh cn bng

( F1 , F2 , , F N ) 0 Fkx = 0, Fky = 0, mO ( Fk ) = 0
+
(1.18d)

( F1 , F2 , , F N ) 0 Fkx = 0, m A ( Fk ) = 0, m B ( Fk ) = 0
+
(1.18e)

( F1 , F2 , , F N ) 0 m A ( Fk ) = 0, m B ( Fk ) = 0, mC ( Fk ) = 0 (1.18f)
+

3 CC BI TON C BN CA TNH HC VT RN

3.1 Bi ton mt vt rn cn bng di tc dng ca h lc

3.1.1. Cc bc gii

Bc 1. Gii phng lin kt, thay lin kt bng cc phn lc lin kt tng ng
+

Chn vt kho st: 1 vt rn, mt phn, mt nt

V phn lc ca cc lin kt m t trong (mc 1.3 v ph lc phn 1),

chiu gi nh (khi kt qu dng chiu ng, khi kt qu m chiu ngc
li)

Bc 2. Thit lp cc phng trnh cn bng cho h lc tc dng ln vt rn t

do
+

Xt c im ca h lc kho st chn s phng trnh cn bng cn

lp

Xt c im ca phn lc chn trc chiu lc v tm ly m men

thch hp: trc chiu trng vi ng tc dng ca lc, tm ly mmen
chon im c nhiu lc n i qua

Bc 3. Gii cc phng trnh cn bng, xc nh cc n cn tm

3.1.2. Cc dng bi ton

Bi ton tm phn lc lin kt. T iu kin cn bng ca h tm cc phn lc.

Bi ton tm iu kin cn bng. Trong bi ton ny n l nhng i lng xc

nh v tr ca vt rn (v mt s phn lc)

Bi ton vt lt. Ta kho st vt rn chu lc tc dng ( F1 , F2 , , Fn )

Chu lin kt ta ti 2 im A, B - phn lc im ta l N A v N B

Gi s h mt lin kt tai B, khi vt c th lt quanh A

Gi mmen ca cc lc gi cho vt khng lt quanh A l M gi v mmen cc

lc lt l Mlt. iu kin vt rn khng lt quanh A l n cn cn bng v lin
kt ti B vn hot ng, c th l

m A ( F ) = m A ( N B ) + M lat M giu

m A ( N B ) 0 M lat M giu

Bi ton xc nh ni lc ti cc mt ct ngang. Tng tng ct dm thnh 2

phn a v B, b phn B xt cn bng ca phn A. Phn A cn bng do ti mt

ct c-c c h lc do phn B tc ng ln phn A - l ni lc ta thu gn v h

lc N ,Q, M .
3.2 Bi ton cn bng ca h vt rn
3.2.1.Cc bc gii

Bc 1. Gii phng lin kt, thay lin kt bng cc phn lc lin kt tng ng
+

Chn h vt kho st v biu din lc

ch lin kt thanh loi ra khi vt kho st thay bng ng lc

trnh nhm ln

Biu din lc, ch phn bit lc hot ng v lc lin kt, ni lc v

ngoi lc

Bc 2. Thit lp cc phng trnh cn bng theo hai phng php

+

Phng php tch vt - Xt ring v lp h phng trnh cn bng cho

tng vt

Phng php ho rn - lp phng trnh cn bng ca cc ngoi lc ri

mi tch vt

Quan trng l s phng trnh cn bng lp ra c lp, n gin

gii tm s n

Bc 3. Gii cc phng trnh cn bng, xc nh cc n cn tm

3.2.2. Cc dng bi ton

Tng t nh i vi h 1 vt

Bi ton tm phn lc lin kt

Bi ton tm iu kin cn bng

3.3 Bi ton cn bng vt rn c ma st

Cc bi ton trc khi xt lin kt ta gi thit l nhn, khng c ma st, tuy
nhin trong thc t c cc trng hp ta khng th b qua ma st. Bn cht vt l
ca hin tng ma st rt phc tp, cc vt tip xc vi nhau trn mt din tch no
nn y c mt h phn lc lin kt. H phn lc ny trong trng hp phng

c th thu v mt hp lc R v mt ngu lc.

Phn tch hp lc ra hai thnh phn vung gc ta c

Thnh phn php tuyn c gi l phn lc php tuyn N

Thnh phn tip tuyn cn chuyn ng trt c gi l lc ma st trt Fms ,

c chiu ngc vi chiu trt

Ngu lc cn chuyn ng ln gi l ma st ln m ms , c chiu ngc vi chiu

ln
Kho st ma st tnh v kh, thc nghim dn n cc nh lut sau

3.3.1. nh lut ma st trt

Lc ma st trt nm trn mt tip tuyn ngc xu hng trt v c tr s

Fms fN

trong f - h s ma st trt, f = tg , - gc ma st, min zMz' - nn ma st

(gia hai ng thng v t tip im M v nghing vi php tuyn gc ma st )

Phn lc ton phn R ca lin kt ta c ma st trt nm trong nn ma st

3.3.2. nh lut ma st ln

Ngu lc ma st ln ngc xu hng ln v c m men

M ms kN

trong k - h s ma st ln (th nguyn di (m))

Khi k n ma st ln, phn lc php nm pha vt c xu hng ln ti v

cch php tuyn on
dk

3.3.3 Cc bc gii

Bc 1. Gii phng lin kt, thay lin kt bng cc phn lc lin kt tng ng
Ngoi cc lc hot ng v phn lc lin kt nh ni hai bi ton trc,

y c thm ma st trt v ngu lc ma st trt

Bc 2. Thit lp cc phng trnh cn bng theo hai iu kin

+

iu kin cn bng (cc phng trnh cn bng)

Cc iu kin do ma st

Bc 3. Gii cc phng trnh cn bng, xc nh cc n cn tm

4 TRNG TM VT RN

4.1 Tm ca h lc khng gian song song

Cho h lc // bt k ( F1 , F2 , , F N ) vi

R = Fk 0
k =1

t ti im A1, A2, ... AN. K hiu vct nh v ca cc im Ak qua rk = OA k

nh ngha. im C gi l tm ca h lc song song c xc inh bi cng thc
N

rC =

F r
k =1
N

k k

F
k =1

(1.19)

trong Fk l hnh chiu ca Fk ln trc song song vi cc lc

mC (R ) = 0

(1.20)

4.2 Trng tm ca vt rn
nh ngha. Khi vt rn gn tri t, trng tm ca vt rn l tm ca h trng lc
ca cc phn t to thnh vt rn
Cng thc xc nh trng tm ca vt rn
Chia vt rn thnh N cc phn t nh, phn t th k ti im Ak c trng lng

l Pk v vct nh v rk = OA k theo cng thc (1.16) ta c

N

rC =

P r
k =1
N

k k

(1.21)

k =1

Khi s phn t c chia tng ln v cng, kch thc cc phn t l nhng i

lng v cng nh th trng lng ca vt

P = lim Pk = lim Pk rk = r dP
k =1

k =1

(1.22)

Nn cng thc xc nh trng tm ca vt rn

1
1
1
1
rC = r dP , x C = xdP , yC = ydP , z C = zdP
PV
PV
PV
PV

(1.23)

i vi vt ng cht c th tch l V, trng lng ring , ta c P = V ,

dP = dV v

1
1
1
1
rC = r dV , x C = xdV , yC = ydV , z C = zdV
VV
VV
VV
VV

(1.24)

i vi mt ng cht c din tch l S, tng t ta c.

1
1
1
1
rC = r dS x C = xdS , yC = ydS , z C = zdS
SS
SS
SS
SS

(1.25)

i vi ng ng cht c chiu di L, tng t ta c.

1
1
1
1
rC = r dS x C = xds , yC = yds , z C = zds
SV
LL
SL
SL

(1.26)

Cng thc tnh trng tm ca mt s vt rn n gin

nh l 1.4.1. 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)
H qu

Trng tm ca thanh ng cht l im gia ca thanh

Trng tm ca hnh bnh hnh, ch nht, hnh vung, khi hp, khi hp ch
nht, khi hp lp phng ng cht l tm ca chng

Trng tm ca tam gic ng cht l giao im ca cc ng trung tuyn

Trng tm ca cung trn ng cht AB c bn knh r v gc ti tm AOB = 2

Trng tm ca qut trn ng cht AB c bn knh r v gc ti tm AOB = 2

Trng tm ca bn cu ng cht tm O, bn knh r : z g = 3/ 8R zg

nh l 1.4.2. Nu vt rn c ghp t M phn, mi phn c trng lng Pi v

trng tm Ci(xi, yi, zi) th trng tm ca vt c xc nh nh cng thc
M

xC =

Pk x k
k =1
N

P
k =1

, yC =

Pk yk
k =1
N

P
k =1

, zC =

P z
k =1
N

P
k =1

(1.27)

PH LC PHN 1. C IM CC PHN LC LIN KT THNG GP

Lin kt
Ta
(khng
ma sat)

Biu din

c im phn lc
Thng gc vi mt ta,
mt tip xc, hng vo
vt kho st - phn lc
php

NB
N1

NA

Dy
(mm v
khng co
dn)
Thanh
(ch chu
ko hay
nn)

T1

T2

SA
S

Bn l
(trn
nhn)

Nm theo thanh (ng

ni 2 u thanh) hng
vo (ra) thanh khi thanh
chu ko (nn) - ng lc

SB

Lc t ti bn l chia ra
hai thnh phn - phn lc
bn l

YO

Nm theo dy, hng ra

ngoi vt kho st - sc
cng

XO

Ngm

Z
MZ

YA
MA
A

a)

a)

c)

Y
X

d)

Z
Y

Y
X

b)
M

c)

MY
X

MX

MY

Y
X

MX
X

Yo

a)

d) X

Gi di
ng (c
con ln)

Gi c
nh

c)

b)
Y

trc di

XB

MX

b) B

tr ngn

MY

MB

XA

a)

Ci ( tr
ngn c
mt chn

YB

Xo

b)

c)
No

Phng (a), (b): 2 thnh

phn lc X,Y v 1 ngu
lc m men M
Khng gian (c): 3 thnh
phn phn lc ngm v 3
ngu lc m men

Cn tr di chuyn thng
gc vi trc. Phng (a,b):
nh phn lc ta. Khng
gian (c,d): 2 phn lc
Cn tr di chuyn thng
gc v dc trc. Phng
(a,b): 2 phn lc.
Khng gian (c,d): 3 phn
lc
Cn tr di chuyn thng
gc v quay. Phng (a,b):
1 phn lc v 1 ngu
phn lc.
Khng gian (c,d): 2 phn
lc v 2 ngu phn lc
Cn tr di chuyn thng
theo 2 phng.
Phng (a,b): 2 phn lc
Khng gian(c): 3 phn lc
Cn tr di chuyn theo
phng thng vi mt
nn. 1 phn lc.

PHN 2. NG HC
1. NG HC CHT IM

Chuyn ng ca cht im l s thay i v tr ca n so vi mt vt chun

c chn lm h quy chiu.
Qu o ca cht im - tp hp cc v tr ca im trong khng gian quy
chiu.
Ni dung ca ng hc cht im:

Thit lp phng trnh chuyn ng ca cht im ti tng thi im - cc biu

thc xc lp quan h gia v tr ca cht im v thi gian,

Tm cc c trng ng hc ca cht im: vn tc, gia tc. Vn tc cho bit

phng, chiu v tc ca cht im, gia tc cho bit s thay i v phng
chiu v tc ca cht im.

1.1. Kho st cht im bng phng php vc t

1.1.1. Phng trnh chuyn ng
Xt chuyn ng ca im M i vi h quy chiu A theo qu o C

Thng s nh v: Ly im O gn vi h quy chiu A. Khi vec t

r = OM

l vec t xc nh v tr ca M v h QCA, gi l vc t nh v

Phng trnh chuyn ng. Cht im M chuyn ng nn r thay i theo thi

gian:

r = r (t )

(2.1)

c gi l phng trnh chuyn ng

1.1.2. Vn tc
Gi s v tr ca cht im M ti thi im t v thi im ln cn t = t + t ,

c xc nh bng cc vec t inh v r v r . Trong khong thi gian t vc t

nh v bin i i mt lng MM = r = r r . i lng

r
vtb =
t
c gi l vn tc trung bnh ca cht im trong khong thi gian t
Vn tc ca cht im ti thi im t c xc nh nh sau

r dr
v(t ) = lim vtb = lim
=
= r (t )
M M
t 0 t
dt

(2.2)

Nh vy vn tc ca cht im l o hm bc nht theo thi gian ca vc t

nh v ca cht im.Hng ca vn tc theo phng tip tuyn ca qu o tai
im M v pha chuyn ng. n v m/s
1.1.3. Gia tc

Gi s vn tc ca cht im M ti thi im t v thi im ln cn t'=t+t l v

v v . Trong khong thi gian t vn tc bin i i mt lng v = v v . i
lng

v v v
atb =
=
t
t
c gi l gia tc trung bnh ca cht im trong khong thi gian t
Gia tc ca cht im ti thi im t c xc nh nh sau

v dv d 2 r
a(t ) = lim atb = lim
=
=
= r (t )
M M
t 0 t
dt dt 2

(2.3)

Nh vy gia tc ca cht im l o hm bc nht theo thi gian ca vn tc

v bng o hm bc hai ca vc t nh v ca cht im. Gia tc hng v b lm
ca qu o ti im M v pha chuyn ng. n v m/s2
1.1.4. Du hiu v nhanh dn v chm dn ca chuyn ng

Chuyn ng c gi l nhanh dn (chm dn) nu v (tng ng vi n

l v 2 ) tng (gim) theo thi gian.

Cht im chuyn ng nhanh dn nu

d 1 2
v = va > 0
dt 2

(2.4a)

Cht im chuyn ng chm dn nu

d 1 2
v = va < 0
dt 2

(2.4b)

1.2. Kho st cht im bng phng php ta cc

1.2.1. Phng trnh chuyn ng

Thng s nh v: Gn h trc to c cc vung gc OXYZ vi h quy chiu

A. Khi thng s nh v ca cht im l 3 to x, y, z ca im M (h1-4)

Phng trnh chuyn ng. Khi cht im M chuyn ng, to ca n bin i

theo thi gian:
x = x(t ); y = y(t ); z = z(t )

(2.5)

Cc phng trnh (2.5) c gi l phng trnh chuyn ng ca cht im M dng

to cc, ch

r (t ) = x (t )i + y(t ) j + z(t )k

trogn i , j , k l cc vc t n v trn cc trc to

(2.6)

1.2.2. Vn tc
Thay (2.6) vo (2.2) ta c

dr
d
dx
di dy
dj dz
dk
v(t ) =
=
( x(t )i + y(t ) j + z (t )k ) =
i +x
+
j+y +
k+z
dt dt
dt
dt dt
dt dt
dt
di
dj
dk
= 0,
= 0,
=0
dt
dt
dt
dx dy dz

i+
j+
k
nn v(t ) = v x i + v y j + v z k =
dt
dt
dt
nhng v

v v x =

dx
dy
dz
= x , v y =
= y , v z =
= z
dt
dt
dt

T (2.9) ta c gi tr v phng chiu ca vc t vn tc

v = v = v x2 + v y2 + v z2 = x 2 + y 2 + z 2

(2.7)
(2.8)
(2.9)

(2.10)

v
v
vy
cos( Ox , v) = x , cos( Oy, v) =
, cos( Oz , v) = z
v
v
v
1.2.3. Gia tc
Thay (2.8) vo (2.3), ch n (2.7) ta c
d 2x d 2y d2z

a(t ) = a x i + a y j + a z k = 2 i + 2 j + 2 k
dt
dt
dt
v a x =

d2x
d 2y
d2z

,
,
=
x
a
=
=
y
a
=
= z
y
z
dt 2
dt 2
dt 2

Gi tr v phng chiu ca vc t gia tc

2 + z 2
a = a = a x2 + a y2 + a z2 = x 2 + y
a
a
ay
cos( Ox , a) = x , cos( Oy, a) =
, cos( Oz , a) = z
a
a
a

(2.11)
(2.12)

(2.13)

1.2.4. Du hiu v nhanh dn v chm dn ca chuyn ng

T (2.4) ta c du hiu chuyn ng nhanh dn:
+ z z > 0
x x + y y

(2.14a)

v chuyn ng l chm dn khi

+ z z < 0
x x + y y

(2.14b)

V d (1-1)- (H1-5), Cho c cu tay quay con trt A=AB=l. Tay quay OA quay u
quanh trc O theo lut = 0 t , trong 0 = const. Lp phng trnh chuyn ng
ca trung im thanh truyn AB (h1-5)
Gii.

Chn h to cc

Trung im I c to x=OI', y=OI", v ta tnh c

1
3
x = l cos 0 t + l cos 0 t = l cos 0 t
2
2
1
y = l sin 0 t
2

Vn tc ca im I
vx =

dx
3
dy 1
= 0 l sin 0 t , v y =
= 0 l cos 0 t
dt
2
dt 2

v = x 2 + y 2 =

l0
9 sin 2 0 t + cos 2 0 t
2

v
3 sin 0 t
cos( Ox , v) = x =
v
9 sin 2 0 t + cos 2 0 t
vy

cos( Oy, v) =
=
v

cos 0 t
9 sin 2 0 t + cos 2 0 t

1.3. Kho st cht im bng phng php ta t nhin

1.3.1. Phng trnh chuyn ng

Thng s nh v:
Xt chuyn ng ca im M dc theo qu o C. Chn im O c nh trn

qu o lm gc v mt chiu dng cho trc trn qu o. Khi thng s nh v

ca cht im M l thng s s = OM (h1-6)

Phng trnh chuyn ng

Khi cht im M chuyn ng dc theo qu o C th s bin i theo thi gian:

s = s (t );

(2.15)

l phng trnh chuyn ng ca cht im M dc theo qu o

1.3.2. Vn tc
Gi s v tr ca cht im ti thi im t v thi im ln cn t'=t+t l M v

M'. Xt chuyn ng t M n M' ( MM = ds , MM = dr )

T (2.2) ta c

dr dr ds ds
v(t ) =
=
=
t0
(2.16)
dt ds dt dt

trong t0 vc t n v trn phng tip tuyn c chiu thun vi chiu dng

chn. Hnh chiu ca vn tc trn phng tip tuyn s l
v (t ) =

ds
dt

(2.17)

1.3.3. Gia tc
T (2.3) v (2.16) v s dng cng thc

dt 0 n 0
=
ds

d 2 r dv d 2 s ds dt 0 ds d 2 s v 2
=
t0 +
=
t0 +
n0
ta c a(t ) = 2 =
(2.18)
dt dt 2
dt ds dt
dt

dt

trong n0 vc t n v trn phng php tuyn hng v b lm ca ng

cong qu o, - bn knh cong ca qu o ti im M. Hnh chiu ca gia tc trn
phng tip tuyn v phng php tuyn s l
v2
d 2s
, a=
at = 2 , a n =

dt

2
2
at
d 2s v2
2 + , tg =
an
dt

(2.19)

trong chuyn ng thng u a n = 0 v =

1.4. Kho st mt s chuyn ng thng gp
1.4.1. Chuyn ng u
L chuyn ng c vn tc khng i
v = const , at =

dv
v2
= 0, a n =
, a = an
dt

(2.20)

Khi cht im chuyn ng thng u at = 0, an = 0, a = 0

1.4.2. Chuyn ng bin i u
L chuyn ng m gia tc tip ca cht im c gi tr khng i. Ly chiu
dng l chiu ca chuyn ng ta c
1
v = at + v0 , s = at 2 + v0 t + s 0
2

(2.21)

trong v0, s0 l vn tc v to cong ca cht im ti thi im ban u. Du (+)

ng vi chuyn ng nhanh dn, du (-) ng vi chuyn ng chm dn
1.5. Cc loi bi ton trong phn ng hc cht im

Bit phng trnh chuyn ng tm cc c trng chuyn ng nh: qu o,

vn tc, gia tc

Bit mt s iu kin ca chuyn ng tm phng trnh chuyn ng v cc

c trng chuyn ng

Bi ton tng hp: dng c 2 PP: to cc v to t nhin

Phng php gii

Chn phng php. Tu vo u bi, bit qu o chn PP to t nhin.

Tm phng trnh chuyn ng

Xt im v tr bt k tm quan h to theo thi gian nhn c:

x = x(t ); y = y(t ); z = z(t ); hoc s = s (t );

Bit gia tc th tch phn tm vn tc v tch phn ln na tm phng

trnh chuyn ng

Nu chuyn ng l u v bin i u ta c ngay phng trnh chuyn ng

v = const a t = 0; s = vt;
at = const = v = v0 + t; s = v0 t + 0.5t 2 ;

Tm qu o - kh thi gian khi phng trnh chuyn ng t tm c biu

thc lin h gia cc to khng cha t

Tm vn tc v gia tc
Khi dng PP to cc p dng cc cng thc:
vx =

dx
dy
dz
= x , v y =
= y , v z =
= z ; v = v = v x2 + v y2 + v z2 = x 2 + y 2 + z 2
dt
dt
dt

ax =

d2x
d 2y
d2z
2 + z 2

,
,
=
x
a
=
=
y
a
=
= z a = a = a x2 + a y2 + a z2 = x 2 + y
y
z
2
2
2
dt
dt
dt

Khi dng PP to t nhin p dng cc cng thc

ds
v2
d 2s
v (t ) =
, a=
, at = 2 , a n =
dt

dt

Tm tch cht nhanh, chm dn ca chuyn ng

y + z z
Khi dng PP to cc kho st biu thc: x x + y

Khi dng PP to t nhin kho st biu thc: v at

2
2
at
d 2s v2
2 + , tg =
an
dt

2
Tm bn knh cong ca qu o. Dng cng thc a n = v / , Nu to

cc th cn chuyn sang to t nhin bng cc cng thc

v = x 2 + y 2 + z 2 ; at =

dv
v2
2
2 + z 2 ; an = a 2 at2 =
; a = x + y
dt

Cc v d
Dng bi ton 1.
V d 1. Cho ptr chuyn ng
x = 8t 4t 2
y = 6t 3t 2

x, y c v (m), t - (s)

Xc nh: qu o, vn tc, gia tc

Gii.
Bc 1. Chn PP - dng PP to cc
Bc 2. Tm qu o kh t ta c
3x 4y = 0 hay y =

3
x
4

vy qu o l ng thng
Bc 3. Tm vn tc v gia tc
Vn tc v x = x = 8(1 t ), v y = y = 6(1 t )
v = v x2 + v y2 = 64(1 t ) 2 + 36(1 t ) 2 = 10(1 t ) m s
= 6
Gia tc a x = x = 8, a y = y
a = a x2 + a y2 = 64 + 36 = 10 m s 2
Bc 4. Tnh cht nhanh (chm) dn ca chuyn ng

T bc 3 ta thy gia tc khng i =10m/s, hng gia tc theo qu o, chiu lun

m hng t B n A. Theo (2.14) ta c

v a = v x a + v y a y = 100(1 t )
Khi t=0 th x=0, y=0, v=10m/s, im gc to , chuyn ng l chm dn

v a = 100
Khi 0<t<1s th im chuyn ng t A n B, trong sut thi gian ny v x>0,

vy>0, chuyn ng l chm dn v v a < 0

Khi t=1s th im v tr B x=4, y=3 v v=0, v a = 0

Khi 1<t<2 th im chuyn ng t B n A v chuyn ng nhanh dn v a > 0 ,
n khi t=2 th x=0, y=0
Dng bi ton 2. Tm ptrc v cc c trng chuyn ng
V d: Cho c cu thanh quay tay truyn OAB: OA=AB=2l.
Tay quay OA quay quanh O theo lut = kt lm con chy B trt theo rnh
h6-5. Tm ptrc, qu o, vn tc v gia tc ca im M trung im ca AB
Gii
bc 1. Chn PP - ta cc
Bc 2. Ptrc
Xt c cu v tr bt k im M c to
x = ON = OA cos +

1
AB cos = 3l cos;
2

y = MN =

1
AB sin = l sin
2

thay = kt ta c phng trnh chuyn ng ca im M

x = 3l coskt;

y = l sin kt

Bc 3 tm qu o
T bc 2 ta c
cos kt =

x
y
; sin kt =
3l
l

1 = sin 2 kt + cos 2 kt =

x 2 y2
+
9l 2 l 2

Qu o l ng elip, c cc bn trc l 3l v l
Bc 4. Vn tc v gia tc
v x = x = 3lk sin kt; v y = y = lk cos kt; v = v x2 + v y2 = lk 9 sin 2 kt + cos 2 kt

Vc t v tip tuyn vi qu o
= lk 2 sin kt = k 2 y;
a x = x = 3lk 2 cos kt = k 2 x; a y = y
a = a x2 + a y2 = k 2 x 2 + y 2

Vc t a c hnh chiu t l v ngc chiu vi ta vy a hng v tm

Dng 3 Bi ton tng hp

V d. Ptrc ca 1 im trong mph l
x = v0 t; y = 0.5gt 2 , trong v0 v g l nhng hng s
Tm qu o, vn tc, gia tc tip, gia tc php ca im v bn knh cong ca
qu o
Gii
Bc 1. Chn PP - bi ton to cc nhng khi tm gia tc tip, gia tc php
v bn knh cong phi a v to t nhin
Bc 2. Qu o
T ptrc ta c: t =

x
v0

y=g

x2
2v02

vy qu o l ng Parabon i qua gc to
Bc 3. Vn tc, gia tc v x = x = v0 ; v y = y = gt; v = v02 + g 2 t 2
Vy ti t=0 v=v0 sau tng lin tc theo thi gian
= g; a = g = const
a x = x = 0; a y = y
im chuyn ng vi gia tc khng i v // vi trc Oy.
Bc 4. Gia tc tip, gia tc php v bn kinh cong
g 2t

dv
- at = dt =

v02 + g 2 t 2

2
2
2 2
Ta c v = v0 + g t

g 2t
v

t=

1
v 2 v02
g

Thay biu thc ca t vo ta c at =

g
v 2 v02
v

Nhn xt ti t = 0, v = v0 at = 0 , sau tng theo v, khi v , th at g, at = a .

- a 2 = an2 + at2

v 2 v02
v
an = a a = g g
=g 0
2
v
v
2

2
t

Nhn xt ti t = 0, v = v0 an = g , sau gim khi v tng v a n 0

an =

v2

v2
v3
=
an gv 0

Nhn xt ti t = 0, v = v0

min =

v02
. sau tng theo v, khi v th
g

2. CHUYN NG C BN CA VT RN

2.1 Chuyn ng tnh tin ca vt rn

nh ngha: chuyn ng ca vt rn c gi l chuyn ng tnh tin khi mt on
thng bt k thuc vt gi phng khng i trong qu trnh chuyn chuyn ng
nh l: Khi vt rn chuyn ng tnh tin, cc im thuc vt v nn nhng qu o
ng nht (c th t trng kht ln nhau), ti mi thi im cc im thuc vt c
vn tc bng nhau v gia tc bng nhau
Chng minh: Ly 2 im A, B vt rn. Cc vc t nh v ca chng lin h vi
nhau bng

rB = rA + AB

(2.22)

trong AB c m dun khng i (t tnh cht ca vt rnT), c phng chiu

khng i (nh ngha chuyn ng tnh tin). Vy AB l vc t hng trong qu trnh

vt chuyn ng. Do im B c c bng php trt im A trn owngf tc dng

ca vc t AB vi vc t AB =const, trogn php trt nyqu o ca im A s

trng vi qu o ca im B

Do AB =const nn khi ly o hm theo thi gian hai v ca (2.22) ta c

drB drA
=
hay v A = v B
dt
dt

d 2 rB d 2 rA
hay a A = a B
=
2
2
dt
dt

(2.23)
(2.24)

Khi kho st chuyn ng tnh tin ca vt a v kho st chuyn ng ca mt

im bt k thuc vt, Vt chuyn ng tnh tin c th thay bng mt cht im
2.2. Chuyn ng ca vt rn quay quanh mt trc c nh
nh ngha: Chuyn ng ca vt rn c 2 im lun lun c nh c gi l chuyn
ng quay quanh mt trc c nh. ng thng i qua hai im c nh c gi l
trc quay

Cc im thuc vt s chuyn ng trn mt ng trn c tm nm trn trc quay

c bn knh bng khong cch t im n trc quay bn knh quay
2.2.1. Kho st chuyn ng ca vt

Phng trnh chuyn ng

Thng s nh v: Chn chiu quay dng (ngc chiu kim ng h). Dng
hai mt phng i qua trc quay: mph gn vi h quy chiu gi l mph quy
chiu, mph P gn vi vt quay. V tr ca vt x nh v tr ca mph P so vi
mph . Thng s nh v c th chn l gc gia hai mph v P

Phng trnh chuyn ng: Khi vt chuyn ng gc thay i theo thi gian
= (t )

(2.25)

l phng trnh chuyn ng ca vt quay. Gc tnh bng radian

Vn tc gc ca vt
=

d
= (t )
dt

(2.26)

- o hm bc nht theo thi gian ca gc nh v.

Vn tc gc l i lng i s. Du ca cho bit chiu quay ca vt ((+) ngc chiu kim ng h, () - xui chiu kim ng h). Gi tr ca cho bit
nhanh ca chuyn ng quay. n v radian/giy (rad/s, 1/s). Trong k thut thng
dng vng pht n, khi = n 30 (rad / s)

Gia tc gc
=

d d 2
(t )
=
=
dt dt 2

(2.27)

Gia tc gc l o hm bc nht theo thi gian ca vn tc gc v l o

hm bc hai theo thi gian ca gc nh v . n v radian/giy2 (rad/s2, 1/s2). Gia
tc gc c trng cho s bin thin ca vn tc gc theo thi gian. Khi =0 th
=const vt quay u

Du hiu quay nhanh, chm ca vt

Khi tng (gim) theo thi gian vt c gi l quay nhanh (chm) dn. Xt

s tng (gim) ca i lng thay th l 1 2 2 ta c cc tiu chun

Vt quay nhanh dn khi > 0

(2.28)

Vt quay chm dn khi < 0

Mt s dng chuyn ng c bit

(2.29)

Chuyn ng quay u. Khi vn tc gc khng i

= 0 = const ; 0; = 0 t + 0

(2.30)

ly du + khi vt quay ngc chiu kim ng h, ly du - trong trng hp ngc

li, 0 gc nh v ban u

Chuyn ng quay bin i u. Khi gia tc gc khng i

1
= 0 ; = 0t + 0 ; = 0t 2 + 0t + 0
2

(2.31)

ly du + khi chuyn ng quay nhanh dn u, ly du - trong trng hp ngc

li, 0 gc nh v ban u
2.2.2. Kho st chuyn ng ca cc im thuc vt
Xt im M, cch trc quay mt on IM=R bn knh quay ca im M. Khi
vt quay M chuyn ng trn ng trn tm I l giao im gia trc quay v mph
cha M vung gc vi trc quay, ng trn c bn knh l IM.

Phng trnh chuyn ng ca im

Chn giao im O ca mph quy chiu vi qu o trn lm im gc ta c cc

thng s nh v ca im M l gc v bn knh IM=R (bn knh quay ca im M).

ng thi c th chn cung OM = s = R lm thng s nh v. Vy phng trnh

chuyn ng
s = R(t )

(2.32)

Vn tc ca im
Theo (2.16) ta c

ds
d
v(t ) =
t0 = R
t 0 = Rt 0
dt
dt

(2.33)

vn tc c phng vung gc vi bn knh quay

c chiu thun chiu quay

c gi tr bng tch ca vn tc gc v bn knh quay

cc im nm trn trc quay c vn tc bng 0

cc im nm trong mph vung goc vi trc quay c vn tc phn b theo lut

tam gic vung

Gia tc cc im
Theo (2.18-19) ch n (2.32-33) ta c

Gia tc tip
at (t ) =

d 2s
d 2

=
R
= R = R
dt 2
dt 2

(2.34)

c phng vung gc vi bn knh quay

c chiu thun (hay ngc) vi chiu quay tu thuc vo chuyn ng quay

nhanh dn hay chm dn (thun vi chiu ca gia tc gc)

c gi tr bng tch ca gia tc gc vi bn knh quay

Gia tc php
a n (t ) =

v 2 R 2 2
=
= R 2
R
R

(2.35)

chiu hng t im M vo tm I

c gi tr bng tch ca bnh phng vn tc gc v bn knh quay

Gia tc ton phn

a = at2 + an2 = R 2 + 4

nghing vi bn knh quay MI mt gc

tg =

(2.36)

at

= 2
an

(2.37)

cc im nm trong mph vung gc vi trc quay c gia tc phn b theo lut

tam gic thng ng dng vi t s bng

2 + 4

2.2.3 Biu din vc t mt chuyn ng quay

Vc t vn tc gc v vc t gia tc gc

Vc t vn tc gc c phng dc trc quay, c chiu khi nhn t nh ca

trc quay xung thy vt quay ngc chiu kim ng h c gi tr bng vn tc
gc

(2.38)
= k

trong k - vc t n v trn trc quay

Vc t gia tc gc c phng dc trc quay, c cng chiu hoc ngc

chiu vi vc t vn tc gc tu thuc vo chuyn ng quay nhanh dn hay
chm dn, c gi tr bng gia tc gc

= k

(2.39)

Vc t ca vn tc im v gia tc im

Chn im O1 c nh trn trc quay. Vc t nh v ca im M l vc t O1 M = r .

Ta c cc cng thc

v = r

at = r

an = v

a = r + v

(2.40)
(2.41)

Chng minh: r = O1 M = O1 I + IM = O1 I + R

trong O1 I l vc t hng ng phng vi cn vc t R c m un hng. Vy

r = (O1 I + R) = R

(2.42)

cng thc (2.40) c chng minh c tn l cng thc le

2.3. Mt s dng truyn ng nh cc chuyn ng c bn
2.3.1. Truyn ng bng c cu bnh rng, ai, xch
truyn chuyn ng gia hai trc c nh song song vi nhau ta dng c
cu bnh rng, ai truyn hay xch
+

C cu bnh rng

r1

1
O1

2
O2

r2

r1 O1 O
2
1

r2

T s truyn ng bnh rng k hiu i12:

i12 =

1
r
z
= 2 = 2
2
r2
z1

(2.43)

ly du (+) nu khp trong, du () nu khp ngoi, r1, r2 bn knh ca cc bnh

rng 1,2, z1 v z2 s rng tng ng
C cu ai xch

r1

O1

O2

r1

r2

1
O1

O2

r2

T s truyn ng ai xch k hiu i12:

i12 =

1
r
= 2
2
r2

(2.44)

ly du (+) nu ai bt thng, du () nu ai bt cho

2.3.2. Truyn ng bng bnh rng thanh rng
truyn ng gia mt vt quay v vt tch tin ngi ta s dng c cu
bnh rng thanh rng, c cu bnh thanh ma st

v
T s truyn ng l
i=

v
=R

(2.45)

2.3.3. Truyn ng bng c cu cam

B
v2 cn
cam

v1

cn

v
A
O

.C

cam

2.4. Cc loi bi ton phn chuyn ng c bn ca vt rn

2.4.1. Cc dng bi ton
a) Bi ton mt vt

Bit phng trnh chuyn ng v cc c trng ng hc ca vt rn tm

phng trnh chuyn ng v cc c trng ng hc ca 1 im trn vt

Bit phng trnh chuyn ng v cc c trng ng hc ca im trn vt

rn tm phng trnh chuyn ng v cc c trng ng hc ca vt rn

b) Bi ton truyn ng

Bit dng truyn ng tm quan h chuyn ng gia trc dn v trc b dn

2.4.2. Phng php gii

Tm , dng =

d
n
d d 2
= (t ) , =
(t )
=
=
(n- s vng quay), =
dt
30
dt dt 2

hay suy ra t v(t ) = R =

v
a
, at = R = t , hay an = R 2 =
R
R

an
R

Tm t/c nhanh, chm dn ca chuyn ng kho st tch , khi > 0 - nhanh

dn, khi < 0 - chm dn

Tm vn tc gia tc ca im thuc vt, s dng

v(t ) = Rt 0 , at (t ) = R , a n (t ) = R 2
a = at2 + an2 = R 2 + 4 , tg =

at

= 2
an

Tm s lin h v truyn chuyn ng s dng

i12 =

1
r
z
v
= 2 = 2 , i= =R
2
r1
z1

3. TNG HP CHUYN NG IM

3.1. nh ngha v cc loi chuyn ng

Ta c cht im M chuyn ng i vi h quy chiu B, h quy chiu B chuyn
ng i vi h qui chiu A. Nh vy chuyn ng ca M l tng hp t hai chuyn
ng trn.
z

z1
O
(B)
y1

O1
x1

(A)

n gin ta coi h quy chiu A c nh. Khi chuyn ng ca im M i

vi h quy chiu B gi l chuyn ng tng i; Chuyn ng ca h quy chiu B

i vi h quy chiu A gi l chuyn ng theo; Chuyn ng ca im M i vi h

quy chiu A gi l chuyn ng tuyt i
3.2. nh l hp vn tc
nh ngha: Vn tc tuyt i ca im M l vn tc ca n c tnh trong h quy

chiu A, k hiu va .

d
va = (O1 M )( A )
dt

(2.46)

Vn tc tng i ca M l vn tc ca n c tnh trong h quy chiu B, k hiu

vr

d
vr =
(OM ) ( B )
dt

(2.47)

Vn tc theo: Xt M* thuc h quy chiu B m ti thi im kho st trng vi cht

im M. Vn tc theo ca M, k hiu l ve , l vn tc ca im M*

d
ve =
(O1 M ) ( A )
dt

(2.48)

nh l. Ti mi thi im, vn tc tuyt i ca cht im M bng tng hnh hc ca

vn tc theo v vn tc tng i

v a = vr + v e

(2.49)

Chng minh

Gi i , j , k l cc vc t n v ca h trc Oxyz (gn vi h quy chiu B), x, y, z l
to ca im M trong h to Oxyz. T (2.1) ta c

d
d
d
d
va = (O1 M )( A ) = (O1O + OM )( A ) = (O1O )( A ) + (OM )( A )
dt
dt
dt
dt

d
di
dj
dk dx dy dz
= v0 + ( xi + yj + zk ) = v0 + x
+y +z
+
i+
j+
k
dt
dt
dt
dt dt
dt
dt

T (2.46) ch

dk
di
dj
=0,
= =
dt
dt
dt
B B
B
ta c

(2.50)

(2.51)

d
d
vr = (OM ) ( B ) = ( xi + yj + zk ) B
dt
dt

dk
di
dj
+ dx i + dy j + dz k = dx i + dy j + dz k
= x + y + z
dt
dt
dt
dt
dt
dt
dt B
dt B

B dt

(2.52)

T (2.48) v ch rng x*, y*, z* gn vi cht vi h to Oxyz nn

dx
dy
dz

=
=
= 0
dt B dt B dt B

(2.53)

ta c

d
d
d
ve = (O1 M ) ( A ) = (O1O + OM ) ( A ) = v0 + ( x i + y j + z k )( A )
dt
dt
dt

di
dj
dk
= v0 + x
+ y
+ z
dt
dt
dt

ti mi thi im x=x*, y=y*, z=z* , ta nhn c va = vr + ve

(2.54)

3.3. nh l hp gia tc
nh ngha: Gia tc tuyt i ca im M l gia tc ca n c tnh trong h quy

chiu A, k hiu aa .

d
aa =
( va ) ( A )
dt

(2.55)

Gia tc tng i ca M l gia tc ca n c tnh trong h quy chiu B, k hiu ar

d
ar =
( vr ) ( A )
dt

(2.56)

Gia tc theo ca M, k hiu l ve , l gia tc ca trng im M* trong h quy chiu A,

k hiu l ae

d
ae =
( ve ) ( A )
dt

(2.57)

nh l. Ti mi thi im, gia tc tuyt i ca cht im M bng tng hnh hc ca

gia tc theo, gia tc tng i v gia tc Crilic ac

a a = ar + a e + a c
(2.58)
Chng minh
Thay (2.50) vo (2.55) ta c

d
d
di
dj
dk dx dy dz
aa =
( va ) ( A ) =
v0 + x
+y +z
+
i+
j+
k
dt
dt
dt
dt
dt dt
dt
dt ( A )

d 2i
d2 j
d 2k d 2 x d 2 y d 2 z
= a0 + x 2 + y 2 + z 2 + 2 i + 2 j + 2 k
dt
dt
dt
dt
dt
dt

dx di dy dj dz dk

+ 2
+
+
dt dt dt dt dt dt

(2.59)

Thay (2.52) vo (2.56) ch (2.51), ta c

d
d dx dy dz
d2x d2y d2z
a r = ( vr ) ( B ) =
i+
j+
k =
i + 2 j+ 2 k

dt
dt dt
dt
dt ( B ) dt 2
dt
dt
Thay (2.54) vo (2.57) ch (2.53), ta c

2
2
2

d
di
dj
dk
d i
d j
d k
ae =
v0 + x
+y
+z
= a0 + x
+y
+z
dt
dt
dt
dt ( A )
dt 2
dt 2
dt 2

(2.60)

(2.61)

So snh (2.59) vi (2.60) v (2.61) vi ch ti mi thi im x=x *, y=y*, z=z*,

ta nhn c

aa = ar + ae + ac
trong gia tc Crlio c dng

dx di dy dj dz dk

a c = 2
+
+
dt dt dt dt dt dt

Trong trng hp chuyn ng ca h Oxyz l tnh tin

di dj dk
=
=
= 0 th ac = 0 v aa = ar + ae
dt dt dt

(2.62)

(2.63)

nh l. Khi chuyn ng theo l tnh tin th gia tc tuyt i ca cht im M bng

tng hnh hc ca gia tc theo v gia tc tng i

Trng hp h Oxyz quay quanh mt trc c nh vi vn tc gc theo e , s

dng (2.63), ta c

d i dj d k
= e i ;
= e j ;
= e k
dt
dt
dt
thay vo (2.62) nhn c

dx di dy dj dz dk

dx dy dz

= 2
a c = 2
+
+
i+
j+
k = 2e vr
e
dt dt dt dt dt dt
dt
dt
dt

Ch : - khi e // vr hoc vr = 0 hay e = 0 th ac = 0

(2.64)

(2.65)

Khi e vr c quy tc tm phng chiu ca ac : quay vr quanh gc ca n

theo chiu quay ca h Oxyz quanh e mt gc 90o, ta c ngay chiu ca ac ,

gi tr ca n l 2 e vr

3.4. Cc dng bi ton

3.4.1. Dng bi ton
a) Tm phng trnh chuyn ng ca im
b) Tng hp chuyn ng: bit cc c trng ng hc ca chuyn ng tng i
v chuyn ng theo tm gia tc tuyt i
c) Phn tch chuyn ng: bit cc c trng ng hc ca mt trong hai chuyn
ng (tuyt i hay theo) v phng vn tc v gia tc ca im trong hai chuyn
ng cn li. Tm gi tr ca vn tc v gia tc trong hai chuyn ng
3.4.2. Phng php gii
a) Phn tch chuyn ng

Phn tch dng chuyn ng ca cc vt to thnh h xc nh h quy chiu

Phn tch cc chuyn ng thnh phn:

+

chuyn ng tuyt i, chuyn ng tng i: dng chuyn ng (thng,

cong), cc yu t ng hc (v, a)

chuyn ng theo: dng chuyn ng (tnh tin, song phng, quay quanh
mt trc c inh). Cn xc nh trc quay tc thi v theo

b) Gii

Tm phng trnh chuyn ng: xc nh quan h gia to cc im i vi h

to c nh (trong chuyn ng tuyt i) hay h quy chiu ng (trong
chuyn ng tng i) v thi gian

Tng hp v phn tch chuyn ng

+
Tm v, dng va = vr + ve

4. TNG HP CHUYN NG VT RN

4.1. Tng hp chuyn ng song phng ca vt rn

nh ngha: Chuyn ng ca vt rn c gi l chuyn ng song phng khi mi
im thuc vt lun lun di chuyn trong mt mt phng sng song vi mt phng c
nh chn trc gi l mt phng quy chiu.
Bi ton kho st chuyn ng song phng ca vt rn trong khng gian c a
v bi ton kho st chuyn ng ca mt tit din phng ca n trong mt phng
cha tit din song song vi mt phng quy chiu.
4.1.1. Chuyn ng ca hnh phng
a) Thng s nh v
Xt hnh phng S chuyn ng trong mph P. Chn h to c nh O1x1y1
trong mph P, ly im O thuc hnh phng S gn vo h trc to Oxy c Ox //
O1x1 v Oy//O1y1. Vy Oxy chuyn ng tnh tin i vi O1x1y1, chuyn ng xc
nh hon ton qua chuyn ng ca im O.
y1

S
y0

O1

x0

x1

V tr ca hnh phng xc nh bi

v tr ca n i vi h Oxy qua gc nh v

v tr ca h ng Oxy i vi h c nh O1x1y1

qua thng s nh v ca im O (x0, y0)

b) Phng trnh chuyn ng

Khi hnh phng chuyn ng th cc thng s nh v cng thay i lin tc
theo thi gian. cc i lng
x 0 = x 0 (t ); y 0 = y0 (t ); = (t )

(2.66)

l phng trnh chuyn ng ca hnh phng S.

Hai phng trnh u m t chuyn ng tnh tin ca h to ng Oxy,
phng trnh th ba m t chuyn ng quay ca hnh phng i vi h to ng

Oxy. Nh vy chuyn ng ca hnh phng S chia lm 2 thnh phn: chuyn ng

tnh tin cng to ng v chuyn ng quay i vi h to ng
4.1.2 Cc yu t ng hc ca cc chuyn ng thnh phn
Trng thi ng hc ca chuyn ng tnh tin ca h to ng c xc

nh bng vn tc v gia tc ca im gc to O ( v0 , a0 )
Trng thi ng hc ca chuyn ng quay ca hnh phng S i vi h to
=
.
ng c xc nh bng vn tc gc v gia tc gc = ; =

Vy cc i lng v0 , a0 , , c gi l cc yu t ng hc ca hnh phng

chuyn ng song phng. Cc i lng v0 , a0 ph thuc vo vic chn gc to
ng O, cn , khng ph thuc vo vic chn ny.
4.1.3 Kho st chuyn ng ca im
a) Thng s nh v
Xt im M thuc hnh phng S cch gc O mt khong OM=R.
y1

yM
y0
O

O1

xM
x0
Cc thng s nh v ca im M l to xM yM

x1
x

x M = x 0 + R cos

y M = y 0 + R sin

(2.66)

b) Phng trnh chuyn ng

x M (t ) = x 0 (t ) + R cos (t )

y M (t ) = y 0 (t ) + R sin (t )

(2.67)

c) Vn tc cc im

Biu thc gii tch

dx

v Mx (t ) = M = x 0 (t ) R sin (t ) = x 0 (t ) R sin (t )

dt
vM
v (t ) = dy M = y (t ) + R cos (t ) = y (t ) + R cos (t )
0
0
My
dt

(2.68)

Quan h vn tc gia 2 im.

Vn tc ca im gc O, tc v0 , c hnh chiu ln h to c nh O 1x1y1 l

0 , cn vn tc ca im M trong h to ng Oxy vMO c hnh chiu trn

x 0 v y
O1x1y1 l R sin v R cos .

vMO
y1

O1

x1

Vy t (2.4) ta c

v M = vO + v MO

(2.69)

nh l 2.4.1: Vn tc ca im M bng tng hnh hc ca vn tc im gc O v

vn tc ca n khi hnh phng quay quanh gc O.

Tm vn tc tc thi v s phn b vn tc ca cc im thuc hnh phng

Nu ti thi im kho st tn ti mt im thuc hnh phng c vn tc bng 0

th im c gi l tm vn tc tc thi P
nh l 2.4.3: Ti thi im vn tc gc 0 tn ti duy nht mt tm vn tc tc
thi.

xt trng hp tn ti tm vn tc tc thi P. Khi chn P lm cc theo nh

l 2.4.1 ta c

v M = v P + v MP = v MP

(2.70)

tc vn tc im M bt k thuc hnh phng S bng vn tc ca n trong chuyn

ng quay ca hnh phng quanh tm vn tc tc thi. Gi im P* thuc mt phng
c nh trng vi tm vn tc tc thi P l tm quay ta c nh l sau.
nh l 2.4.4. Ti thi im tn ti tm tc thi vn tc cc im thuc hnh phng
c phn b ging nh trng hp quay quanh tm vn tc tc thi P.

M
P=P*

Trong trng hp ny ngi ta gi hnh phng quay quanh tm quay tc thi P*

Trng hp khng tn ti tm vn tc tc thi (=0) th vMO = 0 nn

v M = vO + v MO = vO
trng hp ny hnh phng chuyn ng tnh tin tc thi. ta c nh l
nh l 2.4.5. Ti thi im khng tn ti tm tc thi vn tc th mi im thuc hnh
phng c vn tc bng nhau.

Xc nh tm vn tc tc thi

Trng hp 1: Bit vA v vn tc gc ca hnh phng . Tm vn tc tc thi nm

trn ng PA c c bng cch quay vA i 90o theo chiu quay ca v

PA =

vA

Trng hp 2: Bit vn tc ca im A vA v phng ca vn tc ca im B. Tm

vn tc tc thi l giao im ca 2 ng vi cc phng vn tc dng ti im A
v B
=

vA
PA

vB = PB = vA

PB
PA

vA
P

vA

Phng vB

Trng hp 3: Bit vn tc ca 2 im A, B v phng ca chng //. Nu ng

thng i qua AB vi vn tc th tm vn tc tc thi l giao im ca ng AB

vi ng thng ni 2 im u ca cc vc t vn tc vA v vB .
=

vA vB
AB

nu vA v vB cng chiu

vA + vB
AB

nu vA v vB ngc chiu

Nu ng thng i qua AB khng vi vn tc th tm vn tc tc thi xa v

cng

vA

A
P

vA

vB

vB

B
P
Trng hp 4: Hnh phng ln khng trt trn mt ng cong phng c nh, th
tm vn tc tc thi l im tip xc gia hnh phng v ng

Gia tc cc im

Biu thc gii tch

a (t ) =
Mx
aM
a (t ) =
My

d2xM
= x 0 (t ) R sin (t ) R 2 cos (t )
2
dt
d 2 yM
0 (t ) + R cos (t ) R 2 sin (t )
=y
2
dt

(2.71)

Quan h gia gia tc hai im

T (2.71) ta thy thnh phn th nht l hnh chiu gia tc ca im O ln trc

to c nh.
Thnh phn th 2 l hnh chiu ln cc trc to c nh ca gia tc php ca

im M trong chuyn ng quay ca hnh S quanh O, anMO , hng t M n O c

gi tr bng R 2
y1

O1

aO
a
aM tMO

M
aMO

anMO

aO
O

x1

Thnh phn th 3 l hnh chiu ln cc trc to c nh ca gia tc tip ca

im M trong chuyn ng quay ca hnh S quanh O, atO , phng vi MO c gi

tr bng R

a M = aO + a n MO + atMO , a MO = an MO + atMO
ng l 2.4.6. Gia tc ca im M thuc hnh phng bng tng hnh hc ca gia tc
im gc O v gia tc ca n khi hnh phng quay quanh gc O.

Tm gia tc tc thi

nh ngha: Tm gia tc tc thi l mt im thuc hnh phng, ti thi im kho

st c gia tc bng 0.
nh l 2.4.7. Ti thi im vn tc gc v gia tc gc khng ng thi trit tiu th
tn ti duy nht mt tm gia tc
nh l 2.4.8. Trong trng hp tn ti tm gia tc tc thi, s phn b gia tc cc
im thuc hnh phng ging nh s phn b ca chng khi hnh phng quay quang
tm gia tc.

Xc nh tm gia tc tc thi

Trng hp 1: Bit gia tc mt im a A , vn tc gc v gia tc ca hnh

phng, khi tm gia tc tc thi Q s nm trn na ng thng AQ c c

bng cch quay vc t a A theo chiu mt gc

aA

AQ =
2 ,
2

+ 4

Trng hp 2: Bit a A v a B c th tinsg c 2 v , do tnh c gc . Khi

tg =

tm vn tc tc thi Q l giao im ca hai ng thng c c bng cch

quay hai vc t trn i 1 gc theo chiu ca
4.1.4 Cc dng bi tp
a) Lp phng trnh chuyn ng ca vt .
4.2. Tng hp hai chuyn ng quay quanh hai trc song song
Xt vt C quay i vi khung B quanh trc r vi vn tc gc r, khung B quay
i vi gi c nh A quanh trc e song song vi r vi vn tc gc e. Xt chuyn
ng ca vt C i vi gi c nh A.

Chuyn ng ca vt C i vi khung B l chuyn ng tng i

Chuyn ng ca khung B vi gi c nh A l chuyn ng theo

Chuyn ng ca vt C vi gi c nh A l chuyn ng tuyt i

Ta nhn thy chuyn ng ca vt C l chuyn ng song phng vi mt phng

vung gc vi cc trc quay vy ta s ch kho st mt hnh phng S nm trong mt
phng (hnh)
y
y1

a( a)
O

O1

r( r)
x

e( e)
x1

Thanh OO1 quay quanh O1 vi vn tc gc e gc nh v l e, hnh S quay

quanh O vi vn tc gc r gc nh v l r. Vy chuyn ng tuyt i c gc nh
v l a = r + e
Do

d a d r d e
=
+
vy a = r + e
dt
dt
dt

Tm vn tc tc thi P xt ln lt cho 2 trng hp

Trng hp chuyn ng quay theo v quay tng i cng chiu e > 0 ,

r > 0 , vy a = e + r > 0 . Xt im O thuc hnh phng S, vn tc ca n
v0 = e O1O

Khi PO =
PO =

v0
e
=
O1O < O1O
a r + e

e
e

PO
O1O =
(O1 P + PO )
= e
r + e
r + e
PO1
r

Trng hp chuyn ng quay theo v quay tng i ngc chiu e > 0 ,

r < 0 , e > r vy a = e r > 0 .

Khi PO =
PO =

v0
e
=
O1O > O1O
a r e

e
e

PO
O1O =
(O1 P + PO )
= e
r e
r e
PO1
r

4.3. Chuyn ng inh c

Chuyn ng inh c l tng hp ca chuyn ng tng i l chuyn ng
quay ca im M quanh trc z to thnh ng trn bn knh r trn mt phng song
song vi mt phng Oxy v chuyn ng theo l chuyn ng tnh tin ca mt
phng theo phng z. Thng s nh v ca chuyn ng quay l gc cn
thng s nh v chuyn ng tnh tin l z
im M chuyn ng theo quy lut:
x = r cos; y = r sin ; z = p
trong r v p l hng s
4.3.1 Cc yu t ng hc ca cc chuyn ng thnh phn
Trng thi ng hc ca chuyn ng quay trn ng trn xc nh bng vn
tc gc v gia tc gc
Trng thi ng hc ca chuyn ng tnh tin theo phng z xc nh bng
vn tc v gia tc ca mt phng
4.3.2. Kho st chuyn ng ca im
Lut chuyn ng x = r cos;

y = r sin ;

z = p

= r cos; vz = z = p
Ta c vx = x = r sin ; vy = y
v = v x2 + v y2 + v z2 = r 2 2 sin 2 + r 2 2 cos 2 + p 2 2 = r 2 + p 2
= r 2 sin + r
sin ; a y = y
cos ; a z = z = p

a x = x = r 2 cos r
a = a x2 + a y2 + a z2
2 ) + p 2
2
= r 2 ( 4 +
Gi gc gia tip tuyn vi qu o v trc x l ta c
cos =

vz
p
=
= const
2
v
r + p2

Vy ng inh c c nghing khng i i vi mt phng Oxy. Nh ta m t

qu o ca im M khi chiu ln mt Oxy s v ra ng trn bn knh r
x 2 + y 2 = r 2 cos 2 + r 2 sin 2 = r 2 x
Khi im i quay mt vng quanh trc z ta c = 2 , v im M chuyn ng dc
theo trc z mt on z = 2p = const = h . h l bc ca inh c

Trng hp: = 0 t ta c
v x = r 0 sin ; v y = r 0 cos ; v z = p 0
v = v x2 + v y2 + v z2 = r 2 02 sin 2 + r 2 02 cos 2 + p 2 02 = 0 r 2 + p 2
a x = x = r 02 cos ; v y = r 02 sin ; a z = 0
a = a x2 + a y2 + a z2 = r 2 ( 04 cos 2 + 04 sin 2 ) = r 02
v = const

at = 0; an = a = r 02

Khi M chuyn ng u trn ng nh c vi vn tc v=const.

Gia tc a // vi mt phng z v a a z = 0 , c cng phng vi bn knh quay v
a x = 02 x; a y = 02 y .
Bn knh cong trong trng hp ny c tnh
=

v 2 02 (r 2 + p 2 ) r 2 + p 2
=
=
an
r 2 02
r2

PHN 3. NG LC HC
1. CC KHI NIM V CC NH LUT CA NG LC HC

1.1. Cc khi nim c bn

1.1.1. Cc m hnh vt th
a) Cht im: l mt im hnh hc mang khi lng, - vt th c kch thc nh
c th b qua)
Cht im t do: - l cht im m ti thi im kho st cc di chuyn khng
b cn tr
Cht im khng t do (cht im chu lin kt) ti thi im kho st cc
dch chuyn ca n b cn tr. iu kin rng buc v v tr v vn tc cc lin kt
Cht im khng t do c th thay th bng cht im t do v cc phn lc
lin kt
b) C h tp hp hu hn hay v hn cc cht im, trong chuyn ng ca
mt cht im bt k ph thuc vo chuyn ng ca cc cht im cn li, ni cch
khc chuyn ng ca cc cht im ph thuc ln nhau tn ti tng tc c hc.
C h t do l tp hp cc cht im m tng tc c hc gia chng c
biu din ch thun tu qua lc tc dng v d h mt tri
C h khng t do (c h chu lin kt) l c h c t nht mt im khng t
do, Ngoi tng tc lc, v tr v vn tc ca chng cn b rng buc bi mt s iu
kin ng hc v hnh hc gi l iu kin lin kt. C cu my v vt rn tuyt i
l mt c h chu lin kt.
1.1.2. Lc tc dng ln c h
Trong phn ny lc l i lng bin i theo thi gian, v tr v vn tc

F = F (t , r , v)

(3.1)

a) Cc c trng ca lc tc dng
Xung lng ca lc (xung lc) nh gi tc dng ca lc theo thi gian (N/s)

Xung lc nguyn t

dS = Fdt

(3.2)

Xung lc hu hn
t2
S = Fdt
t1

(3.3)

Xung lc ca h lc
N t2
S = Fk dt

(3.4)

k =1 t1

Cng ca lc - nh gi tc dng ca lc di chuyn (Nm- Jun))

Cng nguyn t

dA = Fdr = Fx dx + Fy dy + Fz dz

trong dr l lng di chuyn v cng b.

dA = Fvdt = Fx x + Fy y + Fz z = Ft ds = F cos ds

(3.5)

(3.6)

trong gc gia lc v phng tip tuyn

Cng hu hn

A = Fdr = Fx dx + Fy dy + Fz dz =
M0 M

M0 M

F cos ds

M0 M

(3.7)

Cng sut l cng sinh ra trong mt n v thi gian (Nm/s)

W =

dA
= Fv = Fx x + Fy y + Fz z = Ft vt
dt

(3.8)

b) Ngoi lc v ni lc

Ngoi lc, k hiu Fke , l lc do cc vt th bn ngoi tc ng ln cht im

thuc c h.

Ni lc, k hiu Fki , l lc do cc cht im thuc c h tc ng ln ln nhau.

Ni lc xut hin theo tng cp trc i.
c) Lc lin kt v lc hot ng

Lc lin kt, k hiu Rk , l lc do lin kt tc dng ln cc cht im thuc c

h.
Lc hot ng l cc lc khng thuc vo loi lc lin kt, n khng ph thuc
vo cc lin kt t ln c h, cn lc lin kt khng ch ph thuc vo lin kt cn
ph thuc vo lc hot ng tc dng ln c h.
1.1.3. H quy chiu qun tnh
Trong ng lc hc chuyn ng c kho st trong h quy chiu qun tnh l
h quy chiu m trong nh lut qun tnh ca Newton c nghim ng. Trong
k thut h quy chiu gn vi tri t l h qui chiu qun tnh (gn ng).

1.2 Cc nh lut c bn ca ng lc hc
nh lut qun tnh: Cht im khng chu tc dng ca lc no th ng yn hay
chuyn ng thng u
chnh l trng thi qun tnh ca n. Nh vy nu khng c lc tc dng ln
cht im th n c trng thi qun tnh. C ngha cht im bo ton trng thi qun
tnh cho n khi cha c lc buc n thay i. Vy nh lut qun tnh khng nh
lc l nguyn nhn duy nht lm bin i trng thi chuyn ng
nh lut c bn ca ng lc hc: Trong h quy chiu qun tnh, di tc dng ca
lc cht im chuyn ng vi gia tc cng hng vi lc v c tr s t l vi cng
ca lc

F = ma

(3.9)

h s t l m c gi tr khng i n l s o qun tnh ca cht im c gi l

khi lng.
Khi cht im ri t do ta c:

P = mg ,

(3.10)

trong g=9,81m/s2 gia tc trng trng.

Trong ng lc hc ta cn s dng cc nh lut nu trong tnh hc nh:
nh lut tc dng v phn tc dng, nh lut hnh bnh hnh, nh lut thay th lin
kt
1.3. Phng trnh vi phn chuyn ng ca cht im

Phng trnh vi phn chuyn ng ca cht im dng vc t: Gi r l vc t nh

v ca cht im trong h quy chiu qun tnh t (3.9) ta c

mr = F (t , r , r )

(3.11)

Phng trnh vi phn chuyn ng ca cht im dng to cc: Chn h trc

to cc vung gc gn vi h quy chiu qun tnh, khi chiu hai v (3.9)
ln trc to ta c
mx = F x (t , x , y, z, x , y , z )
= Fy (t , x , y, z, x , y , z )
my

(3.12a)

mz = F z (t , x , y, z , x , y , z )
Phng trnh vi phn chuyn ng ca cht im dng to t nhin: khi chiu
hai v (3.9) ln cc trc to t nhin ta c

ms = Ft , m

v2
= Fn , 0 = Fb

(3.12b)

trong s l to cong, v - vn tc, - bn knh cong, Ft , Fn , Fb - l hnh chiu

ca lc F ln cc trc tip tuyn, php tuyn v trng php tuyn

1.4. Hai bi ton c bn ca ng lc hc
Bi ton th nht - bi ton thun: Cho bit chuyn ng ca cht im xc nh lc
tc dng ln cht im
Trng hp bit gia tc a ta p dng trc tip phng trnh c bn.
Trng hp bit lut chuyn ng hoc vn tc ta tm gia tc ca cht im
sau p dng phng trnh cn bng .
Bi ton th hai - bi ton ngc: Cho bit lc tc dng v cc iu kin u ca
chuyn ng xc nh chuyn ng ca cht im
T phng trnh cn bng gia tc c th xc nh t phng trnh vi phn
chuyn ng . Sau ly tch phn xc nh chuyn ng ca cht im. Cc hng
s tch phn xc nh t iu kin ban u
2. CC NH L TNG QUT CA NG LC HC

2.1. Cc c trng hnh hc khi ca c h v vt rn

2.1.1 Khi tm ca c h v vt rn

Khi tm ca h: Xt c h gm N cht im Mk c khi lng mk, vc t nh v rk .

im C gi l khi tm ca c h c xc nh theo cng thc sau:
N

rc =

m r

k k

k =1
N

m
k =1

, xc =

m
k =1
N

k xk

k =1

, yc =

m
k =1
N

k yk

m
k =1

, zc =

m
k =1
N

m
k =1

zk
(3.13)
k

Khi tm ca vt rn: Xt vt rn v chia n thnh N (s lng phn t tin n v

cng) phn t nh Mk c khi lng mk, vc t nh v rk . im C gi l khi tm

ca vt rn c xc nh theo cng thc sau:

rc =

lim mk rk
N

k =1
N

lim mk
N

k =1

N
1
r
dm
M
=
lim
m k
,

N
M V
k =1

xc =

lim x k m k
N

k =1

1
,
xdm yc =

MV

1
xdm
M V

lim y k m k
N

k =1

1
,
ydm

MV

zc =

lim z k m k
N

k =1

(3.14)

Khi vt rn nm gn tri t khi tm trng vi trng tm

Nu vt l khi ng cht c th tch V v c khi lng ring th M=V;

dm=dV, vy
1
rc =
V

rdV ,

xc =

1
V

xdV
,y

1
V

ydV
,
V

zc =

1
V

zdV
,

(3.15)

i vi tm phng ng cht c tit din F th

xc =

1
F

xdF =

Sy
F

, yc =

1
F

ydF =
F

Sx
,
F

trong S x = ydF , S y = xdF ,

F

(3.16)
(3.17)

c gi l m men tnh ca tit din F vi trc x v y

nh l 1: Nu VR ng cht c tm (trc, mt phng) i xng th khi tm ca n
nm ti tm (trc, mt phng) i xng.

Khi tm ca thanh ng nht nm trn im gia ca thanh

Khi tm ca hnh bnh hnh, ch nht, vung, khi hp ch nht, khi lp

phng l tm ca chng

Khi tm ca tam gic nm trn giao im ca cc ng trung tuyn

Khi tm ca cung trn x c = R sin / , khi = / 2 x c = 2 R /

Khi tm ca qut trn x c = 2 R sin / 3 , khi = / 2 x c = 4 R / 3

2.1.2. M men qun tnh ca vt rn

nh ngha: M men qun tnh ca vt rn i vi trc z k hiu l Iz l i lng v
hng c xc nh bng
N

I z = lim m k k2 = 2 dm
N

k =1

trong k l khong cch t im Mk n trc. n v kgm2

(3.18)

M men qun tnh i vi cc trc to Oxyz

I x = (y 2 + z 2 )dm ; I y = (x 2 + z 2 )dm ; I z = (x 2 + y 2 )dm .
V

(3.19)

M men qun tnh tch l cc i lng:

N

I xy = I yx = lim x k yk m k = xydm
;
N
k =1

I yz = I zy = lim y k z k m k = yzdm

k =1

(3.20)

I zx = I xz = lim z k x k m k = zxdm

k =1

Trc qun tnh chnh: Trc x c gi l trc qun tnh chnh nu

I xy = I xz = 0 .

(3.21)

Tng t trc y c gi l trc qun tnh chnh nu I yx = I yz = 0 v trc z c gi

l trc qun tnh chnh nu I zx = I zy = 0 .
Trc qun tnh chnh trung tm: l trc qun tnh chnh i qua khi tm.
M men qun tnh ca vt rn i vi mt im
N

I O = lim m k rk2 = r2 dm .
N

k =1

(3.22)

D dng nhn thy:

IO =

1
(I x + I y + I z )
2

(3.23)

Bn knh qun tnh l i lng:

2
qt
=

Iz
M

(3.24)

i vi tit in phng F th
I x = y 2 dF ; I y = x 2 dF ; I xy = xydF .
F

(3.25)

M men qun tnh c cc

I O = r 2 dF = I x + I y .
F

H trc c I xy = 0 gi l h trc chnh.

H trc c

(3.26)

I xy = 0 ; S x = S y = 0

(3.27)

gi l h trc qun tnh chnh trung tm. Tng ng vi cc h trc ta c m men

qun tnh chnh hay m men qun tnh chnh trung tm.
nh l: M men qun tnh ca vt rn i vi trc bng tng m men qun tnh
ca n i vi trc song song vi trc qua khi tm C v tch ca khi lng vi
bnh phng khong cch gia hai trc
I = I C + Md 2
nh l: Nu vt rn ng cht c mt trc i xng th trc l trc qun tnh chnh
trung tm
nh l: Nu vt rn ng cht c mt phng i xng th trc thng gc vi mt
phng i xng l trc qun tnh chnh ti giao im ca mt phng i xng v trc
M men qun tnh ca mt s vt ng cht:

Thanh ng cht c chiu di l, khi lng M:

I C =

Ml 2
Ml 2 I = 0
; Ix = Iz =
; y
.
12
3

Vnh trn ng cht c bn knh R, khi lng M

I x = MR 2 ; I y = I z =

Mt trn ng cht c bn knh R, khi lng M

Ix =

MR 2
.
2

MR 2
MR 2
; Iy = Iz =
.
2
4

Tm ch nht ng cht c cc cnh 2a, 2b, khi lng M

Mb 2
Ma 2
; Iy =
.
Ix =
12
12

Hnh tr ng cht c bn knh R, khi lng M, chiu cao h

M 2 h2
R +
.
Tr rng I x = MR ; I y = I z =
2
6
2

Tr c I x =

M 2 h2
MR 2
R +
.
; Iy = Iz =
4
3
2

Ta kho st h lc cn bng


( F1 , F2 , , F N , F1qt , F2qt , F Nqt ) = 0

(3.28)

2.2. nh l ng lng

Gi RF l vec t chnh ca h lc ( F1 , F2 , , F N )

R F = Fk = Fke + Fki = Fke

Gi R qt l vec t chnh ca cc lc qun tnh:

qt

dvk
d
Rqt = Fk = m k a k = m k
= m k vk
dt
dt

Tch m k vk l ng lng ca cht im, cn

Q = m k vk

(3.29)

d
c gi l ng lng ca c h. Vy Rqt = Q
dt

Gi R l vec t chnh ca h lc ( F1 , F2 , , F N , F1qt , F2qt , , F qt ) , ta c

d
R = R F + Rqt = Fke Q = 0
dt

dQ
T
= Fke
dt
t
N

e
Q

Q
=
F
dt
=
v
k
S ke
0
k =1

t0

(3.30)

(3.31)

trong Q v Q l ng lng ng vi cc thi im t v t0, cn

N t
e
S
=
k Fke dt
N

k =1

(3.32)

k =1 t 0

l tng xung lc cc ngoi lc tc dng ln c h trong khong thi gin (t-t0)

nh l: o hm ca ng lng theo thi gian bng tng cc ngoi lc tc dng
ln h
nh l: Bin thin ng lng trong khong thi gian no bng tng xung lc
cc ngoi lc tc dng ln c h trong khong thi gian .
i vi trc Ox c nh:
dQ x
= Fkxe ,
dt

(3.33)
t

t0

k =1

e
Q x Q x 0 = Fkxe dt = S kx

Ch : - Ni lc khng nh hng n s bin i ca ng lng c h

(3.34)

Nu

Nu

= 0 th ng lng bo ton: Q = const

e
kx

= 0 th hnh chiu ng lng trn trc x bo ton: Q x = const

2.3. nh l chuyn ng khi tm

Ta c

drk
d
d
Q = m k vk = m k
=
m k rk = ( MrC ) = MvC
(3.35)

dt
dt
dt

trong M , vC l khi lng v vn tc khi tm ca c h. Vy ng lng ca c

h bng ng lng ca khi tm vi gi thit khi tm c khi lng bng khi
lng ca c h.

dQ d
= ( MvC ) = MaC = Fke
dt dt
nh l: Khi tm chuyn ng nh cht im c khi lng bng khi lng c h
v chu tc dng ca lc c vc t bng vc t chnh ca h ngoi lc tc dng ln
c h

Ma C = Fke

(3.36)

Trn trc to cc
C = Fxke , MzC = Fxke
Mx C = Fxke , My

(3.37)

Nhn xt. Ni lc khng nh hng n chuyn ng ca khi tm

e

Nu Fk = 0 th aC = 0 tc v = const hoc v = 0
e

Nu Fkx = 0 th x C = 0 tc x C = const hoc x C = 0

2.4. nh l m men ng lng
O

Gi m FO v mqt l m men chnh i vi im O c nh ca cc lc tc dng

v cc lc qun tnh ca cc cht im thuc c h

m FO = mO ( Fk ) = mO ( Fke ) + mO ( Fki ) = mO ( Fke )
v

d
m qtO = mO ( Fkqt ) = r Fkqt = rk m k a k =
rk mk vk )

dt

trong rk - vec t nh v, m k vk - ng lng, r mk vk - m men ng lng ca

cht im Mk i vi im O c nh

LO = rk m k vk = mO (mk vk )

(3.38)

l tng m men cc ng lng cc cht im i vi im O, gi tt l m men

ng lng c h i vi im O
O
d
Vy m qt = LO
dt
V m men chnh ca h lc cn bng trit tiu nn

d
m FO + m qtO = mO ( Fke )
LO = 0
dt
e
d
LO
do mO ( Fk ) =
dt
Hnh chiu ln trc z

d
m z ( Fke ) = dt L z

(3.39)

(3.40)

nh l: o hm theo thi gian ca m men ng lng ca c h i vi mt im

(trc) c nh bng tng m men ca cc ngoi lc vi cng im (trc )
Nhn xt: - Ni lc khng nh hng n s bin i m men ng lng c h

e
e

Nu mO ( Fk ) = 0 th LO = const hoc m z ( Fk ) = 0 th L z = const

Phng trnh vi phn chuyn ng ca vt quay quanh mt trc c nh

Xt VR quay quanh mt trc c nh. Cc ngoi lc gm ( F1 , F2 , , F N ) v cc

phn lc lin kt R A , R B . u tin ch :

LO = mO (mk vk ) = mk hk2 = m k hk2 = I z

trong - vn tc gc, mk khi lng ca phn t Mk nm cch trc quay
khong hk, Iz m men qun tnh ca VR i vi trc quay. p dng (3.29) ta c

d
d
d
L z = ( I z ) = I z
= I z = m z ( Fk )
dt
dt
dt
Vy PTVP chuyn ng
Iz

d 2
d
= Iz
= I z = m z ( Fk )
2
dt
dt

(3.41)

2.5. nh l ng nng
2.5.1. nh l ng nng:
Gi WF v Wqt l tng cng sut ca cc lc tc dng v ca cc lc qun tnh



qt

dv k
d 1
W F = Fk vk ; Wqt = Fk vk = m k a k vk = mk
vk =
m k vk2

dt
dt 2
i lng
T=

1
m k vk2 c gi l ng nng ca cht im Mk, cn
2

1
m k vk2

c gi l ng nng ca c h. Vy Wqt =

(3.42)
dT
. V h lc cn bng nn
dt

dT
W F + Wqt = Fk vk
=0
dt

dT
= Fk v k = W F
Vy
dt

(3.43)

nh l: o hm theo thi gian ng nng ca c h bng tng cng sut ca cc

lc (ni lc v ngoi lc, hay lc hot ng v lc lin kt) tc dng ln c h.
T (3.43) ta c


dT = Fk vk dt = F f drk = dAk

(3.44)

nh l: Vi phn ng nng ca c h bng tng cng nguyn t ca tt c cc lc

(ni lc, ngoi lc, lc hot ng v lc lin kt) tc dng ln c h. Tch phn
(3.44) ta c
T T0 = Ak

(3.45)

nh l: Bin thin ng nng ca c h trong mt khong thi gian no bng

tng cng ca cc lc (ni lc v ngoi lc, hay lc hot ng v lc lin kt) sinh ra
trong chuyn di ng vi thi gian .
nh l ng nng phn nh su sc bn cht qu trnh thay i chuyn ng ca c
h v nh n trng thi chuyn ng ca c h c nghin cu su sc
2.5.2. p dng
a) Biu thc ng nng ca vt rn chuyn ng

Chuyn ng tnh tin: Vt c khi lng M chuyn ng vi vn tc v . Trong

trng hp ny tt c cc phn t c cng vn tc, do
T=

1
1
1
1
m k vk2 = m k v 2 = v 2 m k = Mv 2

2
2
2
2

(3.46)

Chuyn ng quay quanh trc c nh vi vn tc gc : Phn t Mk c khi

lng mk nm cch trc quay mt on hk c vn tc vk = hk , do

1
1
1
1
mk vk2 = mk hk2 2 = 2 mk hk2 = I z 2

2
2
2
2

T=

(3.47)

trong IZ m men qun tnh ca vt i vi trc quay

Chuyn ng song phng: Xt hnh phng khi lng M, vn tc khi tm l vC

v vn tc gc . Gi P l tm vn tc tc thi. Phn t M k c khi lng mk
cch tm P mt on hk c vn tc vk = hk , do
1
1
1
1
mk vk2 = mk hk2 2 = 2 mk hk2 = I P 2

2
2
2
2

T=

trong IP m men qun tnh ca hnh phng i vi trc quay qua P v hnh.
2
Theo nh l v mmen qun tnh ta c I P = I C + M PC , do

T=
Vy T =

1
1
1
1
I P v 2 = ( I C + M PC 2 ) 2 = I C 2 + M ( PC ) 2
2
2
2
2

1
1
I C 2 + MvC2
2
2

(3.48)

b) Biu thc tnh cng ca mt s lc

Cng ca trng lc: Cng sut ca trng lc P : W = Pv = Pz

Cng ca trong lc khi im t di chuyn t M1 n M2
M2

M2

M1

M1

M1

M1

A = Wdt = Pz dt =

Pdz = P ( z

z1 ) = Ph

(+) - im t h xung, (-) - im t nng ln, = 0 - di chuyn ngang

Trng hp h trng lc P = Pk c trng tm ti h = hc

A = P k hC

Cng ca lc n hi F = cr , trong r -vc t nh v ca im t lc, c h

s t l:

r2

r2
r


1 1
1
A = Fdr = c r dr = c d(r ) 2 = (r22 r12 )

2 r1
2
r1
r1

1 2
Trng hp l xo ta c A = c , - bin dng ca l xo.
2

Cng ca lc tc dng ln vt rn chuyn ng tnh tin:

Cng sut: W = Fv = FvC , vy A = Wdt = FvC dt = FdrC

Cng ca lc tc dng ln vt rn chuyn ng quay quanh trc c nh:

Cng sut: W = Fv = Fv cos = FR cos = m O ( F ) , vy

A = Wdt = mO ( F )dt = mO ( F )d

Cng ca lc tc dng ln hnh phng chuyn ng song phng, c th coi hnh

phng quay quanh tm tc thi vy
2

W = m P (F ) ; A = m P ( F )d
1

C th coi tm phng chuyn ng tnh tin vi khi tm C v quay quanh tm

C lc

W = m P ( F ) + FC vC ; A = m O ( F )d + FC drC
2.6. nh l bo ton c nng
2.6.1. Trng lc th Th nng
Trng lc th khong khng gian vt l m khi c h chuyn ng trong ,
cc cht im ca n chu tc dng ca lc ch ph thuc vo v tr ca c h, cn
cng cc lc tc dng khng ph thuc vo dng qu o cc cht im m ch ph
thuc vo im u v im cui
Th nng c h - tng cng ca cc lc th tc dng ln c h khi n di
chuyn t v tr M (ang xt) n v tr O (gc), Vy
( M ) = A MO
trong :

MO

tng cng cc lc khi c h di chuyn t M n O suy ra rng

(O ) = 0 , ( M 1 ) = A M1O
Cng ca lc trong trng lc th khng ph thuoc vo dng qu o im
t lc nn c h di chuyn t M n O c cng theo mi ng u bng cng
theo ng qua v tr M1
( M ) = A MO = A MM + A M O = A MM + ( M 1 )
1

Vy ( M ) ( M 1 ) = A MM1
nn chnh lch th nng ti hai v tr bng tng cng cc lc khi c h di chuyn t
v tr ny n v tr kia.
2.6.2. nh l bo ton c nng.
Gi s c h chuyn ng t M0 n M. Theo nh l ng nng ta c

TM TM 0 = A

M0M

0
ng thi ( M ) ( M ) = A M 0 M
0
Vy ( M ) ( M ) = T M T M 0
0
Hay E = ( M ) + T M 0 = ( M ) + T M = const

i lng E l c nng tng ca ng nng v th nng.

nh l: Khi c h chuyn ng trong trng lc th th c nng ca h c bo
ton.
2.6.3. Biu thc tnh th nng ca mt s lc th

Th nng trng lng. Chn mt t l v tr gc. Trong tm c h l C cch

mt t cao hC th
= ( Pk )hc

Th nng n hi: Khi bin dng ca l xo l , c l cng l xo th

=

1 2
c
2

3. MT S NGUYN L C HC

3.1. Cc khi nim c bn

3.1.1. Di chuyn kh d v s bc t do ca h.

Tp hp cc kh nng di chuyn (v cng b) m c h c kh nng thc hin

c gi l di chuyn kh d. N l tp hp cc di chuyn v cng b ca cc
cht im thuc c h sang v tr ln cn ph hp vi cc lin kt ang xt.

Cc di chuyn kh d ca c h khng c lp i vi nhau.

S bc t do ca h (k hiu l k) l s ti a cc di chuyn kh d c lp
tuyn tnh ca c h

3.1.2. To suy rng

Tp hp cc thng s xc nh v tr ca c h trong mt h quy chiu

c gi l to suy rng ca c h k hiu l q1 , q2 , , qm . Chng c th l
ta cc ca cc cht im, c th l gc quay.

To cc ca cc cht im thuc c h c th biu din qua to suy

rng

x k = x k (q1 , q 2 , , q m )

yk = y k (q1 , q 2 , , qm ) rk = rk (q1 , q 2 , , q m ) k = 1, n
z k = z k (q1 , q 2 , , q m )

(3.49)

Khi m=n ta c to suy rng , khi m>n ta c to suy rng tha.

Trong chuyn ng tnh tin to suy rng l ba to cc ca mt im
bt k thuc VR. Trong chuyn ng quay quanh trc c nh to suy rng l gc
quay ca vt. Trong chuyn ng song phng to suy rng l x0 , y0 , .
3.1.3. Lc suy rng
a) Biu thc cng ca lc trong di chuyn kh d: Gi tt l cng kh d ca lc. Cho

c h di chuyn kh d {rk } . Theo (3.5) cng kh d ca cc lc s l

A
=
F
k k rk = Fkx x k + Fky yk + Fkz z k
Gi s ta suy rng ca c h l q1 , q2 , , qn , t (3.49) ta tnh c
n

x k =
i =1

n
n
x k
y
z
q i ; y k = k qi ; z k = k q i ;
q i
i =1 q i
i =1 q i

Thay vo biu thc cng kh d

n N
n

x k
y k
z k

A
=
F
+
F
+
F

q
=
kx
i Qi qi
k
ky
kz
qi
q i
q i
i =1 k =1
i =1

(3.50)

b) Lc suy rng

x k
yk
z k N
rk

+ Fky
+ Fkz
= Fk
i lng Qi = Fkx
q i
q i
q i k =1 qi
k =1
N

(3.51)

c gi l lc suy rng ng vi ta suy rng qi, l i lng v hng.

3.1.4. Lin kt l tng
Lin kt c gi l l tng nu cng ca tt c cc lc lin kt trong mi di
chuyn kh d bng 0

R
k rk = 0

(3.52)

Trong thc t nu b qua ma st v tnh n hi ca vt th ta c c h chu

lin kt l tng:

Cc vt rn t do

hai vt rn lun lun ta vo nhau trong qu trnh chuyn ng

Dy mm khng dn vt qua rng rc hay puli

Hai vt ln khng trt

Lc suy rng ca cc lc lin kt l tng trit tiu

N
rk
R
Q i = Rk
=0
qi
k =1

(3.53)

3.2. Nguyn l cng o

3.2.1. Nguyn l cng o:
i vi c h chu lin kt hnh hc, gi, dng v l tng, iu kin cn v
c h cn bng ti v tr ang xt l tng cng nguyn t ca cc lc hot ng
trong mi di chuyn kh d ca c h t v tr ang xt u trit tiu

(3.54)
Ak = Fk rk = 0

- l phng trnh cng kh d, trong Fk l lc hot ng tc dng ln cht im

Mk, rk - di chuyn kh d ca cht im MK.

Chng minh iu kin cn: Gi s c h v tr cn bng. Xt cht im M k thuc c

h chu lc Fk v lc lin kt Rk . V c h cn bng nn mi cht im cn bng,

tc l Fk + Rk = 0 , do

Fk + Rk rk = Fk rk + Rk rk = 0

Do lin kt l tng ta c (3.53) vy Fk rk = 0 , y l iu cn CM

Chng minh iu kin : Gi s c h v tr cn bng v tng cng kh d ca cc

lc hot ng bng 0. Ta chng minh c h mi mi cn bng v tr ny.

Thc vy, gi s c t nht 1 im M k di tc ng ca lc Fk v lc lin kt Rk

chuyn ng khi v tr u ng yn, di chuyn ca n drk c cng phng vi lc

tc dng Fk + Rk . Lin kt l dng nn di chuyn thc trng vi mt trong cc

phng ca di chuyn kh d, vy

( Fk + Rk )rk = Fk rk + Rk rk > 0
Ly tng hai v i vi tt c cc cht im ca c h ch n iu kin lin kt l
tng ta c



Fk rk + Rk rk = Fk rk > 0

iu ny tri vi gi thit. Vy khng th c d ch mt im di chuyn t v tr cn

bng l iu cn CM
3.2.2. iu kin cn bng ca c h trong to suy rng
Da vo biu thc cng kh d, nguyn l dch chuyn kh d c vit
n

A
=
F

r
=
F k k Qi qi = 0

(3.55)

i =1

T tnh cht c lp ca cc ta suy rng nn cc qi cng c lp vi

nhau. Vy ng thc (3.55) ch ng khi v ch khi
Qi = 0, i = 1, n

(3.56)

nh l: iu kin cn v c h chu lin kt hnh hc, gi, dng v l tng

cn bng ti mt v tr l cc lc suy rng ng vi cc to suy rng phi ng
thi trit tiu.

r
Ch : nu a vo k hiu vk = k l vn tc kh d th nguyn l kh d c th vit
dt
di dng

F
k vk = 0

(3.57)

- phng trnh cng sut kh d

3.3. Nguyn l d'Alembert
3.3.1. Lc qun tnh ca cht im

Cht im chu tc dng ca lc F di chuyn vi gia tc a i vi h quy

chiu qun tnh. Lc qun tnh ca cht im - F qt c cng phng v ngc chiu
vi gia tc v c gi tr bng

F qt = ma

(3.58)

Lc qun tnh khng phi l lc tc dng ln cht im.

3.3.2. Nguyn l d'Alembert i vi cht im
Ti mi thi im lc tc dng ln cht im v lc qun tnh ca n cn bng
nhau:

F + F qt = 0

(3.59)

Ch :

Trong nguyn l ch khng nh s cn bng v lc, khng phi s cn bng

ca cht im

Trng hp cht im khng t do lc tc dng l hp ca lc hot ng v

lc lin kt

Trng thi cn bng v lc c thit lp mi im

3.3.3. Nguyn l d'Alembert i vi c h

Kho st c h gm N cht im M 1 , M 2 , , M N di tc dng ca h lc

F1 , F2 , , F N chuyn ng vi gia tc a1 , a 2 , , a N .

Xt cht im M k c khi lng mk chu tc dng Fk chuyn ng vi gia tc

ak . Lc qun tnh ca n l: Fkqt = mk ak

Theo nguyn l d'Alembert i vi cht im ta c Fk + Fkqt = 0, k = 1, N

Vy: Ti mi thi im cc lc tc dng ln cht im ca c h v cc lc
qun tnh ca cc cht im thuc c h to thnh mt h lc cn bng:
qt

qt qt
( F1 , F2 , , F N , F11 , F1 2 , , F1 N ) = 0

(3.60)

Ch :

Cc lc F k vi c h t do l hp lc ca ngoi lc v ni lc, vi c h chu

lin kt l hp lc ca lc hot ng v lc lin kt tc dng ln cht im M k

Khi nim cn bng c tnh quy c h lc cn bng l h lc c tng cp

lc trc i nhau

H lc cn bng c thit lp ti mi thi im nn c th thit lp cho h trc

to ng trong bi ton xc nh phn lc trc quay. Tuy nhin cc lc qun
tnh phi tnh i vi h quy chiu qun tnh

3.4. Nguyn l d'Alembert-Lagrange

i vi c h chu cc lin kt gi v l tng, ti mi thi im tng cng ca
cc lc hot ng v cc lc qun tnh trong mi di chuyn kh d ca c h bng 0.
Theo nguyn l d'Alembert i vi cht im ta c

Fk + Rk + Fkqt = 0, k = 1,2, N

trong F k lc hot ng v R k lc lin kt.

Thc hin di chuyn kh d rk v tnh tng cng ta c

(F
N

k =1

+ Rk + Fkqt rk = 0

(F
k =1

N
+ Fkqt )rk + Rk rk = 0,
k =1

R
k rk = 0, vy
N

Do lin kt l l tng ta c

k =1

qt

(
F
+
F
)

r
=
k k k ( Fk mk ak )rk = 0 .
N

k =1

(3.61)

k =1

3.5. Phng trnh Lagrange loi 2

3.5.1. Vt rn chuyn ng tnh tin
a) Thu gn h lc qun tnh

Kho st vt rn c khi lng M chuyn ng tinh tin vi gia tc a . Xem vt rn

gm v s cc phn t M k c khi lng mk u chuyn ng vi gia tc a . Nh

vy h lc qun tnh gm v s cc lc song song cng chiu. S dng phng
php thu gn h lc qun tnh v khi tm C ta c

Rqt = Ma

(3.62)

b) Phng trnh chuyn ng

Gi s VR chu tc dng ca cc lc F1 , F2 , , F N , theo nguyn l d'Alembert n

phi c hp lc ti khi tm C v trc i vi hp lc qun tnh

R F + Rqt = 0 Fk MaC = 0

m qtC 0 mC ( Fk ) 0

T ta c MaC = Fk v mC ( Fk ) 0

(3.63)

3.5.2. Vt rn quay quanh mt trc c nh

Thu gn h lc qun tnh

Khi thu gn h lc qun tnh v trc quay O ta c

ROqt = MaC v m qt = I O

(3.64)

trong M khi lng ca hnh phng, I O m men qun tnh ca hnh phng i

vi trc quay O, - gia tc gc ca hnh phng, aC - gia tc khi tm C

qt

Nu quay u (=const, =0) quanh khi tm( aC = 0 , O C) th RO = 0 ,

mqtO = 0 - trc quay cn bng

qt
C
n
Nu quay u (=const, =0) khng quanh khi tm th RO = Ma C , mqt = 0
h lc tng ng vi mt lc hng tm (t C n O) c tr s ROqt = M 2 e ,
e l khong cch t C n trc quay O

qt

Nu quay khng u ( 0) quanh khi tm ( aC = 0 , O C) th RO = 0 , v h

O
lc qun tnh tng ng vi mt ngu lc mqt = I C

Nu quay khng u ( 0) quanh mt trc khng qua khi tm th h lc qun

tnh tng ng vi mt lc

Phng trnh chuyn ng v phn lc trc quay

Gi s hnh phng chu tc dng ca cc lc hot ng phng F1 , F2 , , F N v cc

lc lin kt RO , theo nguyn l d'Alembert ta c

qt

qt qt
( F1 , F2 , , F N , RO , F11 , F1 2 , , F1 N ) = 0

tc l Fk + RO MaC = 0 ; mO ( Fk ) I O 0
T ptr cui ta c phng trnh vi phn chuyn ng

I O = m O ( Fk )

(3.65)

T y ta tm c , tch phn ta c v tm c gia tc ca khi tm C. T

phng trnh u ta xc nh phn lc ca trc quay

RO = MaC Fk

(3.66)

3.5.3. Vt rn chuyn ng song phng

Thu gn h lc qun tnh

Kho st tm phng c gi tc khi tm aC ., vn tc gc gia tc gc .Khi thu gn

h lc qun tnh v trc khi tm C ta c

RCqt = MaC v m qt = I O

(3.67)

trong M khi lng ca hnh phng, IC m men qun tnh ca hnh phng i
vi khi tm C

Phng trnh chuyn ng

Gi s hnh phng chu tc dng ca cc lc F1 , F2 , , F N theo nguyn l

d'Alembert ta c
qt

qt qt
( F1 , F2 , , F N , F11 , F1 2 , , F1 N ) = 0

( Fk ) I C 0

T y ta c MaC = Fk , I C = m C ( Fk )
tc l

MaC = 0 ;

(3.68)

C = Fky ; I C = m C ( Fk )
Trong h to cc Mx C = Fkx ; My

(3.69)

Hai phng trnh u m t chuyn ng ca khi tm, cn phng trnh cui m t

chuyn ng quay ca hnh phng i vi trc tnh tin cng khi tm.
Nu bit qu o khi tm C, c bn knh cong C th ta c th vit
Ma Ct = Fkt ; M

vC2

= Fkn ; I C = m C ( Fk )
C

(3.70)

3.5.4. Phng trnh vi phn chuyn ng ca c h Phng trnh Lagrange

loi II
kho st cc h vt rn s dng Phng trnh vi phn chuyn ng c h
Phng trnh Lagrange loi II. Kho st c h chu lin kt hnh hc v l tng c n
bc t do. V tr ca c h c xc nh bng n ta suy rng q1 , q2 , , qn .

Gi s h chu lc hot ng l F1 , F2 , , F N v cc lc lin kt R1 , R2 , , R N .

Theo nguyn l dAlembert ta c
qt


qt qt
( F1 , F2 , , F N , R1 , R2 , , R N , F11 , F1 2 , , F1 N ) = 0

(3.71)

i vi cc lc lin kt l tng lc suy rng trit tiu, nn ta c nguyn l

dAlembert Lagrange

(
F
k mk ak )rk = 0
N

k=1

rk
qi ; vo biu thc trn ta c
Thay rk =
i =1 q i

n N
n N
rk
d 2 rk rk
Fk
qi m k
q i = 0

qi
dt 2 q i
i =1 k =1
i =1 k =1

(3.72)

rk
Theo nh ngha lc suy rng ta c Q = Fk
q i
k =1

N
d 2 rk rk
qt
t Qi = m k
ta c iu kin cn bng
dt 2 q i
k =1
F
i

QiF + Qiqt = 0

T nh ngha to suy rng (3.49) rk = rk (q1 , q 2 , , q m , t ) ta c

(3.73)

n
drk
rk dq i rk
vk rk
= vk =
+

=
dt
t
q i q i
i =1 q i dt

v do vk = vk (q1 , q 2 , , q n , q 1 , q 2 , , q n , t )

n
vk
2 rk dq i
2 rk
d rk
=
+
=
nn
q j i =1 q i q j dt q j t dt q j

Thay vo ta c

N
N
d rk N
d rk
dvk rk
qt

m k vk

Qi = m k
+ m k vk
dt q i k =1
dt qi k =1
dt q i
k =1

N
d vk N
vk
dvk vk N
qt

m k vk
Qi = m k
+ m k vk
dt q i k =1
dt q i k =1
qi
k =1

vk N
v
d N
=
m
v
m k vk k

k k
dt k =1
q i k =1
qi

Mt khc ta c

N
N
vk
vk
T
T
1
2
= m k vk
;
= m k vk
T = m k vk
q i k =1
q i
qi k =1
qi
2
qt
vy Qi =

d T T

dt q i q i

v phng trnh (3.25) a v phng trnh Lagrange loi II

d T T

= Qi , i = 1, n
dt q i qi

(3.74)

Nu cc lc hot ng gm cc lc c th vi hm th nng v cc lc hot

ng khng th c lc suy rng l Qi th phng trnh Lagrange loi II nh sau:

d T T

=
+ Qi , i = 1, n
dt q i qi q i

(3.75)