Colythuyet Baitap

BK
TP.HCM
B mn C K Thut Tp. H Ch Minh, 01/ 2007
TRNGI HC BCHKHOATP. H CH MINH
PGS. TS. TRNG Tch Thin
CHC L THUYT
Phn I: TNH HO C
Copyright By Focebk.com
Design By haughtycool
Chng 1: C S CA TNH HC
1.1.1. Ba nh ngha c bn ca tnh hc
1.1 Cc nh ngha ca tnh hc
^Tnh hc l mt phn ca c hc l thuyt, nhm gii
quyt hai nhim v sau:
- Thu gn mt h nhiu lc phc tp ang tc ng ln h
thng thnh mt h t lc hn, n gin v tng ng
(ti gin). Tp hp cc dng ti gin khc nhau ca cc
h lc c gi l cc dng chun ca h lc.
- Xy dng cc iu kin cn bng cho mt h thng
nhiu lc.
PGS. TS. Trng Tch Thin
C HC L THUYT 1: Tnh Hc va ng Hc Phn I: Tnh hc
1.1.1.2. Trng thi cn bng
Trng thi c hc ca vt rn tuyt i l quy lut chuyn
ng ca vt rn trong khng gian theo thi gian.
1.1.1.1. Vt rn tuyt i
L loi vt rn c hnh dng v th tch khng thay i di
mi tc ng t bn ngoi.
- C hai dng cn bng ca vt:
+ Tnh tin thng u.
+ Vt ng yn (c thm tnh cht vn tc bng 0).
Trng thi cn bng l mt trng thi c hc c bit ca
vt rn sao cho mi cht im thuc vt u c gia tc bng
khng.
1.1.1.3. Lc
b). Cc c trng ca lc (hnh 1.1):
+ im t.
- K hiu ca lc:
A
F
,
( )
l
Hnh 1.1
a). nh ngha:
Lc l mt i lng vector c dng o lng s tng
tc c hc gia cc vt cht vi nhau.
+ ln.
+ Phng v chiu.
- Vi : ng tc dng ca lc. l
( )
2
; 1 1 . / N N kg F m s =
,
1.1. 2. Cc nh ngha khc v lc
1.1.2.1. H lc
L mt tp hp nhiu lc ang tc ng ln i tng kho
st.
1.1.2.2. H lc tng ng
( ) ( )
1, 1,
j k
F Q
j n k m = =
, ,
~
Hai h lc c gi l tng ng vi nhau v c hc nu
hai h lc ny cng gy ra mt kt qu c hc trn mt vt.
+ K hiu h n lc nh sau:
+ K hiu:
( )
, 1,
j
F j n =
,
1.1.2.3. Hp lc
a). nh ngha:
- K hiu ca hp lc nh sau:
b). Tnh cht ca hp lc: hp lc c 2 tnh cht.
- Vector hp lc c xc nh bng vector tng ca cc
vector lc trong h.
n j R F
j
, 1 ; ) ( =
, ,
~
Nu mt h nhiu lc tng ng vi mt h mi ch c
duy nht mt lc, lc duy nht c gi l hp lc ca
h nhiu lc.
1
n
j
j
R F
=
=
, ,
x
y
A
B
j
F
,
o
O
jy
F
jx
F
Hnh 1.2
o cos .
j jx
F F
,
= o sin .
j jy
F F
,
=
1
1
1
n
x j x
j
n
y j y
j
n
j
j
R F
R F
R F
=
=
=
z z
+ Hnh chiu ca mt vector ln mt trc l mt gi tr i s
(hnh 1.2).
- C nhng h lc lun c hp lc v cng c nhng h lc
khng bao gi c hp lc.
- Vector hp lc ca h lc ch nm trn mt ng tc
dng duy nht trong khng gian .
R
,
3
R
1.1.3. Phn loi h lc
1.1.3.1. Cch 1
1.1.2.4. H lc cn bng:
L loi h lc khng lm thay i trng thi c hc ca vt rn
khi vt chu tc ng ca loi h lc ny.
- K hiu: ~
- Ngoi lc:
e
j
F
,
n j F
j
, 1 ; ) (
= |
,
- Ni lc:
i
j
F
,
+ Xt h kho st gm : vt
+ tri t l ni lc. P
,
P
C
Tri t
Hnh 1.3
Ngoi lc: l nhng lc do nhng i tng bn ngoi h
thng kho st sinh ra tc ng vo nhng v tr bn trong
h thng ang xt.
Ni lc: l nhng lc do nhng i tng bn trong h
thng kho st sinh ra tc ng vo nhng v tr bn trong
h thng ang xt.
- V d: (hnh 1.3)
+ Xt h kho st gm ch
c vt l ngoi lc.
P
,
1.1.3.2. Cch 2
- Lc phn b
L loi lc phn b c cc im tc ng ln vt to thnh
mt loi ng hnh hc trn vt (ng thng, ng trn,
ellipse, ). n v: N/m.
V d: Bnh xe lu hnh tr trn tc ng lc ln mt ng.
(hnh 1.4)
- Lc tp trung
L loi lc ch tc dng ti mt im duy nht trn vt.
L loi lc tc ng cng lc ln nhiu im trn vt.
+ Lc phn b theo ng
P
q
- Vi q: cng ca lc phn b. n v: N/m.
Hnh 1.4
L loi lc phn b m qu tch cc im tc dng ln vt to
thnh mt loi mt hnh hc trn vt.
+ Lc phn b theo mt
- Vi : p lc. n v: N/m
2
. p
,
p
,
V d: p lc nc tc dng ln thnh . (hnh 1.5)
Hnh 1.5
+ Lc phn b theo th tch (lc khi).
L loi lc phn b m qu tch cc im tc dng ln vt to
thnh mt loi th tch hnh hc.
K hiu: . n v: N/m
3
.
,
Trng lc l lc tp
trung: khi nim ng
nhng khng tht!
P
,
C
Th tch cc nh.
( ) V
,
V d: Trng lc tc dng ln vt l loi lc phn b th
tch (hnh 1.6).
Hnh 1.6
1.1.4. Quy i lc phn b trn on thng v lc tp
trung tng ng
1.1.4.1. Tng qut (hnh 1.7)
Hnh 1.7
C
B A
O
) ( x q
x
A
x
B
x
~
x
C
x
a)
Q
D
C
B A
O
x
D
x
b)
( ).
( ). .
B
A
B
A
x
x
x
D C
x
Q q x dx
x q x x dx Q x
= O
| |
=
|
\ .
}
}
Vi:
1.1.4.2. Trng hp ring
a). Lc phn b u (hnh 1.8) .
Hnh 1.8
2 l
const q =
A B
l q. = O
~
l
C
a)
l q Q . = O
A
B
2 l
D
C
b)
: ta ca im A bt u c lc.
: ta ca im bt k.
: ta ca trng tm C.
: ta ca im B kt thc c lc.
: ta x ca im D.
A
x
x
C
x
B
x
D
x
Trong :
b. Lc phn b tam gic: (hnh 1.9).
Hnh 1.9
max
q
C
A
B
3 2l
l
l q .
2
1
max
= O
~
a)
C
A
B
3 2l
l q Q .
2
1
max
= O
D
b)
Gm c 6 tin
- Tin 1: Tin v hai lc cn bng
Hnh 1.10
F F
'
A B
a)
F F
'
A B
b)
1.2 Cc tin tnh hc
in kin cn v cho h hai lc cn bng l chng c
cng ng tc dng, hng ngc chiu nhau v c cng
cng . (hnh 1.10).
+ H qu 1:
A
F
B
F
'
A B
B
F
Hnh 1.11
- Cn ch rng tnh cht nu trn ch ng i vi vt
rn tuyt i.
- Tin 2: Tin thm bt hai lc cn bng
Tc dng ca mt h lc khng thay i nu thm hoc bt
hai lc cn bng. (hnh 1.11)
nh l trt lc
Tc dng ca lc ln
vt rn tuyt i
khng thay i khi
trt lc trn ng
tc dng ca n.
- Tin 3: Tin hnh bnh hnh lc
1
F
O
2
F
F
Hnh 1.12
H hai lc cng t ti
mt im tng ng
vi mt lc t ti im
t chung v c vector
lc bng vector ng
cho hnh bnh hnh m
hai cnh l hai vector biu
din hai lc thnh phn.
(hnh 1.12)
- Tin 4: Tin tc dng v phn tc dng
Lc tc dng v lc phn tc dng gia hai vt c cng
ng tc dng, hng ngc chiu nhau v c cng
cng . (hnh 1.13).
F F
'
A
a)
B
F F
'
A
b)
B
Hnh 1.13
- Ch rng lc tc dng v phn tc dng khng phi l
hai lc cn bng v chng khng tc dng ln cng mt
vt rn.
- Tin 4 l c s m rng cc kt qu kho st mt
vt sang kho st h vt v n ng cho h quy chiu
qun tnh cng nh h quy chiu khng qun tnh.
- Tin 5: Tin ha rn
Hnh 1.14
b)
F
'
F
,
F
'
F
,
a)
Mt vt bin dng cn bng di tc dng ca mt h
lc th khi ha rn li n vn cn bng di tc ng ca
h lc (hnh 1.14).
+ Ch : (hnh 1.15)
a)
F F
'
F F
'
Si dy
Thanh thp
Ha rn
F
F
'
F
F
'
Si dy
Thanh thp
Ha rn
b)
Hnh 1.15
- Tin 6: Tin gii phng lin kt
Hnh 1.16
A
R
B
R
A
B
a)
b)
q
q
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 (hnh 1.16).
1.3.1 Khi nim
1.3.2.1. Moment ca lc i vi mt tm
1.3.2 Cc loi moment ca lc:
- Kho st lc F tc ng ti im A trn vt. ng tc
dng ca lc l ng thng . Gi s rng lc c xu
hng lm vt rn quay quanh tm O.
l
Di tc ng ca mt lc vt rn c th chuyn ng tnh
tin, chuyn ng quay, hoc va chuyn ng tnh tin
va quay ng thi. Tc dng ca lc lm vt rn quay s
c nh gi bi i lng moment ca lc.
1.3. Moment ca lc
+ Dng h trc vung gc 3 chiu Oxy c gc ti tm O
nh hnh v: (hnh 1.17)
Hnh 1.17
O
) (l
o
A
B
F
,
r
,
H
x
y
d
z
+ Dng vect OA r
,
Gi l gc hp bi vect v lc F: r
,
) , ( F r
,
,
= o
- d l cnh tay n ca lc F i vi tm O.
( ) d O H l = . s i n d r o =
+ Kh nng ca lc F lm vt rn quay quanh tm O s
c nh gi bi vector moment ca lc F i vi
tm O nh sau: (hnh 1.18).
( )
O
M F r F = .
, , ,
,
( : tch c hng) .
( ) ( )
( ) :
( ) . . sin
.
2. ( )
= o
= A
, ,
, ,
, ,
O
O
O
M F mp OAB
M F RHR
M F r F
F d
S OAB
Chiu
O
M (F )
, ,
F
,
r
,
Hng ch
ca ngn ci
bn tay phi
Hng quay ca cc ngn
cn li ca bn tay phi.
Hnh 1.18
- nh l
iu kin cn v lc F khng c kh nng lm vt
rn quay quanh tm O l:
0 =
, , ,
O
M (F )
0 =
, ,
O
M (F )
0 = d
e O ( )
1.3.2.2. Moment ca lc i vi mt trc
- Kho st lc F tc ng ti im A trn vt. Gi s rng
lc c xu hng lm vt rn quay quanh trc . o
lng kh nng ca lc F lm vt rn quay quanh trc
ngi ta xc nh moment ca lc F i vi trc
theo hai bc sau y:
+ Bc 1: xc nh hnh chiu vung gc ca lc F ln
mt phng vung gc vi trc quay .
xy xy
F (F) =
, ,
hc
+ Bc 2: moment ca lc F i vi trc l mt i
lng i s c nh ngha bng (+) hoc () ln
ca vector moment lc hnh chiu F
xy
i vi tm O.
(xem hnh 1.19).
Hnh 1.19
O
) (l
o
A
B
F
,
r
,
H
x
y
d
z
xy
A
xy
B
xy
F
,
) (F M
O
, ,
( )
,
Z
M F
O xy xy xy
M (F) M (F ) 2.S( OA B ) = = A
, , ,

Moment ca lc F i vi trc quay s c quy c l
i lng dng (+) nu nhn dc theo trc quay t ngn
ca trc y ta thy lc hnh chiu F
xy
s c xu hng quay
quanh tm O ngc chiu kim ng h v ngc li.
! = e
, , ,
O
hc M F M F O [ ( )] ( ),
z z
z
+ Hnh chiu vung gc ln trc ca vector moment lc F
i vi tm O bng moment ca lc F i vi trc .
- nh l
- Quy c
+ iu kin cn v lc F khng c kh nng lm vt
rn quay quanh trc l moment ca lc F i vi trc
bng 0.
( ) 0 M F =
,
z
ng phng. [ , ( )] l z
M trc ct mp (OAB) ti O nn:
Trc c mp(OAB)
( ) / / mp OAB z
( ) 0 A =
xy xy
S OA B
{
( )
( )

z
z
- K hiu ngu lc
nh sau: P
d
F
,
A
A
'
F
'
,
( ) l
( ) l
'
( , ) M F F'
, , ,
Hnh 1.20
=
, , , ,
F F F F ( , ') : '
1.3.2.3. Ngu lc
a). nh ngha
Ngu lc l mt h hai lc tha ng thi cc iu kin
sau y:
Cng phng, cng
ln, ngc chiu
v khng cng ng
tc dng (hnh 1.20).
b). Tnh cht ca ngu lc
- Ngu lc l loi h lc khng bao gi c hp lc. Ngha
l ngu lc l mt dng ti gin ca cc h lc:
- Ngu lc l mt h lc khng cn bng. Ngha l di
tc ng ca ngu lc, mt vt rn t do hon ton,
ang ng yn s thc hin chuyn ng quay:
- Kh nng lm quay vt ca ngu lc s ph thuc vo 4
yu t ca ngu lc: mt phng tc dng (P), cnh tay
n d, ln ca cc lc v chiu quay ca ngu lc.
c). Moment ca ngu lc
| ) ' , ( F F
, ,
R F F
, , ,
) ' , (

- o lng kh nng lm quay vt ca ngu lc ngi
ta nh ngha i lng vector moment ca ngu lc nh
sau:
- C hai cch k hiu ngu lc:
( ) ( )
( )
( )
( )
( )
A
A
M F, F (P)
M F, F M F
M F, F : RHR
M F
M F, F F.d
'
'

'
=

'
`
'
=

)
'
=
, , ,
, , , , ,
, , ,
, ,
, , ,
mp
Chiu
+ Biu din ngu bng vector moment ca n:
( )
M F,F
'
, , ,
+ Lit k 2 lc ca ngu:
( )
F,F
'
, ,
d). Cc nh l ca ngu lc
- nh l 1: Hai ngu lc c xem l tng ng v
c hc nu v ch nu hai vector moment ca chng
bng nhau.
- nh l 2: T mt ngu cho ta c th tm c v s
ngu khc tng ng vi n.
( ) ( ) ( ) ( )
1 1 2 2 1 1 2 2
, , , , ~ F F F F M F F M F F ' ' ' ' =
, , , , , , , , , ,
- nh l 3: Tng hai vector moment ca hai lc trong
ngu ly i vi mt tm O trong khng gian s khng
ph thuc vo v tr ca tm O v bng vector
moment ca ngu lc.
( ) ( ) ( )
3
O O
M F M F M F,F , O R
' '
+ = e
, , , , , , ,
- nh l 4: Mt h nhiu ngu lc bao gi cng c mt
ngu tng ng vi ton h. Vector moment ca ngu
tng ng bng tng tt c cc vector moment ca
cc ngu thnh phn.
( ) ( ) ( ) ( )
1
, , , , , 1, ~
n
j j j j
j
F F Q Q M Q Q M F F j n
=
' ' ' ' = =
, , , , , , , , , ,
1.3.2.4. K hiu moment
- C 3 cch k hiu Moment:
+ Cch 1: K hiu Moment bng
mt vector thng hai u.
(Dng trong bi ton khng
gian 3 chiu.). (hnh 1.21)
Hnh 1.21
P
M
,
- Vector cng di vt rn quay cng nhanh.
+ Cch 2: K hiu moment bng mt ngu hai lc nm
trong mt phng tc dng vung gc vi vector moment
ca cch 1 sao cho vector moment ca ngu lc bng
vector moment cn biu din (dng trong bi ton khng
gian 2 chiu v 3 chiu) (hnh 1.22).
Hnh 1.22
P
F
,
F
'
,
M(F,F M ) =
'
, , , ,
- Ch rng c rt
nhiu ngu c th
chn biu din
mt moment.
+ Cch 3: Biu din moment bng mt vector cong, phng
nm trong mt phng tc dng ca ngu lc (hnh 1.23).
Chiu ca vector cong c xc nh tun theo quy tc
bn tay phi so vi chiu vector moment thng ca cch
1. Hay chiu ca vector moment cong s cng chiu quay
ca ngu lc (dng trong bi ton khng gian 2 chiu).
Hnh 1.23
P
M
,
M
,
1.4.1. Khi nim
1.4.1.1. Vt rn t do hon ton
1.4.1.2. Bc t do ca vt rn
L s chuyn ng c lp m vt rn y c th thc hin
ng thi trong khng gian. V d: chuyn ng ca qut
trn v ca tri t l 2 chuyn ng c lp.
- K hiu bc t do ca vt rn l Dof (Degree of freedom).
a). nh ngha (Dof)
L vt rn c th thc hin c mi dng chuyn ng
trong khng gian m khng c bt k cn tr no.
1.4. Lin kt. Phn lc lin kt
b). Xc nh Dof ca vt rn t do hon ton
- Trong khng gian hai chiu: 2D (hnh
1.24)
Hnh 1.24
O
( ) S
x
y
3 =
VR
Dof
: tnh tin thng theo
phng ngang.
: tnh tin thng theo
phng ng.
: quay.
+ C v th vt tnh tin theo phng xin.
+ C c th vt va tnh tin va quay ng thi.
- Trong khng gian 3 chiu: 3D (hnh 1.25)
- Ch rng mt chuyn ng c lp bao gm c hai
chiu chuyn ng theo mt phng.
6 =
VR
Dof
( ) V
O
z
y
x
Hnh 1.25
1.4.1.3. Lin kt
a). nh ngha
b). Rng buc ca lin kt (R
lk
)
- Ch : Mt chuyn ng c lp gm c hai chiu chuyn
ng theo mt phng. Nu vt rn ch chuyn ng theo
mt chiu ca mt phng th vt y c 0,5 chuyn ng
c lp.
- R
lk
l mt thng s nh gi kh nng cn tr chuyn
ng ca lin kt i vi vt v n c nh ngha bng
s chuyn ng c lp m vt rn b mt i do lin kt y.
L s chuyn c lp b mt do lin kt.
L nhng i tng c tc dng hn ch kh nng chuyn
ng ca vt rn trong khng gian.
c). Bc t do ca h nhiu vt rn c lin kt vi nhau
- Vi n l s vt rn trong h.
- Khi Dof
h
> 0: h khng lun cn bng vi mi loi ti
tc ng.
- Khi Dof
h
0: h lun cn bng vi mi loi ti tc ng.
- Kho st mt h thng c hc gm c n vt rn c lin
kt vi nhau bi m lin kt.
c2). Trong khng gian ba chiu:
m
lk
h j
j 1
Dof 6n R
=
=
`
c1). Xt mt c h trong khng gian hai chiu (2D)
Lc ny Dof
h
= 3n -
m
lk
j
j 1
R
=
+ Tng cc rng buc ca cc lin kt trong h l:

m
lk
j
j 1
R
=

1.4.1.4. Phn lc lin kt
a). nh ngha
- Phn lc lin kt l nhng lc thuc loi lc th ng (b
ng).
B
P
,
A
P
,
A
R
,
B
R
,
A
B
( ) V
Hnh 1.26
L nhng lc do cc lin kt phn tc dng ln vt (hnh 1.26).
- Tnh cht 1: S phn lc lin kt
ca mt loi lin kt s bng s
lm trn ca rng buc lin kt y
[= round (R
lk
)].
+ V d: R
lk
= 2,5 lin kt
c 3 phn lc lin kt.
b). Tnh cht
, l cc p lc ln lin kt. , l cc PLLK.
B
P
,
A
P
,
A
R
,
B
R
,
- Tnh cht 2: V tr t cc phn lc lin kt trng vi v tr
ca cc lin kt y (t ti v tr c lin kt).
- Tnh cht 3: Phng ca cc phn lc lin kt s trng
vi phng ca cc chuyn ng c lp b mt i.
- Tnh cht 4: Chiu ca cc phn lc lin kt s ngc
vi chiu ca cc chuyn ng c lp b mt i.
1.4.2. Phn lc lin kt ca 9 loi lin kt c bn
1.4.2.1. Lin kt dy
R
dy
= 0,5
Hnh 1.27
A
T
,
A
dy
( ) V
C 1 phn lc lin kt: Lc cng dy
(hnh 1.27).
A
T
,
1.4.2.2. Ta nhn. (Ta trn khng ma st)
R
ta
= 0,5
C 1 phn lc lin kt: t ti v tr lin kt (hnh 1.28a).
: phn lc php tuyn,
thng gc vi mt ta (mt
tip xc) v hng vo vt
kho st.
A
N
,
t
A
: tip tuyn chung.
A
t
A
N
,
A
( ) V
Hnh 1.28-a
A
t
B
t
A
N
,
B
N
,
B
A
( ) S
Hnh 1.28-b
t
A
: tip tuyn ring ca b mt c nh ti im gy A.
t
B
: tip tuyn ring ca vt ti v tr im B.
, : phn lc php tuyn.
A
N
,
B
N
,
Hnh 1.28-c
Ta
1.4.2.3. Khp bn l c nh (khp bn l ngoi c nh, gi
c nh).
Loi lin kt ny c chiu v ln ca cc phn lc lin
kt cha bit (hnh 1.29).
Hnh 1.29 a
A
V
A
H
( ) S
Chiu phn lc d on
R
bl
= 2
C 2 phn lc
lin kt.
Hnh 1.29 b
x y
F F F + =
, , ,
Khp bn l c nh
M hnh lin kt khp bn l trong l thuyt
A
A
A
x
A
y
A
A
x
A
y
A
A
A
u
A
R
Hnh 1.29 c
1.1.2.4. Khp bn l trt (khp bn l ngoi trt, khp bn
l di ng, gi di ng)
R
blt
= 1
C 1 phn lc lin kt.
Loi lin kt ny ch cho php trt qua li theo phng
trt v quay trong mt phng nhng khng tnh tin thng
ln, xung theo phng vung gc vi phng trt.
trt nh ngi ta lp thm con ln (hnh 1.30).
Chiu v ln phn lc
cha bit.
Hnh 1.30 a
( ) V
A
N
,
Hnh 1.30 b
Hnh 1.30 c
M hnh lin kt khp bn l di ng trong l thuyt
A
1.4.2.5. Khp bn l ni (xem hnh 1.31)
R
bln
= 2
C 2 phn lc lin kt tc ng ln tng vt tha
tin 4 ca tnh hc.
Hnh 1.31-a

~
=
=
1 2
1 2
V V
H H
, ,
, ,
Hnh 1.31-b
1
H
1
V
2
V
2
H
Khp bn l ni
Hnh 1.31-c
1.4.2.6. Ngm phng (ngm hai chiu) (xem hnh 1.32).
R
ngm2D
= 3
C 3 phn lc
lin kt.
A
M
A
H
A
V
A
B
Hnh 1.32
1.4.2.7. Khp cu (xem hnh 1.33)
R
cu
= 3
C 3 phn lc
lin kt.
( ) V
y
x
A
A
x
,
A
y
,
A
,
z
z
Hnh 1.33
1.4.2.8. Ngm khng gian (ngm 3 chiu ) (xem hnh 1.34)
R
ngm3D
= 6
C 6 phn lc
lin kt.
Hnh 1.34
z
y
A
A
x
,
A
y
,
A
,
z
A
x
M
A
y
M
A
M
z
x
Ngm
1.4.2.9. Lin kt thanh
Kho st thanh thng hoc cong tha ng thi ba iu
kin sau: (hnh 1.35)
- C trng lng rt b nn
c th b qua c.
- C hai lin kt hai u
cui ca mi thanh thuc
ba loi lin kt sau y:
khp cu, khp bn l,
ta nhn.
- Cc thanh khng chu tc
ng ca lc hoc
moment gia thanh.
B
R
,
D
R
,
A
B
C
D
( ) V
Hnh 1.35 a
+ Nu nhng thanh tha mn ng thi cc iu kin nh
trn c dng lm cc lin kt cho vt rn th chng s
c gi l cc lin kt thanh. Mi lin kt thanh s c
mt rng buc v sinh ra mt phn lc tc ng ln vt.
Phn lc ca lin kt thanh lun c tnh cht nm trn
mt ng thng ni lin hai u c lin kt thanh.
, :
B
D
R AB
AB CD
R CD
,
,
'
1

1
=
!
1

1
+
2 lin kt thanh
A: khp cu; B,D: bn l; C: ta nhn.
Hnh 1.35 b
Lin kt thanh
Lin kt thanh
2.1.1.1. nh ngha
Kho st h nhiu lc . Mi h nhiu lc
lun c hai thnh phn c bn c nh ngha nh sau:
( )
; 1,
j
F j n =
,
2.1.1. Vector chnh ca h lc
- N c k hiu v xc nh nh sau:
Vector chnh ca mt h nhiu lc l vector tng ca tt c
cc vector lc trong h.
Chng 2: THU GN H LC V IU KIN CN BNG
CA H LC
2.1 Hai thnh phn c bn ca h lc
1
1 1
1
n
x jx
j
n n
j y jy
j j
n
j
j
R F
R F R F
R F
=
= =
=
'
=
' ' = =
' =
, ,
z z
2.1.1.2. Tnh cht ca vector chnh
- i vi mt h lc cho vector chnh ca h lc y l
mt vector hng. y c gi l bt bin th nht ca
h lc.
R const
'
=
,
,
2.1.2. Moment chnh ca h lc i vi mt tm
2.1.2.1. nh ngha
Moment chnh ca h lc i vi tm O l mt i lng
vector, bng tng cc vector moment ca cc lc trong h
lc ly i vi cng tm O y.
- N c xc nh v k hiu nh sau:
- Vector chnh ca h lc l mt vector t do. Ngha l
vector chnh ca h lc c th c t ti mt v tr ty
trong khng gian.
( )
( )
( )
( )
n
Ox x j
j 1
n n
O O j Oy y j
j 1 j 1
n
O j
j 1
M M F
M M F M M F
M M F
=
= =
=
= =
,
, , , ,
,
z z
2.1.2.2. Tnh cht ca moment chnh
- Tnh cht 1: Moment chnh ca h lc i vi mt tm
khng phi l vector hng v s ph thuc vo v tr ca
tm O y.
- Tnh cht 2: Hnh chiu vung gc ca vector moment
chnh h lc i vi mt tm O ln phng ca vector
chnh ca h lc y l mt hng s vi mi tm O trong
khng gian. y c gi l bt bin th hai ca h lc
(hnh 2.1).
3
( ) ,
O
R
M const O R
'
= e
,
,
hc
Hnh 2.1
2
'
,
,
O
R
hc M ( )
1 2
O O
R R
hc M hc M ( ) ( )
' '
, ,
, ,
a)
1
O
M
,
1
O
R
'
,
b)
2
O
2
O
M
,
R
'
,
2.2.1. nh l ba lc. (nh l mt chiu)
- Nu vt rn cn bng di tc dng ca h ba lc
th h ba lc y s tha ng thi hai iu kin sau:
(hnh 2.2)
+ ng phng.
+ Hoc ng quy
hoc song song
trong mt phng.
Hnh 2.2
2.2. Cc nh l c bn ca tnh hc
- Ch : nh l ny l nh l mt chiu ngha l nu h 3
lc tha mn ng thi 2 iu kin nh trn th cha
chc h 3 lc y l h 3 lc cn bng.
2.2.2 nh l di lc song song
C th di di song song mt lc n mt im t mi
nm ngoi ng tc dng ca n nu trong qu trnh di
di song song y ta b sung vo lc y mt moment bng
moment ca lc trc khi di di ly i vi im s c
di di n. (hnh 2.3),
( ) ( ) ( )
3
(
e

, , , ,
B
A B A
F F ; M F , B R ~
Hnh 2.3
( ) l
( ) ( )
B A
F F =
, ,
( )
B
A
M F
,
,
A
B
( )
A
F
,
2.2.3 nh l thu gn h nhiu lc v mt tm
Mt h nhiu lc khi thu gn v mt tm O ty trong
khng gian bao gi ta cng tng ng vi mt h mi
gm hai vector cng t ti tm thu gn O chn. l
hai thnh phn c bn ca h lc i vi tm thu gn y.
( )
3
1,
( , ) , ~
j O
j n
F R M O R
=
' e
, , ,
2.2.4 nh l v hai h lc tng ng
iu kin cn v hai h lc tng ng vi nhau l
khi thu gn v mt tm ty trong khng gian cc thnh
phn thu gn c bn cng tn ca chng phi ng lot
bng nhau:
2.3.1. iu kin tng qut
iu kin cn v mt h nhiu lc cn bng l c hai
thnh phn c bn ca h lc y i vi tm thu gn O bt
k trong khng gian phi ng lot b trit tiu.
( ) ( )
3
1,
, , ~ ~
=
'
e
, , ,
j O
j n
F R M O R |
( ) ( )
1, 1,
~
= =
' '
=
, ,
, ,
, ,
F Q
j k
F Q
O O j n k m
R R
F Q
M M
2.3. iu kin cn bng ca h lc
( )
( )
( )
( )
( )
( )
( )
( )
( )
( )
1
1 1
1
1
1 1
1
0 1
0 0 2
0 3
0 4
0 0 5
0 6
n
x jx
j
n n
j y jy
j j
n
j
j
n
Ox x j
j
n n
O O j Oy y j
j j
n
O j
j
R F
R F R F
R F
M M F
M M F M M F
M M F
=
= =
=
=
= =
=

' = =

' ' = = = =
'
= =
= =
= = = =
= =
, , ,
,
, , , , ,
,
z z
z z
2.3.2 Trng hp ring
2.3.2.1. H lc phng trong mt phng ta Oxy
Xt trng hp n lc F
j
cng nm trong mt mt phng.
Dng h trc ta Oxy nm trong mt phng ca h lc.
(hnh 2.4).
(1), (2), (6).
Ch cn tha (1), (2), (6)
i vi h lc phng.
O
y
x
1
F
,
2
F
,
n
F
,
.
Hnh 2.4
1
d
2.3.2.2. H lc song song vi trc Y.
(xem hnh 2.5)
y
O
x
1
F
,
2
F
,
n
F
,
z
Hnh 2.5
(2), (4), (6)
- Nu lc F
j
quay quanh O ngc chiu
kim ng h v ngc li.
( )
0:
O j
M F >
,
( )
( ) ( )
( )
1 1
6 6 0
n n
j
j
O
j
j
M M F F
= =
'
=

, ,
z
( )
=
, ,
O j j j
M F F d
H lc song song y v ng phng trong Oxy:
Hnh 2.6
.
y
(2), (6).
H lc ng trc y. (hnh 3.3)
(2)
2.3.3. H lc ng quy. (hnh 3.4)
H lc ng quy
phng trong mt
phng Oxy:
y
O
x
1
F
,
2
F
,
n
F
,
.
z
Hnh 2.7
(1), (2), (3)
(1), (2)
Da vo 2 thnh phn c bn ca h lc khi thu gn v
mt tm ngi ta s phn cc h lc ra lm 4 dng ti
gin (dng chun).
2.4.1. Dng chun 1: : h lc khng gian
cn bng.
0, 0
, , , ,
O
R M
= =
tng ng vi mt ngu lc v s khng bao gi c hp
lc, lc ny
0, 0
, , , ,
O
R M
= =
3
,
O
M const O R
, ,
= \
tng ng vi 1 lc, tc h lc khng gian c hp lc.
0, . 0
, , , ,
O
R R M

= =
2.4. Cc dng chun (ti gin) ca h lc
+ nh l Varinhng:
1
( ) ( )
n
O O k
k
m R m F
=
=
_
, ,
, ,
- Trong trng hp (2.4.3) h lc khng gian c hp lc,
ta c nh l sau:
2.4.3.1. Khi : hp lc ca h lc v t ti O.
(hnh 4.1)
0
O
M
, ,
= R R
, ,
=
O
R R
, ,
=
Hnh 2.8
Trong trng hp h lc khng gian c hp lc th moment
ca hp lc i vi mt tm bt k bng tng moment ca
cc lc thnh phn i vi tm y.
2.4.3.2. Khi : hp lc ca h lc v t ti O*.
(hnh 4.2)
O
R M
, ,
l R R
, ,
=
( )
2
*
*
O
O
R M
OO
R
M
d OO
R
, ,
,

= = =
2.4.4. Dng chun 4: H lc xon vt ng

Khi : h lc ny khng bao gi c hp lc. . 0
, ,
O
R M
=
O
M
,
O
* O
d
R
,
R R
=
, ,
Hnh 2.9
2.5.1. Khi nim
Ma st l mt hin tng tng hp (c hc, in hc, nhit
hc, ha hc, ), phn nh s cn tr chuyn ng trt
tng i gia hai b mt vt cht ang tip xc vi nhau.
2.5.2 Cc loi ma st
2.5.2.1. Ma st trt
a.) Ma st trt tnh
Xy ra khi gia hai vt tip xc c xu hng trt nhng
cha trt vi nhau.
- Kho st vt rn (A) ta trn mt phng ngang c nh.
+ Vt rn s cn bng di tc ng ca h hai lc: ( )
, ~ 0 P N
, ,
2.5. Ma st
,
P
,
N
,
Q
,
mst
F
Lc ny cha xut hin lc ma st.
+ Tc ng ln vt (A) mt lc ko Q.
Khi lc ko Q<<1 th vt vn cn bng.
Lc ny vt cn bng di tc ng ca bn lc:
( )
, ~ 0
mst
Q F
, ,
=
+ Tng dn ln ca Q, khi Q c gi tr cha ln, th
vt vn cn bng. Do vy lc ma st trt tnh F
mst
c
ln tng kp theo Q.
+ Khi ln Q t n mt gi tr gii hn Q = Q
gh
th vt
chm trt!
( ) ( )
, , , ~ 0
mst
P N Q F
, , , ,
l
l
l
Do : (nh lut Coulomb)
.
mst gh msgh t
F Q F f N = = =
- Vi f
t
l h s ma st trt tnh, khng c n v v c
xc nh bng th nghim.
+ Khi lc ko Q > Q
gh
: vt trt.
Khi lc ko Q > Q
gh
th vt s trt. Lc ny lc ma st cn
trt trn b mt tip xc s c ln c xc nh theo
nh lut ma st trt ng nh sau:
iu kin vt khng trt:
.
mst msgh t
F F f N _ =
b.) Ma st trt ng.
.
ms
F f N =
- Vi f
l h s ma st trt ng: (khi ko vt s

nh hn lc vt tnh).
t
f f
2.5.2.2. Ma st ln
Kho st mt hnh tr
trn c, t trn mt
phng nm ngang.
Hnh tr s cn bng
di tc dng ca 2 lc
N v P. (hnh 5.1)
R
N
,
P
,
O
Hnh 2.10
+ Tc ng thm ln vt ny mt lc y Q. Lc ny tc
ng ti tm ca hnh tr v lm cho vt ln v pha
trc. (hnh 5.2)
Khi Q << 1: vt vn cn
bng di tc dng ca
h lc :
( )
, , , , 0 ~
mst msl
P N Q F M
, , , ,
- Vi M
msl
: moment ma
st cn ln.
msl
M
R
N
,
P
,
O
Q
,
mst
F
,
Hnh 2.11
Khi tng dn Q, khi Q
cha ln, vt vn cn
bng.
Do : M
msl
= R.Q (tng theo Q!)
Khi Q = Q*
gh
: vt chm ln.
Lc ny M
msl
= R.Q*
gh
= k.N (nh lut ma st ln)
- Vi k l h s ma st ln, n v l cm, xc nh bng
th nghim.
3. Ma st dy. (xem hnh 5.3)
Hnh 2.12
Q
,
P
,
a
t
f
: gc tip xc (gc m); rad
( . )
( . )
: .
t
t
f
f
P
Q Pe
e
Euler
a
a
= =
( ) .
20 27
1, 94.10
t
f
e e
a
p
= =
V nn Q < P
( . )
1
t
f
e
a
Th ta c:
(T c)
V d: vi 20.2 ; 0, 5
t
f a p = =
2.6. Trng tm ca vt rn
Ni chung mi bi ton tnh hc s c gii theo trnh
t 5 bc:
- Bc 1: Chn i tng trong h kho st s cn
bng. i tng c chn c th l ton h, c th l
mt s vt rn trong h, c th l mt vt rn hoc mt b
phn ca h nhng phi c lin quan n cc n s cn
tm.
- Bc 2: T do ha i tng chn. Ngha l tch cc
i tng c chn ra khi cc lin kt ni i tng vi
bn ngoi (vn gi li cc lin kt bn trong i tng y)
v thay th vo cc lin kt b i bng cc phn lc
lin kt ph hp.
2.7. Trnh t gii cc bi ton tnh hc
- Bc 4: Nu s phng trnh cn bng bit nh hn
s n s cn tm th ta tip tc chn thm i tng mi
trong h kho st s cn bng v i vi mi i tng
mi ta lp li cc cng vic ca bc 2 v bc 3.
Bc 4 s kt thc khi s phng trnh cn bng
thit lp bng vi s cc n s cn tm.
- Bc 5: Gii h cc phng trnh cn bng thit lp
c bc 4 tm cc n s cn tm ca bi ton.
Nhn xt v bnh lun cc kt qu thu c.
- Bc 3: Vit cc phng trnh cn bng tnh hc cho h
lc ang tc ng ln i tng t do ha bc 2.
S lng cc phng trnh cn bng s vit ph thuc
vo loi h lc ang tc ng ln i tng.
NG LC HC NG LC HC
Ni dung: 2 chng
Chng 1: NG LC HC CHT IM
Chng 2: NG LC HC H, C H
Ti liu tham kho:
Sanh, C hc (tp 2). NXB Gio dc. Nm 2009.
Sanh, Bi tp c hc (tp 2). NXB Gio dc. Nm
2009.
Chng 1: NG LC HC CHT IM
1. 1 Cc khi nim v tin ng lc hc
1. 1. 1. Cc khi nim
1. Cht im
- Cht im l mt im c khi lng ca vt rn. Vt rn
tuyt i c xem nh l mt c h gm c v s cht
im c ni cng vi nhau.
- Khi kch thc ca ton vt rt b so vi kch thc ca
vng khng gian m vt rn chuyn ng chim c th
ton vt c php xem nh l mt cht im, cht im
ny c khi lng l khi lng ca ton vt.
V d: Tri t chuyn ng trong v tr.
C HC L THUYT 2: ng Lc Hc Chng 1: ng lc hc cht im
- Khi kch thc ca vt rn khng nh hng n qui lut
chuyn ng ca vt y th ton vt rn y cng c xem
nh l mt cht im c khi lng bng khi lng ca
ton vt.
V d: Chuyn ng tnh tin ca vt rn (im i din cho
vt l trng tm G).
2. C h
- C h: l mt tp hp nhiu cht im c s tng tc c
hc ln nhau. Ty thuc vo bn cht ca s tng tc ny
m c h s c chia ra lm hai loi: c h t do v c h
khng t do.
Trong trng hp ton vt rn c php xem nh l mt
cht im, th cht im y c xem nh l mt vt im.
+ C h t do l mt tp hp nhiu cht im m s tng
tc c hc gia cc cht im ny c biu th thun ty
ch bng cc lc. Ngha l cc cht im trong c h t do
c th d dng thc hin cc chuyn ng v cng b t v
tr ang xt theo mi hng sang cc v tr ln cn, nu c
lc tc ng, m khng c bt c cn tr no.
+ C h khng t do: L mt tp hp nhiu cht im m
tng tc c hc gia cc cht im trong c h khng ch
biu th bng lc m c biu th bng mt s iu kin
rng buc v hnh hc v ng hc khc. Cc i tng to
ra cc iu kin rng buc v hnh hc v ng hc gia
cc cht im trong c h c gi l cc lin kt c hc.
3. Lc
Lc l mt i lng vector c dng o lng s tng
tc c hc gia cc vt th vi nhau. Ngha l khi thc hin s
tng tc c hc, cc vt th s truyn cho nhau nhng lc.
Cc lc trong bi ton tnh hc
thng l nhng lc hng
(vector hng). Ngha l cc lc
ny s c im t, phng
chiu, ln khng thay i
theo thi gian. (Hnh 1.1).
iu kin rng buc hnh hc:
- Cc lc trong bi ton ng lc
hc, ni chung, l nhng lc
thay i theo thi gian, theo v
tr v theo vn tc ca cht
im chu tc ng. (Hnh 1.2)
2 2 2
0 x y l + s
( , , ) =
, ,
, ,
F F t r v
y
dy khng gin
l
x
F
,
( , ) M x y
Hnh 1.1
Hnh 1.2
O
K
r
,
F
,
4. H quy chiu.
- kho st chuyn ng ca vt th ta phi chn mt h
quy chiu tha tin qun tnh ca Galilo. H quy chiu
chnh xc c chn phi gn lin vi mt vt ang trng
thi cn bng. Vi lp lun ny h quy chiu chnh xc phi
c gn lin vi tm ca mt tri v phi hng ti 3 v
sao c nh i vi mt tri.
- Do qu o ca tri t quay quanh mt tri l ng cong
c bn knh cong ln (Qu o ca tri t rt gn vi
ng thng) v do tri t c tc quay rt chm nn c
th xem tri t l tnh tin thng u. V 2 l do ny m cc
nh c hc thng chn tri t lm h quy chiu cho hu
ht nhng bi ton ng lc hc thng thng.
1. Tin 1: Tin qun tnh.
Mt cht im nu khng chu tc ng tc ng ca bt c
lc no th cht im y s trong trng thi ng yn
hoc chuyn ng thng u. Hai trng thi c hc trn ca
cht im c gi l trng thi qun tnh ca cht im
Tin ny cung cp cho chng ta mt tiu chun la
chn h quy chiu. H quy chiu no m tin 1 c
tha s c gi l h quy chiu qun tnh
2. Tin 2: Tin c bn ca ng lc hc
nh lut 2 Newton: Trong h quy chiu qun tnh cht im
s chuyn ng c gia tc cng phng, cng chiu vi lc
tc ng ln cht im y v ln ca gia tc cht im s
t l thun vi ln ca lc tc ng ln cht im v t l
nghch vi khi lng vi cht im y. (Hnh 1.3)
1. 1. 2. Cc tin ng lc hc
3. Tin 3: Tin tc dng v phn tc dng
Hai vt th tng tc c hc vi nhau bi hai lc c cng
ng tc dng, cng ln nhng ngc chiu (Hnh 1.4).
. = =
,
,
, ,
k
k k k k
k
F
m a F a
m
0 ; > ||
=
,
,
k k k
k
k
k
Do m a
F
F
a
m
Hnh 1.4
( )
1
V
( )
2
V
k
a
,
k
F
,
K
Hnh 1.3
4. Tin 4: Tin v tnh c lp ca cc lc tc ng
ln cht im.
Khi mt cht im chu tc ng ca ng thi nhiu lc th
vector gia tc ca cht im y s bng tng cc vector gia tc
ca cht im y khi n chu tc ng ring l ca tng lc
(Hnh 1.5).
- Ch rng hai lc tc dng v phn tc dng trn khng
phi l h lc cn bng v chng tc dng ln hai vt.
( ) ( ) ( ) ( )
1 2
1
...
n
i n
k k k k k
i
a a a a a
=
= = + + +
, , , , ,
( ) ( )
1
1
; ; = =
, ,
, ,

i
i
k k
k k
F F
a a
m m
Vi:
l gia tc ca cht im K khi
lc F
i
tc ng.
( )
,
i
k
a
1
F
,
,
n
F
.
2
F
,
3
F
,
K
K
a
,
Hnh 1.5
5. Tin 5: Tin gii phng lin kt.
Mt cht im khng t do (cht im c lin kt) c th c
bin i thnh cht im t do bng cch b i nhng lin kt
rng buc cht im y v thay vo cc lin kt b i bng
cc phn lc lin kt.
1.2. Phng trnh vi phn chuyn ng ca cht im.
1.2.1. Cc dng phng trnh vi phn chuyn ng ca
cht im.
1. Dng vector:
- p dng nh lut 2 ca ng lc hc
- Theo ng hc im (Hnh 1.6).
x
O
y
* O
( ) s s t =
t
n
k
r
,
k
a
t
,
n
k
a
,
( , , ),
K K K k
K x y z m
k
a
,
k
F
,
Hnh 1.6
. Do dng vector ca phng trnh vi phn cht
im s l:
K K
a r =
, ,
``
( )
. , 1 =
,
,
``
K K K
m r F
( ) C
3. Dng ta cc.
2. Dng ta Descartes.
Chiu phng trnh vi phn cp 2 ca (1) ln 3 trc ta ta
s thu c h 3 phng trnh vi phn chuyn ng ca cht
im K nh sau:
.
.
.
=
``
``
k k kx
k k ky
k k k
m x F
m y F
m F
n
k k k k
a r a a
t
= = +
, , , ,
``
Phn
2
.
.
.
.

``
,
`
,
k k
k k
n
n
k k
k k
m s F
m a
s
m F
m a
t
t
Chiu (1) ln hai phng t, n:

1. Bi ton thun:
Cho bit quy lut chuyn ng ca cht im, hy xc nh cc
lc tc ng ln cht im y. Dng bi ton ny rt d gii
1. 2. 2. Cc dng bi ton ng lc hc cht im.
Cc bi ton ng lc hc ca cht im s c chia ra lm
hai dng bi ton thun v bi ton ngc.
2. Bi ton ngc: Cho bit trc cc lc tc ng ln cht
im v cc iu kin ban u v chuyn ng ca cht im
y( vn tc ban u, gia tc ban u v v tr ban u ca cht
im), cn xc nh quy lut chuyn ng ca cht im y.
Bi ton ngc thng phc tp hn nhiu so vi bi ton
thun v ta cn phi tch phn phng trnh vi phn chuyn
ng ca cht im.
Kho st c h c n cht im K. i vi mi cht im ta
phn cc lc tc ng ln cht im y thnh 2 lc: ni lc
v ngoi lc (Hnh 1.7).
H phng trnh vi phn
di dng vector cho
ton c h nh sau:
1 1 1 1
2 2 2 2
.
.
.
e i
e i
e i
n n n n
m a F F
m a F F
m a F F
= +
= +
= +
, ,
,
, ,
,
, ,
,
K
e
k
F
,
i
k
F
,
Hnh 1.7
Phng trnh vi phn ca c h nhiu cht im:
Chng hai: NG LC HC C H
2.1. Cc c trng hnh hc - khi lng h.
2.1.1. Khi nim
Chuyn ng ca c h khng nhng ph thuc vo cc lc
tc ng m cn ph thuc vo mt s yu t khc ngoi lc
nh:
Khi lng ca h, hnh dng ca h v s phn b khi
lng bn trong hnh dng ca h.
Tt c nhng yu t c nh hng n chuyn ng ca c
h ngoi cc lc tc ng s c gi l cc c trng hnh
hc - khi lng ca c h.
C HC L THUYT 2: ng Lc Hc Chng hai: ng lc hc c h
2.1.2. Khi lng, khi tm ca c h (Hnh 2.1).
( )
V
O
C
,
k
K m
K
x
y
k
r
,
C
r
,
K
d
Hnh 2.1
( , , )
( , , )
=

= =

,
,
kx k
k k k
ky k
k kx ky k
k k
r x
K x y
r y
r OK r r r
r
Gi:

1. Khi lng ca c h:
- Khi lng ca c h l mt i lng v hng lun
dng c trng cho mc qun tnh ca c h.
N c k hiu v xc nh nh sau:
Qun tnh l mt thuc tnh ca vt cht phn nh s d
dng hay kh khn thay i trng thi c hc c ca vt.
Trng thi c hc ca vt l quy lut chuyn ng ca vt
y trong khng gian theo thi gian (ng yn l mt trng
thi c hc c bit ca chuyn ng). Mt vt kh thay i
trng thi c hc c s c gi l vt c qun tnh ln
v ngc li.
1
0,
n
k
k
M m kg
=
= >

Nu c h ca chng ta l mt mi trng lin tc v ng
cht :
- Khi lng l mt thng s o lng qun tnh ca c
h. Khi lng cng ln s biu th qun tnh cng ln v
ngc li.
Nu c h l mt mi trng lin tc th:
( )
( )
1
. . . ; 1
=
= = =
}
n
k k k k
k
V
m dV M dV dV
k
: khi lng ring ca mi trng.

dV
: th tch vi phn.
( )
ons ; 2
k
c t = =
2. Khi tm c h
L mt im hnh
hc tn ti trong
khng gian ca h,
c k hiu bng
im C v c v tr
c xc nh nh
sau:
( )
( )
( )
1
.
2

= =
`
)
}
V
M dV V
1
1
1
.
.
.
=
=
=
= =
= =
= =
n
k k
k
Cx C
n
k k
k
Cy C
n
k k
k
C C
m x
r x
M
m y
r y
M
m
r
M
1
.
=
=
,
,
n
k k
k
C
m r
r
M
1
1 1
1
.
. .
.
n
k k
k
Cx C
n n
k k k k
k k
C C Cy C
n
k k
k
C C
m x
v x
M
m v m y
v r v y
M M
m
v
M
=
= =
=
= =
= = = =
= =
`
`
,
`
, ,
`
`

1
1 1
1
.
. .
.
n
k k
k
Cx C
n n
k k k k
k k
C C C Cy C
n
k k
k
C C
m x
a x
M
m a m y
a v r a y
M M
m
a
M
=
= =
=
= =
= = = = =
= =
``
``
,
``
, , ,
` ``
``

2.1.3. Moment qun tnh ca h
1. nh ngha :
a) Moment qun tnh ca h i vi tm O:
L mt i lng v hng, dng biu th qun tnh ca c
h khi c h quay quanh tm O.
2 2 2
0 0
1 1
.( ) . 0 , .
n n
k k k
k k
J I m OK m r kg m
= =
(
= = >

2 2 2 2
k k k k
r x y = + + M:
( )
2 2 2
0
1
.
n
k k k k
k
J m x y
=
(
= + +

Nn:

b) Moment qun tnh ca h i vi mt trc:
i vi trc : L mt i lng v hng, dng phn nh
qun tnh ca h khi h quay quanh trc . N c k hiu
nh sau:
2 2
1
. 0 , .
n
k k
k
J I m d kg m
=
(
= = >

( )
2 2 2 2 2 2 2
1 =
(
= = + = +

n
kz k k k k k k k
k
d r x y J m x y
( )
( )
2 2
1
2 2
1
n
x k k k
k
n
y k k k
k
J m y
J m x
=
=
(
= +
(
= +

Tng t:

M:
Quan h gia moment qun tnh ca h i vi ba trc ta
v moment qun tnh ca h i vi gc ta O:
c) Bn knh qun tnh ca h
- i vi tm O:
- i vi trc ta
( )
2 2 2
1
2 2
n
x y k k k k O
k
J J J m x y J
=
(
+ + = + + =

2
.
O
O O O
J
J M
M
= =
, ,
2
, , , , , ,
.
x y
x y x y x y
J
J M
M
= =

d) Moment qun tnh ly tm ca h
- i vi h trc xy:
| |
2
1
. . 0 , .
n
xy xy k k k
k
J I m x y kg m
=
= =
| |
2
1
. . 0 , .
n
y y k k k
k
J I m y kg m
=
= =

| |
2
1
. . 0 , .
n
x x k k k
k
J I m x kg m
=
= =

- i vi h trc x:
- i vi h trc y :
e) Trc qun tnh chnh ca c h.
L trc sao cho tt c cc moment qun tnh ly tm ca c
h c cha ch s tn trc y phi ng lot bng khng.
2. nh l
a) nh l i trc.
- nh l di trc song song (Hnh 2.2)
; ; = = =
xy yx y y x x
J J J J J J

Nu trc qun tnh chnh ca c h i qua khi tm C
ca c h y th n s c gi l trc qun tnh chnh
trung tm ca c h.
Nu J
x
= J
y
= 0 th trc l trc qun tnh chnh ca h.

2
.
C
C
J J M d
J J
= +
>

- nh l xoay trc:
2 2 2
. os . os . os 2 . os . os
2 . os . os 2 . os . os
A
= + +

x y xy
y x
J J c J c J c J c c
J c c J c c
o | o |
| o


b) nh l v trc qun tnh chnh ca h (tham kho ti liu)
x
d
|
C
//
K
C
( )
A
K
O
Hnh 2.2
M
2.1.4. Moment qun tnh ca mt s vt rn c hnh dng
xc nh thng dng.
1. Thanh thng, mnh, ng cht, tit din u (Hnh 2.3).
2
1
.
3
=
A A B B
J J J J M l

2
1
12
C C
J J Ml = =
Vi M l khi lng
ton h.
A B
l
M
C
A
Hnh 2.3
/ 2 l
2. Vnh trn, ng cht (Hnh 2.4).
3. a trn, c, ng cht (Hnh 2.5).
2
C C
J J MR = =
2
1
2
C C
x y
J J MR = =
2
1
2
C C
J J MR = =
2
1
4
C C
x y
J J MR = =
Hnh 2.4
R
C
x
C
y C
M
C
R
C
x
C
y C
M
C
Hnh 2.5
4. Tm hnh ch nht, c, ng cht, dy u (Hnh 2.6).
x
y
M
O
y
l
x
l
Hnh 2.6
;
3
1
2
y x
Ml J =
2
3
1
x y
Ml J =
( )
2 2
3
1
y x O
l l M J J + =

PGS. TS. Trng Tch Thin Copyright By Focebk.com
5. ng tr trn, ng cht, mng, khng y (Hnh 2.7).
|
|
.
|
\
|
+ =
= =
6 2
1
2
2
h
R M
J J
C C
y x
C
J MR J
C
= =
2
Vi M l khi lng ton h.

Hnh 2.7
C
x
C
y
h
C
M
R
2
h
C
6. Hnh tr trn, c, ng cht (Hnh 2.8).
|
|
.
|
\
|
+ =
= =
3 4
1
2
2
h
R M
J J
C C
y x
C
J MR J
C
= =
2
2
1

Hnh 2.8
C
x
C
y
h
C
M
R
2
h
C
2.2.1. nh l chuyn ng khi tm h
=
=
m
j
e
j C
F a M
1
.
,
,
- nh l: Khi tm ca c h chuyn ng nh mt cht
im c khi lng bng khi lng c h v chu tc dng
ca lc c vector lc bng vector chnh ca h ngoi lc
tc dng ln c h.
m l s ngoi lc tc ng ln h.
l gia tc khi tm C ca h
C
a
,
l ngoi lc th j tc ng ln h.
e
j
F
,
2.2. Cc nh l tng qut ca ng lc hc c h.
2.2.2. nh l bin thin ng lng h
1. ng lng ca h
a) nh ngha:
ng lng ca cht im l mt
i lng vector c k hiu v
xc nh nh sau (Hnh 2.9):
- nh lut bo ton chuyn ng khi tm h
Nu tng cc vector ngoi lc tc ng ln c h b trit tiu
th khi tm C ca h s trong trng thi cn bng hay trong
trng thi qun tnh.
1
0 0
=
= = =
, , , ,
, ,
m
e
j C C
j
F a v const
k k k k k
q m v N s q v . , ( . ) = ||
, , , ,
k
K,m
k
q
,
k
v
,
Hnh 2.9
ng lng ca h:
1 1
n n
k k k
k k
Q q m v .
= =
= =

,
, ,
Khi tm C ca h
chuyn ng thng
u.
2. Xung lng ca lc
3. nh l bin thin ng lng ca h
b) Cng thc tnh Q.
Dng nh ngha khi tm:
C
m
k
k k
m
k
k k
C
v M v m Q
M
v m
v
, ,
,
,
,
=
=
= = =
1
1
. .
.
( )
}
=
t
k k k
s N dt F S F S
0
. , .
, , , ,
a) Dng 1:
=
=
m
j
e
j
F
dt
Q d
1
,
,
b) Dng 2: Bin thin ca vector ng lng h gia thi im
cui v thi im u bng tng cc vector xung lng ca
cc ngoi lc.
( )
1 0
1 1
m m
e e
j j
j j
Q Q S F S
= =
=

, , , , ,
nh l chuyn ng khi tm c dng gii nhng bi
ton ng lc hc ca vt rn c chuyn ng tnh tin v
khi lng ca vt l khng i trong qu trnh chuyn ng
nh l bin thin ng lng c dng gii bi ton
ng lc hc cho nhng c h c khi lng khng i
hoc thay i trong qu trnh chuyn ng.
nh l chuyn ng khi tm l mt trng hp c bit
ca nh l bin thin ng lng.
2.2.3. nh l bin thin moment ng lng ca h
1. Moment ng lng ca h
a) Moment ng lng ca cht im i vi 1 tm (Hnh 2.9).
- Moment ca ng lng cht im K i vi tm O:
- ng lng cht im K:
k k k
q m v . =
, ,
( ) ( )
O k k k k k k
M q r q r m v . = . = .
,
, , , , ,
Hnh 2.9
O
k
m K,
k
v
,
k
q
,
k
r
,
- Moment ng lng ca cht im K i vi mt trc:
+ i vi trc x:
+ i vi trc y:
+ i vi trc : ( ) ( )
( )
k xy
xy
k
xy
k O k
q hc q
q M q M
, ,
,
,
,
=
=
Vi:
( )
( )
y
x k O k
M q M q =
,
, ,
( )
( )
x
y k O k
M q M q =
,
, ,
( )
( )
( )
( )
( )
, ,

=
= =
,
,
, ,
,
Ox x k
O k Ox Oy O Oy y k
O k
M M q
M q M M M M M q
M M q
Gi

- Moment ng lng ca c h i vi tm O:
- Moment ng lng ca c h i vi mt trc.
b) Moment ng lng ca c h
+ i vi trc x:
+ i vi trc y:
+ i vi trc :
( )
1 =
=
, ,
,
n
O O k
k
L M q
( )
1
n
k
k
M q L
=
=
,

( )
1
n
x k x
k
M q L
=
=
,
( )
1
n
y k y
k
M q L
=
=
,
( )
, ,
O x y
L L L L
=
`
)
,

c) Th d:
O
x
y
z
( )
V
,
e
Hnh 2.10
Kho st vt rn quay quanh trc c nh (Hnh 2.10).
. ;
x x
L J e =
.
y y
L J e =
. = L J e

Vi
( )
=
,
z
hc e e
Nu trc l trc qun tnh chnh
ca vt th :
( )
0, 0, . ,
O O
L J L O e =
, ,
Vy:
Hay //

0 0
x y x y
J J L L = = = =

nh l ny c dng gii bi ton ng lc hc trong
trng hp c h c thc hin chuyn ng quay.
( )
1 =
=
,
, ,
m
e
O
O j
j
d L
M F
dt
2.4. nh l bin thin ng nng ca h
1. ng nng ca c h
a) nh ngha.
- ng nng ca cht im K:
2
1
. 0 , .
2
k k
m v N m J >
2
1
1
. 0 , .
2
n
k k
k
T m v N m
=
| |
= >
|
\ .
- ng nng c h :
2. nh l bin thin moment ng lng ca h i vi 1
tm
b) Cng thc tnh ng nng cho mt vi dng chuyn ng
thng dng ca c h.
- C h chuyn ng tnh tin:
2
1
. .
2
c
T M v =
* C h quay quanh trc c nh:
M: khi lng ca ton h.
: vn tc khi tm C ca h.
c
v
: vn tc gc i vi trc quay.
e
2
1
. .
2
T J e =
: moment qun tnh ca c h i vi trc .

J

- C h l mt vt rn phng chuyn ng song phng trong
mt phng cha vt (hnh 2.11).
2 2
2
1 1
. . . .
2 2
1
.
2
e
e
= +
=
c
P
c
T M v J
T J
2. Cng v cng sut

a) nh ngha.
- Cng phn t (cng vi phn) ca
ti l cng do loi ti y to ra
trn on ng vi phn.
K
( )
, ,
k k k k
dr dx dy d =
,
k
r
,
O
k
F
,
Hnh 2.12
M
P
( )
c
v mp P c
,
c
C
Hnh 2.11
e
P
P
- nh ngha cng phn t ca lc nh sau (hnh 2.12):
Xt lc tc ng ti K. Trong khong thi gian v cng
b dt, im K thc hin 1 vector dch chuyn vi phn .
k
F
,
k
dr
,
( )
( )
. . . .
x y
k k k k k k k k k k
dA F dA F dr F dx F dy F d = = + +
, ,
,
- Ca moment M :
Kho st mt vt rn chu tc ng ca moment M. Trong
khong thi gian v cng b dt vt rn quay c mt gc
vi phn d, (rad).
Cng phn t ca moment M c nh ngha nh sau:
( )
. = dA dA d M M
M
- Cng sut l cng do lc hoc moment thc hin trong mt
n v thi gian:
+ Cng sut ca lc:
Quy c cng phn t ca moment M s l i lng
dng nu chiu ca moment M cng chiu quay ca vt
v ngc li.
( ) ( )
.
. . . .
x y
k k k
k k k k k k k k k k
dA F dr
P F P F v F x F y F
dt dt
= = = = + +
,
,
, ,
,
` `

( )
. .
. , = = = =
dA
d N m
P P W
dt dt s
e
M
M
M
M
M
n v Watt:
+ Cng sut ca moment : M
- Cng hu hn.
+ Ca lc:
+ Ca moment:
- Cng ca trng lc.
(Hnh 2.13)
( )
. = =
} }
, ,
,
O O
K K
k k k k k
K K
A F A dA F dr
( )
0
. =
}
A A d
M
M
M
. , : const A rad = = M Nu: th M
M
( )
( )
0
. .
C
A P P M g h = =
,

0 C
h =

Vi. : lng
thay i cao ca C.
b) Cng ca cc loi ti ph bin.
Hnh 2.13
x
O
y
P
,
P
,
( )
0 0 0 0
, , C x y
( )
, , C x y
- Cng ca lc l xo. (Hnh 2.14)
( )
( )
( )
0
0
0 0
C
A P
A P
A P h
>
<
= =
,
,
,
khi C h thp cao.
khi C tng cao.
x
x
O
Hnh 2.14
( )
2 2
0 1
2
s
k
A x x =
* Cng ca lc ma st trt
Cng ca lc ma st trt tnh. (Hnh 2.15)
( )
. 0
mst mst
A F F s = =
, ,
,
Cng ca lc ma st trt ng: (Hnh 2.16)
P
,
s
,
ms
F
,
N
,

( )
( )
. .
. . 0
ms ms ms
A F F s F s
f N s
= =
= <
, ,
,
Hnh 2.16
P
,
Q
,
mst
F
,
Hnh 2.15
N
,
3. nh l
a) Dng o hm:
b) Dng hu hn:
( )
1
n
k
k
dT
P F
dt
=
=
,
( )
1 0
1
n
k
k
T T A F
=
=
,
h h
- C h khng bin hnh :
( ) ( )
1
n
e
k j
k
A F A F
=
=

, ,
( )
1 0
=
,
e
j
T T A F
h h
Lc ch ng l nhng loi lc khng ph thuc vo cc lin
kt trong h.
- C h c cc lin kt l tng:
L loi lin kt m tng cng ca cc loi phn lc lin kt lun
bng khng trong mi dng chuyn ng ca h. Lc ny tng
cng ca cc loi ti bng tng cng ca cc lc ch ng
(hot ng).
( )
1 0
=

,
a
T T A F
h h
( )
( )
=

, ,
a
k
A F A F
: tng cng ca cc loi ti bng
tng cng ca cc lc ch ng
(hot ng).
2.3. NGUYN L D ALEMBERT
2.3.1. Nguyn l
1. Cho cht im
Theo nh lut 2 Newton ta c :
( )
. 0
.
k k k k k k
k k
m a F a F m
m a
= || >
, ,
, ,
V
C n v: N.
t mt lc khng tht ti K c nh ngha v k hiu nh
sau:
.
qt
k k k
F m a =
,
,
gi l lc qun tnh ca cht im K. (hnh 3.1)
C HC L THUYT 2: ng Lc Hc Chng 3 : Nguyn l D Alembert
Kho st cht im K c khi lng m
k
thuc c h v chu
tc ng ca lc . Gi gia tc ca cht im K l .
k
a
,
,
k
F
=
, ,
qt
k k
F F
0 ( , ) ~0 + =
, , , , ,
q
k k
t qt
k k
F F F F
Nguyn l:
Mi cht im trng thi khng cn bng (cht im
chuyn ng c gia tc) u c th c bin i v trng
thi cn bng nu chng ta tc ng thm ln cht im y
mt lc qun tnh c nh ngha theo DAlembert.
2. Cho c h
V mi cht im trong c h u c th c xem cn bng
di tc ng ca h hai lc, nn h n cht im cng cn
bng di tc ng ca h 2.n lc :
( , ) ~ 0, 1, . =
, ,
k
qt
k
F k n F
Hnh 3.1
,
k
K m
,
qt
k
F
k
F
,
- Thu gn h nhiu lc cn bng trn v tm O ty trong
khng gian ta s c hai thnh phn c bn ca h lc
cn bng (c hai thnh phn c bn ny u b trit tiu):
+ Vector chnh ca h lc cn bng:
+ Moment chnh ca h lc cn bng i vi tm O: (Hnh 3.2)
'
*
1
'
1
0
= =
'
= + = + =

, , , , ,
n
qt
k qt
k
n
k
k
R F R R F
*
0 0
1
0
0
1
0
( ) ) (
0
= =
= + =
= + =

, , , , ,
, , ,
n
q
n
k
k
t
k
k
qt
M F
M
M M F
M
Hnh 3.2
O
M
,
,
qt
O
M
'
,
qt
R
R
'
,
O
Pht biu nguyn l DAlembert cho h.
1 1
'
( . ) :
= =
= =

,
, ,
n
k k
k
n
qt
qt k
k
m a R F Vector chnh ca h lc qun tnh.
2.3.2. Xc nh , (vector chnh ca h lc qun tnh
v moment chnh ca h lc qun tnh i vi tm O).
'
,
qt
R
0
,
qt
M
1. Xc nh vector chnh ca h lc qun tnh .
'
,
qt
R
0 0
1
( )
=
=
, , ,
n
qt qt
k
k
M M F : Moment chnh ca h lc qun tnh i
vi tm O.
Nu mi thi im kho st, ngoi h n cc lc tht tc
ng ln c h, ta cn tc ng b sung ln c h y hai thnh
phn c bn ca lc qun tnh R
qt
v M
O
qt
cng t ti tm O
chn th ton h lc mi s l h lc cn bng. Lc ny bi
ton ng lc hc ca c h c th c gii bng su
phng trnh cn bng tnh hc thng thng.
,
k
F
Vi mi dng chuyn ng ca c h ta u c:
Moment chnh ca h lc qun tnh chnh i vi tm O s
ph thuc vo v tr ca tm O v ph thuc vo dng chuyn
ng ca c h.
a) C h l vt rn c chuyn ng tnh tin.
Chn tm thu gn O trng vi tm C ca vt rn:
1 1
'
( . ) ( . ) .
= =
= = =

,
, , ,
n n
q k k k k C
k
t
k
m a m a M a R
: 0 = =
, , ,
qt qt
O C
M M O C
2. Xc nh .
qt
O
M
,
b) C h l vt rn quay quanh trc c nh vi v . c
, ,
e
Chn tm thu gn O l 1 im ty trn trc quay z ca vt rn:
c) C h l mt vt
rn phng chuyn
ng song phng
trong mt phng
cha vt (hnh 3.4).
: Moment qun tnh ca vt i vi trc
(hnh 3.3).
J
0
|+
,
,
qt
M c
V
0 > J
0
: . e =
,
,
qt
J M O c

2 2
( ) ( ) = + + +
,
, ,
,
yz zx xz zy
t
z
q
O
M J J i J J j J k e c e c c
0
: . =
qt
O M C J c
Chn
c
Nu l trc qun tnh chnh ca vt th:
Dng h trc Oxy vi O l trc quay c nh ca vt. Ta c:

Hnh 3.3
,
c
O
e
c
0
qt
M
,
x
y
Hnh 3.4
c
( )
S
P
C
qt
C
M
c
,
C
a
C HC L THUYT 2: ng Lc Hc Chng 4 :Nguyn l di chuyn kh d
2.4. NGUYN L DI CHUYN KH D.
2.4.1. Khi nim c h khng t do
1. C h khng t do
L c h cha nhiu cht im m chuyn ng ca chng
khng nhng ph thuc vo cc lc tc ng m cn ph
thuc vo mt s iu kin rng buc v hnh hc v ng
hc.
2 2 2
0, : + s x y l l
chiu di dy
y
x
( )
, M x y
O
Hnh 4.1
l
Th d 1: Con lc trn hnh 4.1.
Chuyn ng ca im M b rng
buc bi lin kt dy.
2. Lin kt. Phng trnh lin kt. Phn loi lin kt.
a) Lin kt
L nhng rng buc v hnh hc v ng hc ln cc cht
im trong h.
b) Phng trnh lin kt
( ) ( )
2 1 2 1
0
B
B
y
l l x l l
=
s s +
x
O
y
2 1
l l >
1
l
( )
,
B B
B x y
Hnh 4.2
A
Th d 2: C cu tay quay con trt trn hnh 4.2.
Phng trnh lin kt l nhng phng trnh hoc bt phng
trnh ton biu th cc rng buc v hnh hc v ng hc ln
cc cht im ca c h.
- Kho st c h c n cht im K.
Dng tng qut ca phng trnh lin kt th o trong h l:
( , , ), 1,
k k k
K x y z k n =
Vi
v s l s phng trnh lin kt trong h.
3 3
( , , , , , , ) 0, 1, , 1,
o
o s = =
` ` `
_ _
k k k k k k
n n
f t x y z x y z k n s
6 1 n +
c) Phn loi lin kt
C1. Lin kt gi (lin kt hai pha) v lin kt khng gi
(lin kt mt pha).
Lin kt gi l loi lin kt m phng trnh lin kt ca n c
dng ng thc ton hc.
Ngc li, phng trnh lin kt c dng bt ng thc ton
hc th lin kt y c gi l lin kt khng gi.
2 2 2
1
( , ) 0 f x y x y l = + =
Lin kt gi (hnh 4.3)
y
x
( )
, M x y
O
Thanh cng
Hnh 4.3
l
2 2 2
2
( , ) 0 f x y x y l = + s
Lin kt khng gi (hnh 4. 4)
C2. Lin kt dng v khng dng.
Lin kt dng l loi lin kt m phng trnh lin kt ca n
khng cha bin thi gian t.
Ngc li, phng trnh lin kt c cha bin thi gian t th
lin kt y c gi l lin kt khng dng.
y
x
( )
, M x y
O
dy
Hnh 4.4
l
3 3
( , , , , , ) 0, 1, , 1,
o
o s = =
` ` `
_ _
k k k k k k
n n
f x y z x y z k n s
Lin kt dng:
C4. Lin kt l tng
C3. Lin kt holonom v phi holonom
Lin kt holonom l loi lin kt m phng trnh lin kt ca
n khng cha cc bin vn tc. Ngc li, nu cc phng
trnh lin kt c cha bin vn tc th lin kt c gi l
lin kt phi holonom.
Lin kt l tng l loi lin kt m tng cng ca tt c cc
phn lc lin kt lun bng khng trong mi dng di chuyn
ca h.
- Kho st mt c h c cc lin kt thuc loi gi, holonom.
Cc phng trnh lin kt ca h s c dng thng gp
nh sau:
( , , , ) 0, 1, 1, (1)
o
o = = =
k k k
f t x y z k n s
( , , , ) 0, 1, , 1,
o
o s = =
k k k
f t x y z k n s Lin kt holonom:
Di chuyn kh d ca cht im thuc h khng nht thit
phi l di chuyn tht ca cht im y. Nu lin kt trong
h l loi lin kt dng th di chuyn tht s l mt trong
nhng di chuyn kh d.
( )
, ,
k k k k
r x y o o o o =
,
: di chuyn kh d.
( )
, ,
k k k k
dr dx dy d =
,
: di chuyn tht.
3. Di chuyn kh d (di chuyn o).
Di chuyn kh d ca h l tp hp tt c cc di chuyn v
cng b ca mi cht im thuc h t v tr ang xt sang
cc v tr ln cn m khng lm ph hy cc lin kt ca h.
Khi h thc hin mt di chuyn kh d th thi gian t c
xem nh l mt tham s. K hiu mt di chuyn kh d ca
cht im K l mt vector .
,
k
r o
C HC L THUYT 2: ng Lc Hc
Xt mt h c cc lin kt thuc loi gi v holonom. Trc
khi h thc hin di chuyn kh d th cc phng trnh lin
kt s c dng:
Cho h mt di chuyn kh d. Do cc lin kt ca h vn
c duy tr nn phng trnh lin kt ca h sau khi thc
hin di chuyn kh d s c dng :
( ) ( )
1,
, , , 0 , 1
1,
=

=
k k k
k n
f t x y
s
o
o
( ) ( )
1,
, , , 0 , 2
1,
k k k k k k
k n
f t x x y y
s
-

=
+ + + =

=
o
o o o
o

Bin thin o ca cc phng trnh lin kt s c xc
nh nh sau :
4. Bc t do v ta suy rng ca c h
a) Bc t do
Kho st mt h gm c n cht im K. Cho h thc hin mt
di chuyn kh d th mi cht im K thuc h s thc hin
mt vector di chuyn kh d.
*
0 = = f f f
o o o
o
( ) 1
. . . 0 ,
3
1,
=
(
c c c
= + + =

(
c c c
`
=
)
n
k k k
k
k k k
f f f
f x y
x y
s
o o o
o
o o o o
o
M
Vector di chuyn kh d ca cht im K:

( )
, ,
k k k k
r x y o o o o =
,

Do 3.n thnh phn di chuyn kh d ca h phi tha mn s
phng trnh rng buc (3) nn cc thnh phn di chuyn kh
d ny khng c lp vi nhau.
Do , s thnh phn di chuyn kh d c lp ca h s c
tnh nh sau : m = 3.n s.
m c gi l bc t do ca ton h.
Hay mi cht im K s thc hin ba thnh phn di chuyn kh
d . Do ton h s thc hin 3.n thnh phn
di chuyn kh d.
, ,
k k k
x y o o o
b) Ta suy rng ca h
- nh ngha :
Ta suy rng ca h l thng s c lp c dng
kho st chuyn ng cho h y.
S ta suy rng ca h s bng vi bc t do ca h y.
- Cc ta ca cc cht im thuc h s c xc nh
da vo cc ta suy rng chn. Ngha l mi ta
ca cc cht im thuc h s l hm nhiu bin ca cc
ta suy rng ca h.
K hiu cc ta suy rng ca h: q
1
, q
2
, , q
m
.
( )
( )
( )
( )
1
1 2
1 2
1
1 2
1
.
, , ,
, , , . 4
, , ,
.
m
k
k i
i
i
k k m
m
k
k k m k i
i
i
k k m
m
k
k i
i
i
x
x q
q
x x q q q
y
y y q q q y q
q
q q q
q
q
o o
o o
o o
=
=
=
c
=
= =

c

=

c
=
c
.
.
.

V d: (Hnh 4.5)
Dof
h
m = 3n - R
lk
= 3.2 - 4 = 2
C 2 ta suy rng.
Chn q
1

1
; q
2

2
1 1 1 1
2 2
1 1 2 2
2 2
1 1 2 2
.cos ; .sin
.cos
.cos .cos
.sin
.sin .sin
A A
B A
B A
x l y l
x x l
l l
y y l
l l

= =
= + =
= +
= + =
= +

y
x ( )
,
B B
B x y
2
O
( )
,
A A
A x y
Hnh 4.5
1
- Ch rng c nhiu cch chn cc ta suy rng trong
mt h (th d c th chn x
A
v x
B
hay y
A
v y
B
, .)
x
A
v y
A
c quan h vi nhau nn khng th chn lm ta
suy rng c. Phng trnh quan h:
Tng qut, cc n v ca cc ta suy rng c th l nhit
, chiu di, v th nguyn,
5. Cng kh d, lc suy rng
a) Cng kh d ca lc
Kho st h gm n cht im K. Gi s rng mi cht im K
s chu mt lc tc ng F
k
. Khi h thc hin mt di chuyn
kh d th cc lc F
k
s c tng cng kh d nh sau:
2 2 2
1
0 + =
A A
x y
( )
( )
1 1 1
1
.
. . . , 5
o o o
o o o
= = =
=
= =
(
= + +

, ,
,
n n n
k k k k
k k k
n
kx k ky k k k
k
A F A F r
F x F y F
1 1 1
. . . o o
= = =

(
c c c

= + +
`
(
c c c

)

n m n
k k k
k kx ky k i
k i k
i i i
x y
A F F F q
q q q
t:
1
. . .
=
(
c c c
= + +
(
c c c

n
k k k
i kx ky k
k
i i i
x y
Q F F F
q q q
l lc suy rng th i ca cc lc F
k
tc ng ln c h
tng ng vi ta suy rng th i (q
i
) chn .
Lc ny tng cng kh d ca cc lc F
k
c tnh theo
cng thc nh sau :
xc nh lc suy rng th i (Q
i
) tng ng vi ta
suy rng q
i
chn ta c th thc hin theo nhiu cch.
Cch n gin nht c trnh by nh sau :
Cho h thc hin mt di chuyn kh d rt c bit: oq
1
= 0;
oq
2
= 0; .; oq
i-1
= 0; q
i
0; oq
i+1
= 0; .; oq
m
= 0.
( )
1 1
.
n m
K i i
k i
A Q q o o
= =
=

1 1 2 2
1 1
. . . ... . ... . .
= =
= = + + + + + =

n m
k i i i i m m i i
k i
A Q q Q q Q q Q q Q q Q q o o o o o o o
1
n
k
k
i
i
A
Q
q
o
o
=
=

4.2. Nguyn l di chuyn kh d
1. Nguyn l
iu kin cn v mt c h vi cc lin kt thuc loi l
tng, gi, dng v holonom cn bng ti mt v tr l tng
cng kh d ca tt c cc lc hot ng tc ng ln c h
thc hin trn cc di kh d ca h, tnh t v tr ang xt
phi bng khng.
( )
1 1
. . . 0
, ,
o o o o
= =
(
= + + =

=

,
n n
a a a a
k kx k ky k k k
k k
a a a a
k kx ky k
A F x F y F
F F F F
Vi l lc hot ng th k tc ng
ln h.
(lc hot ng l loi lc khng ph thuc lin kt h. Vi cc
lc khng phi l cc phn lc u l cc lc hot ng).
2. nh l
iu kin cn v mt c h vi cc lin kt thuc loi l
tng, gi, dng v holonom cn bng ti mt v tr l tt c
cc lc suy rng ca cc lc hot ng tc ng ln c h
ng vi cc ta suy rng q
i
, chn tnh ti v tr ang xt
phi ng lot b trit tiu.
, 1 0 ,
a
i
i m Q = =
4.3. Phng trnh Lagrange 2
Xt mt c h c m bc t do, vi m ta suy rng chn
l q
i
, .
1, i m =
Lc suy rng th i tng ng l Q
i
. ng nng ca ton h l
mt hm nhiu bin c dng nh sau:
( : vn tc suy rng th i)
( , , ) ;
i i
T T t q q =
`
h
h
i
q`
- C h s chuyn ng tun theo phng trnh Lagrange
2:
1
( ) , 1,
c c
= =
c c
`
i
i i
T T
Q i m
dt q q
Bi Tp C L Thuyt 1
TRNG I HC BCH KHOA THNH PH H CH MINH
GVHD: PGS. TS. Trng Tch Thin
BK
TP.HCM
PHN I : TNH HC VT RN
Bi 1/
Cho 1 c h nh hnh ve (hnh 1).
Cho bit: , P
1
, P
2
.
a. H cho c lun cn bng vi
mi loi ti tc ng khng? Ti
sao?
b. Nu h cn bng, hy xc nh
cc phn lc lin kt ca cc lin
kt ngoi.
c. Hy xc nh cc ng lc ln
tng thanh thng trong h.
1
,
P
2
,
P
C
B
A
D
Hnh 1
Hng dn
1. H cho l h gin phng v h tha mn tt c 4 iu kin sau
y:
+ Hai u cui ca mi thanh thng c hai khp bn l.
+ Tt c cc vt rn trong h ng phng v ti tc ng cng
nmtrong mt phng ca h.
+ Tt c cc vt rn trong h u l cc thanh thng v c th b
qua trng lng ca chng.
+ Tt c cc thanh thng trong h khng chu tc ng ca lc v
moment gia thanh m ch chu tc ng ca cc lc tp
trung ti cc u cui ca cc thanh.
H tha mn c 4 iu kin nu trn s c gi l h gin
phng.
2. Tnh cht ca h gin phng:
- Tt c cc thanh trong h gin phng ch chu lc nn hoc lc
ko dc trc.
- Hai lc tc ng ln 2 u cui ca mi thanh tha tin 1
ca tnh hc v c gi l cc ng lc tc ng ln tng
thanh trong h gin.
ng lc
Thanh chu nn
1
S
,
2 1
S S =
, ,
Thanh chu ko
4 3
S S =
, ,
3
S
,
- Nt gin l ni ni cc thanh trong h gin li vi nhau. S khp
bn l ni k mi nt gin c t thanh ni vi nhau c tnh
theo cng thc:
Vi k: l s khp bn l ni ti nt
kho st, t: l s thanh ni vo nt
. A, B, C: l cc nt gin
k = t 1
t
Nt gin
- Mi thanh trong h gin s tc ng 1 lc ln nt ni vi n. Lc
ny c phng trng vi ng thng ca thanh, cng ln
vi lc do nt tc ng ln thanh ny nhng ngc chiu.
BI SA
a. Tnh bc t do ca h:
L thuyt:
+ Nu dof
h
0 th h lun cn bng vi mi loi ti tc ng.
+ Nu dof
h
> 0 th h khng lun cn bng vi mi loi ti.
Vy h lun cn bng vi mi loi ti tc ng v dof
h
= 0
4
1
4
1
3
3 4 12 0 4
2 2 12 2 4
lk
j
j
lk
j
j
dof n R
dof n
R
=
=
= = =

= + =
he
he
ta co
`
Ta c 2 khp bn l ngoi c nh v 4 khp bn l ni.
b. Xc nh cc phn lc ca cc lin kt ngoi.
+ T do ho h (b ht cc lin kt ngoi):
+ Kho st s cn bng ca ton h (hnh 2).
Y
D
= 0
1
,
P
2
,
P
C
B
A
D
x
y
,
D
X
,
A
X
,
D
X
,
D
Y
,
A
Y
Hnh 2
(2) Y
A
= P
2
> 0
(3) X
D
= (P
1
+ P
2
) < 0
(1) X
A
= P
1
X
D
= P
1
[(P
1
+ P
2
)] = P
2
> 0
( )
( )
( )
( )
1
2
2 1
0 1
0 2
. . . 0 3
jx A D
jy A
A j D
F X P X
F Y P
M F P P X
= + + =
= =
= =
,

Do X
D
< 0 nn chiu ng ca X
D
ngc chiu chn.
c. Dng phng php tch nt:
tnh c ng lc tc ng ln cc thanh trong h gin thng
thng ngi ta dng phng php tch nt.
+ Vit cc phng trnh cn bng cho h lc:
+ Gii h (1), (2), (3) ta nhn c:
+ ng lc tc dng ln thanh CD thanh (hnh 3)
S
C,
= X
D
S
C,
= (P
1
+ P
2
)
+ Kho st s cn
bng ca nt
C.(hnh 3b)
Ngha l tch ring tng nt trong h gin kho st s cn
bng ca nt .
Hnh 3b
1
,
P
2
,
P
C
x
y
0
45
,C
S
,
,C
S
,
,C
S
,
,
D
X
, C
S
,
Hnh 3a
ng lc tc dng ln & :
Ta c:
1 ,
, ,
,
2
2
0
2
2
0
2
C
C
C
y C
jx
j
F P S
F P
S
S S
= =
= =
| |
, 1 , 1 1 2 2
, 2 , 2 2
( ) 2 ( ) 2 2
2 2
( ) ( 2 ) 0
2 2
C C
C C
S P S P P P P
S P S P P
= = + =

= = =
, C
S
,
, A
S
,
+ Kho st s cn bng nt B (hnh 4).
, , 2
2. = = =
A C C
S S S P
,
Ta c:
A B
, ,
0 0
jx B B
F S S = = =

B
x
y
,B
S
,
Hnh 4
Bi 2.
Cho c h nh hnh v (hnh 1). Cho: q, , o.
a. H cho c lun cn bng vi mi loi ti tc ng hay
khng? Ti sao?
b. Hy xc nh cc phn lc lin kt ti A v C?
2
M=q
o

A
B
C
q
Hnh 1
BI SA
Vy h lun cn vi mi loi ti tc ng v dof
h
0.
b. Xc nh cc pllk ti A v C.
- Kho st s cn bng ca thanh ABC.
( )
2
1
. 3
3.1 2 1 0
lk
j he
j
a dof n R
=
=
= + =
`
,
A
Y
C
N
,
2
M=q
,
A
X
Q
,
A
B
C
q
C
N
, y
x
,
X
A
2
o
Hnh 2
- T do ha thanh ABC (hnh 2):
d
. = Q q
( )
( )
( )
( )
.sin 0 1
.cos 0 2
0 3
2
jx A C
jy A C
A j C
F X N
F Y Q N
M F Q M N d
o
o
= =
= + =
= + + =
,

( )
3 0
4cos
C
q
N
o
= <
( )
1 0
4
o
= <
A
q
X tg
( )
5
2 0
4
A
Y q = >
- Vit cc phng trnh cn bng cho h lc tc ng:
- Gii h phng trnh (1), (2), (3) ta thu c cc kt qu:
Cc kt qu N
C
< 0 v X
A
< 0
chng t cc chiu ng ca
2 phn lc ny ngc vi
cc chiu chn cho chng.
.cos 2 cos AC d o o = =
Bi 3
Cho c h nh hnh v (hnh 1). Cho: q, , o.
a. H cho c lun cn bng vi mi ti tc ng khng? Ti
sao?
b. Tmiu kin ca moment M h cn bng.
c. Hy xc nh cc phn lc lin kt ti A v C ng vi 2 trng
hp ca moment Mnh sau:
c.1 M= q
2
c.2 M = 2q
2
2
A
B
C
D
E
o
M
P q =
Hnh 1
BI SA
Vy h khng lun cn bng vi mi loi ti v dof
h
> 0.
b. iu kin h cn bng l thanh DE phi cn bng hay thanh
DE phi ta vo C. Ngha l N
C
> 0.
- Kho st s cn bng ca thanh DE (Hnh 2).
3
1
. 3.
lk
j he
j
a dof n R
=
=
`
3
1
2
3 0, 5 2 5, 5
lk
j
j
n
R
=
=
= + + =
0, 5 0 = + >
`
he
dof
( )
3
. . 0
2
E C
M F P N CE M = =
,
sin sin
EH
CE
o o
= = Vi :

C
D
E
o
M
,
P
d

y
x
,
C
N
,
E
Y
,
E
X
H
Hnh 2
K
3
2
EK =
2
3
2
C
q M
N
CE
=

- iu kin h cn bng l thanh DE phi cn bng. Ngha l
lin kt ta ti C phi tn ti hay N
C
> 0 hay:
c.1 M = q
2
: iu kin (1) tho N
C
>0 H cn bng.
1
.sin
2
C
N q o =
- Kho st s cn bng ca khung ABC (Hnh 3).
2 2
3 3
0
2 2
q M q M > > (1)
c. Xc nh cc phn lc lin kt ti A v C ng vi 2 trng hp ca
moment M:
Thay M = q
2
vo cng thc tnh N
C
, ta c:
q
2
A
B
C
o
y
x
A
X
,
Q q =
C
N
'
,
A
X
,
A
Y
,
Hnh 3
.cos
Cy Cy C
N N N o
'
= =
.sin
Cx Cx C
N N N o
'
= =
A
M
c.2 M = 2q
2
iu kin (1) khng tha nn h khng cn
bng N
C
= 0 !!!
( )
sin 0
cos 0
. ( sin ). ( cos ). 0
2
jx A C
jy A C
A j A C C
F X Q N
F Y N
M F M Q N N
o
o
o o
= + =
= =
= + =
,

2 2
2 2
1 1
(1 sin ) ( cos ) 0
2 2 2 2
A
q q
M sin2 sin2 o o o o = + = + >

1
cos sin 2 0
4
A C
Y N q o o = = >
2
1
sin sin 0
2
A C
X N Q q q o o = = <
V X
A
< 0 nn chiu ng ca X
A
ngc chiu chn.
V X
A
< 0 nn chiu ng ca X
A
ngc chiu chn.
( )
0
0
. 0
2
jx A
jy A
A j A
F X Q
F Y
M F M Q
= + =
= =
= =
,

2
0
2
A
A
A
X q
Y
q
M
=
Kho st li s cn bng ca khung ABC vi N

C
= N
C
= 0, ta c:
Bi 4
a. H cho c lun cn bng vi mi loi ti hay khng? Ti
sao?
b. Tmiu kin ca lc P cho h cn bng?
c. Xc nh phn lc lin kt ca khp trt B ln con trt B,
phn lc ca thanh AB ln con trt B, phn lc ca thanh AB
v khp bn l O ln thanh OA.
<B qua trng lng cc vt v ma st trong h>
0
(
30 ;
OA
Cho
M o
=
hnh1)
a. Tnh bc t do:
BI SA
3 3 3 8 1
3
2 2 2 2 8
lk
he
lk
dof n R
n
R
= = =
=
= + + + =
Vi :
`
A
O
M
P
,
o
B
Hnh 1
3
Vy h khng lun cn bng vi mi loi ti tc ng v dof
h
> 0.
b. Dng phng php tch vt.
- Kho st s cn bng ca thanh OA (hnh 2).
* T do ho thanh OA.
* Thit lp phng trnh
cn bng cho thanh OA.
Thanh AB l 1 lin kt thanh trong h.
A
O
M
o
,
R
,
y
x
O
Y
,
O
X
,
Hnh 2
d
o
cos d o =
( ) ( )
,
,
,
cos 0
sin 0
0 0
x O
y O
A O O j
Ta
F X R
F Y R
M F M X hay M F M R d
o
o
= + =
= =
= = = =
co :
, ,
0
0
cos
tan 0
O
O
M
X
M
R
M
Y
o
o
= >
= >
= >
- Kho st s cn bng ca thanh AB (hnh 3).
+ T do ho thanh AB.
, ,
0
x
F R R = =

, , ,
0
cos
M
R R R
o
= = = >
A
,
R
,
x
,
R
,
Hnh 3
- Kho st s cn bng ca con trt B.(hnh 4)
+ T do ho con trt B:
( )
,
,
cos 0
sin 0
0
x
y B
B B
F P R
F N R
M F M
o
o
= =
= + =
= =
Ta co :
,
0
tan 0
0
B
B
M
M
N
M
P
o
= >
= >
P
,
o
B
B
M
,
,
R
,
y
x
B
N
,
Hnh 4
c. Xc nh:
- Phn lc ca khp trt B tc dng ln con trt B l:
- Phn lc ca thanh AB tc dng ln con trt B l:
- Phn lc ca thanh AB tc dng ln thanh OA l:
0
tan
B
B
M
M
N o
=

, , ,
cos
M
R R R
o
= = =

, ,
cos
M
R R
o
= =

- Phn lc ca khp bn l c nh O tc dng ln thanh OA l:
tan
O
O
M
X
M
Y o
Bi 5/
Cho 2 h lc cng tc ng ln 1 hnh lp phng c chiu di 1
n v nh hnh v.
a. Cc h lc cho c tng ng vi nhau hay khng?
b. H lc no c hp lc?
c. Tmimt cho hp lc ca h lc c hp lc?
O
z
x
y
1
A
1
F
,
2
F
,
2
M
,
1
M
,
2
A
O
z
x
y
1
A
1
F
,
2
F
,
2
M
,
1
M
,
2
A
H lc 1 H lc 2
nh l:
+ iu kin cn v h lc 1 tng ng vi h lc 2 l khi
thu gn v cng 1 tmtu , ta s c:
+ Vct chnh ca h lc 1 bng vi vct chnh ca h lc 2.
( ) ( )
1, 1,
3
,
j n k m
j k
O O
R R
F F
M M O
= =
' '
=

= e
Thu gon:
, ,
, ,
, ,

+ Vct mmen chnh ca h lc 1 bng vi vct mmen chnh

ca h lc 2.
BI SA
+ H lc 2:
- Thu gn:
+ H lc 1:
( )
( )
( )
( )
( )
( )
1 2
1 2
1 2
0, 0,1 0,1, 0
1,1, 1 ; 1, 0,1
0, 1, 0 0, 0, 1
A A
F F
M M
= =
= =
= =
, ,
, ,

( )
( )
( )
( )
( )
( )
1 2
1 2
1 2
0,1, 0 0, 0,1
1, 1,1 ; 1,1, 0
1,1,1 1,1, 1
A A
F F
M M
= =
= =
= =
, ,
, ,

O
z
x
y
1
A
1
F
,
2
F
,
2
M
,
1
M
,
2
A
O
z
x
y
1
A
1
F
,
2
F
,
2
M
,
1
M
,
2
A
H lc 1
H lc 2
+ Hai thnh phn thu gn ca h lc (1):
( )
2
1
2,1, 0
j
j
R F
=
'
- = =
, ,
( )
2 2
1 1
O O j k
j k
M M F M
= =
- = +

, , , ,

( )
( )
( )
( )
1
1 1
2
2 2
1,1, 0
1, 0, 1
O
O
M F OA F
M F OA F
= . =
= . =
, , , ,
, , , ,

+ Hai thnh phn thu gn ca h lc (2):
( )
2
1
2, 0,1
j
j
R F
=
'
- = =
, ,
( )
0, 0, 2
O
M =
,

( )
2 2
1 1
O O j k
j k
M M F M
= =
- = +

, , , ,

( )
( )
( )
( )
1
1 1
2
2 2
1, 0, 1
1,1, 0
O
O
M F OA F
M F OA F
= . =
= . =
, , , ,
, , , ,

0
2.0 1.0 0.( 2) 0
O
R
R M
'
=
'
= + + =
, ,
, ,
( )
0, 3, 1
O
M =
,

a. V nn h khng tng ng h R R ' ' =
, ,

b. H lc :
Vy h lc c hp lc.
+ H lc (2):
0
1 0
O
R
R M
'
=
'
= =
, ,
, ,
Vy h lc khng c hp lc: v h lc l loi h lc xon vt

ng. H lc ny khng bao gi c hp lc.
c. Xc nh imt O* cho hp lc ca h lc (1).
+ Cng thc tnh to cho imt O* nh sau:
( )
( )
2
2, 4, 0
2 4
* ; ;0
5 5 5
O
R M
OO
R
'
.
| |
= = =
|
' \ .
, ,
,

2 4
* ; ;0
5 5
O
| |
=
|
\ .
Bi 6 /
a. Cho c h nh hnh v 1. Tm iu kin cho vt khng trt
trn mt nghing?
b. Cho c h nh hnh 2. Xc nh lc cng ca nhnh dy AB ng vi
2 trng hp:
BI TP MA ST.
3
0, 577
1. :
3
30
t
o
f
b Cho
o
=
<
3
0, 577
2. :
3
30
t
o
f
b Cho
o
=
>
( f
t
: h s ma st trt tnh gia vt v mt nghing)
o
P
,
Hnh 1
o
P
,
A
B
dy
Hnh 2
BI SA
a. Kho st s cn bng ca vt A (hnh 1a).
.sin 0
x mst
F F P o = =
.sin
cos
mst
F P
N P
o
o
=
.cos 0
y
F N P o = =
+ iu kin vt khng trt:
. .sin .cos
mst mstgh t t
F F f N P f P o o s = s
( )
t t
tan f arctan f o o s s
o
P
,
mst
F
,
N
,
x
y
Hnh 1a
Tho mn Vy ma st sc
gi vt cn bng.
Do , lc cng dy: T
A
= 0
Ma st khng sc gi vt cn bng. Lc cng dy s tn
ti lm vt mt kh nng trt. Lc ny:
( )
3
1. 30 tan
3
o
t
b tan30 f o o < < = = Hnh 2b,c
3
2. 30 tan 0
3
o
t
b tan3 f o o > > = =
sin 0; 0
jx A mstgh jy
F T P F F N Pcos o o = + = = =

P
,
N
,
x
y
A
T
,
Hnh 2a
mstgh
F
cos ; sin sin (sin cos )
A mstgh t t
N P T P F P f N P f o o o o o = = = =
Bi 7/
Cho c h nh hnh v (Hnh 1). Bit: P
A
= P
B
= P; R = 2r; f
t
; o. B
qua ma st v trng lng con ln. Dy mm khng dn c khi
lng rt b.
a. Tmiu kin con ln khng trt trn mt nghing?
b. ng vi iu kin , hy xc nh cc thnh phn phn lc ti
tip im I v lc cng ca nhnh dy DE?
D
y
x
mst
F
,
A
T
,
o
o
I
I
N
,
r
R
C
A
d
B
d
B
P
,
A
P
,
E
day
Hnh 1
a. Kho st s cn bng .
BI SA
( )
sin sin 0 1
x mst D A
F F T P P o o = + =
( ) ( )
I
.cos 0 2
y A B
F N P P o = + =
( ) ( ) ( )
I
.sin sin .2 0 3
A B D
M P r R P R R T R o o = + =
( ) ( ) ( ) ( )
3 1 2sin 2 1 sin 4sin 1
4 4
D
P P
T o o o ( = + =

T
( ) ( )
1
1 2 sin 4sin 1 sin
4 4
mst
P
F P P o o o
| |
= = +
|
\ .
T
( )
I
2 2 .cos N P o = T
+ iu kin vt khng trt l:
b. Cc thnh phn phn lc ti I:
mst mstgh t
F F f N s =
1
sin 2 cos
4
t
P f P o o
| |
+ s
|
\ .
1
sin
4
2cos
t
f
o
o
+
s
I
2 cos
1
sin
4
mst
N P
F P
o
o
=
| |
= +
|
\ .
+ Lc cng nhnh dy DE.
- Ch : iu kin dy khng b chng l:
( )
4sin 1
4
D
P
T o =
0 4sin 1 0
1
sin
4
D
T o
o
> >
>
Bi 8.
Cho c h nh hnh v (hnh 1). Cho: q, .
a. H cho c lun cn bng vi mi ti tc ng khng? Ti
sao?
b. Hy xc nh cc phn lc lin kt ti A, C v E.
Hnh 1

A
B C
E
2
M q =
P q =
D
BI SA
3
1
3.
lk
j he
j
dof n R
=
=
`
3
1
2
2 2 2 6
lk
j
j
n
R
=
=
= + + =
3.2 6 0
he
dof = =
`
Vy h lun cn bng vi mi loi ti v dof
h
0!
b. Xc nh cc phn lc lin kt trong h.
* Kho st s cn bng ca khung phng ABC.
+ T do ha khung phng ABC (hnh 2a).
Hnh 2
a)
A
B
C
P q =
C
H
C
V
A
H
A
V
Q q =
/ 2
x
y

b)
E
M
D
C C
V V
'
=
C C
H H
'
=
E
H
E
V
x
y
C
X
+ Vit cc phng trnh cn bng:
( )
0 (1)
0 (2)
0 (3)
2
jx
jy
A j
A C
A C
C C
F Q
F P
M F Q P
H H
V V
H V
= + =
= + =
= + + =
,

* Kho st s cn bng ca thanh thng CDE.
+ T do ha thanh thng CDE (hnh 2b).
+ Vit cc phng trnh cn bng:
( )
0 (4)
0 (5)
0 (6)
C E
C E
C
jx
y
j C
j
E
F
F
H H
V V
H V M F M
= =
= + =
=
'
'
'
+
'
=
,

* Gii h (1), (2), (3), (4), (5), (6) ta thu c:
(3) (6) : 2 0 0
2 4
C C
q
Q P M V V + + + = = >

5
(6) 0
4
C
H q = >
1
(1) 0
4
A C
H H Q q = = <
3
(2) 0
4
A C
V V P q = = >
5
(4) 0
4
E C
H H q = = >
1
(5) 0
4
E C
V V q = = >
Bi 9/
Cho 1 c h nh hnh ve (hnh 1).
Cho bit: , P
1
, P
2
.
a. H cho c lun cn bng vi
mi loi ti tc ng khng? Ti
sao?
b. Nu h cn bng, hy xc nh
cc phn lc lin kt ca cc lin
kt ngoi.
c. Hy xc nh cc ng lc tc
ng ln cc thanh thng (1),
(2) v (4) trong h.
1
,
P
2
,
P
C
B
A
D
Hnh 1
BI SA
L thuyt:
+ Nu dof
h
0 th h lun cn bng vi mi loi ti tc ng.
+ Nu dof
h
> 0 th h khng lun cn bng vi mi loi ti.
Vy h lun cn bng vi mi loi ti tc ng v dof
h
= 0
4
1
4
1
3
3 4 12 0 4
3 1 1 1 4 2 12
lk
j
j
lk
j
j
dof n R
dof n
R
=
=
= = =

= + + =
he
he
ta co
`
Ta c 1 ngm phng ti D, 1 khp bn l ngoi trt ti A v 4
khp bn l ni.
b. Xc nh cc phn lc ca cc lin kt ngoi.
+ T do ha nhmgin phng ABC:
* Kho st s cn bng ca nhmgin phng ABC (hnh 2).
1
,
P
2
,
P
C
B
A
x
y
A
X
,
C
X
,
C
Y
,
Hnh 2
H cho khng phi l gin phng v thanh c lin kt ngm

(thanh c gi l dm). y l h dm-gin kt hp!
(2) Y
C
= P
2
> 0
(3) X
A
= P
1
> 0
(1) X
C
= P
1
+ X
A
= 0
( )
( )
( )
( )
1
2
1
0 1
0 2
. . 0 3
jx A C
jy C
C j A
F X P X
F Y P
M F P X
= + + =
= =
= + =
,

+ Gii h (1), (2), (3) ta nhn c:
* Kho st s cn bng ca dmDC (hnh 3).
+ T do ha dmDC:
C
D
C C
Y Y
'
=
, ,
D
Y
,
D
X
,
D
M
x
y
Hnh 3
( )
( )
( )
( )
0 4
0 5
. 0 6
jx
jy C
D
D
C
D
D j
F
F
F
X
Y
M
Y
M Y
= =
= =
= =
+ Gii h (4), (5), (6) ta nhn c:

(4) X
D
= 0
(5) Y
D
= Y
C
= P
2
> 0
(6) M
D
= Y
C
= P
2
> 0
c. Dng phng php tch nt:
tnh c ng lc tc ng ln cc thanh trong h gin thng
thng ngi ta dng phng php tch nt. Ngha l tch ring
tng nt trong h gin kho st s cn bng ca nt .
* Kho st s cn bng ca nt C (hnh 4).
Hnh 4
2
,
P
C
x
y
0
45
,C
S
,
,C
S
,
C
Y
,
( )
( )
4,
2, 4 2 ,
2
0 7
2
2
0 8
2
C
C C
jx
jy C
F
F Y P
S
S S
= =
= =
+ T do ha nt C:
+ Gii h (7), (8) ta nhn c:
(7), (8) S
2,C
= S
4,C
= 0
ng lc tc dng ln & (hnh 5):

Hnh 5
* Kho st s cn bng nt B.
B
x
y
,B
S
,
Hnh 6
1
,
P
( )
1 1,
0 9
x B j
F P S = =
+ T do ha nt B (hnh 6).
+ Vit phng trnh cn bng cho h lc:
+ Gii phng trnh (9) ta c: S
1,B
= P
1
> 0.
ng lc tc dng ln (hnh 7):
Hnh 7
, , B B
S S =
, ,
, , A B
S S =
, ,

Phn II: ng Hc
Bi 1/
Cho c h nh hnh v. Bit: u, v,
e, a, DM= < a.
Hy phn tch chuyn ng phc
hp ca cc im: M v N. Xc
nh gia tc Coriolis ca cc im:
Mv N.
A
B
C
D
M
N
a
b
e
,
v
,
-
-
u
,
- Phn tch chuyn ng phc hp ca im M v N:
+ Chuyn ng tng i: l chuyn ng thng im M dc
cnh DC, v chuyn ng thng im N dc cnh CB. Do :
BI SA
+ Chuyn ng ko theo: Quay cng vi khung quanh trc AD c
nh vi vn tc gc . Do :e
,
e khung
e e e = =
, , ,
M
r
N
r
v u
v v
=
, ,
, ,
- Xc nh gia tc Coriolis ca imM:
M
C
a
,
( ) ( )
2 2
M M
C e r
a v u e e = . = .
, , ,
, ,
( ) ( )
( )
,
:
2 . .sin90 2. .
M
C
M
C
M o
C
a mp u mp ABCD
a RHR
a u u
e
e e
= =
chieu
, ,
,
,
,
- Xc nh gia tc Coriolis ca imN:
N
C
a
,
( ) ( )
2 2
N N
C e r
a v v e e = . = .
, , ,
, ,
2. . .sin180 0
N o
C
V a v e = =
,
A
B
C
D
M
C
a
,
M
N
a
b
e
,
e
,
e
,
v
,
-
-
u
,
0
N
C
a =
,
,
Bi 2/
Cho mt ng trn bn knh R
quay quanh ng knh AB c
nh vi vn tc gc e. im M
chuyn ng dc trn ng trn
y vi vn tc . Bit R, o, u, e.
a.Hy xc nh vector gia tc
Coriolis ca imM.
b.Tm v tr im M trn ng
trn
u
,
max min
;
M M
C C
a a
, ,
A
B
u
,
o
M
H
O
e
,
Hnh 1
+ Chuyn ng ko theo: quay cng vi
ng trn quanh ng knh c
nh AB, vi vn tc gc e. Do : e
e
= e.
BI SA
a.Phn tch chuyn ng phc hp im M.
+ Chuyn ng tng i: chuyn ng
ca im M theo qu o l ng
trn ng knh AB vi vn tc u. Do
: v
r
M
= u.
A
B
y
x
M
c
a
,
M
r
v u =
, ,
o
M
H
O
e
e e =
, ,
Hnh 2
b. Xc nh im M:
min
0
M
C
a - =
,
max
2. .
M
C
a u e - =
,
0
0
0
sin 0
180
o
o
o
=
=
=
90
sin 1
270
o
o
o
o
o
=
=
=
( )
( )
,
:
2 . . sin
M
C
M
C
M
C
a mp u
a RHR
a u
e
e o
chieu
, ,
,
,
,
Xc nh :
M
C
a
,
( ) ( )
2 2
M M
C e r
a v u e e = . = .
, , ,
, ,
M
r
v u =
, ,
e
e e =
, ,
M
c
a
,
M
b. Trong lc a B ang ln th tam gic A trt theo phng
ngang vi quy lut: x=v
o
t (v
0
= const). Hy xc nh vector vn tc
v vector gia tc tuyt i ca tm B a?
Bi 3/
Cho mt c h nh hnh v (hnh1). Cho: R, o = 30
0
.
a. Tam gic A c gi c nh. a B ln khng trt trn mt
nghing vi phng trnh chuyn ng: . Hy xc nh
vector vn tc v vector gia tc tuyt i ca im C trn vnh
ngoi ca a (BC song song vi cnh huyn ca tamgic A)?
6
t
t
=
Hnh 1
o
y
A
B
B
a r
v v =
, ,
R
( )
;
6
t rad
t
=
x
C
x
BI SA
V a ln khng trt trn dc c nh nn a chuyn ng song
phng vi tmvn tc tc thi l tip imP (hnh 2).
.
6
B
a
v R R const
t
e = = =
1
6
s const
t
e

= = =
`
Vy im B chuyn
ng thng u.
o
y
B
A
P
B
C
a
v
,
B BP B
a r
v v v = =
, , ,
R
C
( )
;
6
t rad
t
=
A
v
,
x
Hnh 2
e
- Bi ton vn tc:
a)
0
B
a
a =
,
,
B
a
Ta v const = co :
,
,
2
0 s c e

= =
`
|
- Bi ton gia tc (hnh3).
2.
. 2. .
6
C
a
v PC R R
t
e e = = =
.cos 0, 715
.sin 0,192
C C
ax a
C C
ay a
v v R
v v R
|
|
=
( )
. .
0, 715 0,192
C C C
a ax ay
v v i v j
R i j
= +
+
, ,
,
, ,
o
x
y
P
C
a
v
,
C CB
a n
a a =
, ,
C
45 15 | o = =
Hnh 3
o
Chn im B lm cc
tnh gia tc im C:
C B CB CB
a a
CB CB CB
n n
a a a a
a a a
t
= + =
= + =
, , , ,
, , ,
2
2
2
. 0 /
. . 0, 27.
6
CB
CB
n
a BC m s
a BC R R
t
c
t
e
= =
| |
= =
|
\ .
Vi :
cos 0, 234.
sin 0,135.
C C
ax a
C C
ay a
a a R
a a R
o
o
=
-

=
( )
. . 0, 234. 0,135.
C C C
a ax ay
a a i a j R i j = +
, , , ,
,
b. Tam gic A chuyn ng tnh tin thng theo phng ngang vi

quy lut:
A A
o a o a o
x v t v x v const v v i const = = = = = =
, ,
,
`
0
A A
a a
a v = =
,
, ,
`
- Phn tch chuyn ng phc hp ca tmB:
Chuyn ng ko theo: tnh tin cng vi tam gic A.
Chuyn ng tng i: ln khng trt trn mt nghing tam
gic A.
+ Bi ton vn tc (hnh 4).
B B B
a e r
v v v = +
, , ,
0
.
B B A B
e a a e
B BP B
r r
v v v v v const
v v v R const e
-
= = =
= =
Vi
, , , ,
, , ,
B B B A BP
a e r a
v v v v v = + = +
, , , , ,
2 2
2 2
2 2 2
( ) ( ) 2 cos
( ) ( ) 2 cos
3
B A BP A BP
a a a
A BP A BP
a a
o o
v v v v v
v v v v
v R R v
o
e e
= +
= + +
= + +
,
o
B BP
r
v v
, ,
B A
e a
v v =
, ,
B
a
v
,
Hnh 4
P
-
-
B
3
.cos .
2
1
.sin
2
B A BP
ax a o
B BP
ay
v v v v R
v v R
o e
o e
= + = +
= =
3 1
.
2 2
B
a o
v v R i R j e e
| |
= +
|
\ .
, ,
,
+ Bi ton gia tc.
( )
0
0
2 0, 0
B B A
e a a
B B B B B B
a e r C r r
B B
C e r e
a a a
a a a a a v
a v e e
-
= = =
= + + = =
= . = =
Vi
,
, , ,
,
, , , , , ,
`
, ,
, ,
, ,
0
B
a
a =
,
,
Bi 4/
Cho c h nh hnh v (hnh 1). Bit:
O
1
A // O
2
B ; O
1
A= O
2
B = = 0,4 m ; o = 30
0
; O
1
AO
2
B l hnh ch
nht ; e
1
=1s
-1
; c
1
= 1s
-2
a.Hy phn tch chuyn ng ca cc vt rn trong h.
b.Xc nh vn tc gc ca vt rn 2 v vt rn 3.
c.Xc nh gia tc gc ca vt rn 2 v vt rn 3.
A
B
2
O
o
o
1
O
1
e
1
c
Hnh 1
a. Phn tch:
BI SA
b. Bi ton vn tc.
(Hnh 2)
+ Tay quay O
1
A quay nhanh dn, theo chiu kim ng h quanh
tmO
1
c nh.
+ Thanh truyn AB chuyn
ng song phng trong mt
phng hnh v.
+ Thanh O
2
B chuyn
ng quay quanh
tmO
2
c nh.
A
B
2
O
o
B
a
v
,
o
A
a
v
,
1
O
1
e
2
e 1
c
y
x
Hnh 2
+ Vn tc im A thuc
vt 1:
+ Phng ca vector vn tc im B phi vung gc vi bn knh
O
2
B.
+ Tm vn tc tc thi ca thanh AB: P . Thanh AB tnh tin
tc thi.
+ Vn tc gc ca thanh O
2
B:
( ) 1 1
. 0, 4
A
a
m
v O A
s
e = =
2
B
a
v O B
,
1
0
B A
a a
AB
v v
s e e

=

= =
, ,
2 2
.
B
a
v O Be =
1
2 1
2
1
B A
a a
v v
s
O B
e e

= = = =
c. Bi ton gia tc. (Hnh 3)
- Chn A lm cc tnh
gia tc im B thuc
thanh AB.
- Gia tc im A thuc
thanh O
1
A:
A A A
a n
a a a
t
= +
, , ,
( )
( )
2
1 1
2
2
1 1
. 0, 4
. 0, 4
A
A
n
m
a O A
s
m
a O A
s
t
c
e
= =
= =
Vi
( ) ( )
, (1)
B A BA A A BA BA
a a n n
a a a a a a a
t t
= + = + + +
, , , , , , ,
B
n
a
,
2
O
o
o
1
O
2
c
3
c
y
x

B
B
a
t
,
BA
a
t
,
BA
a
t
,
BA
n
a
,
o
A
a
t
,
A
n
a
,
Hnh 3
A
Mt khc:
+ ng nht hai phng trnh (1) v (2) ta c:
( )
2
B B B
a n
a a a
t
= +
, , ,
( ) ( )
(*)
B B A A BA BA
n n n
a a a a a a
t t t
+ = + + +
, , , , , ,
Phng
chiu
ln ?
0,4m/s
2
0,4m/s
2
?
2
O B
2
BO ||
,
1
AO ||
,
1
O A
,
AB BA ||
,
2
0
.
AB
AB e
_
2
2
2 2
0,4 /
.
m s
O B e
_
+ Chiu (*) ln trc (y):
( ) ( )
0 0, 4 0 0, 4 .cos
BA
a
t
o = + +
- Gia tc gc thanh AB:
+ Chiu (*) ln AB:
Ngc chiu.
( )
2
0,8
0, 92 0
cos
BA
m
a
s
t
o
= ~ <
.
BA
AB
a AB
t
c =
2
3
0,92
1,15( )
0,8
BA
AB
a
s
AB
t
c c

= = ~ ~
1
0, 8
sin
O A
AB m
o
= =
( )
.cos 0, 4.sin 0, 4.cos 0, 4.sin 0
B
a
t
o o o o = + +
+ Gia tc gc thanh O
2
B:
V c
2
nguc chiu e
2
O
2
B quay chm dn.
( )
2
0, 4 0,8. tan 0, 062 0
B
m
a
s
t
o = + ~ >
chiu chn ng.
2 2
.
B
a O B
t
c =
( )
2
2
2
0, 062
0,155
0, 4
B
a
s
O B
t
c

= ~
Bi 5/
Cho mt c h nh hnh v (Hnh 1). Bit:
a. Phn tch chuyn ng ca cc vt rn trong h ?
b. Xc nh vn tc gc ca thanh AB v vn tc ca con trt B?
c. Xc nh gia tc gc ca thanh AB v gia tc con trt B?
2
1 1
; ; OA o e c = =
A
O
1
e
o
B
1
c
Hnh 1
BI SA
a. Phn tch chuyn ng ca cc vt trong h:
b. Bi ton vn tc (Hnh 2).
- Con trt B chuyn ng tnh tin thng theo phng ngang.
- Thanh truyn AB chuyn ng song phng trong mt phng
hnh v.
- Tay quay OA chuyn ng quay nhanh dn, ngc chiu quay
ca kimng h quanh tmO c nh.
1 1
. .
A
a
v OAe e = =
- Vn tc imA:
+ Tmvn tc tc thi P ca AB: P
thanh AB tnh tin tc thi.
A
O
1
e
o
B
A
a
v
,
B
a
v
,
x
y
Hnh 2
c. Bi ton gia tc. (Hnh 3)
Vy
1
0
AB
B A
a a
s
v v
e

=
=
, ,
A
O
o
A
a
t
,
A
n
a
,
B
a
a
,
x
y
B
a
a
,
BA
n
a
,
BA
a
t
,
AB
c
Hnh 3
1
c
B
- Gia tc imA thuc tay quay OA:
A A A
a n
a a a
t
= +
, , ,
Vi :
1 1
2
1 1
. .
. .
A
A
n
a OA
a OA
t
c c
e c
= =
= =
+ Chn A lm cc tnh gia tc im B.

( ) ( )
(1)
B A BA A A BA BA
a a n n
a a a a a a a
t t
= + = + + +
, , , , , , ,
Phng
Chiu
//x
ln ? ?
2
0
.
AB
ABe
=
_
BA ||
,
AB AO ||
,
OA
1
.c
1
.c
+ Chiu (1) ln trc Oy:
+ Chiu (1) ln AB.
( )
2
1
0 0 . .cos
BA
a
t
e o = +
2
1
.
0
cos
BA
a
t
e
o
= >
2
2
1
1 1
. / cos
. tan . tan
sin
BA
AB
a
AB
t
e o
c e o c o
o
= = = =
( )
2
1 1
.cos . .cos . sin
B
a
a o c o e o = +
( )
2
1 1 1
tan . (1 tan )
B
a
a c e o c o = =
+ Nu
Con trt B tnh tin thng, nhanh dn theo phng ngang
vi chiu hng sang tri.
45 0
o B
a
a o < >
+ Nu Con trt B tnh tin thng,
chmdn theo phng ngang vi chiu hng sang tri.
45 0
o B
a
a o > <
+ Nu
Con trt B tnh tin thng, u theo phng ngang vi chiu
hng sang tri.
2
45 0 /
o B
a
a m s o = =
Chiu chn cho l sai. Chiu ng ngc li.
B
a
a
,
Bi 6/
Cho mt c h nh hnh v: (Hnh 1)
a. Hy phn tch chuyn ng ca cc vt rn trong h?
b. Xc nh vn tc gc ca rng rc ng 3, vn tc ca vt A?
c. Xc nh gia tc gc ca rng rc ng 3, v gia tc ca vt A?
1 2 3 3
1
1 2
2
1 2
2 2 2 1
1
1
R r R r r m
s
s
e e
c c
= = = = =
= =
= =
1
O
1
R
3
R
3
r
2
r
2
O
3
O
A
1
e
2 1
e e =
1
c
2 1
c c =
B D
E
C
Hnh 1
b. Bi ton vn tc.(Hnh 2)
BI SA
a. Phn tch:
- Rng rc 1 quay nhanh dn, ngc chiu quay kimng h,
quanh tmO
1
c nh.
- Rng rc 2 quay nhanh dn, ngc chiu quay kimng h,
quanh tmO
2
c nh.
- Rng rc hai tng 3 chuyn ng song phng.
- Vt A chuyn ng tnh tin thng theo phng ng.
+ Vn tc im B:
( ) 1 1 1 1
. 2 . 1
B
a
m
v R r
s
e e = = =
1
O
1
R
3
R
3
r
2
r
2
O
3
O
A
3
e
1
e
1
e
1
c
1
c
3
c
D
a
v
,
E
a
v
,
C
a
v
,
B
a
v
,
B D
E
C
Hnh 2
3
O
a
v
,
+ Vn tc im C:
+ Vn tc im D:
V dy khng dn nn:
C B
a a
v v =
, ,
( ) 2 2
. 0, 5
D
a
m
v r
s
e = =
+ Vn tc im O
3
:
+ Tm vn tc tc thi ca rng rc hai tng O
3
l: P
3
O D
a a
v v =
, ,
V si dy khng dn nn:
Ta c:
3
3
3 3
.
.
C
a
O
a
v PC
v PO
e
e
=
3
3
C
a
O
a
v PC
PO v
=
3
3
1, 5
3
0.5
R
PO
= =
3
3
3
3
O C
a a
O
a
PC PO v v
PO v
+ +
=
3 3
3 3
1 1
( ) 0, 33( )
3 3
2
0, 67( )
3
PO R m m
PC R PO m
= =
= =
C
P
3
O
E
C
a
v
,
3
e
3
O
a
v
,
E
a
v
,
3
O
a
a
,
Hnh 3
3
c
E
a
a
,
+ Vn tc ca im E:
+ Vn tc ca im A:
( )
3 3 3 3 3 3
2 5
. . . .
3 3
E
a
v PE PO r r r r e e e e
| |
= = + = + =
|
\ .
1
1 1
3 1
3
. 3
1, 5 ( )
2
2
3
C
a
v R
s
PC
R
e
e e

= = = = Vi :
A E
a a
v v =
, ,
c. Bi ton gia tc.
+ Gia tc im O
3
:
V rng rc 2 quay nhanh dn nn im O
3
chuyn ng thng
ng nhanh dn.
+ Gia tc gc ca rng rc 3.
V rng rc 1 quay nhanh dn nn rng rc 3 cng quay nhanh
dn.
3
2 2
.
O D
a a
v v r e = =
( )
3
3
2
2 2
. 0, 5
O
O
a
a
dv
m
a r
s
dt
c = = =
Qu o O
3
l ng thng ng.
3 1
3
2
e e =
2
3 1
3
1, 5( )
2
s c c

= =
+ Gia tc vt A:
( )
A
A E
a
a a
dv d
a v
dt dt
= =
( )
3 1
2
5 5
. .
3 2
1, 25
A
a
a r r
m
s
c c = =
=
Bi7/
Cho c h nh hnh v:(hnh 1)
Cho:
Gi s rng cn A,B,C lun tip xc vo a trn.
a.Phn tch chuyn ng ca cc vt rn trong h. Phn tch
chuyn ng phc hp ca imA thuc cn ?
b.Xc nh vn tc ca cn ?
c.Xc nh gia tc ca cn ?
;
const
OC e R
e =
=
C
x
y
B A
O
A
-
e
R
D
cn
cam
e
Hnh 1
BI SA
a. Phn tch chuyn ng ca cc vt rn trong h:
+ Cn chuyn ng tnh tin thng ng.
+ Cam chuyn ng quay u quanh tam O c nh.
- Phn tch chuyn ng phc hp ca A thuc cn:
+ Chuyn ng ko theo: quay cng vi cam quanh tm O c
nh.
e
e e
, ,
+ Chuyn ng tng i: trt dc trn b mt trn ca cam.
b. Bi ton vn tc. (Hnh 2)
+ p dng nh l hp vn
tc ca im chuyn
ng phc hp ta c th
tnh c vct vn tc
ca im A thuc cn
nh sau:
2 2
A
a e r
v v v
OA R e
= =
= +
, , ,
A
A e a
e a
v v
v v OA
A cam
e
-
-
-

= .
`
e

)
Ta co :
, ,
,
, ,
,
e
o
C
Ax
C
A
a
v
,
r
v
,
e
v
,
A
e n
a a
-
, ,
A
a
a
,
C
a
,
r
a
,
O
A
R
Hnh 2
( )
,
e
v mp OA e
,
,
,
+ Chiu xc nh theo quy tc :RHR (bn tay phi ).
e
v
,
2 2
. .sin90 .
o
e
v OA R e e e = = +
,
( )
1
A
a e r
v v v = +
, , ,
Phng Chiu //y //x
ln ? ?
2 2
. R e e +
OA
+ Chiu (1) ln trc (y):
2 2
2 2
.cos
.cos .
A
a e
R e
v v e
R e
o
o
+
= =
+
. 0
A
a
v ee = >
2 2
2 2
sin
cos
R
R
e
R e
o
e
o
=
+
=
+
Vi :
+ Chiu (1) ln trc (x): 0 .sin
e r
v v o = +
.sin
. 0
r e
r
v v
v R
o
e
=
= >
c. Bi ton gia tc.
+ p dng nh li hp gia tc ca im chuyn ng phc hp ta
c th tnh c gia tc ca imA thuc cn nh sau:
A
a e r c
a a a a = + +
, , , ,
* *
A A
e a
a a a
t
= = Ta co :
, , ,
( )
* * *
*
0
A A A
n n
a a a OA
t
c + = = . =
,
,
, , ,
,
( ) ( )
/ /
2 2
r
c e r r
a x
a v v e e = . = .
Vi :
,
, , ,
, ,
( )
/ /
:
2. .
c r c
c
c r
a mp v a y
a RHR
a v
e
e
.
Chieu
, , ,
,
,
,
( )
2
A
a e r c
a a a a = + +
, , , ,
Phng Chiu //y //x
ln ? ?
2 2 2
. R e e +
*
A O ||
,
y ||
2
2Re
+ Chiu (2) ln trc y:
2 2 2 2
2 2
. . 0 2
A
a
R
a R e R
R e
e e = + + +
+
2
0
A
a
a Re = >
Kt lun: Cam quay u, cn ang tnh tin nhanh dn.
Bi 8/
Cho c h nh hnh v (hnh 1).
a. Phn tch chuyn ng ca cc vt rn trong h.
b. Phn tch chuyn ng phc hp ca im B thuc thanh AC
khi ly con lc 3 lm h ng. Vit biu thc tnh vn tc, gia
tc tuyt i ca imB ny?
c. Xc nh vn tc gc ca thanh AC v ca con lc 3.
d. Xc nh gia tc gc ca thanh AC v con lc 3.
0 2
1 1
;
30 ;
OA R OA OB
o e c
=
= =
Cho
o
o
2 3
e e =
1
e
1
c
A
B
O
P
Hnh 1
C
BI SA
a. Phn tch chuyn ng ca cc vt rn trong h:
( )
3
1
3 3.3 2 2 2 2 1
lk
j he
j
dof n R
=
= = + + + =
`
+ a trn O quay chm dn, theo chiu kim ng h quanh tm
O c nh.
+ Thanh truyn AC chuyn ng song phng trong mt phng
hnh v.
+ Con lc (3) quay quanh B c nh.
Do thanh AC v con lc 3 lun trng nhau trong sut qu trnh
chuyn ng nn e
2
= e
3
v c
2
= c
3
!!!!
b. Phn tch
chuyn ng phc
ca im B
2
thuc
thanh AC: (Hnh 2)
+ Chuyn ng
ko theo: quay
theo con lc (3)
quanh tmB.
o
o
o
2 3
e e =
1
e
1
c
A
B
O
P
2 2
B B
r a
v v =
, ,
2
B
c
a
,
2
B A
a
t
,
A
a
t
,
A
n
a
,
A
a
v
,
Hnh 2
2
B A
n
a
,
2
B
r
a
,
.
+ Chuyn ng tng i: chuyn ng thng dc theo phng
ng thng AC. Ta c:
2 2
;
B B
r r
v AC a AC c c
, ,
Biu thc tnh vn tc tuyt i v gia tc tuyt i ca im B
2
l:
2 2 2
2 2 2 2
B B B
a e r
B B B B
a e r C
v v v
a a a a
= +
= + +
, , ,
, , , ,
c. Bi ton vn tc.
+ Xc nh vn tc tuyt i B
2
1 1
. .
A
a
v OA R e e = =
2 2 2
B B B
a e r
v v v = +
, , ,
+ Vn tc gc ca thanh AC:
*
3 2 2
0
B B B
e a a
v v v = Vi :
,
, , ,
2 2
B B
a r
v v =
, ,
Chn P lm cc cho bi ton vn tc ca AC.
:
sin
R
Ta AB
o
= co
2
sin sin
AB R
PA
o o
= =
sin .
AB R
PB
tg tg o o o
= =
+ Vn tc ca im B
2
.
2
.
A
a
v PAe =
2
1
2 1
2
.
.sin
sin
R
Vay
R
e
e e o
o
= =
`
2
A
a
v
PA
e =
2
2
2 1
. .sin
sin .
B
a
R
v PB
tg
e e o
o o
= =
2
1
.cos
B
a
v Re o =
2 2
1
.cos
B B
r a
v v Re o = =
+ Vn tc gc ca con lc (3).
V thanh AC v con lc (3) c lin kt tnh tin ni: nn chuyn
ng quay ca (3) ging hon ton vi thnh phn chuyn
ng quay ca thanh AC , ngha l:
3 2
e e =
d. Bi ton gia tc.
+ Gia tc im A:
A A A
a n
a a a
t
= +
, , ,
1 1
2 2
1 1
. .
. .
A
A
n
a OA R
a OA R
t
c c
e e
= =
= =
Vi :
+ Chn A lm cc tnh gia tc im B
2
.
2 2
2 2
( ) ( )
B B A A
a a
B A B A A A
n n
a a a
a a a a
t t
= +
= + + +
, , ,
, , , ,
( ) ( )
2
(1)
B A A n
a n BA BA
a a a a a
t
t
= + + +
, , , , ,
+ Mt khc ta c th tnh gia tc theo nh l hp gia tc
trong chuyn ng phc hp:
2
B
a
a
,
2 2 2 2
(2)
B B B B
a e r C
a a a a = + +
, , , ,
( ) ( )
*
3 2 2
2
2 2 2
3
0
2 2
B B B
e a a
B
r
B B B
C r a
a a a
a AC
a v v e e
=
c
= . = .
Vi :
,
, , ,
,
, , ,
, ,
//AC
? ?
+ ng nht hai cng thc (1) v (2):
( ) ( )
2 2 2 2
, ( 3 )
B A B A B B A A
n n r C
a a a a a a
t t
+ + + = +
, , , , , ,
OA
1
. Rc
OA ||
,
2
1
Re
AB
BA ||
,
2
2
. ABe
2
3
2 .
B
a
v e
AC
2 2 4
2 1
2 3
1
. .sin
sin
. .sin
R
AB
R
e e o
o
e o
=
=
Vi :
2
2
3 1 1
2 2
1
2 . 2 .sin . . .cos
2 . .cos .sin
B
a
v R
R
e e o e o
e o o
=
=
+ Chiu (3) ln : PB
,
( )
2 2 2
1 1 1
( .sin . .cos ) 0 0 2 .cos .sin
BA
R R a R
t
c o e o e o o + + =
( )
2
1
sin cos 2cos .sin
BA
a R
t
c o o o o = +
( )
2
1
. 2cos .sin sin cos sin
AB
R
R
c o o o o o
c

= Ma :
2
.
BA
a AB
t
c =
2
BA
a
AB
t
c =
3 2
: Vay c c =
`
Bi 9/
Cho c h nh hnh v: (Hnh1)
1 2
0
1
1
2 2 ;
30
3
2
3
2
c
c
r r r
Cho
o
e e
c c
= =
=
=
=
e
c
e
1
c
c
c
o
A
A
O
1
O
2
O

1
r
2
r
Hnh 1
a. Xc nh bc t do ca h?
- Phn tch chuyn ng ca cc vt thuc h?
b. Xc nh vn tc gc v gia tc gc ca bnh rng ?
c. Xc nh vector vn tc v vector gia tc ca imA.
d. Vit phng trnh qu o ca A thuc bnh rng ?
BI SA
a. C h l h bnh rng vi sai. Bc t do ca h:
+ Cn O
1
O
2
quay chm dn quanh O
1
c nh.
+ Bnh rng trung tmO
1
quay chmdn quanh tmO
1
c nh.
+ Bnh rng (2) chuyn ng song phng.
( )
3 3.3 2.2 2 1 2 0
lk
he
dof n R = = + + = + >
`
b. Dng nh l Willis: ( 1) .
j c m
k
k c j
r
r
e e
e e
t bnh rng th n bnh rng th , ta c (chn chiu

quay e
C
ca cn lmchiu dng):
2 1
1 2
( 1) .
m
c
c
r
r
e e
e e
( )
1
2 1
2
1
(1)
3
2
2
0
c c
c c c
r
r
s
e e e e
e e e
=
| |
=
|
\ .
=
+ Gia tc gc ca bnh rng :
o hm hai v (1) theo thi gian ta c :
( )
1
2 1
2
. (2)
c c
r
r
c c c c =
(2) bnh rng tnh tin tc thi.
e
c
e
1
c
c
c
y
x
2
O
a
v
,
o
A
A
O
1
O
2
O
( )
2
O
C
( )
A
C
Hnh 2
2
O
a
t
,
2
O
n
a
,
c. Xc nh vn tc v gia tc ca imA
+ V bnh rng chuyn ng tnh tin nn qu o cc im
thuc bnh rng ging nhau v
2
2
O A
a a
O A
a a
v v
a a
, ,
, ,
+ Vn tc ca imO
2
thuc cn O
1
O
2
:
2
1 2
3
O
a C C
v OO r e e = =
2 2 2 2
(3 )
O O O O A
a a ax ay ay C
v v v i v j v j r j e = = + = =
, , , ,
, ,
+ Gia tc ca imO
2
thuc cn O
1
O
2
:
2 2 2
O O O
a n
a a a
t
= +
, , ,
Vi:
2 2
1 2
2 2
1 2
3 3 ;
O
n C C C
O
C
a a O r O r O O
t
e e c c = = = =
2 2 2
2
3 ( )
O O O A
a a ax ay C C
a a a i a j r i j e c = = + = +
, , , ,
, ,
Gi l qu o ca imO
2
(Hnh 2).
2
( )
O
C
l ng trn tmO
1
, bn knh: R = O
1
O
2
=3r.
2
( )
O
C
+ Phng trnh chnh tc ca :
2
( )
O
C
2 2 2 2
9 x y R r + = =
d. Xc nh phng trnh qu o ca imA
Gi l qu o ca imA (Hnh 2).
( )
A
C
( )
( )
2
2
A O
O A
C C = tnh tien
,
+ V tr tm O
A
ca qu o (C
A
):
1 2 2 2
( .cos ) ( .sin ) ( .cos ; .sin )
A A
a b
OO O A r i r j O r r o o o o = = +
, , , ,
_ _
+ Vy phng trnh qu o ca ng trn (C
A
) l:
( ) ( )
2 2
2
.cos .sin 9 x r y r r o o + + =
Bi 10/
Cho c h nh hnh v (hnh 1). Bit:
O
1
A O
1
O
2
; {C} = AB O
1
O
2
; O
1
A = O
1
C = = 1m; AC = CB; AB
O
2
B; e
1
=2s
-1
; c
1
= 4s
-2
.
a.Hy phn tch chuyn ng ca cc vt rn trong h.
b.Xc nh vn tc gc ca vt rn 2 v vt rn 3.
c.Xc nh gia tc gc ca vt rn 2 v vt rn 3.
Hnh 1
A
B
1
O
1
e
1
c
2
O
C
a. Phn tch chuyn ng ca cc vt trong h:
BI SA
+ Tay quay O
1
A quay chmdn, theo chiu kimng h quanh tm
O
1
c nh.
+ Thanh truyn AB chuyn ng song phng trong mt phng hnh
v.
+ Thanh lc O
2
B chuyn ng quay quanh tmO
2
c nh.
* Cc c trng hnh hc ca h:
+ AAO
1
C l A vung cn ti O
1
nn:

1 1 2
2. 2 45 AC CB O A m v OCA O CB = = = = =
+ ACBO
2
l A vung cn ti B nn:
2
2 O B CB m = =
Hnh 2
A
B
1
O
1
e
1
c
2
O
C
A
a
v
,
B
a
v
,
P
2
e
3
e
b. Bi ton vn tc (hnh 2).
+ Vn tc im A thuc vt 1:
+ Vn tc im B thuc vt 3:
( ) 1 1
. 2
A
a
m
v O A
s
e = =
2
B
a
v O B
,
+ Xc nh tm vn tc tc thi P ca thanh AB: k 2 ng vung
gc vi 2 phng vn tc ca 2 im A v B! V AABP vung cn
ti B nn ta c:
2. 2 2 2. 4 PB AB AC m v PA PB m = = = = =
+ Vn tc im A thuc vt 2 (quay quanh tm P):
1
2 2
2
. 0,5
4
A
A
a
a
v
v PA s
PA
e e

= = = =
+ Vn tc im B thuc vt 2 (cng quay quanh tm P):
2
. 2 2.0, 5 2 /
B
a
v PB m s e = = =
+ Vn tc im B thuc vt 3 (quay quanh tm O
2
):
1
2 3 3
2
2
. 1
2
B
B
a
a
v
v O B s
O B
e e

= = = =
c. Bi ton gia tc (hnh 3).
Hnh 3
A
B
1
O
1
c
2
O
C
A
a
t
,
A
n
a
,
BA
a
t
,
BA
n
a
,
B
a
t
,
B
n
a
,
2
e
2
c
3
c
3
e
- Gia tc imA thuc thanh O
1
A:
A A A
a n
a a a
t
= +
, , ,
( )
( )
2
1 1
2
2
1 1
. 4
. 4
A
A
n
m
a O A
s
m
a O A
s
t
c
e
= =
= =
Vi :
- Chn A lmcc tnh gia tc imB thuc thanh AB:
( ) ( )
, (1)
B A BA A A BA BA
a a n n
a a a a a a a
t t
= + = + + +
, , , , , , ,
- Nu xemim B thuc thanh O
2
B th gia tc ca im B c th tnh
theo cng thc sau:
( )
, (2)
B B B
a n
a a a
t
= +
, , ,
- ng nht hai cng thc (1) v (2), ta c:
( ) ( )
(3) :
B B A A BA BA
n n n
a a a a a a
t t t
+ = + + +
, , , , , ,
Phng
chiu
ln ?
4m/s
2
4m/s
2
?
2
O B
2
BO ||
,
1
AO ||
,
1
O A
,
AB
BA ||
,
2
2
2
2
/
2
.
m s
AB e
_
2
2
3 2
2 /
.
m s
O B e
_
- Chiu cng thc (3) ln trc , ta c:
2
O B
,
2
2 2
0 2 (4 4 ) ( 0) 5 2 / 0
2 2
BA BA
a a m s
t t
= + + + = >
- Gia tc gc ca thanh truyn AB:
2
2 2
5 2
. 2, 5
2 2
BA
BA
a
a AB s
AB
t
t
c c

= = = =
- V c
2
ngc chiu vi e
2
nn thanh truyn AB c thnh phn
chuyn ng quay chmdn, cng chiu kimng h.
- Chiu cng thc (3) ln trc , ta c:
AB
,
2
2 2 2 2
0 ( 4 4 ) (0 ) / 0
2 2 2 2
B B
a a m s
t t
+ = + + = >
- Gia tc gc ca thanh lc O
2
B:
2
2 3 3
2
2
2
. 0, 5
2
B
B
a
a O B s
O B
t
t
c c

= = = =
- V c
3
ngc chiu vi e
3
nn thanh lc O
2
B quay chm dn, ngc
chiu kimng h, quanh tmO
2
c nh.
Chng Chng I: I: NG LC HC CHT NG LC HC CHT iM iM
GVHD: PGS. TS. TRNG TCH THIN
Chng Chng II: II: NG LC HC C H NG LC HC C H
BI TP C HC
Tp Tp Hai Hai: NG LC HC : NG LC HC
Chng I: NG LC HC CHT iM
BI TP 1.2: trang 31 (SGK)
Mt xe gong c khi lng l 700 kg ang chy xung dc dc
theo ng ray thng v nghing vi mt ngang mt gc 15
0
.
gi cho xe chy u, ta dng dy cp song song vi mt dc.
Vn tc chy u ca xe l 1,6 m/s. Xc nh lc cng ca dy cp
lc xe chy u v lc n b hm dng li trong 4 giy. H s cn
chuyn ng tng cng l f = 0,015 v lc cn ta coi rng xe chy
chmdn u.
15
0
y
x
N
,
P
,
T
,
v
,
c
F
,
hnh 1.2
- Dng tin 2 ng lc hc im:
( )
4
1
. 1
k
k
c
T N a P F m F
=
+ + = = +
, , , , ,
,
- Trng hp 1:
+ Tin 2 tr thnh:
+ Chiu phng trnh (2) ln trc y.
+ Ta c:
+ Chiu (2) ln trc x:
+ Xe chuyn ng thng u nn
0 a =
,
,
( )
0 2
c
T P N F + + = +
, , , , ,
0 cos
.cos . .cos
P
N P m
N
g
o
o o
= +
= =
0 .sin
.sin . .sin . . .cos
c
c
P F
T P F m g f m g
T o
o o o
= + +
= =
. . . .cos
c
F f N f m g o = =
- Trng hp 2:
( )
( )
( )
. . sin .cos
700.9, 81 sin15 0,15.cos15
1677,8
T m g f
N
o o =
=
~
+ Xe chuyn ng thng chmdn u ( )
a const =
1 0
. v a t v = +
Ta c:
1
0
0 ; 4
1, 6
v m s t s
v m s
= =
=
2
0
1, 6
0, 4 0
4
v
a m s
t
= = = <
+ Chiu (1) ln trc x,y:
. .sin
0 .cos
c
ma P F T
N P
o
o
= + +
= +
. . . .cos
c
f N f m g F o = =
( )
sin .cos
. .sin
.
c
a g f
T ma P F
m o o
o
( +

= +
=
( )
( )
700 0, 4 9, 81 sin15 0, 015.cos15
1957, 8 N
( = +

=
Bi tp 1:
Cho: . B qua lc cn ca khng kh v khi lng l xo.
Xc nh qui lut chuyn ng ca vt A.
0 0
, , , k m x
k
A
O
x
0
x
0
P
hnh 1
t
o
Bi sa
- Xc nh lung gin l xo khi h cn bng ( gin tnh)
- Chn trc c gc ti v tr cn bng ca vt A, c phng
thng ng v chiu dng hng xung.
Ox
s
F
,
P
,
( )
0 1
s jx
F F P = =
.
s
F P m g = =
M: .
s t
F k o =
.
s
t
F m g
k k
o = =
- Chn lc l xo b gin thm mt lng : 0 t s =
0
x
( )
( )
0 0
0
0
0
= =
= =
`
v m s x
x t x
hnh 1.1
- Kho st chuyn ng ca vt A ti mt v tr bt k:
+ p dng tin 2 ng lc hc:
+ Chiu (2) ln trc Ox:
( )
2
1
. 2
=
= = +
, , ,
,
k S
k
ma F P F
( )
. . .
. . .
. . 0
s
t
m x P F m g k
m x m g k x k x
m x k x
o
o
= =
= + =
+ =
``
``
``
( )
2
. 0 3 x x o + =
``
Vi:
k
m
o =
Dng nghim tng qut:
Vy vt dao ng iu ho:
( )
0
.sin x A t o = +
A v c m t cc iu kin ban u:
0
( )
0
0 0
0
0
.sin
0 :
. .cos 0
. .cos 0
x x A
t
A t
A
x
s
t
o o
o
= =
=
= + =
= =
`
0 0
cos 0
2
t
= =
0
A x =
0
.sin
2
x x t
t
o
| |
= +
|
\ .
Bi 1.5 trang 31
Mt t ch hng c khi lng l 6 tn chy xung mt chic
ph vi tc l 21,6 km/gi. T lc xung ph n lc dng
hn xe phi chy thm mt qung ng l 10 m, cho rng khi
y t chuyn ng chm dn u. Tnh lc cng mi dy cp
(c hai dy cp) buc gi ph, coi rng dy cp lun lun cng.
a
,
v
,
2T
,
10 s m =
P
,
hnh 1.5
Bi sa
- Kho st chuyn ng ca xe:
+ S dng tin 2 ng lc hc:
hnh 1.5.1
ms
F
,
P
,
1
a
,
1
v
,
1
N
,
x
y
( )
1 1 1
1
ms
m a P F N = + +
, , ,
,
+ Chiu (1) ln : , x y
- Kho st s cn bng ca ph:
( )
( )
1
1
1
2
0 3
ms
P
F
N
m a =
= +

( )
1
3 N P =
+ Ta c:
2 2
0 1
1
2
0 36 2 .10
v v a s
a
=
=
2
1
1,8 0 a m s = <
+ Thay
( )
2
1,8 2 : a m s = vo
( )
1 1
6000.1, 8
10800
= =
=
mst
F m a
N
x
y
Q
,
1
N
,
2.T
,
N
,
ms
F
,
hnh 1.5.2
( )
*
2 0 5 = + =
jx mst
F T F
( )
*
10800
5400
2 2
= = =
mst
F
T N
Chng II: NG LC HC C H.
Bi tp 2. Cho 1 thanh thng, mnh, ng cht tit din u AB.
Khi lng ca ton thanh l m, chiu di . Thanh AB ct trc z
ti imgc O v hp trc z mt gc o nh hnh v. Cho bit:
Hy xc nh moment qun tnh ca thanh AB i vi trc x, y,z v
tmO (thanh AB nmtrong mt phng Oyz).
, , , , . = = m OA a OB b o
A
B
z
O
o
K
u
du
u
k
d
z
Hnh II.2b
x
ky
d
y
A
B
z
O
o
Hnh II.2a
x
y
Bi sa
- Khi lng ring ca thanh:
( ) ( )
2 2 2 2 2
1
. . . .sin sin
=

= = =
} }
b b
k k
k
a a
J m d du u u du o o
z z
, =
m
kg m
- Kho st mt cht im K trn thanh:
+ Chiu di:
+ Khi lng im K:
du
.
k
m du =
. sin
. cos
o
o
=
k
ky
kx
d u
d u
d u
z
- Moment qun tnh ca ton thanh i vi trc z :
- Dng h trc Oxyz sao cho thanh nmtrong Oyz. Dng trc
Ou c phng trng AB v c chiu nh hnh v.
( )
( )
( )
( )
3
2 2 3 3
2 2 2
2 2 2
sin . sin
3 3
sin
3
sin
3
= = +
(
= + +

= +

b
m u m
J b a
a
m
a b a ab b
m
a ab b
o o
o
o
z
( ) ( )
2 2 2
y
1
2 2
. . . . cos
cos
o
o
= =
=
}
}
b
k ky
k
a
b
a
J m d du u
u du
- Moment qun tnh ca ton thanh i vi trc y:
( )
( )
( )
( )
3
2 2 3 3
y
2 2 2
2 2 2
cos . cos
3 3
cos
3
cos
3
o o
o
o
= = +
(
= + +

= +

b
m u m
J b a
a
m
a b a ab b
m
a ab b
( ) ( )
( )
2 2 2
x
1
3
3 3 2 2
2 2
. . .
3 ( )( )
3 3
( )
3

= = =
(
= = + = + +
(

= +
} }
b b
k kx
k
a a
b
a
J m d du u u du
u
b a a b a ab b
m
a ab b
- Moment qun tnh ca ton thanh i vi trc x:
( ) ( )
2 2
O
1
2 3
= + + = +
x y
m
J J J J a ab b
z
- Moment qun tnh ca ton thanh i vi tmO:
Vy: J
O
= J
x
.
Bi tp 3.
Cho mt c h gm 2 vt rn c dng hnh lng tr tit din tam
gic vung t chng ln nhau vi v tr ban u nh hnh v.
Tit din ca 2 vt l 2 tam gic vung ng dng. Khi lng
ca 2 vt ln lt l m
A
, m
B
. Vt B ta khng ma st trn mt
nghing ca mt A. Vt A ta khng ma st i vi mt ngang c
nh. Cc cnh ca 2 vt song song vi b mt c nh l a, b (a >
b). Ban u ton h ng yn. Hy xc nh on ng chuyn
ng ca vt A khi vt B trt ht mt nghing ca vt A (lc B
va chmt).
a b >
A
B
b
Hnh II.3
Bi sa
O
a
0
B
C
b
A
C
B
C
x
y
0
A
C
0
B
C
x
0
A
C
x
A
s
A
C
x
B
C
x
A
P
,
N
,
B
P
,
/ 3 a
3
b
Hnh II.3.1
- Dng h trc Oxy nh hnh v.
- Gi:
+ Khi tmca vt A, vt B va ton h: C
A
, C
B
, C
+ on ng chuyn ng ca vt A khi B chmmt phng c
nh: s
A
+ Ta x ca cc khi tm:
0 0
; ; ;
A B
A B
C C
C C
x x x x
- Ta c:
0 0
2
= ; = ;
3 3
= ; =
3 3
A B
A B
C C
C A C A
a
x x b
a b
x s x s a + +
- Ban u ton h ng yn.
( )
( )
0
0
0
= 0
= 0
= 0
`
,
,
`
A
A
A
C
C
C
m
x
s
v
m
y
s
( )
( )
0
0
0
= 0
= 0
= 0
`
,
,
`
B
B
B
C
C
C
m
x
s
v
m
y
s
- Kho st chuyn ng ton h (2 vt).
+ H ngoi lc tc ng ln h:
; ;
A B
P P N
, , ,
+ Dng nh l chuyn ng khi tm.
( )
3
=1
. = = ; 1
e
C j A B
j
Ma F P P N + +
, , , ,
,
( )
2
. = 0 = 0
=
C C
C
m
Mx x
s
x const
`` ``
`
0
=
C
C
x x
` `
- Theo nh ngha khi tm h, ta c:
2
=1
.
. .
= =
A B
k k
A C B C
k
C
A B
m x
m x m x
x
M m m
+
+
`
` `
`
0 0
:
. .
. .
= = 0
A B A B
A B
C C
A C B C
A B A B
do
m x m x
m x m x
m m m m
+
+
+ +
` `
` `
= 0
C
x
`
0
= =
C
C
const x x
0 0
.
.
.
=
.
A B A B
A B
C C
C B C
A B A
A
B
m
m x m x
m m m
x x
m
m
+
+
+ +
0 0
. . = . .
B
A
A
B
C A B A
C C
C B
m m m x m x x x + +

3
. . = .
2
.
3 3 3
A A B B A A
a b
s s m m m m
a
b a
| |
+
| |
|
+
|
|

+
|
|
\
|
|
\
\
.
+
.
.
( )
= 0
B
A
A B
m
s b a
m m
<
+
V s
A
< 0 nn vt A chuyn ng v pha bn tri.
Bi tp 4.
Cho con ln O l vnh trn, ng cht, bn kinh r ln khng trt
ln mt phng nghing mt gc o c nh nh hnh v. Trng
lng ca con ln P v h s trt nh gia con ln O v mt
phng ngang c nh l f
t
, b qua ma st ln.
Cho P, = const, r, o, f
t
. H ban u ng yn.
a. Phn tch chuyn ng ca vnh v ca tmO vnh. Thit lp
cc mi quan h ng hc gia cc c trng chuyn ng
ca ton vt vi cc c trng chuyn ng ca tmO vt.
b. Xc nh gia tc gc ca con ln O di dng hm ca r, o,
, v P. Tmiu kin ca moment con ln O ln ln.
c. Xc nh phn lc ti p imA.
d. Tm iu kin ca f
t
con ln O ln khng trt trn mt
phng nghing c nh.
M
M
M
o
A
O
,
P
r
e
c
M
Hnh II.4
Bi gii
'
,
qt
R
qt
O
M
o
A
,
mst
F
O
0
v
,
,
N
,
P
r
e
c
M
( )
0
0
a
,
0
s
,
Hnh II.4.1
x
y
a.
- Phn ch chuyn ng.
+ Ca vnh: vnh ln khng trt, nhanh dn, ln trn mt
nghing c nh. y l 1 dng chuyn ng song phng vi
tmvn tc tc thi P l imp xc A.
+ Ca tm O: chuyn ng thng theo phng ca mt nghing,
nhanh dn, hng ln.
- Quan h ng hc.
+ Do vnh ln khng trt nn ta c cc quan h sau y:
0 0 0
0 0 = = > = >
s v a
r r r
e c
Vi l gc quay, e l vn tc gc, c l gia tc gc ca vnh.
b. Tnh ng nng h
2 2
0
1 1
. .
2 2
h
O
T mv J e = +
`
( )
2 2
0
.
.
= =
O
P
m
g
P
J mr r
g
v r e
Vi do vat la vanh
2 2 2 2 2 2
1 1
. . . . . .
2 2
= + =
`
h
P P P
T r r r
g g g
e e e
- Tnh tng cng cc ti
( ) ( ) ( )
( )
mst
A A P A N A F A = + + +
, , ,
M
( )
0, (v N N = Vi vuong goc vi be mat tiep xuc
va v iem A co nh
: A
)
, ,
( )
0
mst
A F =
,
( ) . A = + M M
( )
( )
0
. . .sin . A P Ph Pr o = =
,
0 0
.sin . .sin = = h s r V o o
( ). A P.r.sino =
M-
0
s
,
o
O
Hnh II.4.2
0
h
- p dng nh l bin thin ng nng:
1 0
h h
T T
` `
0
h
T
A
ban au he ng yen
= 0
( )
2 2
. . . .sin .
P
r Pr
g
e o = M
+ o hm 2 v theo thi gian t:
( ) ( )
2
. 2. . . .sin .
P
r Pr
g
c e e o = M
( )
2
2. .
P.r.sin
g
Pr
o
c =
M-
( )
0
. .sin
. .
2. .
Pr
a r g
Pr
o
c

= =
M
- iu kin ca vnh ln ln:
M
0 . .sin 0
. .sin
Pr
Pr
c o
o
> >
>
chieu a chon la ung
M
M
c.
S dng nguyn ly DAlembert.
- Tc ng thm ln vnh 2 thnh phn c bn ca h lc qun
nh t ti O.
+ Vector chnh ca h lc qun nh.
.
qt O
R ma
'
=
,
,
( )
. .sin
. . .
2 .
qt O
qt O
g
g
R a
Pr
R ma
r
P
P
o
' |+

'
= =
,
,
M
( ) . .sin
2
qt
Pr
R
r
o
'
=
M
+ Moment chnh ca h lc qun nh i vi tmO.
.
qt
O O
M J c =
2
2
. .sin
. . . .
2 .
qt
O
qt
O O
M
Pr
r g J
r g
P
M
P
c
o
c
|+

| |
| |
= =
|
|
\ .
\ .
M
( )
1
2
qt
O
M P.r.sino = M-
- Kho st s cn bng ca vnh:
( )
( )
.sin 0 1
cos 0 2
jx qt mst
jy
F P R F
F N P
o
o
'
= + =
= =
Gii h (1), (2) ta thu c:

( ) . cos 3 N P o =
.sin
. .sin
.sin
2
mst qt
F P R
Pr
P
r
o
o
o
'
= +
= +
M
( ) 4
2
mst
P.r.sin
F
r
o
=
M+
d. iu kin vnh ln khng trt:
( ) . 5
mst msgh t
F F f N s =
- Thay (3), (4) vo 2 v ca (5) ta nhn c:
. .sin
2 . . cos
t
Pr
f
Pr
o
o
+
>
M
. .sin
. . cos
2
t
Pr
f P
r
o
o
+
s
M
Bi tp 5.
Cho 1 c h gm 2 vt c khi lng M
1
v M
2
c lin kt va chu
ti nh hnh v. H s ma st trt nh gia 2 vt l f
t
, b qua
ma st gia vt c khi lng M
2
vi sn c nh. Ban u khi
cha chu tc dng ca h lc F h cn bng. Tm iu kin ca
gi tr lc F hai vt cng chuyn ng tnh n thng theo
phng ngang nh nhau (khng trt i vi nhau).
,
F
t
f 1
M
2
M
Hnh II.5
- Gi ln lt l gia tc ca C
1
, C
2
, C.
1 2
, ,
C C C
a a a
, , ,
Bi gii
- Gi C
1
, C
2
, C ln lt l khi tm ca vt 1, vt 2 va ca ton
h.
+ V vt 1 khng b trt i vi vt 2 nn:
1 2
C C C
a a a a = = =
, , , ,
- Kho st chuyn ng
ca ton h.
+ H ngoi lc tc ng
ln h:
2 1
, , , F P N P
, , , ,
Hnh II.5.1
F
,
t
f
1
M
2
M
1
c
2
c
c
N
,
a
,
1
P
,
2
P
,
x
y
O
+ Dng nh l chuyn ng khi tm cho h.
( )
4
1 2
1
. 1
e
c j
j
Ma F P P F N
=
= = + + +
, , , , ,
,
+ H ngoi lc tc ng ln vt 1:
. Ma F = ( )
1 2
2
F F
a
M M M
= =
+
- Ta kho st chuyn ng ca vt 1 (c li hn kho st vt 2 v
vt 1 c t ngoi lc tc ng hn so vi vt 2).
1 1
, ,
mst
F P N
, , ,
+ Dng nh l chuyn ng
khi tm cho vt 1:
1
M
1
c
1
N
,
1
P
,
mst
F
,
x
y
O
Hnh II.5.2
a
,
( )
1
3
1 1 1
1
. 3
e
C j mst
j
M a F P F N
=
= = + +
, , , ,
,
+ Chiu (3) ln 2 trc x,y:
( )
1
: . 4
mst
Ox M a F =
( )
1 1
: 0 5 Oy P N = +
+ Thay (2) vo (4), ta c:
( )
1
1 2
. 6
mst
M
F F
M M
=
+
+ T (5) ta nh c:
( )
1 1 1
. 7 N P M g = =
- iu kin vt (1) khng trt trn vt (2):
( )
1
. 8
mst msgh t
F F f N s =
+ Thay (6), (7) vo (8):
1
1
1 2
. . .
t
M
F f M g
M M
s
+
( )
1 2
.
t
F f M M g s +
Bi tp 6. Cho mt a trn,c, ng cht c bn knh R v khi
lng , b y ln khng trt trn mt nghing vi vn tc
ban u ca tmA a chn dc l . Bit mt nghing c
nh nghing mt gc i vi phng ngang v chiu di
mt nghing l . Cho bit: bn knh R,
a) Hy phn tch chuyn ng ca a v tmA a. Tmmi
quan h ng hc gia chuyn ng ca a v tmA a.
b) Tnh ng nng cho a v tng cng tc ng ln a.
c) Tnh vn tc v gia tc ca tmA a. Cho nhn xt hai kt
qu ny.
d) Tmiu kin v gi tr a c th ln ln c ht dc.
e) Xc nh cc thnh phn phn lc ti imtip xc I.
f) Tmiu kin ca gc nghing a ln khng trt trn
mt nghing.
m
0
A
v
o
0
A
v
o
0
, , , , , .
A t
m v f f o

g. Cho :
g1. phn ch li chuyn ng ca a. Xc nh va
chn cc ta suy rng.
g2. xc nh cc lc suy rng tng ng
g3. thit lp h phng trnh vi phn chuyn ng cho
h.
3
t
tg f o >
h
dof
`
Hnh II.6
, e
o
,
, ,
A A
s v
I
A
R
a).
- Phn ch chuyn ng ca a:
Bi sa
Hnh II.6.1
, e
A A
o
,
A A
s v
, ,
( )
A
l
I
A
x
qt
R
'
,
,
mst
F (v vt ln khng trt)
c
A
qt
A
M
P
,
A
a
N
,
y
Do :
- Quan h ng hc gia chuyn ng ca a v chuyn ng
ca tmA a khi a ln khng trt:
a chuyn ng ln khng trt trn mt nghing c nh. y
l trng hp c bit ca chuyn ng song phng vi tm vn
tc tc thi l imp xc I.
=
A
A
v
R
e
- Phn ch chuyn ng ca khi tmA a: tmA a chuyn
ng thng vi qu o l ng thng song song vi
mt nghing c nh v cch mt nghing y mt khong
bng bn knh a.
( )
A
( ) ( )
; c c
, ,

A A A A
v a
A
A
s
R
= =
A
A
a
R
c
b.
- ng nng ca h:
- Tng cng cc ti:
2 2
2
2 2
2
2
1 1
2 2
1 1 1
2 2 2
3
4
h
A A A A
A
A
A
T m v J
v P P
v R
g g R
P
v
g
e = +
| |
= +
|
\ .
=
`
( ) ( ) ( )
mst
A A P A F A N = + +
, , ,
( )
0:
mst
A F =
,
v vt khng trt.
( )
0: A N =
,
v vung gc v im I ng yn tc thi.
c. Vn tc ca tm A:
Dng nh l bin thin ng nng:
( )
( )
. .sin ;
A A
A A P P h P s o = = =
,
cao hng
ln cng m
1 0
h h
T T A =
` `
( )
( )
2
2 0
3 3
sin
4 4
const
A A A
P P
v v P s
g g
o =
_
C
( )
2
0
4
.sin
3
A A A
v v g s o
| |
=
|
\ .
C
o hm2 v Ctheo thi gian t:
d. iu kin ti thiu ca v
A
O
a ln ht dc:
e. Xc nh cc thnh phn phn lc:
( )
3 1
2 sin
4
=
A A A
v a v
g
o
2 2. .sin
.sin 0 0
3 3.
= < = = <
A
A A
a g
a g
R R
o
o c
TmA chuyn ng thng, chmdn v a ln chmdn.
0 / tai = =
`
A A
v m s s
( )
2
0
4
.sin . 0
3
o =
A
v g
0 0
2 3 2 3
. .sin . .sin
3 3
o o = >
A A
v g v g
Theo nguyn ly DAlembert, ta s b sung vo a hai thnh phn
c bn ca h lc qun nh:
thi a s trong trng thi cn bng.
qt
qt
A
R
M
'
,
,
.
qt A A
R m a
'
- =
,
,
(do nh ln nn bo (-))
2
. . .sin ;
3
'
= =
qt A A
R m a P o
.
qt
A A A
M J c - =
2
2
2
1 1 1
.sin . .sin
2 3 3
qt
A
A
a P P
M R P R g
g
R
R g
o o
| |
= = =
|
\ .
- Vit cc phng trnh cn bng:
.sin 0
'
= + + =
ms qt t jx
F P R F o C
.cos 0 = + =
jy
F P N o C
- Gii h , :
.cos N P o = C
.sin
2
.sin .sin
3
1
.sin 0
3
mst qt
mst
F P R
P P
F P
o
o o
o
'
=
=
= >
f. iu kin ca a ln khng trt:
. s =
msg m t t h s
F f F N C
Thay , vo :
1
.sin . .cos
3
t
P f P o o s
tan 3 s
t
f o
g.
g
1
.
- Do nn a va ln va trt trn dc. y cng l
trng hp c bit ca chuyn ng song phng vi tm vn
tc tc thi khng phi l imp xc I.
3
t
tg f o <
- Bc t do ca h: 2
h
dof = +
- Chn 2 ta suy rng: . (hnh 3.1) , x

Hnh II.6.2
o
I
A
ms
F
,
P
,
x
N
,
g
2
.
- Xc nh lc suy rng tng ng vi ta suy rng
:
1 x
Q Q
1
q x
+ Cho h mt di chuyn kh d c bit:
1 2
0, 0 q q x o o o o = > =
+ Tng cng kh d ca cc ti:
( ) ( ) ( ) ( )
( )
( )
;
. .
.sin . .
.sin .
0
cos
sin .cos
ms
ms
A A P A F
P h F x
P x f
A
N x
P f P x
N
A x
N
P f
o o o
o o
o o o
o o o
o o o o
o = +
=
=
=
+
= +
= +
, , , ,
(a ch trt m khng ln v ) 0 o =
o
h o
x o
A
Hnh II.6.3
+ Lc suy rng:
Hnh II.6.4
0 o =
o
I
A
ms
F
,
P
,
0 x o >
N
,
0 : N =
,
v khi chiu ln
phng trt phng
ca lc nng N vung
gc so vi phng
trt.
( )
( )
1
sin c
sin co
o
s .
s
x
A
f P
x
Q Q
f M g
o
o o
o
o
o
= = +
= +
+ Lc suy rng:
(a quay quanh tm A c nh hay a trt khng ln)
- Xc nh lc suy rng tng ng vi ta suy rng
2
Q Q
2
q
( ) ( ) ( )
. . .
ms
ms I
A P A N A A F
F s f N r
o o o o
o o
= + +
= =
, , ,

1 2
0 , 0 q x q o o o o = >
. . .cos . A f P r o o o =

2
. . .cos
A
Q Q f P r
o
o
o
= =

g
3
. Dng phng trnh Lagrange 2:
2
. . . .cos Q Q f M g r
o =

Hnh II.6.5
, 1, 2
i
i i
d T T
Q i
dt q q
| |
c c
= =
|
c c
\ .
0 o >
o
.
I
s r o o =
A
ms
F
,
P
,
0 x o =
N
,
- Xc nh ng nng h:
2 2
2 2 2
1 1
.
2 2
1 1 1
. .
2 2 2
h
A A
T M v J
M x M r
e
= +
| |
= +
|
\ .
`
`
1
0
T T
q x
c c
= =
c c
(khng c x ch c o hm ca x)
1
.
d T d T
M x
dt q dt x
| |
c c
| |
=
|
|
c c
\ .
\ .
``
` `
2
0
T T
q
c c
=
c c
(khng c )
2
2
1
. .
2
d T d T
M r
dt q dt

| |
| | c c
=
|
|
c c
\ .
\ .
``
` `
Do :
( )
2
. sin cos .
1
. . . .cos .
2
r
M M
M M r
x f g
f g
o o
o
= +
``
``
( )
sin cos
2 cos .
x f g
f g
r
o o
o
= +
``
``
Bi tp 7. Cho c h nh hnh v. Bit bn knh r, P, = const, Q,
rng rc l vnh trn ng cht. Dy mm, nh, khng gin,
khng trt trn rng rc, lun cng. Ban u h ng yn.
a) Hy phn ch chuyn ng ca cc vt rn trong h. Thit
lp quan h ng hc gia cc vt.
b) Xc nh ng nng cho ton h v tng cng ca cc ti tc
ng ln h.
c) Xc nh gia tc ca vt A v gia tc gc ca rng rc B.
d) Tnh lc cng dy ni vt A.
e) Tmiu kin ca moment nhnh dy ni vt A b
chng. Xc nh li gia tc ca A va gia tc gc ca rng rc
B.
M
M
Hnh II.7
a) Phn ch chuyn ng:
+ Vt A: chuyn ng tnh n thng ng, nhanh dn, c chiu
hng xung.
, ,
B B B
e c
, ,
A A A
s v a
, , ,
M
A
P
,
Q
,
B
r
+ Rng rc B: chuyn ng quay nhanh dn, cng chiu kim
ng h quanh trc vung gc vi mt phng hnh v v i
qua tmB c nh (tmB c nh).
- Thit lp quan h ng hc gia cc vt:
.
.
.
=
=
=
A B
A B
A B
s r
v r
a r
e
c
b).
= + `
h A B
T T T
Vt A chuyn ng tnh n:
2
1
2
A A
P
T v
g
=
Vt B chuyn ng quay:
2
1
2
B B B
T J e =
- ng nng ca h:
(J
B
l moment qun nh ca vt B i vi trc c nh thng gc
vi mt phng hnh v qua B)
2
B
Q
J r
g
=
( )
( )
2 2 2
2 2 2
1 1
2 2
1 1
. .
2 2
e = +
= + = +
`
h
A B
A A A
P Q
T v r
g g
P v Q v P Q v
g g
( ) ( ) A A A P = +
,
M
Vi:
B
( ) ;
A
A s
r
= =
M
M M. ( )
A A
A P Ph Ps = =
,
- Tng cng cc ti:
- Gia tc ca A v gia tc gc ca rng rc B:
A
A P s
r
| |
= +
|
\ .
M
+ p dng nh l bin thin ng nng:
1 0
h h
T T A =
` `
( )
2
1
2
A A
P Q v P s
g r
| |
+ = +
|
\ .
M
o hm2 v
theo t:
( )( )
1
2 .
2
A A A
P Q v a P v
g r
| |
+ = +
|
\ .
M
. 0
A
P
r
a g
P Q
+
= >
+
M
c).
Gia tc gc ca rng rc:
d) Xc nh lc cng dy.
p dng nguyn ly DAlembert kho st s cn bng ca vt A:
( )
A
B
P
a
r
g
r P Q r
c
+
= =
+
M
.
A
qt A A
R m a =
,
,
| |
+ +
|
= =
|
+ +
|
\ .
A
qt
P P
P
r r
R g P
g P Q P Q
M M
A
P
,
y
A
T
,
,
A
qt
R
Hnh II.7.1
,
A
a
Phng trnh cn bng:
Chiu ln trc y:
Sau khi b sung vo thi vt A cn bng.
A
qt
R
,
0
A
qt A A
R T P + + =
, , , ,
0
A
jy A qt
F T R P = + =
A
A qt
A
P
r
T P R P P
P Q
Q
r
T P
P Q
| |
+
|
= =
|
+
|
\ .
| |
|
=
|
+
|
\ .
M
M
e) iu kin dy khng b chng (dy cng):
- Khi dy b chng:
+ Gia tc vt A:
+ Gia tc gc rng rc B:
0 0 .
A
T Q Q r
r
> > <
M
M
- Vy iu kin dy b chng:
. Q r > M
A
a g =
2
.
B
g
Q r
c =
M
Bi tp 8. Cho c h ng yn thi im ban u nh hnh ve.
Rng rc B l mt a trn, c v ng cht. H s ma st trt
nh va ng gia vt A va mt phng ngang c nh l v . Cho
bit: Dy mm, nhe, khng gin, lun
cng, khng trt trn rng rc.
a) Tmiu kin ca gc o A trt c trn mt nghing.
b) Cho , dy lun cng.
b
1
) Phn ch chuyn ng cc vt rn trong h. Tmmi quan
h v ng hc gia cc vt.
b
2
) Tnh ng nng cho ton h va tng cng tc ng ln h.
b
3
) Xc nh gia tc ca A va gia tc gc ca rng rc B
b
4
) Tnh lc cng dy
b
5
) Tmiu kin ca dy ni vt A b chng. Xc nh li
gia tc ca vt A va gia tc gc ca rng rc B.
, , , , , .
t
r P Q const f f o = M ,
t
f f
t
tg f o >
M
a) - iu kin vt A khng trt (A cn bng v dy chng):
M
P
,
Q
,
B
r
o
A
Hnh II.8
+ Kho st s cn bng ca vt A:
T do ha vt A:
- Vit cc phng trnh cn bng:
( )
.sin 0 1
jx mst
F F P o = + =
( )
.cos 0 2
jy A
F N P o = =
- Gii h (1), (2):

( )
.sin 3
mst
F P o =
Hnh II.8.1
P
,
x
y
o
A
N
,
mst
F
,
A
+ iu kin vt A khng trt:
Thay (3) v (4) vo 2 v ca (5), ta c:
( )
.cos 4
A
N P o =
( )
. 5
mst msgh t A
F F f N s =
.sin . .cos
t
P f P o o s
( )
6
t
tg f o s
- iu kin vt A trt:
( )
7
t
tg f o >
b
1
. - Phn ch chuyn ng ca cc vt rn trong h:
b) V nn vt A trt c trn mt nghing.
t
tg f o >
Hnh II.8.2
M
P
,
Q
,
B
r
o
A
B
B
e
B
c
,
A
s
,
A
v ,
A
a
+ Rng rc B quay nhanh dn, theo chiu kimng h quanh
tmB c nh.
- Quan h ng hc:
+ Vt A tnh n thng, nhanh dn theo phng ca mt
nghing v vi chiu hng xung.
; ;
A A A
B B B
s v a
r r r
e c = = =
b
2
. - ng nng ca h:
h A B
T T T = + `
2 2
2
2 2 2
2
1
2 2
1 1 1
.
2 2 2 4
= =
| | | |
= = =
| |
\ .\ .
A
A A A
B
A
B B A
P
T m v v
g
v Q Q
T J r v
g r g
e
Vi:
- Tng cng cc ti:
2
1
2 2
h
A
Q
T P v
g
| |
= +
|
\ .
`
( )
( )
( )
ms
A A F A P A = + +
, ,
M
( )
( )
. .sin
A A
A P P h P s o = =
,
( )
.
B A
A s
r
= + =
M
M M
( )
cos . = = =
,
ms msd A A A A
A F F s f N s f P s o

Vi:
( )
sin cos
| |
= +
|
\ .
A
A P f s
r
o o
M
b
3
. p dng nh l bin thin ng nng:
1 0
h h
T T A =
` `
( )
2
1
sin cos
2 2
| | | |
+ = +
| |
\ . \ .
A A
Q
P v P f s
g r
o o
M
( )
1
2 sin cos
2 2
| | | |
+ = +
| |
\ . \ .
A A A
Q
P v a P f v
g r
o o
M
( )
sin cos
2
A
P f
r
a g
Q
P
o o
(
+
(
=
(
(
+

M
b
4
. Kho st chuyn ng ca vt A:
( )
sin cos
2
A
B
P f
a
r
g
Q
r
P r
o o
c
(
+
(
( = =
| |
(
+
|
(
\ .

M
Ta c:
.
ms A
F f N =

Hnh II.8.3
P
,
x
y
A
N
,
ms
F
,
A
A
T
,
A
a
,
- Dng nh l chuyn ng khi tm cho vt A:
- Chiu (8) ln hai phng x, y
( )
4
1
. 8
e
A A j A A ms
j
m a F P N T F
=
= = + + +
, , , , ,
,
( )
. .sin
9
0 cos
A A ms A
A
m F T a
N
P
P
o
o
=
+

( )
cos 10
A
N P o =
( )
.sin .
sin cos
sin cos
2
A ms A A
T P F m a
P f
P r
P f P g
Q
g
P
o
o o
o o
=
| |
+
|
\ .
=
M
( )
( )
sin cos
sin cos
2
A
P P f
r
T P f
Q
P
o o
o o
(
+
(

=
+
M
b
5
. iu kin dy cng:
( )
( )
sin cos
2
11
2
A
Q
P f
r
T
Q
P
o o
(

(

=
+
M
0
A
T >
( )
sin cos 0
2
Q
f
r
o o
(
>
(

M
( )
.
sin cos
2
Q r
f o o <

M
- iu kin dy chng:
( )
.
sin cos
2
Q r
f o o > M
- Xc nh li v :
A
a
B
c
( )
sin cos
A
a f g o o =

2
2
.
B
g
Q r
c =
M
Bi tp 9. Cho c h nh hnh v:
a). H c lun cn bng vi mi loi ti tc ng hay khng? Ti
sao?
b). Dng nguyn l di chuyn kh d xc nh cc thnh phn
phn lc ti ngm A.
A
B
q const =
Hnh II.9
Bi sa
a. (T gii)
- Tnh bc t do ca h: Dof
h
+ S vt rn: n=1 (thanh thng nm ngang)
+ Tng rng buc ca cc lin kt:
3
lk
R =
(ngm phng)
Do bc t do ca h:
3
3.1 3 0
lk
h
Dof n R =
= =

V dof
h
0 nn h lun cn bng vi mi loi ti tc ng.
- Xc nh thnh phn phn lc H
A
:
+ Gii phng lin kt n cn tr chuyn ng tnh n thng
theo phng ngang:
b). Lin kt c mt rng buc c gi l lin kt n (v d:
khp bn l trt, lin kt thanh). Lin kt ngm phng c 3
rng buc s c xem l tng ng vi 3 lin kt n.
xc nh cc thnh phn phn lc ca lin kt ngm ta
gii phng ln lt tng lin kt n v xemcc thnh phn
phn lc xut hin nh l lc hot ng b sung.
A
B
q
A
H
,
x o
Hnh II.9.1
+ Tnh tng cng kh d:
+ p dng nguyn l di chuyn kh d:
- Xc nh phn lc N
A
:
+ Gii phng lin kt n cn tr chuyn ng tnh n thng
theo phng ng.
+ Cho h mt di chuyn kh d .
x o
( )
( )
( )
o o o o
o
= + =
= +
,
, ,
A A
A
A A A q H
H
A H
x
0 0
A
A H o = =
y o
+ Tnh tng cng kh d:
Hnh II.9.2
A B
q
A
N
,
0 y o >
( ) ( ) ( )
( )
. o o o o o
o
= + = +
=
,
A A
A
A A N A q N y ql y
N ql y
0 0 0
A A
A N ql N ql o = = = >
+ Gii phng lin kt n cn tr chuyn ng quay quanh tm
A.
- Xc nh thnh phn phn lc M
A
:
o
Hnh II.9.3
A
B
q
A
M
x
o
. o o = y x
dx
+ Tnh tng cng kh d:
( ) ( )
A
A M A A q o o o = +
,
Ta c:
( )
A A
A M M o o =
( ) ( )
0 0
2 2
0
. . . .
. .
2 2
o o o
o o
= + =
(
= =
(

} }

A q q dx y q dx x
x q
q
2
2
o o
| |
=
|
\ .

A
q
A M
2 2
0 0 0
2 2
o = = = >

A A
q q
A M M
Bi tp 10. Dng nguyn l di chuyn kh d xc nh cc
thnh phn phn lc sau:
Hnh II.10.1
Hnh II.10.2
A
B
q
= P q
2
= M q
2
C
a)
q
A C

M
B
b)
+ Tnh tng cng kh d:
a). - Xc nh thnh phn phn lc H
A
:
+ Gii phng lin kt n cn tr chuyn ng tnh n theo
phng ngang:
+ Cho h di chuyn kh d : x o
( )
( )
( )
( ) ( ) o o o o o o = + = + +
,
,
, ,
A A
A q A P A M A A H A H
Hnh II.10.3
A
B
q
= P q
M
C
x o
A
H
,
- Xc nh thnh phn phn lc N
B
:
( )
.
A
A
A A H H x o o o = = +
,
0 0
A
A H o = =
+ Cho h mt di chuyn kh d : o
Hnh II.10.4
A
B
q
= P q
M
C
B
N
o
B
y
o
C
y
o
+ Tnh tng cng kh d:
- Xc nh thnh phn phn lc N
A
:
phng ng:
( )
( )
( ) ( )
2
2
.(2 . ) 2 . .(3 . ) .
(2 2 ).
o o o o o
o o o o
o
= + + +
= +
=
, , ,
,

B
B
B
A A N A q A P A M
N q P M
N q
2
0 2 2 0 o = =

B
A N q
( )
= -
B
N q
Hnh II.10.5
A
B
q
= P q
M
2
C
A
N
,
du
u
y o
o
A
y o
C
y o
+ Cho h mt di chuyn kh d : o
+ Tng cng kh d:
( )
( )
( ) ( )
A
A P A A A M N A q o o o o o = + + +
,
, , ,
C
( )
2
o
o o = =
A
y
tg
2 . o o =
A
y
( )
. .2 . o o o = =
,
A A A A
A N N y N
. o o = y u
( ) ( )
2
2 2
2
0 0
0
. . . . . .
2
o o o o = = =
} }

, u
A q y q du q u du q
Th vo C:
( )
2
2 . o o =
,
A q q
. o o =
C
y
( )
2
. . . . o o o o = + = =
,

C
A P P y q q
( )
2
. . o o o = + = A M M q
2 2
.2 . 2 . . 0 o o o o o = + + + =

A
A N q q M
2 =
A
N q
b).
- Xc nh cc thnh phn phn lc H
A
:
phng ngang:
Hnh II.10.6
q
A
C
M
B
A
H
x o
+ Cho h mt di chuyn kh d :
x o
+ Tng cng kh d:
( )
( )
.
A A
A A H A q H x o o o o = + =
,
,
0 0
A
A H o = =
- Gii phng lin kt N

A
:
Hnh II.10.7
A
y o
A
C
2
M
B
x
dx
B
y o
o
A
V
+ Cho h 1 di chuyn kh d :o
+ Tng cng kh d :
Ta c:
( )
( ) ( )
A
A A V A A q M o o o o = + +
,
,
C
( )
. 0 o o = s s y x y x
( )
2
0 0
0
2
. . . . . .
2
2
o o o o
o
= =
=
=
} }

,
x
A q y q dx q x x dx q
q
( )
2
. . o o o = =
A
A M M q
- Gii phng lin kt V
C
:
2 . o o =
A
y
( )
.
.2
o o
o
=
=
A A A
A
A V V y
V
2 2
1
.2 . 0
2
o o o o = + =

A
A V q q C
2 2
1
1
2
2 4
+
= =

A
q q
V q
Hnh II.10.8
q
A
C
M
B
u
du
C
y o
C
V
,
B
y o
ou
2 s s u
. y u o ou =
( ) ( )
2 2
. . . . o o ou = =
} }

,
A q y q du u q du
( )
2
2 2 2
2
4
. . .
2 2 2
3
2
o ou ou ou
ou
= =
=
u
A q q q q
q
( )
2
. . o ou ou - = = A M M q
2 . o ou - =
C
y
( )
.2 .
o o
ou
- =
=
,
C C C
C
A V V y
V
( ) ( )
( )
C
A A q A M A V o o o o = + +
,
,
2
2 2
3
2 .
2
3
.2
2
o ou ou
ou
=
| |
= +
|
\ .

C
C
A q V
q q V
2 2
3
5
2
2 4
+
= =

C
q q
V q
Bi tp 11. Cho mt c h gm c hnh lng tru A t din tam gic
vung v ng tr trn, ng cht, khng y B. Vt A c khi lng
m
1
ta khng ma st trn mt phng ngang c nh. Vt B c bn
knh r, khi lng m
2
ln khng trt trn mt nghing ca lng tru A
(hnh chiu ng ca trc ng tr trn l B). Lng tru A chu tc ng
ca lc F nh hnh v. Cho bit: m
1
, m
2
, F, o, r.
a) Hy phn ch chuyn ng ca cc vt rn trong h. Xc nh bc
t do ca h v chn cc ta suy rng cho h.
b) Vit biu thc xc nh vn tc tuyt i ca tmB v nh ln
ca vector vn tc tuyt i ny.
c) Xc nh ng nng cho ton h v cc lc suy rng tng ng.
d) Thit lp h phng trnh vi phn chuyn ng cho ton h. Cho
bit kh nng ca mnh c gii c h phng trnh vi phn ny
khng? Nu gii c hy xc nh gia tc ca lng tru A v gia
tc gc ca ng tr B.
a) Phn ch chuyn ng ca cc vt rn trong h
+ Vt ln tru A c chuyn ng tnh n thng theo phng
ngang.
Hnh II.11.1
x
A
F
,
r
BI
v
,
o
2
P
,
1
P
,
,
N
I
B
ng trung tuyn
+ ng tr trn B thc hin ng thi 2 chuyn ng: tnh n
cng vi lng tru A v ln khng trt trn mt nghing ca
lng tru A. Chuyn ng tng hp ca ng tr trn B l
chuyn ng song phng vi tmvn tc tc thi khng phi
l imp xc I.
- Bc t do ca h:
- Hai ta suy rng ca h c chn l:
b). - Phn ch chuyn ng phc hp ca tm B:
2
h
Dof =
V ta cn dng 2 thng s c lp v mi xc nh c v
tr ca ton h.
x

1 2
, q x q
+ Chuyn ng ko theo: tnh n cng lng tr A.
+ Chuyn ng tng i: ln khng trt trn mt nghing
ca lng tru A (tmquay tc thi l imI).
- Dng nh l hp vn tc ca im:
B
e
B
a
B
r
v v v = +
, , ,
- Tnh ln vector vn tc
tuyt i imB:
Hnh II.11.2
BI
v
,
I
B
A
a
v
,
B
a
v
,
o
|
(khi tng 2 gc bng t thi cos
gc ny bng - cos gc kia).
*
B B
B B A
B A BI
a a
r
a a
I
e
v v
v v
v v
v
v
)
=
+
=
`
, ,
,
,
,
,
, ,
Vi:
c). - ng nng h:
A h B
T T T = + `
Cng thc lng trong tam gic thng:
o | t | t o + = =
( ) ( ) ( )
( ) ( )
2 2 2
2 2
2 cos
2 cos
B A BI A BI
a a a
A BI A BI
a a
v v v v v
v v v v
|
o
= +
= + +
M: ; . . e = = =
` `
A BI
a
v x v r r
( )
2
2 2 2
. 2 .cos . .
B
a
v x r r x o = + +
` ` ` `
( )
2
2
1 1
1 1
. .
2 2
= = `
A A
a
T m v m x Vi:
( )
2
2
2
1 1
.
2 2
B B
a B
T m v J e = +
Ta c:
2
2
. ;
B
J m r e = =
`
( )
2 2 2 2 2
2 2
2 2 2
2
1 1
2 cos . . .
2 2
1
2 . 2 cos . .
2
B
T m x r r x m r
m x r r x
o
o
(
= + + +

(
= + +

` ` ` ` `
` ` ` `
( )
2 2 2
1 2 2 2
1
. . . . .cos . .
2
o = + + + `
` ` ` `
h
T m m x m r m r x
- Xc nh lc suy rng :
1

x
Q Q
Hnh II.11.3
A
F
,
0 o =
r
BI
v
,
o
2
P
,
1
P
,
N
,
I
2
C B
0 o > x
A
a
v
,
1 2
0 ; 0 q x q o o o o > =
(a khng quay nn ton h l mt vt duy nht: m = m
1
+m
2
)!
+ Tng cng kh d:
( ) ( ) ( ) ( )
( )
1 2
A P A A N
A F
A P A F o o o o o
o
+ + = +
=
, , , ,
,
. o o = +
A F x
(P
1
, P
2
khng thay i cao; phng N vung gc phng
chuyn ng).
1 x
A
Q Q F
x
o
o
= =
Xc nh lc suy rng :
2
Q Q
+ Tng cng kh d:
Hnh II.11.4
B
I
o
B
s o
B
h o
1
2
0 ;
0
q x
q
o o
o o
=
>
( )
.sin
. .sin
o o o
o o
=
=
B B
h s
r
( ) ( ) ( ) ( )
( )
( )
2 1
2 2
.
o o
o
o o o
o
= + + +
= =
,
,
, , ,
B
A P A N A A P
m
A
P g
F
A h
d) Dng phng trnh Lagrange 2:
( )
2
2
.
. . .sin .
o o
o o
= +
=
B
A m g h
m g r
2 2
. .sin
A
Q Q m g r
o
o
o
= =
, 1, 2
i
i i
d T T
Q i
dt q q
| |
c c
= =
|
c c
\ .
`
1
0
c c
=
c c
T T
q x
- y l h phng trnh vi phn cp 2 cc k d gii. Cch gii
c trnh by chi t:
( ) ( )
1 2 2
1
. .cos
d T d T
m m x m r
dt q dt x
o
| |
c c
| |
= + +
|
|
c c
\ .
\ .
`` ``
` `
2
0
T T
q
c c
=
c c
( )
2
2 2
2
. .cos 2 o
| |
| | c c
= +
|
|
c c
\ .
\ .
`` ``
` `
d T d T
m r x m r
dt q dt
( ) ( )
( )
( )
1 2 2
2
2 2 2
. .cos
. .cos 2 . .sin
o
o o
+ + =

+ =
`` ``
`` ``
m m x m r F
m r x m r m g r
+ t
1 2
; X x X = =
`` ``
Nghim:
( )
( )
2
1
1 2 2
2
2
1 2
2
1
2
2
2 2
. .cos
.sin 2
. .cos
cos 2
2 . . .sin .cos
2 .c
1
2 sin 2
2
2 co
os
s
o
o
o
o
o o
o
o
o
=
+
=
+
=
+
=
``
F m r
g r
X x
m m m r
r
r F m g r
r m m m
F m
c
r
g
m m m
onst
( )
( )
1 2
2
1 2 2
1 2
2
1 2 2
.sin .cos
2
cos .sin
. .
cos
cos
cos 2
o o
o
o
o o
o
+
=
+
=
+
+
=
(

``
m m F
g
X
m m g F
m m m
m m
c
m
r
r
r
onst
Bi tp 12. Cho mt a c dng hnh qut ng cht, c, dy
iu, bn knh R, gc chn tm l 2o ,ng yn thi im
u vi gc nghing l
0
(gc hp bi phng thng ng va
trc i xng ca a) c khi lng m. a ta khng ma st
vi mt phng ngang c nh.
a) Phn ch chuyn ng ca a va tmO a
b) Xc nh v tr ca khi tmC a.
c) Xc nh phng trnh qu o ca khi tmC a nu
chn h trc ta nh hnh ve:
d) Tnh ng nng ca a va tng cng cc ti tc ng
ln a.
e) Tmvn tc gc ca a v gia tc gc ca a.
xy
0
C
( )
O
( )
c
u
t
R
N
,
0
P
,
2o
x
y
I
Hnh II.12
0
Cho: , , , m R o
Bi sa
a) Phn ch chuyn ng ca a:
- a chuyn ng song phng trong mt phng hnh v vi
tm vn tc tc thi khng phi l im p xc I.
- Phn ch chuyn ng ca tm O a:
b). - Do a hnh qut c mt trc i xng nn khi tm C ca
a s nm trn trc i xng ny.
- Tm O a chuyn ng thng vi qu o l ng thng
song song on thng c nh v cch ng thng c nh
mt on bng bn knh ca a. Do , vn tc v gia tc
ca tm O nm trn ng thng ny.
( )
O
( ) ( )
0 0 0 0
; o c c
, ,
v
- Kho st mt din ch vi phn k thuc a nh hnh v:
- Dng h trc ta vung gc mi gn lin vi a sao cho
trc trng trc i xng ca a.
Out
u
0
c
t =
O
r
dr
k
dA
K
k
u
u
u
du
Hnh II.12.1
Gi: A
l khi lng ring a.

l din ch a.
Ta c:
2
: A R rad o o =
2
;
m m
A R
o
= =
.cos
k
u r u =
( )
.
k
dA dr r du =
( )
2
k k
m
m dA dr rd
R
u
o
= =
(vt phng (kg/m
2
); vt dy (kg/m
3
)
(u
k
: ta u ca im K).
(m
k
: khi lng ca din ch dA
k
).
- p dng cng thc nh ngha ca khi tm:
( )
2
1
2
1
cos . .
k k
k
c
A
m u
m
u r dr d
m m R
u u
o
=
| |
= =
|
\ .
}
| |
2
2
0
3
2
0
3
2
1
cos .
1
sin
3
1
2sin
3
R
c
R
u r dr d
R
r
R
R
R
o
o
o
o
u u
o
u
o
o
o
=
(
=
(

=
} }
c). - Kho st chuyn ng ca a:
2
sin
3
c
R
u o
o
=
+ Dng nh l chuyn ng khi tm:
+ H ngoi lc tc ng ln a : , P N
, ,
( )
2
1
1
e
c j
j
ma F P N
=
= = +
, , ,
,
( )
2
. 0 0
c c
m x x m s = =
`` ``
- Chiu (1) ln trc x:
( )
0 ;
c c
x const x m s = = =
` ` (vn tc lc u bng 0)
d). - ng nng a: (a l hnh trn c ng cht).
( )
0
c c
x const x m = = =
Vy phng trnh chuyn ng ca khi tm C l: 0 ;
c
x =
ng thng
( )
;
c
y ; .
c c
v y a y c c
, ,
2 2
1 1
.
2 2
c c
T mv J e = +
Ta c: ( l gc hp bi trc u v trc Oy). : e =
`
( )
2
2
0 0
.
c c
J J m OC J mu = =
Theo nh ngha:
( )
( )
2
2
0
2
1
. . .
k
k
A
m
J m OK r dr d r
R
u
o
=
| |
= =
|
\ .
}
| |
3
0
2
0
4
2
0
4
2
4
2
4
R
R
m
J r dr d
R
m r
R
m R
R
o
o
o
o
u
o
u
o
o
o
=
(
=
(

=
} }
2
0
1
2
J mR =
(ging cng thc hnh qut)
2
2
2
c c
R
J m u
| |
=
|
\ .
( ) ( )
A A P A N = +
, ,
Tm vn tc tc thi ca a: P
- Tng cng cc ti:
P
C
0
v
,
u
y
O
c
v
,
Hnh II.12.2
.sin
sin
c
PC OC
u

=
=
Do :
. .sin .
c c
v PC u e = =
`
( )
2 2 2 2 2
2 2 2 2
1 1
sin .
2 4
1 1
sin
2 2
c
c
T m u mR
m u R

= +
| |
= +
|
\ .
` `
`
( )
0 A N =
,
Vi:
( )
( )
0
.
c
A P P h
mg HC HC
= +
=
,
Hnh II.12.3
P
,
C
( )
0
y
O
0
C
0
O
H
0
c
h
( ) | |
( )
0 0 0
0
.cos .cos
. cos cos
c
A P mg OC O C
mg u

=
=
e) Dng nh l bin thin ng nng:
1 0
h h
T T A =
` `
( ) ( )
2 2 2 2
0
2
1 1
sin . cos cos ;
2 2
c c
m u R mg u
(
+ =
(

`
- Vn tc gc ca a:
( )
( )
0
2 2 2
2 . cos cos
1
sin
2
3
c
c
g u
u R

e

=
+
`
- Gia tc gc ca a:
o hm 2 v (2) theo thi gian t:
( )
2 2 2 2 2
1 1 1
sin cos . sin .
2
. sin .
2
2 2
2
c c
c
u u R
g u

(
(
+ + =
(

=
` ` ` ` `
`
2
2 2 2
sin cos .
1
sin
2
c c
c
u u g
u R

c
(
+

= =
+
`
``
Bi tp 13. (Cha sa).
Cho mt thanh thng mnh, ng cht, t din iu, khi
lng m v chiu di 2 ta khng ma st trn mt phng
ngang c nh. Ban u thanh ng yn vi gc nghing
0
.
a. Hy phn ch chuyn ng ca thanh AB. Tm
phng trnh qu o ca im A, ca khi tmC v
im B.
b. Tnh ng nng ca thanh va tng cng cc ti tc
ng ln thanh.
c. Xc nh vn tc gc ca thanh va gia tc gc ca
n.
A
B
0
0
C
Hnh II.13
0
: , 2 , m Cho
Bi tp 14.
Cho c h nh hnh v (Hnh II.14).
A
B
2
r
1
r
1
O
2
O
2
P
1
P
M
Hnh II.14
Cho r
1
, r
2
, P
1
, P
2
, .
Dy c cc nh cht sau y:
mm, nhe, khng gin, khng
trt trn cc vt v lun cng.
B qua ma st ti khp bn l O
1
v xem nhnh dy AB lun c
phng thng ng. Rng rc O
1

l a trn c, ng cht v rng
rc O
2
l vnh trn ng cht.
a. Xc nh bc t do ca h.
Chn cc h ta suy rng
cho h.
const = M
b. Phn ch chuyn ng cho cc vt rn trong h. Phn ch
chuyn ng phc hp ca tm O
2
. Vit biu thc nh vn
tc tuyt i cho im ny.
c. Tnh ng nng cho ton h.
d. Xc nh cc lc suy rng tng ng vi cc ta suy rng
chn.
e. Thit lp h phng trnh vi phn chuyn ng cho h. Cho
bit kh nng c th gii h phng trnh ny khng? Ti sao?
Bi sa
a.
Dof
h
= +2
Chn 2 ta
suy rng:
q
1

1
;
q
2
2
A
B
2
r
1
r
1
O
2
O
y
2
P
1
P
1
M
2
Hnh II.14.1
b.
- Phn ch chuyn ng cc vt.
+ Rng rc O
1
:
Chuyn ng quay quanh tmO
1
c nh.
+ Rng rc O
2
:
Chuyn ng song phng vi tm vn tc tc thi khng phi l
im p xc A.
- Phn ch chuyn ng phc hp ca tmO
2
.
+ Chuyn ng ko theo:
Tnh n thng ng cng vi dy.
+ Chuyn ng tng i:
Quay quanh tm vn tc tc thi A i vi dy.
- Vit biu thc nh: (Hnh II.14.2)
2 2 2
O O O
a e r
v v v = +
, , ,
A
B
2
r
1
r
1
O
2
O
y
2
P
1
P
1
B
a
v
,
A
a
v
,
M
2
2
O
r
v
,
Hnh II.14.2
2
2
2
2 2
2 2
2
1 1 1 1
2
2 2 2 2
. .
.
O
e
O A
e a
O A B
e a a
O O
r r O O A
r
O
r
v y
v v
v v v r r
v AO hay v y
v v
v r r
e
e

||

= = = =

||

=

= =
Vi :
,
, ,
`
,
, ,
`
2 2 2 2
1 1 2 2
2
. .
||
= = + = +
, , ,
`
_
`
ve
O O O O
a a e r
ctor
v v v v r r
ch khi
c.
ng nng ton h:
1 2
O O
T T T = +
he
1
2
2 2
1
1 1 1
2 2
2
2 2 2
1
2 2
. .
O
O
P
J mr r
g
P
J m r r
g
= =
= =
Ta co :
1
1
2 2 2
1
1 1 1
1
. . .
2 4
e = =
`
O
O
P
J r
g
Vi : T
( )
( )
2 2
2
2
2
2 2
2
2 2
2 2
1 1 2 2 2 2
1 1
.
2 2
1 1
. . . .
2 2
e

= +
= + +
` ` `
O O
a O
T m v J
P P
r r r
g g
2
2 2 2 2
2 2 2
1 1 1 2 1 2 2 2
. . . . . . . .
2
O
P P P
T r r r r
g g g
= + +
` ` ` `
2 2 2 2
1 2 2
2 1 1 1 2 1 2 2 2
1
. . . . . . . .
2 2
P P P
T P r r r r
g g g

| |
= + + +
|
\ .
he
` ` ` `
d.
Nhn xt:
H s c 2 lc suy rng Q
1
, Q
2
ng vi 2 ta suy rng chn.
- Xc nh lc suy rng Q
1
:
+ Chn 1 di chuyn kh d c bit cho h.
1 2
0 ; 0 o o > =
2
1 1 2 2
1 2
1 2
1 1
: . .
.
.
O
a
Ta c v r r
r r
dt dt
r

o o
= +
= +
=
` `
`
+ Tnh tng cng kh d:
( )
( )
2
A A A P o o o = +
,
M
2
1 2
. .
O
A P s o o o = + +
M
2
2
1
1
.
O
O
a
s
: r
dt dt
o
o
= = M v
2
1 1
.
O
s r o o =
( )
2 1 1
. . A P r o o = +
Vay: M
+ Lc suy rng Q
1
:
1 2 1
1
.
A
Q P r
o
o
= = +
M
- Tnh lc suy rng Q
2
:
+ Chn mt di chuyn kh d dc bit cho h:
1 2
0 ; 0 o o = >
2
1 1 2 2
1 2 2
1 2 2
: . .
. . .
O
a
Ta c v r r
r r r
dt dt dt

o o o
= +
= + =
` `
2
2
O
O
a
s
v
dt
o
= Ma :
2
2 2
.
O
s r o o =
- Tng cng kh d:
( )
2
2
2 2 2 2
. . .
O
A A P
P s P r
o o
o o
=
= =
,
+ Lc suy rng Q
2
:
2 2 2
2
.
A
Q P r
o
o
= =
1 2 1
2 2 2
.
.
P r
Q P r
= +
=
Vay: Q M
e.
Dng phng trnh Lagrange 2 (i vi h khi mt cn bng):
, 1, 2
i
i i
d T T
Q i
dt q q
| |
c c
= =
|
c c
\ .
`
2
1 2
2 1 1 1 2 2
1 1
1
. . . . .
2
A B
d T T P P
P r r r
q g g
d
dt dt

| | | |
c c
| |
= + +
| | |
c c
\ .
\ . \ .
_ _
`
`
.. ..
1 1
0
T T
q
c c
= =
c c
(V T
h
khng phu thuc
1
).
2
2 2
1 2 1 2 2
2 2
2
. . . . .
B C
T T P d d P
r r r
q t d g g d t

| | | |
c c
= +
| |
c c
\ . \ .

`
_ _
`
.. ..
2 2
0
T T
q
c c
= =
c c
(V T
h
khng phu thuc
2
).
2
1
2 1
2
1 2
2
2
2
1
2
. .
2.
.
P
A P r const
g
P
B r r const
g
P
C r const
g
| |
= + =
|
\ .
= =
= =
at :
( )
1 2 2 1
1 2 2 2
. . .
. . .
A B r D
B C P r E

+ = =
+ = =
P
`` ``
`` ``
M+
1 1 2 2
; X = = at : X
`` ``
1 2
1 2
. .
. .
A X B X D
B X CX E
+ =
+ =
Thay cc kt qu vo phng trnh Lagrange 2, ta c:

1
2
2
1
2
2
. .
.
. .
.
X const
X cons
CD BE
AC B
AE BD
AC B
t
= = =
= = =

``
``
(rng rc 1 quay nhanh dn u)
(rng rc 2 quay nhanh dn u)
Bi tp 15.
Cho mt c h nh hnh v (Hnh II.15).
Hnh II.15
A
C
B
P
,
Q
,
I
r
A l a trn c, ng cht c bn knh r v trng lng Q. AB l
thanh thng, mnh, ng cht, t din u, di , trng lng
P. Cho r, , P, Q, , a A ln khng trt trn mt
phng ngang c nh.
B qua ma st ln ca a v ma st ti khp bn l A.
a. Xc nh bc t do cho h v cc ta suy rng cho h.
b. Phn tch chuyn ng ca cc vt rn trong h. Phn ch
chuyn ng phc hp ca khi tm C thuc thanh AB. Vit
biu thc nh vector vn tc tuyt i cho imC ny.
d. Xc nh cc lc suy rng tng ng vi cc ta suy rng
chn cho h.
const = M
e. Thit lp h phng trnh vi phn chuyn ng cho ton h.
Bi sa
a.
Dof
h
= 2 ( bit chuyn ng ca h cn phi bit chuyn ng
ca 2 vt hoc nu ta gi c nh c 2 vt thi h mi ng yn
c)
b.
- Phn ch chuyn ng ca cc vt rn trong h:
(Hnh II.15.1)
Chn 2 ta suy rng: q
1

1
; q
2

2
Hnh II.15.1
A
C
B
P
,
Q
,
I
r
M
2
x
( )
A
A
a
v
,
C
e
v
,
C
a
v
,
C
r
v
,
+ Thanh thng AB:
Chuyn ng song phng trong mt phng cha vt vi TVTTT l
im cha xc nh.
Chuyn ng song phng trong mt phng cha vt vi tm vn
tc tc thi (TVTTT) l im p xc I.
- Phn ch chuyn ng phc hp ca khi tm C ca thanh
AB.
+ Chuyn ng ko theo : tnh n cng vi tmA.
+ Qu o tm A l ng thng .
( ) ( )
A
A a A
v e
,

+ a trn A:
+ Chuyn ng tng i: quay quanh tm A.
- Vit biu thc nh:
c. ng nng ton h:
C C C
a e r
v v v = +
, , ,
( ) ( ) ( ) ( )( )
( )
2 2 2
2
2
2
1 2 2 1 2
2 cos
. . . .cos . .
2
C A C A C
a a r a r
v v v v v
r r

= + +
| |
= + +
|
\ .
` ` ` `
A AB
T T T = +
he
C CA
r
v v AC
, ,
Do :
C A
e a
v v
, ,
Do :
( )
2
2
1 1
.
2 2
A A
A a A A
T m v J e = + Vi :
1
2 2
1
; . .
1
. .
2 2
A
A a
A A
A
Ta
Q
m v r
g
Q
J m r r
g
e
= =
= =
=
co :
`
`
2 2 2 2
1 1
2 2
1
. .
2 4
3
.
4
A
Q Q
T r r
g g
Q
r
g

= +
=
` `
`
( )
2
2
1 1
.
2 2
AB C
AB a C AB
T m v J e - = +
2
2 2
;
1
. .
12 12
AB AB
C AB
Ta
P
m
g
P
J m
g
e = =
= =
co :
`

2 2 2 2
1 2 2 1 2
. . . .cos . .
2 6 2
AB
P P P
T r r
g g g
= + +
` ` ` `

2 2 2 2
1 2 2 1 2
1 3
. . . .cos . .
2 2 6 2
P P
T P Q r r
g g g

| |
= + + +
|
\ .
he
Vay:
` ` ` `

d.
- Tnh lc suy rng Q
1
ng vi ta suy rng q
1

1
.
Cho h mt di chuyn kha di c bit: o
1
> 0 ; o
2
= 0
( )
1
A A o o
o
=
= +
M
M.
1
1
A
Q
o
o
+ = =
M
- Tnh lc suy rng Q
1
ng vi ta suy rng q
2

2
.
+ Cho h mt di chuyn kh d c bit: o
1
= 0 ; o
2
> 0.
( )
2 2
. sin
2
C
A A P P h P o o o o = = =
,

2 2
2
.sin
2
A
Q P
o
o
= =

1
2 2
.sin
2
Q
Q P
=
=
Vay:
M
2
o
0
C
2
C
A
2
C
h o
P
,
Hnh II.15.2
+ Tng cng kh d ca cc ti tc ng:(Hnh II.15.2)
e.
- Phng trnh Lagrange 2:
1
1 1
d T T
Q
dt
| |
c c
=
|
c c
\ .
`
2
2 2
d T T
Q
dt
| |
c c
=
|
c c
\ .
`
2
1 2 2
1
1 2
. . .cos .
3 2
T P
P Q r r
g g

| |
c
| |
= + +
| |
c
\ .
\ .
Vi :
` `
`
2 2
1 2 2 2 2
1
1 2
. . . . sin . cos .
3 2
d T P
P Q r r
dt g g

| |
c
| |
( = + + +
| |

c
\ .
\ .
`` ` ``
`
1
0
T
c
=
c
2
2 2 1
2
. . . cos .
3 2
T P P
r
g g

| | c
= +
|
c
\ .
` `

`
| |
2
2 2 1 2 2 1
2
. . sin . . cos .
3 2
d T P P
r
dt g g

| | | | c
= + +
| |
c
\ . \ .
`` ` ` ``

`
2 1 2
2
. .sin . .
2
T P
r
g

c
=
c
` `
( )
2 2
1 2 2 2 2
1 3
. . .cos . . . sin .
2 2 2
P P
P Q r r r
g g g

| |
+ + =
|
\ .
Vay:
`` `` `
M
2
2 1 2 2
. .cos . . .sin
2 3 2
P P
r P
g g
+ =
`` ``

Bi tp 16. Cho
a. Xc nh bc t do cho h v chn ta suy rng cho h.
b. Phn ch chuyn ng ca cc vt rn trong h. Xc nh vn
tc gc ca rng rc kp 3 va vn tc tuyt i ca vt A.
d. Xc nh cc lc suy rng cho h.
e. Vit h phng trnh vi phn chuyn ng cho h. Gii h
phng trnh ny.
1 2 3
1 2 3 1 2 2 1 3 3
, , , , , , , , , 2 2 2 .
A O O O
m m m m J J J R r R r r = = = = M M
Cc nhnh dy trong h c
cc nh cht: mm, nhe,
khng gin, khng trt
trn cc vt v lun cng. B
qua ma st cc khp bn
l. (Hnh II.16)
Hnh II.16
1
O
1
r
3
R
3
r
2
R
2
O
3
O
A
1
M
B
D
E C
2
M
Bi sa
a. Dof
h
= +2. v ta cn dng 2 thng s c lp
1
va
2
mi xc
nh c v tr ca ton h.
Chn 2 ta suy rng q
1

1
; q
2

2
b.
- Phn ch chuyn ng cc vt:
+ Rng rc 1: quay quanh tmO
1
c nh.
+ Rng rc 2: quay quanh tmO
2
c nh.
+ Rng rc kp 3: chuyn ng song phng.
+ Vt A tnh tin thng ng.
Hnh II.16.1
1
O
1
r
3
R
3
r
2
R
2
O
3
O
A
1
M
2
1
D
a
v
,
E
a
v
,
C
a
v
,
B
a
v
,
B
D
E
C
2
M
- Xc nh e
3
:
Ta c:
C B
a a
E D
a a
v v
v v
=
, ,
, ,
1 1 1
2 2 2
. .
. 2 .
B
a
D
a
v r r
v R r
e
e
= =
= =
Ma :
`
`
+ Xc nh tm vn tc tc thi rng rc 3:
(Hnh II.16.2)
+ Vn tc gc ca rng rc 3:
( )
1 2
3 1 2
. 2 . 1
2
3 3
C E C E
a a a a
v v v v r r
PC PE PC PE r

e
+ +
= = = = = +
+
` `
` `
- Xc nh vn tc vt A:
Hnh II.16.2
3
O
E
a
v
,
C
a
v
,
E
C
P
3
O
a
v
,
+ Vn tc tmO
3
:
3
3 3
.
O
a
v PO e =
( )
1 1
3 1 2
1 2
. 3
.
1
2
2
3
C
a
v r
r

e

= =
+
+
Ta co : PC=
` `
` `
` `
( )
1 2
1
3 3
1 2 1 2
2
3
2 2
PO PC O C r r r

= = =
+ +
` `
`
` ` ` `
( )
3
1 2
2
.
3
O
a
v r = Vay:
` `
Do dy khng gin nn:
( )
( )
3
3
3 1 2
1 2
1
2
3
2
3
O A
a a
O A
a a
v v
v v r
e

=
= +
=
, ,
` `
` `
c.
- Tnh ng nng h:
1 2 3 A
T T T T T = + + +
he
1 1
1 2 2
1 1
1 1
.
2 2
O O
T J J e = = Vi :
`
2 2
2 2 2
2 2
1 1
. .
2 2
O O
T J J e = =
`
( )
( ) ( )
( ) ( ) ( )
3
3
3
3 3 3
2
3 2
3 3
2 2 2 2 2
3 1 2 1 2 1 2 1 2
2 2 2 2 2
3 1 3 2 3 1 2
1 1
.
2 2
1 4 1 1
2 . . 4. 4 .
2 9 2 9
1 2 2
4 . . . 2. . . .
18 9 9
O
a O
O
O O O
T m v J
m r J
m r J m r J J m r
e

= +
= + + + +
= + + + +
` ` ` ` ` ` ` `
` ` ` `
( ) ( )
2
2 2 2
1 2 1 2
2 2 2 2 2
1 2 1 2
1 1 4
. 2 .
2 2 9
2 2 4
. . . . . . .
9 9 9
A A
A a A
A A A
T m v m r
m r m r m r

= = +
= +
` ` ` `
` ` ` `
( )
1 3
3
3
2
2 2
2
1
2
2
2
1
2
3
2
2
3
3
1 4 4 4
.
2
1 4 1 4
. .
2 9
9
2
2
9 9
9
9
9
.
O O A
O O
O A
A
C
B
A
J m r J
J m m r
J m m r
m
J T r
r

| |
+ + +
|
\ .
| |
+
= +
+ +
(
+ +
\
+
|
+
he
`
_
`
_
` `
_
d.
- Tnh lc suy rng Q
1
:
1
> 0 ; o
2
= 0
+ Tnh oA :
( )
( ) ( )
1 3 A
A A A P A P o o o o = + +
, ,
M
( )
1 3 1
2
.
3
A
A gr m m o o
(
= +
(

M
( )
( )
3
1 1 1
3 3 3 3
.
. . .
O
A
P P h m g s
o o
o o o
= +
= =
Vi :
,
M M
( )
3
3
1 2
1 2
2 2
3 3
O
O
a
s
v r r
dt dt dt
o
o o

| |
= = =
|
\ .
Ta co :
` `
( )
( )
3
3 3 1
1
2
. . .
3
2
. . . . . .
3
A A A A O A
A P m gr
A P P s m g s m gr
o o
o o o o
=
= = =
Do o :
,
,
( )
3
1 2 1
2 2
.
3 3
O
s r r o o o o = =
( )
1 1 3
1
2
.
3
A
A
Q m m gr
o
o
(
= = +
(

M
- Tnh lc suy rng Q
2
:
1
= 0 ; o
2
>0
+ Tnh oA :
( )
( ) ( )
2 3 A
A A A P A P o o o o = + +
, ,
M
( )
( )
3
2 2 2
3 3 3 3
.
. . .
O
A
A P P h m g s
o o
o o o
=
= =
Vi :
,
M M
( )
3
3
1 2
1 2
2 2
3 3
O
O
a
s
v r r
dt dt dt
o
o o

| |
= = =
|
\ .
Ta co :
` `
( )
3
1 2 2
2 2
.
3 3
O
s r r o o o o = =
( )
( )
3
3 3 2
2
2
. .
3
2
. . . . . .
3
A A A A O A
A P m gr
A P P s m g s m gr
o o
o o o o
= +
= = = +
Do o :
,
,
( )
2 2 3
2
2
.
3
A
A
Q m m gr
o
o
(
= = + +
(

M
( )
2 3 2
2
.
3
A
A gr m m o o
(
= + +
(

M
e. Vit h phng trnh vi phn cho h bng cch dng phng
trnh Lagrange 2:
1 2
1
2 . C
d T
dt
A
| |
c
= +
|
c
\ .
`` ``
`
1 2
2
2
T
C
d
dt
B
| |
c
= +
|
c
\ .
`` ``
`
1 2
0
T T

c c
= =
c c
( )
( )
1 2 1 3
1 2 2 3
2
2 .
3
2
. 2 . .
3
A
A
m m gr
m m B
A C
gr C

+ = +
+ = + +
Vay:
`` ``
`` ``
M
M
, 1, 2
i
i i
d T T
Q i
dt
| |
c c
= =
|
c c
\ .
`

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BK

C HC L THUYT 1: Tnh Hc va ng Hc Phn I: Tnh hc

+ Tng cc rng buc ca cc lin kt trong h l:

PGS. TS. Trng Tch Thin

2.4.4. Dng chun 4: H lc xon vt ng

l h s ma st trt ng: (khi ko vt s

Chiu (1) ln hai phng t, n:

C HC L THUYT 2: ng Lc Hc Chng hai: ng lc hc c h

C HC L THUYT 2: ng Lc Hc Chng hai: ng lc hc c h

: khi lng ring ca mi trng.

C HC L THUYT 2: ng Lc Hc Chng hai: ng lc hc c h

C HC L THUYT 2: ng Lc Hc Chng hai: ng lc hc c h

C HC L THUYT 2: ng Lc Hc Chng hai: ng lc hc c h

C HC L THUYT 2: ng Lc Hc Chng hai: ng lc hc c h

C HC L THUYT 2: ng Lc Hc Chng hai: ng lc hc c h

Vi M l khi lng ton h.

Vi M l khi lng ton h.

C HC L THUYT 2: ng Lc Hc Chng hai: ng lc hc c h

C HC L THUYT 2: ng Lc Hc Chng hai: ng lc hc c h

C HC L THUYT 2: ng Lc Hc Chng hai: ng lc hc c h

: moment qun tnh ca c h i vi trc .

C HC L THUYT 2: ng Lc Hc Chng hai: ng lc hc c h

2. Cng v cng sut

C HC L THUYT 2: ng Lc Hc Chng 3 : Nguyn l D Alembert

Dng h trc Oxy vi O l trc quay c nh ca vt. Ta c:

Vector di chuyn kh d ca cht im K:

C HC L THUYT 2: ng Lc Hc Chng 4 :Nguyn l di chuyn kh d

C HC L THUYT 2: ng Lc Hc Chng 4 :Nguyn l di chuyn kh d

C HC L THUYT 2: ng Lc Hc Chng 4 :Nguyn l di chuyn kh d

C HC L THUYT 2: ng Lc Hc Chng 4 :Nguyn l di chuyn kh d

Kho st li s cn bng ca khung ABC vi N

+ Vct mmen chnh ca h lc 1 bng vi vct mmen chnh

Vy h lc khng c hp lc: v h lc l loi h lc xon vt

H cho khng phi l gin phng v thanh c lin kt ngm

+ Gii h (4), (5), (6) ta nhn c:

b. Tam gic A chuyn ng tnh tin thng theo phng ngang vi

+ Chn A lm cc tnh gia tc im B.

t bnh rng th n bnh rng th , ta c (chn chiu

Gii h (1), (2) ta thu c:

- Chn 2 ta suy rng: . (hnh 3.1) , x

+ Cho h mt di chuyn kh d c bit:

- Gii h (1), (2):

- Gii phng lin kt N

l khi lng ring a.

Thay cc kt qu vo phng trnh Lagrange 2, ta c:

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