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TRNG I HC BCH KHOA TP. H CH MINH
C HC L THUYT
Phn I: TNH HOC
PGS. TS. TRNG Tch Thin
Design
haughtycool
Tp.By
H Ch
Minh, 01/ 2007
B mn C K Thut
PGS. TS. Trng Tch Thin

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.
Chng 1: C S CA TNH HC
1.1 Cc nh ngha ca tnh hc
1.1.1. Ba nh ngha c bn ca tnh hc
Design
By haughtycool
C HC L THUYT 1: Tnh Hc
va ng
Hc
Phn I: Tnh hc

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.
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.
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.
C hai dng cn bng ca vt:
Tnh tin thng u.
Vt ng yn (c thm tnh cht vn tc bng 0).
1.1.1.3. Lc
Design
By haughtycool
va ng
Hc
Phn I: Tnh hc

a). nh ngha:
Lc l mt i lng vector c dng o lng s tng
tc c hc gia cc vt cht vi nhau.
b). Cc c trng ca lc (hnh 1.1):
im t.
Phng v chiu.
ln.
Vi l : ng tc dng ca lc.
K hiu ca lc:
F N ;
Hnh 1.1
1 N 1 kg .m / s 2
Design
By haughtycool
va ng
Hc
Phn I: Tnh hc

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.
K hiu h n lc nh sau:
Fj , j 1, n
1.1.2.2. H lc tng ng
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:
( F j ) ~ (Qk )
j 1, n
k 1, m
Design
By haughtycool
va ng
Hc
Phn I: Tnh hc

1.1.2.3. Hp lc
a). nh ngha:
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.
K hiu ca hp lc nh sau:
(Fj ) ~ R
; j 1, n
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
R Fj
j 1
Design
By haughtycool
va ng
Hc
Phn I: Tnh hc

Rx
Ry
Rz
j1
Fjy
Fj
jx
jy
j 1
n
jz
j 1
Fjx
Hnh 1.2
Hnh chiu ca mt vector ln mt trc l mt gi tr i s
(hnh 1.2).
F jx F j . cos
F jy F j . sin
Design
By haughtycool
va ng
Hc
Phn I: Tnh hc

Vector hp lc R ca h lc ch nm trn mt ng tc
dng duy nht trong khng gian R 3 .
C nhng h lc lun c hp lc v cng c nhng h lc

khng bao gi c hp lc.
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:
( Fj ) ~ f
; j 1, n
1.1.3. Phn loi h lc

1.1.3.1. Cch 1
Ngoi lc:
e
Fj
Design
By haughtycool
va ng
Hc
Phn I: Tnh hc

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.
i
Ni lc: F j
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 P l ngoi lc.
Tri t
Xt h kho st
gm : vt
+ tri t P l ni lc.
Design
By haughtycool
va ng
Hc
Hnh 1.3
Phn I: Tnh hc

1.1.3.2. Cch 2
Lc tp trung
L loi lc ch tc dng ti mt im duy nht trn vt.
Lc phn b
L loi lc tc ng cng lc ln nhiu im trn vt.
Lc phn b theo ng
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)
Design
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va ng
Hc
Phn I: Tnh hc

Hnh 1.4
Vi q: cng ca lc phn b. n v: N/m.
Lc phn b theo mt
L loi lc phn b m qu tch cc im tc dng ln vt to
thnh mt loi mt hnh hc trn vt.
Design
By haughtycool
va ng
Hc
Phn I: Tnh hc

V d: p lc nc tc dng ln thnh . (hnh 1.5)
Hnh 1.5
Vi p : p lc. n v: N/m2.
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/m3.
Design
By haughtycool
va ng
Hc
Phn I: Tnh hc

V d: Trng lc tc dng ln vt l loi lc phn b th

tch (hnh 1.6).
Th tch cc nh.
Trng lc l lc tp
trung: khi nim ng
nhng khng tht!
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)
Design
By haughtycool
va ng
Hc
Phn I: Tnh hc

q(x)
Q
C
O
xA
B
x
C
O
B
xD
xC
xB
b)
a)
Hnh 1.7
x
q
(
x
).
dx
Vi:
x
x q( x). x.dx Q x
C
D x
Design
By haughtycool
va ng
Hc
Phn I: Tnh hc

x A: ta ca im A bt u c lc.
x : ta ca im bt k.
x C : ta ca trng tm C.
x B : ta ca im B kt thc c lc.
x D: ta x ca im D.
Trong :
1.1.4.2. Trng hp ring

a). Lc phn b u (hnh 1.8) .
l
l 2
B
C
q.l
l 2
q const
a)
C
Q q.l
b)
Hnh 1.8
Design
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va ng
Hc
Phn I: Tnh hc

b. Lc phn b tam gic: (hnh 1.9).
qmax
A
1
qmax .l
2
2l 3
1
Q qmax .l
2
2l 3
l
b)
a)
Hnh 1.9
Design
By haughtycool
va ng
Hc
Phn I: Tnh hc

1.2 Cc tin tnh hc

Gm c 6 tin
Tin 1: Tin v hai lc cn bng
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).
a)
b)
Hnh 1.10
Design
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Hc
Phn I: Tnh hc

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)
H qu 1:
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.
F B
FA
FB
Hnh 1.11
Cn ch rng tnh cht nu trn ch ng i vi vt

rn tuyt i.
Design
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va ng
Hc
Phn I: Tnh hc

Tin 3: Tin hnh bnh hnh lc

H hai lc cng t ti
mt im tng ng
vi mt lc t ti im
t chung 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)
F1
O
F2
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).
Design
By haughtycool
va ng
Hc
Phn I: Tnh hc

B
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.
Design
By haughtycool
va ng
Hc
Phn I: Tnh hc

Tin 5: Tin ha rn
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).
a)
b)
F
Hnh 1.14
Design
By haughtycool
va ng
Hc
Phn I: Tnh hc

Ch : (hnh 1.15)
Si dy
Ha rn
Si dy
F
F
Thanh thp
a)
F
Ha rn
Thanh thp
b)
Hnh 1.15
Design
By haughtycool
va ng
Hc
Phn I: Tnh hc

Tin 6: Tin gii phng lin kt

Vt khng t do (tc vt chu lin kt) cn bng c th
c xem l vt t do cn bng nu gii phng cc lin
kt, thay th tc dng ca cc lin kt c gii phng
bng cc phn lc lin kt tng ng (hnh 1.16).
RA
RB
b)
a)
Hnh 1.16
Design
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va ng
Hc
Phn I: Tnh hc

1.3. Moment ca lc
1.3.1 Khi nim
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.
1.3.2 Cc loi moment ca lc:
1.3.2.1. Moment ca lc i vi mt tm
Kho st lc F tc ng ti im A trn vt. ng tc
dng ca lc l ng thng l . Gi s rng lc c xu
hng lm vt rn quay quanh tm O.
Dng h trc vung gc 3 chiu Oxy c gc ti tm O
nh hnh v: (hnh 1.17)
Design
By haughtycool
va ng
Hc
Phn I: Tnh hc

d
O
B F
(l )
y
x
Hnh 1.17
Dng vect r OA
Gi l gc hp bi vect r v lc F: ( r , F )
d l cnh tay n ca lc F i vi tm O.
Design
By haughtycool
va ng
Hc
Phn I: Tnh hc

d O H (l )
d r . s in
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 (F ) r F
( : tch c hng)
Hng quay ca cc ngn

cn li ca bn tay phi.
M O ( F ) m p (O A B )
M O (F ) : RHR
Chiu
Hng ch
M O ( F ) r . F . s in ca ngn ci
bn tay phi
F .d
2 .S ( O A B )
Design
By haughtycool
va ng
Hc
M O (F )
Hnh 1.18
Phn I: Tnh hc

nh l
iu kin cn v lc F khng c kh nng lm vt
rn quay quanh tm O l:
M O (F ) 0
M O (F ) 0
d 0
O ()
Design
By haughtycool
va ng
Hc
Phn I: Tnh hc

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 .
Fxy hc xy (F)
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 Fxy i vi tm O.
(xem hnh 1.19).
Design
By haughtycool
va ng
Hc
Phn I: Tnh hc

H
B
(l )
M Z (F )

M O (F )
Bxy
F
xy
Hnh 1.19
Axy

M (F) M O (Fxy ) 2.S(OA xy Bxy )
Design
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Hc
Phn I: Tnh hc

Quy c
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 Fxy s c xu hng quay
quanh tm O ngc chiu kim ng h v ngc li.
nh l
+ Hnh chiu vung gc ln trc ca vector moment lc F
i vi tm O bng moment ca lc F i vi trc .
hcz [ MO ( F )] Mz (F ), O z !
Design
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va ng
Hc
Phn I: Tnh hc

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.
Mz ( F ) 0
S (OAxy Bxy ) 0
mp(OAB ) / /z
M trc ct mp (OAB) ti O nn:
Trc mp(OAB)
[z ,(l )] ng phng.
Design
By haughtycool
va ng
Hc
z ( )
z ( )
Phn I: Tnh hc

1.3.2.3. Ngu lc
a). nh ngha
Ngu lc l mt h hai lc tha ng thi cc iu kin
sau y:

M ( F , F )
Cng phng, cng

ln, ngc chiu
v khng cng ng
tc dng (hnh 1.20).
K hiu ngu lc
nh sau:
A
F
l
d
l
F
(F, F ') : F ' F

Design
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Hc
Hnh 1.20
Phn I: Tnh hc

b). Tnh cht ca ngu 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:

(F , F ' ) f
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:

(F , F ' )
c). Moment ca ngu lc

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.
Design
By haughtycool
va ng
Hc
Phn I: Tnh hc

o lng kh nng lm quay vt ca ngu lc ngi

ta nh ngha i lng vector moment ca ngu lc nh
sau:

M F, F mp (P)

M F, F MA F

Chiu M F, F : RHR
MA F
M F, F F.d
C hai cch k hiu ngu lc:

Lit k 2 lc ca ngu:
F,F

Biu din ngu bng vector moment ca n: M F,F
Design
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Hc
Phn I: Tnh hc

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.

F1, F1

F2 , F2 M F1, F1 M F2 , F2
nh l 2: T mt ngu cho ta c th tm c v s
ngu khc tng ng vi n.
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.

MO F MO F M F,F , O R3
Design
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Hc
Phn I: Tnh hc

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.

Fj , Fj
n

Q, Q M Q, Q M Fj , Fj ,
j 1, n
j 1
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)
P
Hnh 1.21
Vector cng di vt rn quay cng nhanh.

Design
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Hc
Phn I: Tnh hc

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).
M(F,F) M
Ch rng c rt
nhiu ngu c th
chn biu din
mt moment.
P
Hnh 1.22
Design
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Hc
Phn I: Tnh hc

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).
P
Hnh 1.23
Design
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Hc
Phn I: Tnh hc

1.4. Lin kt. Phn lc lin kt

1.4.1. Khi nim
1.4.1.1. Vt rn t do hon ton
L vt rn c th thc hin c mi dng chuyn ng
trong khng gian m khng c bt k cn tr no.
1.4.1.2. Bc t do ca vt rn
a). nh ngha (Dof)
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).
Design
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Hc
Phn I: Tnh hc

b). Xc nh Dof ca vt rn t do hon ton

Trong khng gian hai chiu: 2D (hnh
1.24)
DofVR 3
: tnh tin thng theo

phng ngang.
: tnh tin thng theo
phng ng.
: quay.
Hnh 1.24
C v th vt tnh tin theo phng xin.

C c th vt va tnh tin va quay ng thi.
Design
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Hc
Phn I: Tnh hc

Trong khng gian 3 chiu: 3D (hnh 1.25)
DofVR 6
Hnh 1.25
Ch rng mt chuyn ng c lp bao gm c hai

chiu chuyn ng theo mt phng.
Design
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Hc
Phn I: Tnh hc

1.4.1.3. Lin kt
a). nh ngha
L nhng i tng c tc dng hn ch kh nng chuyn
ng ca vt rn trong khng gian.
b). Rng buc ca lin kt (Rlk)
L s chuyn c lp b mt do lin kt.
Rlk 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.
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.
Design
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Hc
Phn I: Tnh hc

c). Bc t do ca h nhiu vt rn c lin kt vi nhau

Kho st mt h thng c hc gm c n vt rn c lin
kt vi nhau bi m lin kt.
m
lk
R
Tng cc rng buc ca cc lin kt trong h l: j
j1
c1). Xt mt c h trong khng gian hai chiu (2D)

m
Lc ny Dof h = 3n -
lk
R
j
j1
c2). Trong khng gian ba chiu: Dof h 6n R lkj
j1
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.
Design
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Hc
Phn I: Tnh hc

1.4.1.4. Phn lc lin kt

a). nh ngha
L nhng lc do cc lin kt phn tc dng ln vt (hnh 1.26).
Phn lc lin kt l nhng lc thuc loi lc th ng (b
ng).

PA , PB l cc p lc ln lin kt. RA , RB l cc PLLK.
b). Tnh cht
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 (Rlk)].
lk
V d: R = 2,5 lin kt
PA
c 3 phn lc lin kt.
Design
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Hc
RA
RB
B
Hnh 1.26
PB
Phn I: Tnh hc

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
Rdy = 0,5
C 1 phn lc lin kt: Lc cng dy T A

(hnh 1.27).
TA
dy
V
Hnh 1.27
Design
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Hc
Phn I: Tnh hc

1.4.2.2. Ta nhn. (Ta trn khng ma st)

Rta = 0,5
C 1 phn lc lin kt: t ti v tr lin kt (hnh 1.28a).
tA : tip tuyn chung.
N A : phn lc php tuyn,
NA
tA
thng gc vi mt ta (mt
tip xc) v hng vo vt
kho st.
A
Hnh 1.28-a
Design
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Hc
Phn I: Tnh hc

NA
NB
tB
tA
A
Hnh 1.28-b
tA : tip tuyn ring ca b mt c nh ti im gy A.

tB : tip tuyn ring ca vt ti v tr im B.
N A , N B: phn lc php tuyn.
Design
By haughtycool
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Hc
Phn I: Tnh hc

Ta
Hnh 1.28-c
Design
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Hc
Phn I: Tnh hc

1.4.2.3. Khp bn l c nh (khp bn l ngoi c nh, gi

c nh).
S
Rbl = 2
C 2 phn lc
lin kt.
VA
HA
Chiu phn lc d on
Hnh 1.29 a
Loi lin kt ny c chiu v ln ca cc phn lc lin

kt cha bit (hnh 1.29).
Design
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Hc
Phn I: Tnh hc

Khp bn l c nh

Fx Fy F
Hnh 1.29 b
M hnh lin kt khp bn l trong l thuyt
A
A
RA
Ay
Ax
Ay
Ax
Hnh 1.29 c
Design
By haughtycool
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Hc
Phn I: Tnh hc

1.1.2.4. Khp bn l trt (khp bn l ngoi trt, khp bn

l di ng, gi di ng)
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).
Rblt = 1
C 1 phn lc lin kt.
NA
Chiu v ln phn lc
cha bit.
Hnh 1.30 a
Design
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Hc
Phn I: Tnh hc

Hnh 1.30 b
M hnh lin kt khp bn l di ng trong l thuyt
A
Hnh 1.30 c
Design
By haughtycool
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Hc
Phn I: Tnh hc

1.4.2.5. Khp bn l ni (xem hnh 1.31)
Hnh 1.31-a
Rbln = 2
C 2 phn lc lin kt tc ng ln tng vt tha

tin 4 ca tnh hc.
Design
By haughtycool
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Hc
Phn I: Tnh hc

H 2 H1
V2 V1
V2
H1
H2
V1
Hnh 1.31-b
Khp bn l ni
Hnh 1.31-c
Design
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Hc
Phn I: Tnh hc

1.4.2.6. Ngm phng (ngm hai chiu) (xem hnh 1.32).

Rngm2D = 3
C 3 phn lc
lin kt.
VA
A
HA
MA
Hnh 1.32
Design
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Hc
Phn I: Tnh hc

1.4.2.7. Khp cu (xem hnh 1.33)
Rcu = 3
C 3 phn lc
lin kt.
zA
xA
yA
A
x
Hnh 1.33
Design
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Hc
Phn I: Tnh hc

1.4.2.8. Ngm khng gian (ngm 3 chiu ) (xem hnh 1.34)

Rngm3D = 6
C 6 phn lc
lin kt.
Ngm
zA
A
A
M
y A Mx
xA
yA
A
Mz
Hnh 1.34
Design
By haughtycool
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Hc
Phn I: Tnh hc

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.
RB
RD
V
D
Design
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Hc
Hnh 1.35 a
Phn I: Tnh hc

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.
A: khp cu; B,D: bn l; C: ta nhn.
RB AB
AB, CD : 2 lin kt thanh
RD CD
Design
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Hc
Phn I: Tnh hc

Lin kt thanh
Lin kt thanh
Hnh 1.35 b
Design
By haughtycool
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Hc
Phn I: Tnh hc

Chng 2: THU GN H LC V IU KIN CN BNG

CA H LC
2.1 Hai thnh phn c bn ca h lc
Kho st h nhiu lc Fj
; j 1, n . Mi h nhiu lc
lun c hai thnh phn c bn c nh ngha nh sau:
2.1.1. Vector chnh ca h lc

2.1.1.1. nh ngha
Vector chnh ca mt h nhiu lc l vector tng ca tt c
cc vector lc trong h.
N c k hiu v xc nh nh sau:
Design
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Hc
Phn I: Tnh hc

n
Fjx
Rx
j 1
n
n
R Fj Ry Fjy
j 1
j 1
Fjz
Rz
j 1
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
Design
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Hc
Phn I: Tnh hc

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.
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:
Design
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Hc
Phn I: Tnh hc

MO MO
j1
M Ox M x
j1
Fj M Oy M y
j1
M Oz M z
j1
Fj
Fj
Fj
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.
Design
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Hc
Phn I: Tnh hc

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).
hcR ( M O ) const , O R3
M O1
hcR ( MO2 )
R
O2
O1
hcR ( MO1 ) hcR ( M O2 )

a)
Hnh 2.1
Design
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Hc
b)
MO2
Phn I: Tnh hc

2.2. Cc nh l c bn ca tnh hc
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
Design
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Hc
Phn I: 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),

~ F B ; MB F A , B R3
Design
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Hc
Phn I: Tnh hc

l
A
B

MB F
Hnh 2.3
Design
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Hc
Phn I: Tnh hc

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.
Fj

~ ( R, M O ) , O R3
j 1,n
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:
Design
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Hc
Phn I: Tnh hc

Fj
RF RQ
Qk F Q
M O M O
k 1, m
~
j 1, n
2.3. iu kin cn bng ca h lc

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.
Fj

R, M O
~f ,
O R3
j 1, n
Design
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Hc
Phn I: Tnh hc

n
Fjx 0
1
Rx
j 1
n
n
R Fj 0 Ry Fjy 0
2
j 1
j 1
Rz Fjz 0
3
j 1
M Ox M x Fj 0
j 1
n
n

M O M O Fj 0 M Oy M y Fj 0
j 1
j 1
M z Fj 0
M Oz
j 1
Design
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Hc
Phn I: Tnh hc

2.3.2 Trng hp ring

2.3.2.1. H lc phng trong mt phng ta Oxy
Xt trng hp n lc Fj cng nm trong mt mt phng.
Dng h trc ta Oxy nm trong mt phng ca h lc.
(hnh 2.4).
y
(1), (2), (6).
Ch cn tha (1), (2), (6)
i vi h lc phng.
F2
F1
d1
O
Fn
x
Hnh 2.4
Design
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Hc
Phn I: Tnh hc

n
6 Mz
j 1
Fj M O F j 0
j 1
M O Fj Fj d j
M O Fj 0 : Nu lc Fj quay quanh O ngc chiu

kim ng h v ngc li.
2.3.2.2. H lc song song vi trc Y.
y
(xem hnh 2.5)
(2), (4), (6)
F1
Fn
F2
z
O
Hnh 2.5
Design
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Hc
Phn I: Tnh hc

H lc song song y v ng phng trong Oxy:

(2), (6).
H lc ng trc y. (hnh 3.3)

(2)
Hnh 2.6
Design
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Hc
Phn I: Tnh hc

2.3.3. H lc ng quy. (hnh 3.4)
F1
(1), (2), (3)
H lc ng
phng trong
phng Oxy:
F2
quy
mt
(1), (2)
Fn
z
Hnh 2.7
Design
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Hc
Phn I: Tnh hc

2.4. Cc dng chun (ti gin) ca h lc

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: R 0, M O 0 : h lc khng gian

cn bng.
2.4.2. Dng chun 2: R 0, M O 0 : h lc khng gian

tng ng vi mt
ngu lc3 v s khng bao gi c hp
lc, lc ny M O const , O R
2.4.3. Dng chun 3: R 0, R .M O 0 : h lc khng gian

tng ng vi 1 lc, tc h lc khng gian c hp lc.
Design
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Phn I: Tnh hc

Trong trng hp (2.4.3) h lc khng gian c hp lc,

ta c nh l sau:
nh l Varinhng:
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.
n

mO ( R ) mO ( Fk )
k 1
2.4.3.1. Khi M O 0 : hp lc ca h lc R R v t ti O.
(hnh 4.1)
O
Design
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Hc

R R
Hnh 2.8
Phn I: Tnh hc


2.4.3.2. Khi R M O : hp lc ca h lc R R v t ti O*.
(hnh 4.2)
MO
R M
O
OO *
2
R

MO
d OO*
R

R R
O
d
O*
Hnh 2.9
2.4.4. Dng chun 4: H lc xon vt ng

Khi R .M O 0 : h lc ny khng bao gi c hp lc.
Design
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Phn I: Tnh hc

2.5. Ma st
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
Fmst
P
Xy ra khi gia hai vt tip xc c xu hng trt nhng
cha trt vi nhau.
a.) Ma st trt tnh
Kho st vt rn (A) ta trn mt phng ngang c nh.

Vt rn s cn bng di tc ng ca h hai lc: P, N ~ 0
Design
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Hc
Phn I: Tnh hc

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:
P , N , Q , F ~ 0 Q , F ~ 0
mst
mst
Tng dn ln ca Q, khi Q c gi tr cha ln, th

vt vn cn bng. Do vy lc ma st trt tnh Fmst c
ln tng kp theo Q.
Khi ln Q t n mt gi tr gii hn Q = Qgh th vt
chm trt!
Do : Fmst Qgh Fmsgh f t . N
(nh lut Coulomb)
Design
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Hc
Phn I: Tnh hc

Vi ft l h s ma st trt tnh, khng c n v v c

xc nh bng th nghim.
Khi lc ko Q > Qgh : vt trt.
iu kin vt khng trt: Fmst Fmsgh f t . N
b.) Ma st trt ng.
Khi lc ko Q > Qgh 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:
Fms f . N
Vi f l h s ma st trt ng: f t f (khi ko vt s
nh hn lc vt tnh).
Design
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Hc
Phn I: Tnh hc

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)
N
O
P
Hnh 2.10
Design
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Hc
Phn I: Tnh hc

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 :

P, N , Q, Fmst , M msl ~ 0
Vi Mmsl : moment ma
st cn ln.
M msl
Fmst
Khi tng dn Q, khi Q

cha ln, vt vn cn
bng.
Design
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Hc
Hnh 2.11
Phn I: Tnh hc

Do : Mmsl = R.Q (tng theo Q!)

Khi Q = Q*gh : vt chm ln.
Lc ny Mmsl = 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.
ft
3. Ma st dy. (xem hnh 5.3)
a
Q
: gc tip xc (gc m); rad
( ft .a)
Euler : Q P.e
P
e( ft .a)
Design
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Hc
Hnh 2.12
Phn I: Tnh hc

V e( ft .a) 1 nn Q < P
V d:
vi a 20.2p ; f t 0,5
Th ta c:
ft .a
e 20 p 1,94.1027
2.6. Trng tm ca vt rn
(T c)
Design
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Phn I: Tnh hc

2.7. Trnh t gii cc bi ton tnh hc

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.
Design
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Phn I: Tnh hc

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.
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.
Design
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Hc
Phn I: Tnh 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.
Design By haughtycool

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).
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.
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.

+ 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).
y
dy khng gin
iu kin rng buc hnh hc:

2
M ( x, y )
x y l 0
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)

F F (t , r , v )
Hnh 1.1
O
Hnh 1.2

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. 1. 2. Cc tin ng lc hc
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)

Fk
mk .ak Fk ak
mk
Do mk 0 ak Fk ;
Fk
ak
mk
ak
Fk
Hnh 1.3
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).
V1
V2
Hnh 1.4

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.
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).
i 1 2
n Fn
ak ak ak ak ... ak
i 1
1 F1
i Fi
Vi: ak
; ak
;
m
m
k
k
i
ak l gia tc ca cht im K khi
lc Fi tc ng.
F1
F3
aK
F2
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).

s s(t ) K ( xK , yK, zK ), mk
O*
n
ak
rk
ak
Fk
t
(C )
x
Hnh 1.6
aK rK . Do dng vector ca phng trnh vi phn cht

im s l:
mK .rK FK
, 1

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:
xk Fkx
mk .
yk Fky
mk .
m . F
k k k
3. Dng ta cc.
Phn
n
ak rk ak ak
mk .
s Fk
mk .ak
2
Chiu (1) ln hai phng t, n:
s
n
n
mk .ak
mk . Fk

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.
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
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.

Phng trnh vi phn ca c h nhiu 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).
e
Fk
H phng trnh vi phn

di dng vector cho
ton c h nh sau:
e i
m1.a1 F1 F1
e i

m2 .a2 F2 F2
e i
mn .an Fn Fn
i
Fk
K
Hnh 1.7

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.
Design
C HC L THUYT 2: ng Lc
Hc By haughtycool
Chng hai: ng lc hc c h

2.1.2. Khi lng, khi tm ca c h (Hnh 2.1).
d K
rk
O
x
Gi:
rk
K , mk
rC
Hnh 2.1
rkx xk
K ( xk , yk , k )
rky yk
OK (rkx , rky , rk )
r
k k
Design
Hc By haughtycool

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:
n
M mk 0, kg
k 1
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.
Design
Hc By haughtycool

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:
n
mk k .dV M k .dV
k 1
.dV
k
k : khi lng ring ca mi trng.

dV : th tch vi phn.
Nu c h ca chng ta l mt mi trng lin tc v ng
cht :
k const ;
Design
Hc By haughtycool

1
M .dV V
2
V
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:
mk .rk
n
rC
k 1
mk .xk
rCx xC k 1
M
mk . yk
k 1
r
Cy
C
M
mk. k
rC C k 1
M
Design
Hc By haughtycool

mk .vk
n

vC rC
k 1
mk .xk
vCx xC k 1
M
mk . y k
vCy yC k 1
M
mk . k
vC C k 1
M
Design
Hc By haughtycool

mk .ak
n

aC vC rC
k 1
mk .
xk
aCx
xC k 1
M
mk .
yk
aCy
yC k 1
M
mk . k
aC C k 1
M
Design
Hc By haughtycool

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.
n
J 0 I 0 mk .(OK )2 mk .rk2 0 , kg.m2

k 1
M:
k 1
rk2 xk2 yk2 k2

n
Nn:
2
2
2
J 0 mk . xk yk k
k 1
Design
Hc By haughtycool

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:
n
J I mk .d k2 0 , kg.m2
k 1
M:
2
kz
2
k
2
k
2
k
x y
2
2
J mk xk yk
k 1
2
2
J x mk yk k
k 1
Tng t:
n
J m 2 x 2
y
k
k
k
k 1
Design
Hc By haughtycool

Quan h gia moment qun tnh ca h i vi ba trc ta

v moment qun tnh ca h i vi gc ta O:
n
J x J y J 2 mk xk2 yk2 k2 2 J O
k 1
c) Bn knh qun tnh ca h

i vi tm O:
JO
J O M .O2
M
i vi trc ta
x, y ,
J x, y ,
M
J x , y , M .
2
x , y ,
Design
Hc By haughtycool

d) Moment qun tnh ly tm ca h

i vi h trc xy:
n
J xy I xy mk .xk . yk
0 , kg.m
k 1
i vi h trc y :
n
J y I y mk . yk . k
0 , kg.m2
k 1
i vi h trc x:
n
J x I x mk . k . xk
0 , kg.m2
k 1
Design
Hc By haughtycool

J xy J yx ; J y J y ; J x J x
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.
Nu Jx = Jy = 0 th trc l trc qun tnh chnh ca h.
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.
2. nh l
a) nh l i trc.
nh l di trc song song (Hnh 2.2)
Design
Hc By haughtycool

J J C M .d
C //
J J C
x
Hnh 2.2
nh l xoay trc:
J J x .cos2 J y .cos2 J .cos2 2J xy .cos.cos

2J y .cos.cos 2J x .cos .cos
b) nh l v trc qun tnh chnh ca h (tham kho ti liu)
Design
Hc By haughtycool

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).
l/2
Hnh 2.3
J A J A J B J B
J C J C
1
M .l 2
3
Vi M l khi lng
ton h.
1
Ml 2
12
Design
Hc By haughtycool

2. Vnh trn, ng cht (Hnh 2.4).
J C J C MR 2
J xC J yC
M
yC
1
MR 2
2
xC
Hnh 2.4
3. a trn, c, ng cht (Hnh 2.5).
J C J C
J xC J yC
1
MR 2
2
1
MR 2
4
M
yC
C
R
xC
Hnh 2.5
Design
Hc By haughtycool

4. Tm hnh ch nht, c, ng cht, dy u (Hnh 2.6).
ly
O
lx
Hnh 2.6
1 2
J x Ml y
3
1 2
J y Ml x
3
1
2
2
J J O M lx l y
3
Design
Hc By haughtycool

5. ng tr trn, ng cht, mng, khng y (Hnh 2.7).
C
2
J C MR J C
h
2
C
J xC J yC
1 2 h2
M R
2
6
Vi M l khi lng ton h.
yC h
xC
Hnh 2.7
Design
Hc By haughtycool

6. Hnh tr trn, c, ng cht (Hnh 2.8).
J C
1
MR 2 J C
2
h
2
J xC J yC
2
1 2 h
M R
4
3
C
R
yC
xC
Hnh 2.8
Design
Hc By haughtycool

2.2. Cc nh l tng qut ca ng lc hc c h.

2.2.1. nh l chuyn ng khi tm h
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
M .aC F je
j 1
aC l gia tc khi tm C ca h
e
F j l ngoi lc th j tc ng ln h.
m l s ngoi lc tc ng ln h.
Design
Hc By haughtycool

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.
Khi tm C ca h
e
F
j 0 aC 0 vC const chuyn ng thng
j 1
u.
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):
qk mk .vk , ( N
q
vk
n k
n
.s)
ng lng ca h: Q qk mk .vk
k 1
K,mk
qk
Hnh 2.9
k 1
Design
Hc By haughtycool
vk

b) Cng thc tnh Q.

Dng nh ngha khi tm:
mk .vk
m
vC
Q mk .vk M .vC
k 1
k 1
2. Xung lng ca lc
t

S Fk S k Fk .dt
, N .s
3. nh l bin thin ng lng ca h

m
a) Dng 1:
dQ
F je
dt
j 1
Design
Hc By haughtycool

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.
m
m
e
Q1 Q0 S Fj S je
j 1
j 1
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.
Design
Hc By haughtycool

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).
K, mk
rk
qk
vk
Hnh 2.9
ng lng cht im K:
qk mk .vk
Moment ca ng lng cht im K i vi tm O:
MO qk rk qk rk mk .vk
Design
Hc By haughtycool

Moment ng lng ca cht im K i vi mt trc:
xy
+ i vi trc : M qk M O qk
xy
Vi: qk hc xy qk
+ i vi trc x:
M x qk M O qk
+ i vi trc y:
M y qk M O qk
Gi
M Ox

M O qk M Ox , M Oy , M O M Oy
M
O
M x qk
M y qk
M qk
Design
Hc By haughtycool

b) Moment ng lng ca c h
Moment ng lng ca c h i vi tm O:
n

LO M O qk
k 1
Moment ng lng ca c h i vi mt trc.
+ i vi trc : M qk L
k 1
+ i vi trc x: M x qk Lx LO Lx , Ly , L
k 1
+ i vi trc y: M y qk Ly
k 1
Design
Hc By haughtycool

c) Th d:
Kho st vt rn quay quanh trc c nh (Hnh 2.10).
Lx J x . ; Ly J y .
L J .
Vi hcz
Nu trc l trc qun tnh chnh

ca vt th :
J x J y 0 Lx Ly 0
Vy: LO 0, 0, J . , Hay LO // O
O
Hnh 2.10
Design
Hc By haughtycool

2. nh l bin thin moment ng lng ca h i vi 1
tm
m
d LO
M O Fje
dt
j 1
nh l ny c dng gii bi ton ng lc hc trong

trng hp c h c thc hin chuyn ng quay.
2.4. nh l bin thin ng nng ca h
1. ng nng ca c h
a) nh ngha.
1
2
ng nng ca cht im K:
mk .vk 0 , N .m J
2
n
1
2
T mk .vk 0 , N .m
ng nng c h :
k 1 2
Design
Hc By haughtycool

b) Cng thc tnh ng nng cho mt vi dng chuyn ng

thng dng ca c h.
C h chuyn ng tnh tin:
1
2
T .M .vc
2
M: khi lng ca ton h.
vc : vn tc khi tm C ca h.
* C h quay quanh trc c nh:
1
T .J . 2
2
J : moment qun tnh ca c h i vi trc .
: vn tc gc i vi trc quay.
Design
Hc By haughtycool

C h l mt vt rn phng chuyn ng song phng trong

mt phng cha vt (hnh 2.11).
1
1
2
T .M .vc .Jc . 2
2
2
1
2
T J P .
P
2
P
M
vc mp P
Hnh 2.11
2. Cng v cng sut
rk
a) nh ngha.
Cng phn t (cng vi phn) ca
ti l cng do loi ti y to ra
trn on ng vi phn.
Fk
drk dxk , dyk , d k
Hnh 2.12
Design
Hc By haughtycool

nh ngha cng phn t ca lc nh sau (hnh 2.12):
Xt lc Fk tc ng ti K. Trong khong thi gian v cng
b dt, im K thc hin 1 vector dch chuyn vi phn drk .

dA Fk dAk Fk .drk Fkx .dxk Fk y .dyk Fk .d k
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 M dAM M .d
Design
Hc By haughtycool

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.
Cng sut l cng do lc hoc moment thc hin trong mt
n v thi gian:
+ Cng sut ca lc:
dAk Fk .drk
P Fk Pk
Fk .vk Fkx .xk Fk y . y k Fk . k

dt
dt
+ Cng sut ca moment M :
P M PM
dA M
dt
M.d
dt
N .m
M. , n v Watt: W
s
Design
Hc By haughtycool

Cng hu hn.
+ Ca lc:
A Fk Ak
dA
KO
+ Ca moment:
Nu: M

Fk .drk
KO
A M AM M .d
0
const
th
AM M . , : rad
b) Cng ca cc loi ti ph bin.

Cng ca trng lc.
(Hnh 2.13)
A P P 0 M .g .hC
Vi. hC 0 : lng
thay i cao ca C.
O
x
C0 x0 , y0 ,0
C x, y ,
P
y
Hnh 2.13
Design
Hc By haughtycool

A P 0 khi C h thp cao.

A P 0 khi C tng cao.

A P 0 hC 0
Cng ca lc l xo. (Hnh 2.14)
x
Hnh 2.14
k 2
As x0 x12
2
Design
Hc By haughtycool

* Cng ca lc ma st trt
Cng ca lc ma st trt tnh. (Hnh 2.15)

A Fmst Fmst .s 0
Fmst
P
Hnh 2.15
Cng ca lc ma st trt ng: (Hnh 2.16)

A Fms Fms .s Fms .s
f .N .s 0
Fms
P
Hnh 2.16
Design
Hc By haughtycool

3. nh l
a) Dng o hm:
n
dT
P Fk
dt k 1
b) Dng hu hn:
T1 T0 A Fk
n
k 1
e
A Fk A Fj
n
C h khng bin hnh :
k 1
e
T1 T0 A F j
h
Design
Hc By haughtycool

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).
Lc ch ng l nhng loi lc khng ph thuc vo cc lin
kt trong h.
a
A Fk A F
cng ca cc loi ti bng

: tng
tng cng ca cc lc ch ng
(hot ng).
h
T1 T0
a
A F
Design
Hc By haughtycool

2.3. NGUYN L D ALEMBERT

2.3.1. Nguyn l
1. Cho cht im
Kho st cht im
K c khi lng mk thuc c h v chu
tc ng ca lc Fk . Gi gia tc ca cht im K l ak .
Theo nh lut 2 Newton ta c :
mk .ak Fk ak Fk
mk .ak
V mk 0
C n v: N.
t mt lc khng tht ti K c nh ngha v k hiu nh

sau:
qt
Fk mk .ak gi l lc qun tnh ca cht im K. (hnh 3.1)
Design
Hc By haughtycool
Chng 3 : Nguyn l D Alembert

qt
Fk Fk
qt
qt
Fk Fk 0 (Fk , Fk ) ~ 0
qt
Fk
K , mk
Fk
Hnh 3.1
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 :
qt
( Fk , Fk ) ~ 0, k 1, n.
Design
Hc By haughtycool

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:
n
n
' '
qt
R* Fk Fk R Rqt 0
k 1
k 1
+ Moment chnh ca h lc cn bng i vi tm O: (Hnh 3.2)
qt
R
M
n
O
* n
qt
O
M 0 M 0 ( Fk ) M 0 ( Fk )
k 1
k 1
qt
M 0 M 0 0
MO
Rqt
Hnh 3.2
Design
Hc By haughtycool

Pht biu nguyn l DAlembert cho h.
Nu mi thi im kho st, ngoi h n cc lc tht Fk tc

ng ln c h, ta cn tc ng b sung ln c h y hai thnh
phn c bn ca lc qun tnh Rqt v MOqt 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.
n
n
'
qt
R qt Fk (mk .ak ) : Vector chnh ca h lc qun tnh.
qt k 1n k1qt
M 0 M 0 ( Fk ) : Moment chnh ca h lc qun tnh i
O.
' vi tm
2.3.2. Xc nh R qt , M 0qt (vector chnh ca h lc qun tnh
k 1
v moment chnh ca h lc qun tnh i vi tm O).
'
1. Xc nh vector chnh ca h lc qun tnh R qt .
Design
Hc By haughtycool

Vi mi dng chuyn ng ca c h ta u c:
n
n
'
Rqt (mk .ak ) (mk .ak ) M.aC

k 1
qt
2. Xc nh M O .
k 1
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:
qt
qt
O C : MO MC 0
b) C h l vt rn quay quanh trc c nh vi v .
Chn tm thu gn O l 1 im ty trn trc quay z ca vt rn:

Design
Hc By haughtycool

Dng h trc Oxy vi O l trc quay c nh ca vt. Ta c:
qt
2
2
MO ( J yz Jzx )i ( J xz J zy ) j J z k
Nu l trc qun tnh chnh ca vt th:
qt
qt
O : M 0 J . M0 V J 0
J : Moment qun tnh ca vt i vi trc
(hnh 3.3).
Hnh 3.3
c) C h l mt vt
rn phng chuyn
ng song phng
trong mt phng
cha vt (hnh 3.4).
Chn O C : M
M 0qt
qt
0
Jc.
M Cqt
aC
P
Hnh 3.4
Design
Hc By haughtycool

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.
Th d 1: Con lc trn hnh 4.1.
Chuyn ng ca im M b rng
buc bi lin kt dy.
x2 y2 l 2 0, l : chiu di dy
M x, y
Hnh 4.1
Design
Hc By haughtycool
Chng 4 :Nguyn l di chuyn kh d

Th d 2: C cu tay quay con trt trn hnh 4.2.
y
l2 l1
l1
yB 0
l2 l1 xB l2 l1
x
Hnh 4.2
B xB , yB
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
Design
Hc By haughtycool

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 trong h l:
f (t, xk , yk , zk , xk , yk , zk ) 0, k 1, n, 1, s
3n
3n
6n 1
Vi
K(xk , yk , zk ), k 1, n
v s l s phng trnh lin kt trong h.
Design
Hc By haughtycool

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.
O
Lin kt gi (hnh 4.3)
2
y
Thanh cng
M x, y
f1 (x, y) x y l 0
x
Hnh 4.3
Design
Hc By haughtycool

Lin kt khng gi (hnh 4. 4)
f2 (x, y) x2 y2 l 2 0
y
dy
M x, y
x
C2. Lin kt dng v khng dng.
Hnh 4.4
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.
Lin kt dng:
f ( xk , yk , zk , xk , yk , zk ) 0, k 1, n, 1, s
3n
3n
Design
Hc By haughtycool

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 holonom:
f (t, xk , yk , zk ) 0, k 1, n, 1, s
C4. Lin kt l tng

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:
f (t, xk , yk , zk ) 0, k 1, n 1, s
(1)
Design
Hc By haughtycool

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 rk .
rk xk , yk , k : di chuyn kh d.
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.
drk dxk , dyk , d k : di chuyn tht.
Design
Hc By haughtycool

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:
k 1, n
f t , xk , yk , k 0 ,
1, s
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 :
k 1, n
f t , xk xk , yk yk , k k 0 ,
1, s
Design
Hc By haughtycool

Bin thin o ca cc phng trnh lin kt s c xc

*
nh nh sau :
f f f 0
f
f
. xk
. yk
. k 0 ,
M f
yk
k
k 1 xk
1, s
n
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.
Vector di chuyn kh d ca cht im K:
rk xk , yk , k
Design
Hc By haughtycool

Hay mi cht im K s thc hin ba thnh phn di chuyn kh

d xk , yk , k . Do ton h s thc hin 3.n thnh phn
di chuyn kh d.
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.
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.
Design
Hc By haughtycool

K hiu cc ta suy rng ca h: q1, q2, , qm.

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.
m
xk
. qi
xk
i 1 qi
xk xk q1 , q2 , , qm
m
yk
. qi
yk yk q1 , q2 , , qm yk
i 1 qi
m
k k q1 , q2 , , qm
k
. qi
k
i 1 qi
Design
Hc By haughtycool

V d: (Hnh 4.5)
Dofh m 3n - Rlk
3.2 - 4 = 2
C 2 ta suy rng.
Chn q1 1 ; q2 2
A xA , y A
x A l1.cos 1 ; y A l1.sin 1
xB x A l2 .cos 2
l .cos l .cos
1
1
2
2
yB y A l2 .sin 2
l1.sin 1 l2 .sin 2
2
B xB , yB
Hnh 4.5
Design
Hc By haughtycool

Ch rng c nhiu cch chn cc ta suy rng trong

mt h (th d c th chn xA v xB hay yA v yB, .)
xA v yA c quan h vi nhau nn khng th chn lm ta
suy rng c. Phng trnh quan h:
2
A
2
A
2
1
x y 0
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 Fk. Khi h thc hin mt di chuyn
kh d th cc lc Fk s c tng cng kh d nh sau:
Design
Hc By haughtycool

n
n
A Fk Ak Fk . rk
n
k 1
k 1
k 1
Fkx . xk Fky . yk Fk . k ,
k 1
n
xk
yk
k
Ak Fkx .
Fky .
Fk .
qi
qi
qi
qi
k 1
i 1
k 1
n
xk
yk
k
t: Qi Fkx .
Fky .
Fk .
qi
qi
qi
k 1
l lc suy rng th i ca cc lc Fk tc ng ln c h
tng ng vi ta suy rng th i (qi) chn .
Design
Hc By haughtycool

Lc ny tng cng kh d ca cc lc Fk c tnh theo

cng thc nh sau :
n
k 1
Qi . qi
i 1
xc nh lc suy rng th i (Qi) tng ng vi ta

suy rng qi 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: q1 = 0;
q2 = 0; ; qi-1 = 0; qi 0; qi+1 = 0; ; qm = 0.
n
Ak Qi . qi Q1. q1 Q2. q2 ... Qi . qi ... Qm. qm Qi . qi

k 1
i 1
Qi
k 1
qi
Design
Hc By haughtycool

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.
n
a
a
a
a
F
.
F
.
F
k kx k ky k k . k 0
k 1
k 1
a
Fk Fkxa , Fkya , Fka
Vi
ln h.
l lc hot ng th k tc ng
(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).
Design
Hc By haughtycool

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 qi, chn tnh ti v tr ang xt
phi ng lot b trit tiu.
Qia 0 , i 1, m
4.3. Phng trnh Lagrange 2
Xt mt c h c m bc t do, vi m ta suy rng chn
l qi ,i 1,. m
Lc suy rng th i tng ng l Qi. ng nng ca ton h l
mt hm nhiu bin c dng nh sau:
h
T T (t, qi , qi ) ; ( qi : vn tc suy rng th i)

Design
Hc By haughtycool

C h s chuyn ng tun theo phng trnh Lagrange

2:
1 T
T
( )
Qi , i 1, m
dt qi qi
Design
Hc By haughtycool
BK
TP.HCM
TRNG I HC BCH KHOA THNH PH H CH MINH
Bi Tp C L Thuyt 1
GVHD: PGS. TS. Trng Tch Thin
PHN I : TNH HC VT RN
Bi 1/
Cho 1 c h nh hnh ve (hnh 1).
Cho bit: , P1, P2.
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.
P2
P1
Hnh 1
Hng dn
1. H cho l h gin phng v h tha mn tt c 4 iu kin sau
y:
Tt c cc vt rn trong h ng phng v ti tc ng cng
nm trong 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.
Hai u cui ca mi thanh thng c hai khp bn l.
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.
S 2 S1
S1
Thanh chu nn
ng lc
S 4 S 3
S3
Thanh chu ko
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.
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:
k=t1
Vi k: l s khp bn l ni ti nt
Nt gin
kho st, t: l s thanh ni vo nt

. A, B, C: l cc 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:
Ta c 2 khp bn l ngoi c nh v 4 khp bn l ni.
4
lk
dofhe 3 n R j
j1
n 4
dofhe 3 4 12 0
4
ta co
lk
12
j
j1
L thuyt:
+ Nu dofh 0 th h lun cn bng vi mi loi ti tc ng.
+ Nu dofh > 0 th h khng lun cn bng vi mi loi ti.
Vy h lun cn bng vi mi loi ti tc ng v dofh = 0
b. Xc nh cc phn lc ca cc lin kt ngoi.

Kho st s cn bng ca ton h (hnh 2).
T do ho h (b ht cc lin kt ngoi):
YD = 0
XD
YD
XD
P2
C
P1
YA
XA
Hnh 2
Vit cc phng trnh cn bng cho h lc:

F X P X 0
A
1
D
jx
Fjy YA P2 0
MA Fj P2 . P1. XD . 0
Gii h (1), (2), (3) ta nhn c:
1
2
3
(2) YA = P2 > 0
(3) XD = (P1 + P2) < 0
(1) XA = P1 XD = P1 [(P1 + P2)] = P2 > 0
Do XD < 0 nn chiu ng ca XD 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.
Ngha l tch ring tng nt trong h gin kho st s cn

bng ca nt .
ng lc tc dng ln thanh CD thanh (hnh 3)
XD
SC, = XD
S C ,
Hnh 3a
SC, = (P1 + P2)
Kho st s cn
bng ca nt
C.(hnh 3b)
y
P2
S,C
P1
450
S,C
S,C
Hnh 3b
2
0
Fjx P1 S,C S,C
2
Ta c:
F P S S 2 0
2
,C
,C
jy
2
S,C (P1 S,C ) 2 P1 (P1 P2 ) 2 2P2
2
2
) P2 ( 2P2 )
0
S,C (P2 S,C
2
2
ng lc tc dng ln & :
S A ,
SC ,
S A , SC, S,C 2.P2

Kho st s cn bng nt B (hnh 4).
y
A
S,B
x
Hnh 4
Ta c:
Fjx S,B 0 S,B 0

Bi 2.
Cho c h nh hnh v (hnh 1). Cho: q, , .
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?
M=q2
Hnh 1
BI SA
2
a. dofhe 3 n Rlkj
j1
3.1 2 1 0
Vy h lun cn vi mi loi ti tc ng v dofh 0.
b. Xc nh cc pllk ti A v C.
Kho st s cn bng ca thanh ABC.
T do ha thanh ABC (hnh 2):
XA
YA
A
M=q
NC
XA
2
B
Hnh 2
x
NC
Q q.
d AC.cos 2 cos
Vit cc phng trnh cn bng cho h lc tc ng:
Fjx X A NC .sin 0
Fjy YA Q NC .cos 0
MA Fj Q 2 M NC d 0
1
2
3
Gii h phng trnh (1), (2), (3) ta thu c cc kt qu:
q
0
4cos
q
1
tg 0
A
4
5
2
q 0

A
4
3 NC
Cc kt qu NC < 0 v XA < 0
chng t cc chiu ng ca
2 phn lc ny ngc vi
cc chiu chn cho chng.
Bi 3
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. Tm iu 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 M nh sau:
c.1 M = q2
c.2 M = 2q2
P q
2
q
Hnh 1
BI SA
3
a.
d o fh e 3 .n
lk
R
j
j1
n 2
3
lk
R
j 3 0,5 2 5,5
j1
dofhe 0,5 0
Vy h khng lun cn bng vi mi loi ti v dofh > 0.

b. iu kin h cn bng l thanh DE phi cn bng hay thanh
DE phi ta vo C. Ngha l NC > 0.
Kho st s cn bng ca thanh DE (Hnh 2).
y
K
NC
3
EK
2
3
ME F P. NC .CE M 0
2
EH
Vi : CE
sin sin
3 2
q M
NC 2
CE
M
d
E
Hnh 2
YE
XE
iu kin h cn bng l thanh DE phi cn bng. Ngha l

lin kt ta ti C phi tn ti hay NC > 0 hay:
3 2
3 2
q M 0 q M
2
2
(1)
c. Xc nh cc phn lc lin kt ti A v C ng vi 2 trng hp ca

moment M:
c.1 M = q2: iu kin (1) tho NC >0 H cn bng.
Thay M =
q2
vo cng thc tnh NC, ta c:
Kho st s cn bng ca khung ABC (Hnh 3).

1
NC q.sin
2
Q q
YA
XA
NCx NCx NC .sin
NC
NCy NCy NC .cos
MA
XA
Hnh 3
Fjx X A Q NC sin 0
Fjy YA NC cos 0
MA Fj MA Q. 2 (NC sin ). (NC cos ). 0
1
X A NC sin Q q sin 2 q 0
2
1
YA NC cos q sin 2 0
4
2
q 2
1
q
1
2
MA
(1 sin2 sin )
( sin2 cos 2 ) 0
2
2
2 2
V XA < 0 nn chiu ng ca XA ngc chiu chn.
c.2
M = 2q2 iu kin (1) khng tha nn h khng cn

bng NC = 0 !!!Design By haughtycool
Kho st li s cn bng ca khung ABC vi NC = NC = 0, ta c:

Fjx X A Q 0
Fjy YA 0
MA Fj MA Q. 2 0
X A q
Y 0
A
2
M q
A
2
V XA < 0 nn chiu ng ca XA ngc chiu chn.
Bi 4
OA
Cho
(hnh 1)
0
30 ; M
a. H cho c lun cn bng vi mi loi ti hay khng? Ti
sao?
b. Tm iu 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>
O
Hnh 1
BI SA
a. Tnh bc t do:
dofhe 3n Rlk 3 3 8 1
n 3
Vi :
lk
R
2222 8
Vy h khng lun cn bng vi mi loi ti tc ng v dofh > 0.

b. Dng phng php tch vt.
Thanh AB l 1 lin kt thanh trong h.
Kho st s cn bng ca thanh OA (hnh 2).
* T do ho thanh OA.
A
* Thit lp phng trnh

cn bng cho thanh OA.
R,
d
YO
d cos
XO
x
Hnh 2
Ta co :
Fx XO R, cos 0
Fy YO R, sin 0
MA F M XO 0 hay MO Fj M R, d 0
XO 0
R,
0
cos
YO tan 0
Kho st s cn bng ca thanh AB (hnh 3).

T do ho thanh AB.
R,
R,
Fx R, R, 0
R, R,
M
R,
0
cos
x
Hnh 3
Kho st s cn bng ca con trt B.(hnh 4)

T do ho con trt B:
Ta co :
Fx P R, cos 0
Fy NB R, sin 0
MB F MB 0
R,
MB 0
NB tan 0
P 0
MB
B
NB
Hnh 4
c. Xc nh:
Phn lc ca khp trt B tc dng ln con trt B l:
MB 0
M
NB tan
Phn lc ca thanh AB tc dng ln con trt B l:

R, R,
R,
cos
Phn lc ca thanh AB tc dng ln thanh OA l:
R, R,
M
cos
Phn lc ca khp bn l c nh O tc dng ln thanh OA l:

M
XO
YO M tan
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. Tm im t cho hp lc ca h lc c hp lc?
A1
F2
M1
M2
F1

F2
M1
F1
H lc 1
M2
A1 y
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 tm tu , ta s c:
Vct chnh ca h lc 1 bng vi vct chnh ca h lc 2.
Vct mmen chnh ca h lc 1 bng vi vct mmen chnh

ca h lc 2.
Thu gon :
Fj
Fk
j1,n
k 1,m
R R

3
MO MO , O
BI SA
F2
M1
M2
A 2

F2
M1
F1
A1 y
x
x
M2
H lc 1 F1
H lc 2
Thu gn:
A1 0,0,1
A 2 0,1, 0

H lc 1:
F2 1,0,1
F1 1,1, 1 ;

M2 0, 0, 1
M1 0, 1,0
A1 0,1, 0
A 2 0,0,1

F2 1,1, 0
H lc 2:
F1 1, 1,1 ;

By haughtycool
1,1,1
M2 1,1, 1
M1 Design
Hai thnh phn thu gn ca h lc (1):

2
R Fj 2,1,0
j1
2
2
MO MO Fj Mk
j1
MO
MO
k 1

F1 OA1 F1 1,1,0

F2 OA 2 F2 1,0, 1

MO 0, 0, 2
Hai thnh phn thu gn ca h lc (2):

2
R Fj 2, 0,1
j1
2
2
MO MO Fj Mk
j1
MO
MO
a. V
k 1

F1 OA1 F1 1, 0, 1

F2 OA 2 F2 1,1,0
nn h
R R
khng tng ng h
b. H lc
:
R 0

R MO 2.0 1.0 0.(2) 0
Vy h lc

MO 0,3, 1
c hp lc.
H lc (2):
R 0

R MO 1 0
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 im t O* cho hp lc ca h lc (1).
Cng thc tnh to cho im t O* nh sau:
OO *
R MO
2, 4, 0
5
2 4
; ;0
5 5
2 4
O* ; ;0
5 5
BI TP MA ST.
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:
3
0,577
b1. Cho :
3
30o
ft
3
0,577
b2. Cho :
3
30o
ft
( ft : h s ma st trt tnh gia vt v mt nghing)
dy
Hnh 1
Hnh 2
BI SA
a. Kho st s cn bng ca vt A (hnh 1a).
Fx Fmst P.sin 0
Fmst
Fy N P.cos 0
Fmst P.sin
N P cos
iu kin vt khng trt:
Fmst Fmstgh ft .N P.sin ft P.cos

tan ft
arctan ft
Hnh 1a
b1. 30o tan tan30
Tho mn Vy ma st sc
3
ft
3
y
Hnh 2b,c
TA
gi vt cn bng.
Fmstgh
Do , lc cng dy: TA = 0
3
b2. 30 tan tan30
ft
3
o
Hnh 2a
Ma st khng sc gi vt cn bng. Lc cng dy s tn

ti lm vt mt kh nng trt. Lc ny:
jx
TA P sin Fmstgh 0; Fjy N Pcos 0
N P cos ; TA P sin Fmstgh P sin ftN P(sin ft cos )

Bi 7/
Cho c h nh hnh v (Hnh 1). Bit: PA = PB = P; R = 2r; ft; . B
qua ma st v trng lng con ln. Dy mm khng dn c khi
lng rt b.
a. Tm iu 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?
day
y
TA
R D
C NI
Fmst
dA
PA
dB
PB
Hnh 1
BI SA
a. Kho st s cn bng .
x
Fmst TD PA sin P sin 0
NI PA PB .cos 0
F
F
PA r R.sin PB R R sin TD .2R 0
P
P
T 3 TD 1 2sin 2 1 sin 4sin 1
4
4
T 1 Fmst
P
1
2P sin 4sin 1 P sin

4
4
NI 2P.cos
iu kin vt khng trt l:

Fmst Fmstgh ft N
P sin ft 2P cos
4
1
4 f
t
2cos
sin
b. Cc thnh phn phn lc ti I:
NI 2P cos
P
sin
mst
4
Lc cng nhnh dy DE.

P
TD 4sin 1
4
Ch : iu kin dy khng b chng l:
TD 0 4sin 1 0
1
sin
4
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.
P q
M q 2
D
E
Hnh 1
BI SA
3
d o fh e 3 .n
lk
R
j
j 1
n 2
3
lk
R
j 22 2 6
j1
dofhe 3.2 6 0
Vy h lun cn bng vi mi loi ti v dofh 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).

VC
HC
HC HC
Q q
P q
VC VC
/2
A
VA
VE
HA
X
HE
a)
b)
Hnh 2
+ Vit cc phng trnh cn bng:
F
F
jx
HA Q HC 0
(1)
VA P VC 0
(2)
MA Fj Q P HC VC 0 (3)
2
* Kho st s cn bng ca thanh thng CDE.
jy
+ T do ha thanh thng CDE (hnh 2b).

+ Vit cc phng trnh cn bng:
F
F
jx
HC HE 0
(4)
VC VE 0 (5)
ME Fj M HC VC 0 (6)
jy
* Gii h (1), (2), (3), (4), (5), (6) ta thu c:
q
(3) (6) : Q P M 2 VC 0 VC
0
2
4
5
(6) HC q 0
4
1
(1) HA Q HC q 0
4
3
(2) VA P VC q 0
4
5
(4) HE HC q 0
4
1
(5) VE VC q 0
4
Bi 9/
Cho 1 c h nh hnh ve (hnh 1).
Cho bit: , P1, P2.
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.
P2
D
Hnh 1
P1
BI SA
Ta c 1 ngm phng ti D, 1 khp bn l ngoi trt ti A v 4
khp bn l ni. 4
lk
dofhe 3 n R j
j1
n 4
dofhe 3 4 12 0
ta co 4 lk
R j 1 3 11 4 2 12
j1
L thuyt:
+ Nu dofh 0 th h lun cn bng vi mi loi ti tc ng.
+ Nu dofh > 0 th h khng lun cn bng vi mi loi ti.
Vy h lun cn bng vi mi loi ti tc ng v dofh = 0
b. Xc nh cc phn lc ca cc lin kt ngoi.

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!
* Kho st s cn bng ca nhm gin phng ABC (hnh 2).
T do ha nhm gin phng ABC:
YC
P2
C
XA
XC
P1
Design By Hnh
haughtycool
2

F X P X 0
1
jx
A
1
C
2
Fjy YC P2 0
3
MC Fj P1. X A . 0
Gii h (1), (2), (3) ta nhn c:
(2) YC = P2 > 0
(3) XA = P1 > 0
(1) XC = P1 + XA = 0
* Kho st s cn bng ca dm DC (hnh 3).
T do ha dm DC:
F X 0
4
jx
D
5
Fjy YD YC 0
MD Fj MD YC . 0 6
Gii h (4), (5), (6) ta nhn c:
y
YD
D
MD
XD
x
C
YC YC
Hnh 3
(4) XD = 0
(5) YD = YC = P2 > 0
(6) MD = YC = P2 > 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 .
y
YC P2
* Kho st s cn bng ca nt C (hnh 4).

T do ha nt C:
2
0
Fjx S4,C
2
F Y P S S 2 0
C
2
2,C
4 ,C
jy
2
C
450
S,C
S,C
Hnh 4
Gii h (7), (8) ta nhn c:

(7), (8) S2,C = S4,C = 0
ng lc tc dng ln & (hnh 5):
Hnh 5
* Kho st s cn bng nt B.
T do ha nt B (hnh 6).
Vit phng trnh cn bng cho h lc:
Fjx P1 S1,B 0
Gii phng trnh (9) ta c: S1,B = P1 > 0.

ng lc tc dng ln (hnh 7):
S,B
S A , SB,
P1
x
Hnh 6
Hnh 7
SB, S,B
Phn II: ng Hc
Bi 1/
Cho c h nh hnh v. Bit: u, v,

, a, DM = < a.
Hy phn tch chuyn ng phc

hp ca cc im: M v N. Xc
nh gia tc Coriolis ca cc im:
M v N.
b
A
B
BI SA
Phn tch chuyn ng phc hp ca im M v N:
Chuyn ng ko theo: Quay cng vi khung quanh trc AD c
nh vi vn tc gc . Do :
e khung
Chuyn ng tng i: l chuyn ng thng im M dc
cnh DC, v chuyn ng thng im N dc cnh CB. Do :
M
v r u
N
v r v
Xc nh gia tc Coriolis ca im M:
M
aC
M
M

a C 2 e v r 2 u

aMC mp , u mp ABCD
M
chieu aC : RHR
M
o
a
.
u
.sin
90
2..u
C
Xc nh gia tc Coriolis ca im N:
N
N

aC 2 e v r 2 v
N
V aC 2..v.sin180o 0
N
aC 0

aMC
N
aC A
a
B
Bi 2/
Cho mt ng trn bn knh R
quay quanh ng knh AB c
nh vi vn tc gc . im M
chuyn ng dc trn ng trn

u
y vi vn tc . Bit R, , u, .
a.Hy xc nh vector gia tc

Coriolis ca im M.
b.Tm v tr im M trn ng
trn
M
aC
max
M
aC
min
Hnh 1
BI SA
a.Phn tch chuyn ng phc hp im M.
Chuyn ng ko theo: quay cng vi

ng trn quanh ng knh c
nh AB, vi vn tc gc . Do : e
= .
M
ac
B
H
Chuyn ng tng i: chuyn ng
M
M
vr u
ca im M theo qu o l ng
trn ng knh AB vi vn tc u. Do
: vrM = u.
A
Hnh 2
M
Xc nh aC :
M
M

a C 2 e v r 2 u
M

aC mp , u
M
chieu aC : RHR
M
aC 2 .u. sin
M
M
vr u
b. Xc nh im M:
M
aC
M
aC
max
min
sin 0
2..u
sin 1
M
ac
00
1800
90o
270o
Bi 3/
Cho mt c h nh hnh v (hnh1). Cho: R, = 300.
a. Tam gic A c gi c nh. a B ln khng trt
trn mt
t
6 xc nh
nghing vi phng trnh chuyn ng:
. Hy
vector vn tc v vector gia tc tuyt i ca im C trn vnh
ngoi ca a (BC song song vi cnh huyn ca tam gic A)?
b. Trong lc a B ang ln th tam gic A trt theo phng
ngang vi quy lut: x=vot (v0 = const). Hy xc nh vector vn tc
v vector gia tc tuyt i ca tm B a?
t ; rad
6
C
B
va vr
R
x
Hnh 1
a)
Bi ton vn tc:
BI SA
V a ln khng trt trn dc c nh nn a chuyn ng song

phng vi tm vn tc tc thi l tip im P (hnh 2).
C
1
B
s const
va
6
0 s2
C
B
B
v a R. R const
B6
Ta co : v a const
Vy im B chuyn
P
A
ng thng u.
vA
B
aa 0
Hnh 2
t ; rad
6
B BP B
va v vr
R
y
2.
C
v a PC. 2.R.
R
6
C
C
C
v a v ax . i v ay . j
R 0, 715 i 0,192 j
Bi ton gia tc (hnh3).
v Cax v Ca .cos 0,715R

C
C
v
v
0,192 R
ay
a .sin
y
C
va
45 15
x
C CB
a a an
Chn im B lm cc
tnh gia tc im C:
C B CB CB
aa aa a a
CB CB CB
a a n a n
Hnh 3
aCB .BC 0 m / s 2
Vi :

anCB 2 .BC .R
6
0, 27.R
aCax aaC cos 0, 234.R
C
C
a
a
0,135.R
ay
a sin
C
C
C
aa aax . i aay . j R 0,234. i 0,135. j
b. Tam gic A chuyn ng tnh tin thng theo phng ngang vi

quy lut:
A
A
x v o t v a x v o const v a v o i const
A A
a v 0
a
Phn tch chuyn ng phc hp ca tm B:

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
va ve vr
B B A
B
v e v a v a v e v 0 const
Vi
BP
B
B
v r v v r R. const
B B B A BP
v a v e vr v a v
B A
ve va
B BP
vr v
B
va
Hnh 4
B
va
( v aA ) 2 ( v BP ) 2 2 v aA v BP cos
( v aA ) 2 ( v BP ) 2 2 v aA v BP cos
v o 2 R 2 2
3R v o
B
3
A
BP
v ax v a v .cos v o R.
2
vB v BP .sin 1 R
ay
2
1
B
3
va vo
R i R. j
2
2
Bi ton gia tc.

B B B B
a a a e ar aC
B
aa 0
B B A
ae aa aa 0
B B
Vi ar v r 0

B
B
aC 2 e v r 0, e 0
Bi 4/
Cho c h nh hnh v (hnh 1). Bit:
O1A // O2B ; O1A= O2B = = 0,4 m ; = 300 ; O1AO2B l hnh ch
nht ; 1 =1s-1 ; 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.
O1
O2
Hnh 1
BI SA
a. Phn tch:
Tay quay O1A quay nhanh dn, theo chiu kim ng h quanh
tm O1 c nh.
y
Thanh truyn AB chuyn
B
x
B
va
ng song phng trong mt O
1
phng hnh v.
1
Thanh O2B chuyn
2
1
ng quay quanh
tm O2 c nh.
v aA
b. Bi ton vn tc.
(Hnh 2)
Hnh 2
O2
Vn tc im A thuc
vt 1:
v aA O1A.1 0, 4 m
Phng ca vector vn tc im B phi vung gc vi bn knh

O2B.
B
v a O 2B
Tm vn tc tc thi ca thanh AB: P . Thanh AB tnh tin

tc thi.
B A
v a v a

1
0
s

AB
Vn tc gc ca thanh O2B:
B
a
v O2B.2
vBa
v aA
2
1 1s1
O 2B
c. Bi ton gia tc. (Hnh 3)

Gia tc im A thuc
thanh O1A:
A A A
aa a an
O1
BA
a
s
0, 4 m
s
anA O1A.12
A
an
Vi
aA O1A.1 0, 4 m
BA
an aB
n
A
Chn A lm cc tnh a
gia tc im B thuc
A
Hnh 3
thanh AB.
B A BA
A A
BA BA
aa aa a a an a an , (1)
O2
B
a
BA
a
B B B
aa a an
Mt khc:
ng nht hai phng trnh (1) v (2) ta c:
(*)
B
a
B
an
A
A
a a n
BA
BA
a a n
Phng
chiu
O2B BO 2
O1A AO1 AB BA
ln
22 .O 2B
2
AB
.AB
0,4m/s2
0,4m/s2
0,4 m / s2
Chiu (*) ln trc (y):
0 0, 4 0 0, 4 aBA .cos
BA
0,8
0,92 m 2 0
s
cos
Ngc chiu.
Gia tc gc thanh AB:
aBA AB .AB
O1A
AB
0,8 m
sin
AB
aBA 0,92
3
1,15(s 2 )
AB 0,8
Chiu (*) ln AB:

aB .cos 0, 4.sin 0, 4.cos 0, 4.sin 0
s 0
aB 0, 4 0,8.tan 0, 062 m
chiu chn ng.

Gia tc gc thanh O2B:
aB 2 .O2B
aB
2
O 2B
0,062
0,155 s2
0, 4
V 2 nguc chiu 2 O2B quay chm dn.
Bi 5/
Cho mt c h nh hnh v (Hnh 1). Bit:
OA ; ; 12 1
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?
1
1
B
Hnh 1
BI SA
a. Phn tch chuyn ng ca cc vt trong h:
Tay quay OA chuyn ng quay nhanh dn, ngc chiu quay
ca kim ng h quanh tm O c nh.
Thanh truyn AB chuyn ng song phng trong mt phng
hnh v.
Con trt B chuyn ng tnh tin thng theo phng ngang.
b. Bi ton vn tc (Hnh 2).

y
A
A
va
B
va
Hnh 2
Vn tc im A:
v aA OA.1 .1
Tm vn tc tc thi P ca AB: P
thanh AB tnh tin tc thi.
Vy
AB 0s1
B A
va va
c. Bi ton gia tc. (Hnh 3)

A
a
A
an
y
1
O
AB
BA
an
B
aa
x
Hnh 3
BA
a
B
aa
Gia tc im A thuc tay quay OA:

A A A
aa a an
Vi :
aA OA.1 .1
anA OA.12 .1
Chn A lm cc tnh gia tc im B.
(1)
Phng
Chiu
ln
B A BA
A A
BA BA
a a a a a a a n a a n
//x
?
OA AO AB
. 1
.1
BA
2
AB.AB
Chiu (1) ln trc Oy:
0 0 .12 aBA .cos

BA
a
AB
.12
0
cos
aBA .12 / cos
12 .tan 1.tan
AB
sin
Chiu (1) ln AB.
aBa .cos .1.cos .12 sin

aBa 1 12 tan .1 (1 tan )
Nu
45o aBa 0
Con trt B tnh tin thng, nhanh dn theo phng ngang

vi chiu hng sang tri.
Nu 45o
aBa 0 Con trt B tnh tin thng,
chm dn theo phng ngang vi chiu hng sang tri.

Chiu chn cho
Nu
B
ala sai. Chiu ng ngc li.
45o aBa 0 m / s 2
Con trt B tnh tin thng, u theo phng ngang vi chiu

hng sang tri.
Bi 6/
Cho mt c h nh hnh v: (Hnh 1)
R1 2r2 R3 2r3 2r 1m
1 2 1 s1
1 2 1s2
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?
2 1
R1
r2
O1
O2
B D
2 1
1
R3
r3
O3
Hnh 1
BI SA
a. Phn tch:
Rng rc 1 quay nhanh dn, ngc chiu quay kim ng h,
quanh tm O1 c nh.
Rng rc 2 quay nhanh dn, ngc chiu quay kim ng h,
quanh tm O2 c nh.
Rng rc hai tng 3 chuyn ng song phng.
Vt A chuyn ng tnh tin thng theo phng ng.
b. Bi ton vn tc.(Hnh 2)
Vn tc im B:
v Ba R1.1 2r1.1 1 m
R1
B
va r
2
O1
B D
D
va
1
O2
R3
C
va
3
Hnh 2
O3
r3
O3
va
E
va
A
Vn tc im C:
V dy khng dn nn:
C B
va va
Vn tc im D:
v Da r2 .2 0,5 m
Vn tc im O3:
V si dy khng dn nn:
O3 D
va va
Tm vn tc tc thi ca rng rc hai tng O3 l: P

Ta c:
C
va
v Ca 3 .PC
O3
v a 3 .PO3
P
C
v Ca
PC
O3
PO3 v a
O3
aa
PC PO3 v Ca v aO3
PO3
v Oa3
R3
1,5
3
PO3 0.5
O3
Hnh 3
E
O3
va
E
aa
1
1
PO
3 3 3 3 (m) 0,33(m)
PC R3 PO3 2 0, 67(m)
3
E
va
Vn tc ca im E:
5
2
v PE.3 PO3 r3 .3 r r .3 r.3

3
3
E
a
v Ca R1.1 3
Vi : 3
1 1,5 (s1 )
PC 2 R
2
3
3
Vn tc ca im A:
A E
va va
c. Bi ton gia tc.
Gia tc im O3:
Qu o O3 l ng thng ng.
v Oa 3 vDa r2 .2
aOa 3
dv Oa 3
r2 . 2 0, 5 m 2
s
dt
V rng rc 2 quay nhanh dn nn im O3 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
3 1
2
3
3 1 1,5(s2 )
2
Gia tc vt A:
A
dv
d E
A
a
aa
va
dt
dt
5
5
a r. 3 r.1
3
2
1, 25 m 2
s
A
a
Bi7/
Cho c h nh hnh v:(hnh 1)
Cho:
const
OC e ; R
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 im A thuc cn ?
b.Xc nh vn tc ca cn ?
c.Xc nh gia tc ca cn ?
cn
cam
A
y
Hnh 1
BI SA
a. Phn tch chuyn ng ca cc vt rn trong h:
Cam chuyn ng quay u quanh tam O c nh.
Cn chuyn ng tnh tin thng ng.
Phn tch chuyn ng phc hp ca A thuc cn:
Chuyn ng ko theo: quay cng vi cam quanh tm O c
nh.
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:
CAx
va ve vr
2
OA R e
a
ve C
A
a e an
A
A
v e v a
Ta co :
v e v a OA
A cam
A
aa
A
va
A
Hnh 2
vr
ar

v e mp , OA
Chiu v exc nh theo quy tc :RHR (bn tay phi ).
v e .OA.sin 90o R 2 e 2 .
A
va v e vr
Phng Chiu
//y
ln
OA
R2 e 2 .
//x
?
Chiu (1) ln trc (y):

v aA v e .cos
R 2 e 2 .cos
2
R e
.e
v aA e. 0
sin
Vi :
cos
R
R2 2
e
R2 e2
Chiu (1) ln trc (x):
0 v e .sin v r
v r v e .sin
v r R. 0
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 im A thuc cn nh sau:
A
a a a e ar ac
A* A* A* A*
A* *
Ta co : ae aa a an an
a OA 0
Vi :
ar / / x

a c 2 e v r 2 v r

ac mp v r
ac / / y
Chieu ac : RHR
a 2..v
r
c
A
a a a e ar a c
Phng Chiu
//y
ln
A *O
R2 e 2 . 2
//x
2R 2
Chiu (2) ln trc y:

A
a
a R e . .
R
R2 e2
0 2R 2
aaA R 2 0
Kt lun: Cam quay u, cn ang tnh tin nhanh dn.
Bi 8/
Cho c h nh hnh v (hnh 1).
Cho
OA R; OA OB
300 ; 12 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 im B 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.
2 3
Hnh 1
BI SA
a. Phn tch chuyn ng ca cc vt rn trong h:
3
dofhe 3n Rlkj 3.3 2 2 2 2 1
j 1
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 2 = 3 v 2 = 3!!!!
b.
Phn
A
a
tch
chuyn ng phc
A
an
ca im B2 thuc
A
va
B2 A
an
B2 A
a
thanh AC: (Hnh 2)
1
Chuyn
B2
ac
ng
ko theo: quay
theo con lc (3)
2 3
quanh tm B.
P
Hnh 2
B2 B2
vr va
B2
ar
Chuyn ng tng i: chuyn ng thng dc theo phng

B2
B2
v r AC; ar AC
ng thng AC. Ta c:
.
Biu
thc tnh vn tc tuyt i v gia tc tuyt i ca im B2
l:
v Ba 2 vBe 2 vBr 2
B2 B2 B2 B2
aa ae ar aC
c. Bi ton vn tc.
v aA OA.1 R.1
Xc nh vn tc tuyt i B2
B2 B2 B2
va v e vr
B2 B*2 B3
Vi : v e v a v a 0
B2 B2
va vr
Vn tc gc ca thanh AC:
Chn P lm cc cho bi ton vn tc ca AC.
Ta co : AB
PA
R
sin
AB
R
sin sin 2
AB
R
PB
tg sin .tg
v aA
2
PA
v aA PA.2
R.1
Vay 2
1.sin 2
R
sin 2
Vn tc ca im B2.
v Ba2 PB.2
R
1.sin 2
sin .tg
vBa2 R1.cos
v Br 2 v Ba 2 R1.cos
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:
d. Bi ton gia tc.
Gia tc im A:
A A A
aa a an
aA OA.1 R.1
Vi : A
2
2
an OA.1 R.1
3 2
Chn A lm cc tnh gia tc im B2.

B2 A B2 A
aa aa a
A A
B2 A B2 A
(a an ) (a an )
B2
A A
n
aa a an aBA aBA
Mt khc ta c th tnh gia tc
B2
aa theo nh l hp gia tc
trong chuyn ng phc hp:

B2 B2 B 2 B2
a a a e ar a C
Vi :
(2)
B2 B*2 B3
a e aa aa 0
B2
ar AC
B2
B2
B2
aC 2 v r 2 3 v a
(1)
ng nht hai cng thc (1) v (2):
OA
R.1
A
n
OA
R12
B
n
AB
BA
AB.22
R
Vi : AB.
12 .sin 4
sin
R.12 .sin 3
2
2
23 .v Ba2 21.sin 2 .R.1.cos

2R.12 .cos .sin 2
B
r
B
C
, (3)
//AC
AC
23 .vBa2
Chiu (3) ln PB
:
(R1.sin R.12 .cos ) aBA 0 0 2R12 .cos .sin 2
aBA R 1 sin cos 2 cos .sin 2
BA
AB. 2
Ma : AB
aBA
2
AB
R.1 2 cos .sin 2 sin cos sin

R
: 3 2
Vay
Bi 9/
Cho c h nh hnh v: (Hnh1)
r1 2r2 2r ;
Cho
30
3
1 c
2
3
1 c
2
r1
O2
O1
OA
r2
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 im A.
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:
dofhe 3n Rlk 3.3 2.2 2 1 2 0
Cn O1O2 quay chm dn quanh O1 c nh.

Bnh rng trung tm O1 quay chm dn quanh tm O1 c nh.
Bnh rng (2) chuyn ng song phng.
b. Dng nh l Willis:
j c
m rk
(1) .
k c
rj
t bnh rng th n bnh rng th , ta c (chn chiu

quay C ca cn lm Design
chiu dng):
By haughtycool
2 c
m r1
(1) .
1 c
r2
r1
2 c 1 c
r2
(1)
c 2 c c
2
0 s1
Gia tc gc ca bnh rng :
o hm hai v (1) theo thi gian ta c :
r1
2 c . 1 c
r2
(2)
(2) bnh rng tnh tin tc thi.

O2
va
c
1
O1
O2
an
O2
OA c
O2
a
Hnh 2
C
O2
CA
c. Xc nh vn tc v gia tc ca im A
V bnh rng chuyn ng tnh tin nn qu o cc im
thuc bnh rng ging nhau v
A O2
v a v a
A O2
aa aa
Vn tc ca im O2 thuc cn O1O2:
v Oa2 O1O2 C 3r C
O
A O2
O2
O2
2
v a v a v ax i v ay j v ay j (3rC ) j
O2 O2 O2
Gia tc ca im O2 thuc cn O1O2:
aa a an
Vi: aO2 O1O 2 C 3r C ; anO2 O1O 2 C2 3r C2
O
A O2
O2
2
aa aa aax i aay2 j 3r (C i C j )
d. Xc nh phng trnh qu o ca im A
Gi (CO2 l
) qu o ca im O2 (Hnh 2).
(CO2 ) l ng trn tm O1 , bn knh: R = O1O2 =3r.
Phng trnh chnh tc ca
(CO2 ) :
x 2 y 2 R 2 9r 2
Gi (C A )l qu o ca im A (Hnh 2).
CA tnh tienOA CO
2
V tr tm OA ca qu o (CA):

O1O A O 2 A (r2 .cos ) i (r2 .sin ) j O A (r.cos ; r.sin )
b
Vy phng trnh qu o ca ng trn (CA) l:

2
x r.cos y r.sin
9r 2
Bi 10/
Cho c h nh hnh v (hnh 1). Bit:
O1A O1O2; {C} = AB O1O2; O1A = O1C = = 1m; AC = CB; AB
O2B; 1 =2s-1; 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.
O2
1O
B
Hnh 1
BI SA
a. Phn tch chuyn ng ca cc vt trong h:
Tay quay O1A quay chm dn, theo chiu kim ng h quanh tm
O1 c nh.
Thanh truyn AB chuyn ng song phng trong mt phng hnh
v.
Thanh lc O2B chuyn ng quay quanh tm O2 c nh.
* Cc c trng hnh hc ca h:
AO1C l vung cn ti O1 nn:
AC CB 2.O1A 2 m v O1CA O2CB 45
CBO2 l vung cn ti B nn:
O2B CB 2 m
A
va
2
O2
1O
Hnh 2
3
B
v Ba
b. Bi ton vn tc (hnh 2).
v aA O1A.1 2 m
s
B
Vn tc im B thuc vt 3:
v a O 2B
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 ABP vung cn
ti B nn ta c:
PB AB 2.AC 2 2 m v PA 2.PB 4 m
Vn tc im A thuc vt 2 (quay quanh tm P):
A
v
2
A
a
v a PA.2 2
0,5 s 1
PA 4
Vn tc im B thuc vt 2 (cng quay quanh tm P):
Vn tc im A thuc vt 1:
vBa PB.2 2 2.0,5 2 m / s

Vn tc im B thuc vt 3 (quay quanh tm O2):
B
v
2
B
a
v a O 2B.3 3
1 s 1
O2B
2
c. Bi ton gia tc (hnh 3).

A
a
A
A
an
1O
O2
BA
an
B
a
BA
a
B
an
3
B
Hnh 3
Gia tc im A thuc thanh O1A:
A A A
aa a an
a A O A. 4 m
1
1

s2
Vi :
anA O1A.12 4 m 2
s
Chn A lm cc tnh gia tc im B thuc thanh AB:
B A BA
A A
BA BA
aa aa a a an a an , (1)
Nu xem im B thuc thanh O2B th gia tc ca im B c th tnh
theo cng thc sau:
B
B B
aa a an , (2)
ng nht hai cng thc (1) v (2), ta c:
B
(3) : a
Phng
chiu
ln
B
an
A
a
A
BA
BA
an a an
O2B BO 2 O1A AO1 AB BA

?
2
3
.O 2B
4m/s2
4m/s2
2 m / s2
, ta
c:
O
2B
22 .AB
2
m / s2
2
Chiu cng thc (3) ln trc

2
2
0 2 (4
4
) ( aBA 0) aBA 5 2 m / s 2 0
2
2
Gia tc gc ca thanh truyn AB:
BA
a
5 2
BA
a AB. 2 2
2,5 s2
AB 2 2
V 2 ngc chiu vi 2 nn thanh truyn AB c thnh phn
chuyn ng quay chm dn, cng chiu kim ng h.
Chiu cng thc (3) ln trc
, ta c:
AB
2
2
2
2
B
a 0 ( 4
4
) (0
) a
m / s2 0
2
2
2
2
Gia tc gc ca thanh lc O2B:
B
2
aB
B
a O2B. 3 3
2 0,5 s2
O 2B
2
V 3 ngc chiu vi 3 nn thanh lc O2B quay chm dn, ngc

chiu kim ng h, quanh tm O2 c nh.
BI TP C HC
Tp Hai
Hai:: NG LC HC
Chng I: NG LC HC CHT iM
Chng II: NG LC HC C H
GVHD: PGS. TS. TRNG TCH THIN

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 150.
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
chm dn u.
v
150
Fc
hnh 1.2
Dng tin 2 ng lc hc im:

4
m.a Fk P T N Fc
k 1
Trng hp 1:

Xe chuyn ng thng u nn
a0

Tin 2 tr thnh:
0 P T N Fc
Chiu phng trnh (2) ln trc y.
0 P cos N
N P.cos m.g.cos
Ta c:
Fc f .N f .m.g .cos
Chiu (2) ln trc x:
0 P.sin T Fc
T P.sin Fc m.g.sin f .m.g.cos
T m.g . sin f .cos

700.9,81 sin15 0,15.cos15
1677,8 N
Trng hp 2:
Xe chuyn ng thng chm dn u
a const
v1 a.t v0
Ta c:
v1 0 m s ; t 4 s
v0 1, 6 m s
v0
1, 6
a
0, 4 m s 2 0
t
4
Chiu (1) ln trc x,y:
m.a P.sin T Fc
0 P.cos N
Fc f .N f .m.g .cos
T m.a P.sin Fc
m. a g sin f .cos
700 0, 4 9,81 sin15 0, 015.cos15
1957,8 N
Bi tp 1:
Cho: k , 0 , m, x. 0B qua lc cn ca khng kh v khi lng l xo.
Xc nh qui lut chuyn ng ca vt A.
O
A
P
x0
x
hnh 1
Copyright
Focebk.com
BiBy
sa
Chn trc Ox
c gc ti v tr cn bng ca vt A, c phng
thng ng v chiu dng hng xung.
Xc nh lung gin l xo khi h cn bng ( gin tnh)
Fs
jx
P Fs 0
Fs P m.g
P
hnh 1.1
M:
Fs k . t
Fs m.g
t
k
k
Chn t 0 lc
s l xo b gin thm mt lng
v0 0 m s x0
x t 0 x0
x0
Kho st chuyn ng ca vt A ti mt v tr bt k:
p dng tin 2 ng lc hc:

2
m.a Fk P FS
k 1
Chiu (2) ln trc Ox:
m.
x P Fs m.g k .
m.
x m.g k t x k .x
m.
x k .x 0
2
x .x 0
Vi:
k
m
Dng nghim tng qut:
x A.sin t 0
0c m t cc iu kin ban u:
x x0 A.sin 0
t 0 s:
x0 A. .cos t 0 t 0
A v
A. .cos 0 0
cos 0 0 0
2
A x0
Vy vt dao ng iu ho:
x x0 .sin t
2
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.
2T
s 10 m
hnh 1.5
Bi sa
Kho st chuyn ng ca xe:
a1
N1
v1
Fms
P
hnh 1.5.1
S dng tin 2 ng lc hc:

m1a1 P N1 Fms
Chiu (1) ln x,: y
m1a1 Fms
0 P N1
3 N1 P
Ta c:
2
0
v v 2a1s
0 36 2a1.10
2
a1 1,8 m s 0
Thay
a 1,8 m s vo
2 :
Fmst m1a1 6000.1,8

10800 N
Kho st s cn bng ca ph:
2
3
Copyright
By Focebk.com
N1
2.T
Fms
Q
hnh 1.5.2
jx
*
mst
2T F
*
Fmst
10800
T
5400 N
2
2
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 im gc O v hp trc z mt gc nh hnh v. Cho bit:
Hy xc nh moment
m, , ,qun
OA tnh
a,ca
OBthanh
b. AB i vi trc x, y,z v
tm O (thanh AB nm trong mt phng Oyz).
d kz
A
Hnh II.2a
B u
du
d ky
Hnh II.2b
CopyrightBi
By sa
Focebk.com
Dng h trc Oxyz sao cho thanh nm trong Oyz. Dng trc
Ou c phng trng AB v c chiu nh hnh v.
Khi lng ring ca thanh:
, kg m
Kho st mt cht im K trn thanh:
d kz u.sin
d ky u. cos
mk .du
d u
kx
Chiu di: du
Khi lng im K:
Moment qun tnh ca ton thanh i vi trc z :
Jz mk .d
k 1
2
kz
.du.u .sin sin u du

2
Copyright
By Focebk.com
3
m 2 u b m
Jz sin .
sin 2 b3 a 3
3 a 3
m
2
2
2
sin a b a ab b
3
m 2
a ab b 2 sin 2
3
Moment qun tnh ca ton thanh i vi trc y:

b
J y mk .d ky2
k 1
2
2
.
du
.
u
.
cos
b
2
cos u du
a
3
Copyright
b By Focebk.com
m
u
m
2
J y cos .
cos2 b3 a 3
3 a 3
m
2
2
2
cos a b a ab b
3
m 2
a ab b 2 cos2
3
Moment qun tnh ca ton thanh i vi trc x:
b
J x mk .d
k 1
2
kx
.du.u u du
2
a
3
b
2
3
3
b a 3 ( a b)( a 2 ab b2 )
3
3 a
m 2
( a ab b 2 )
3
Moment qun tnh ca ton thanh i vi tm O:
1
m 2
J O J x J y J z a ab b 2
2
3
Vy: JO = Jx .
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 mA, mB. 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 chm t).
B
A
ab
Hnh II.3
Bi sa
b
x C0
CB0
C0A
CA
x
xC0
sA
a/3
x CA
x CB
Design ByHnh
haughtycool
II.3.1
CB
PA
PB b
Dng h trc Oxy nh hnh v.

Gi:
Khi tm ca vt A, vt B va ton h: CA, CB, C
on ng chuyn ng ca vt A khi B chm mt phng c
nh: sA
Ta x ca cc khi tm:
x C0 ; x C0 ; x CA ; x CB
A
Ta c:
x C0
x CA
a
2
= ; x C0 = b ;
B
3
3
a
b
= s A ; x CB = s A a
3
3
Ban u ton h ng yn.

= 0 m
s
= 0 m
s
v C0
x 0 = 0 m
s
CA
=0
y C0 = 0 m s
A
v C0
x 0
CB
=0
y C0
B
Kho st chuyn ng ton h (2 vt).

H ngoi lc tc ng ln h:
PA ; PB ; N
Dng nh l chuyn ng khi tm.
M.aC = Fje = PA PB N ;
j=1
Chiu (1) ln trc x:
M.
x C = 0
xC = 0 m
x C = const
x C = x C0
Theo nh ngha khi tm h, ta c:
mk .x k
x C = k =1
mA .x CA mB .x CB
mA mB
do :
m A .x CA mB .x CB
mA mB
mA .x C0 mB .x C0
A
mA mB
=0
x C = 0
x C = const = x C0
mA .x CA mB .x CB
m A mB
mA .x C0 mB .x C0
A
mA mB
m A .x CA mB .x CB = m A .x C0 mB .x C0
A
a
b
a
mA . sA
mB . s A a = mA . mB . b
3
3
3
mB
sA =
b a 0
mA mB
V sA < 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 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 ft, b qua ma st ln.
Cho P, = const, r, , ft. H ban u ng yn.
a. PhnMtch chuyn ng ca vnh v ca tm O 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 tm O vt.
b. Xc nh gia tc gc ca con ln O di dng hm ca r, ,
, v P. Tm iu kin ca moment con ln O ln ln.
c. Xc nh phn lc ti p im A.
d. Tm iu
trt trn mt
M kin ca ft con ln O ln khng M
phng nghing c nh.
P
A
Hnh II.4
Bi gii
Rqt
v
N s0 0
O
qt
O
a0
Fmst
Hnh II.4.1
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
tm vn tc tc thi P l im p 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:
s0
v0
a0
0 0
r
r
r
Vi l gc quay, l vn tc gc, l gia tc gc ca vnh.
b. Tnh ng nng h
1
1
2
2
T m.v 0 JO .
2
2
m P
P 2
2
Vi JO m.r r
do vat la vanh
g
v 0 r.
1P 2 2 1P 2 2 P 2 2
T . .r . . r . r .
2 g
2 g
g
h
Tnh tng cng cc ti
A A P A N A Fmst A M
Vi : A N 0, ( v N vuong goc vi be mat tiep xuc

va v iem A co nh)
s0
A Fmst 0
A M M.
h0
Hnh II.4.2
A P P.h0 P.r.sin . V h0 s0 .sin r. .sin

A M - P.r.sin .
p dng nh l bin thin ng nng:
T1h
T0h
ban au he ng yen
h
T0 = 0
P 2 2
.r . M P.r.sin .
g
o hm 2 v theo thi gian t:
P 2
.r 2.. M P.r.sin .
g
M - P.r.sin
2.P.r
a0 .r
iu kin ca
M P.r.sin
2.P.r
.g
M vnh ln ln:
chieu a chon la ung
M P.r.sin 0
M P.r.sin
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.
Rqt m.aO
Rqt aO
P M P.r.sin
.g
Rqt m.aO g .
2P.r
Rqt
M P.r.sin
2r
Moment chnh ca h lc qun nh i vi tm O.
MOqt JO .
MOqt
qt
P 2 M P.r.sin
.g
2
MO JO . g .r .
2P.r
1
M M - P.r.sin
2
qt
O
Kho st s cn bng ca vnh:

Fjx P.sin Rqt Fmst 0
Fjy N P cos 0
1
2
Gii h (1), (2) ta thu c:
N P.cos
Fmst P.sin Rqt

M P.r.sin
P.sin
2r
Fmst
M + P.r.sin
2r
d. iu kin vnh ln khng trt:
Fmst Fmsgh ft .N
Thay (3), (4) vo 2 v ca (5) ta nhn c:
M P.r.sin
ft .P.cos
2r
M P.r.sin
ft
2P.r.cos
Bi tp 5.
Cho 1 c h gm 2 vt c khi lng M1 v M2 c lin kt va chu
ti nh hnh v. H s ma st trt nh gia 2 vt l ft, b qua
ma st gia vt c khi lng M2 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).
ft
M1
M2
Hnh II.5
Bi gii
Gi C1, C2, C ln lt l khi tm ca vt 1, vt 2 va ca ton
h.

Gi aC , aC , aCln lt l gia tc ca C1, C2, C.

1
2
V vt 1 khng b trt i vi vt 2 nn:
aC1 aC2 aC a
Kho st chuyn ng
ca ton h.
ft
H ngoi lc tc ng y
P1
c1
M1
c2
ln h:

P1 , P2 , F , N
M2
P2
Hnh II.5.1
Dng nh l chuyn ng khi tm cho h.

4

e
M.ac Fj P1 P2 F N
j 1
Chiu (1) ln trc x:
M.a F
F
F
a
M M1 M2
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).
H ngoi lc tc ng ln vt 1:

P1 , Fmst , N1
Dng nh l chuyn ng
khi tm cho vt 1:
N1 M1
Hnh II.5.2
c1
P1
Fmst
3

e
M1.aC1 Fj P1 Fmst N1
j1
Chiu (3) ln 2 trc x,y:
Ox : M1.a Fmst
Oy : 0 P1 N1
M1
.F
M1 M2
Thay (2) vo (4), ta c:

Fmst
T (5) ta nh c:
N1 P1 M1.g
iu kin vt (1) khng trt trn vt (2):
Fmst Fmsgh ft .N1
Thay (6), (7) vo (8):
M1
.F ft .M1.g
M1 M2
F ft M1 M2 .g
Byng
Focebk.com
Bi tp 6. Cho mt aCopyright
trn,c,
cht c bn knh R v khi
lng , b y m
ln khng trt trn mt nghing vi vn tc
ban u ca tm A a chn dc l . Bit mt nghing c
0
v Anghing mt gc i vi phng ngang v chiu
nh
di
mt nghing l . Cho bit: bn knh R,
0
a) Hy phn tch chuyn
m, vng
, f t ,af v
, tm
. A a. Tm mi
A , ca
quan h ng hc gia chuyn ng ca a v tm A a.
b) Tnh ng nng cho a v tng cng tc ng ln a.
c) Tnh vn tc v gia tc ca tm A a. Cho nhn xt hai kt
qu ny.
d) Tm iu kin v gi tr a c th ln ln c ht dc.
e) Xc nh cc thnh phn phn lc ti im tip xc I.
0
v
f) Tm iu kin ca gc nghing
a ln khng trt trn
A
mt nghing.
g. Cho tg 3: f t
g1. phn ch li chuyn ng ca a. Xc nh va dof h
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.

sA , vA
,
R
A
I
Hnh II.6
Bi sa
qt
A
A , A

sA , vA
aA A
Rqt
lA
x
Fmst (v vt ln khng trt)
P
Hnh II.6.1
a).
Phn ch chuyn ng ca a:
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 im p xc I.
Phn ch chuyn ng ca khi tm A a: tm A a chuyn
ng thng vi qu o l ng thng
song song
vi
A
mt nghing c nh v cch mt nghing y mt khong
bng bn knh a.
Do :
vA A ; aA A
Quan h ng hc gia chuyn ng ca a v chuyn ng

ca tm A a khi a ln khng trt:
sA
A
R
vA
A
R
aA
A
R
b.
ng nng ca h:
T h
1
1
2
m Av A J A A2
2
2
1 P 2 1 1 P 2 v 2A
vA
R 2
2g
2 2 g
R
3P 2
vA
4g
Tng cng cc ti:
A A P A Fmst A N
A Fmst 0 : v vt khng trt.
A N 0 : v vung gc v im I ng yn tc thi.
A A P P.hA P.sin s A ; cao hng
ln cng m
c. Vn tc ca tm A:
Dng nh l bin thin ng nng:
T1h T0h
3P 2 3P 0 2
vA
v A P sin s A
4g
4g
const
vA

v 0A
g .sin s A
3
o hm 2 v theo thi gian t:

31
2v A a A sin v A
4g
aA
2
2.g .sin
a A g .sin 0 A
0
3
R
3.R
Tm A chuyn ng thng, chm dn v a ln chm dn.
d. iu kin ti thiu ca vAO a ln ht dc:
v A 0 m / s tai s A
4
0 2
v A g .sin . 0
3
2 3
2 3
0
0
vA
g ..sin v A
g ..sin
3
3
e. Xc nh cc thnh phn phn lc:

Copyright
Byb
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Theo nguyn ly DAlembert,
ta s
sung vo a hai thnh phn
c bn ca h lc qun nh:
Rqt
qt
M A
thi a s trong trng thi cn bng.
Rqt m A .a A
2
Rqt mA .a A .P.sin ; (do nh ln nn bo (-))
3
M Aqt J A . A
M Aqt
1 P 2 aA 1 P 2
1
R g .sin P.R.sin
3
2 g
R 2g 3
Vit cc phng trnh cn bng:

F
F
jx
jy
P.sin Fmst Rqt 0
P.cos N 0
Gii h , :
N P.cos
Fmst P.sin Rqt
2
P.sin P.sin
3
1
Fmst P.sin 0
3
f. iu kin ca a ln khng trt:
Fmst Fmsgh f t .N
Thay , vo :
1
P.sin f t .P.cos
3
tan 3 f t
g.
g1.
Do tg 3 ftnn 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 im p xc I.
Bc t do ca h:
dof h 2
Chn 2 ta suy rng:
x,. (hnh 3.1)
A N
Fms
Hnh II.6.2
g2.
Xc nh lc suy rng
:
q1 x
Q1 tng
Qx ng vi ta suy rng
Cho h mt di chuyn kh d c bit:
q1 x 0, q2 0
) 0
(a ch trt m khng ln v
Tng cng kh d ca cc ti:
A A P A Fms A N
P. h Fms . x
P.sin . x f N . x
P.sin f P. cos x
A P sin f .cos x
x
A
h
Hnh II.6.3
; N 0
x0
N 0 : v khi chiu ln
Fms
phng trt phng

ca lc nng N vung
gc so vi phng
trt.
Hnh II.6.4
Lc suy rng:
Q1 Qx
sin f
cos P
x
sin f cos M .g
Xc nh lc suy rng
q2
Q2 tng
Q ng vi ta suy rng
q1 x 0 , q2 0
(a quay quanh tm A c nh hay a trt khng ln)
A A P A Fms A N
Fms . sI f N .r.
A f .P.r.cos .
Lc suy rng:
Q2 Q
.P.r.cos
x0
Fms
sI r.
Hnh II.6.5
Q2 Q f .M .g .r.cos
g3. Dng phng trnh Lagrange 2:
d T
dt qi
T
Qi , i 1, 2
qi
Xc nh ng nng h:
1
1
2
T M .v A J A 2
2
2
1
11
2
2 2
M .x M .r
2
22
T T
0 (khng c x ch c o hm ca x)
q1 x
h
d T d T
M .
x
dt q1 dt x
T T
0
q2
(khng c )
d T
dt q2
d T 1
2
M
.
r
.

dt 2
Do :
M .
x sin f cos M .g
1
2
M .r . f M .r.cos .g
2

x sin f cos g
2 f cos .g

Bi tp 7. Cho c h nh hnh v. Bit bn knh r, P, = const,

M 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) Tm iu 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
r
B
B , B , B

sA , vA , aA
Hnh II.7
a) Phn ch chuyn ng:
Vt A: chuyn ng tnh n thng ng, nhanh dn, c chiu
hng xung.
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Rng rc B: chuyn Copyright
ng quay
nhanh dn, cng chiu kim
ng h quanh trc vung gc vi mt phng hnh v v i
qua tm B c nh (tm B c nh).
Thit lp quan h ng hc gia cc vt:
s A r. B
v A r.B
a A r. B
b).
ng nng ca h:
T T
Vt A chuyn ng tnh n:
Vt B chuyn ng quay:
1P 2
TA
vA
2g
1
TB J B B2
2
(JB l moment qun nh ca vt B i vi trc c nh thng gc

vi mt phng hnh v qua B)
Q 2
JB r
g
1 P 2 1Q 2 2
vA
r B
2g
2g
1
1
2
2
2
P
.
v
Q
.
v
Q
v
A
A
2g
2g
Tng cng cc ti:
A A(M ) A( P )
M
Vi: A( M ) M. B
sA ;
r
A( P ) PhA Ps A
c).
A r P sA
Gia tc ca A v gia tc gc ca rng rc B:

p dng nh l bin thin ng nng:
T1h T0h A
1
M
P Q vA P s A
2g
r
o hm 2 v
1
M
theo t:
P Q 2vA .a A P vA
2g
r
M
P
aA r
.g 0
PQ
Gia tc gc ca rng rc:
M
P
aA
B
r
g
r P Q r
d) Xc nh lc cng dy.
p dng nguyn ly DAlembert kho st s cn bng ca vt A:
Rqt m A .a A
M
M
P
P
P r
A
r
Rqt
g
g PQ
P Q
A
Rqt
TA
aA
Hnh II.7.1
A Copyright By Focebk.com
Sau khi b sung Rvo
thi vt A cn bng.
qt
A
Phng trnh cn bng:
Rqt TA PA 0
Chiu ln trc y:
jy
A
qt
TA R P 0
P
r
A
TA P Rqt P P
PQ
Q r
TA P
PQ
e) iu kin dy khng b chng (dy cng):
M
TA 0 Q
0 M Q.r
r
Vy iu kin dy b chng:
M Q.r
Khi dy b chng:
Gia tc vt A:
aA g
Gia tc gc rng rc B:
M
B
g
2
Q.r
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
ft
f
r , P , QDy
, M mm,
const
, ,f tkhng
, f , gin,
. lun
bit:
nhe
cng, khng trt trn rng rc.
a) Tm iu kin ca gc A trt c trn mt nghing.
b) Cho
, dy lun cng.
tg chfchuyn
b1) Phn
ng cc vt rn trong h. Tm mi quan
t
h v ng hc gia cc vt.
b2) Tnh ng nng cho ton h va tng cng tc ng ln h.
b3) Xc nh gia tc ca A va gia tc gc ca rng rc B
b4) Tnh lc cng dy
b5) Tm iu kin ca
dy ni vt A b chng. Xc nh li
gia tc ca vt A va gia tc gc ca rng rc B.
M
r
B
P
Hnh II.8
a) iu kin vt A khng trt (A cn bng v dy chng):

Kho st s cn bng ca vt A:
T do ha vt A:
Fmst
NA
A
y
Hnh II.8.1
- Vit cc phng trnh cn bng:
F
F
jx
Fmst P.sin 0
jy
N A P.cos 0
1
2
- Gii h (1), (2):
Fmst P.sin
N A P.cos
iu kin vt A khng trt:
Fmst Fmsgh f t .N A
Thay (3) v (4) vo 2 v ca (5), ta c:
P.sin f t .P.cos
tg f t
iu kin vt A trt:
tg f t
b) V tg nn
f t vt A trt c trn mt nghing.
b1. Phn ch chuyn ng ca cc vt rn trong h:
B
B
B
sA
vA
aA
P
Hnh II.8.2
Vt A tnh n thng, nhanh dn theo phng ca mt

nghing v vi chiu hng xung.
Rng rc B quay nhanh dn, theo chiu kim ng h quanh
tm B c nh.
Quan h ng hc:
sA
B ;
r
b2. ng nng ca h:
vA
aA
B ; B
r
r
T h T A T B
P 2
A 1
2
T 2 mAvA 2 g v A
Vi:
2
Q 2
v
1
1
1
Q
2
A
T B J . 2
r 2
vA
B
B
2
2 2 g r 4g
1
Q 2
P vA
2g
2
Tng cng cc ti:
A A P A M A Fms
Vi: A P P.hA P.sin s A
M
A M M. B
sA
r
A Fms Fmsd s A f N A s A f P cos .s A
A
P sin f cos s A
r
b3. p dng nh l bin thin ng nng:
T1h T0h A
1
Q 2 M
P sin f cos s A
P vA
2g
2
r
1
Q
M
P sin f cos v A
P 2v A a A
2g
2
r
r P sin f cos
aA
g
P
2
P sin f cos
aA
g
B
r
Q
r
b4. Kho st chuyn ng ca vt A:
aA
TA
Ta c:
Fms f .N A
Fms
P
Hnh II.8.3
NA
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Dng nh l chuyn
ng khi
tm cho vt A:
4

e
mA .a A Fj P N A TA Fms
j 1
Chiu (8) ln hai phng x, y
mA .a A P.sin TA Fms
0 P cos N A
N A P cos
9
10
TA P.sin Fms m A .a A
M
P sin f cos
P r
g
P sin f P cos
Q
g
P
2
P P sin f cos
r
TA P sin f cos
Q
P
2
M
Q
P sin f cos
2
r
TA
11
Q
P
2
b5. iu kin dy cng:
TA 0
M
Q
sin f cos 0
r
2
Q.r
M
sin f cos
2
iu kin dy chng:
Q.r
M
sin f cos
2
Xc nh li av
: B
A
a A sin f cos g
2M
B
g
2
Q.r
Bi tp 9. Cho c h nh hnh v:
q const
Hnh II.9
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.
Bi sa
a. (T gii)
Tnh bc t do ca h: Dofh
S vt rn: n=1 (thanh thng nm ngang)
Tng rng buc ca cc lin kt:
lk
R
3 (ngm phng)
Do bc t do ca h:
Dof h 3n R lk
3.1 3 0
V dofh 0 nn h lun cn bng vi mi loi ti tc ng.
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b). Lin kt c mt rng
bucByc
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 xem cc thnh phn
phn lc xut hin nh l lc hot ng b sung.
Xc nh thnh phn phn lc HA :

Gii phng lin kt n cn tr chuyn ng tnh n thng
theo phng ngang:
HA
q
A
x
Hnh II.9.1
. x
Cho h mt di chuyn kh d
Tnh tng cng kh d:
A A H A Aq A H A
H A x
p dng nguyn l di chuyn kh d:
A 0 H
Xc nh phn lc NA :
Gii phng lin kt n cn tr chuyn ng tnh n thng
theo phng ng.
. y

NA
y0
A
B
Hnh II.9.2
Tnh tng cng kh d:
A A N A A q N A . y ql y
N A ql y
A 0 N
ql 0 N A ql 0
Xc nh thnh phn phn lc MA :

Gii phng lin kt n cn tr chuyn ng quay quanh tm
A.
dx
MA
Hnh II.9.3
y x.
Tnh tng cng kh d:
A A M A Aq
Ta c:
A M A M A
A q q.dx y q.dx. x.
2
x
q 2
q.
.
2
2 0
q 2
A
M A
2
q 2
q 2
A 0 2 M A 0 M A 2 0
Bi tp 10. Dng nguyn l di chuyn kh d xc nh cc

thnh phn phn lc sau:
P q
a) A
M q 2
2
Hnh II.10.1
M
b)
Hnh II.10.2
a). Xc nh thnh phn phn lc HA :

Gii phng lin kt n cn tr chuyn ng tnh n theo
phng ngang:
Cho h di chuyn kh d
: x
A
HA
P q
q
B
x
Hnh II.10.3
Tnh tng cng kh d:
A A H A A q A( P) A( M ) A H A
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A A H A H A . x
+ p dng nguyn l di chuyn kh d:
A 0 H
- Xc nh thnh phn phn lc NB :
q
A
yB B
NB
Hnh II.10.4
+ Cho h mt di chuyn kh d
P q
yC
Tnh tng cng kh d:
A A N B A q A P A M
N B .(2. ) 2q 2 . P.(3. ) M .
(2 N B 2q 2 ).
2
2
N
2
q
N B q
Xc nh thnh phn phn lc NA :

phng ng:
NA
P q
yC
q
A
yA
du
Hnh II.10.5
Tng cng kh d:
A A N A Aq A P A M
yA
tg
2
y A 2.
A N A N A . y A N A .2.
y u.
2
2 2
u
A q y q.du q.u. .du q. .
2
0
0
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A q 2 q .
yC .
A P P. yC q.. q 2 .
A M M . q 2 .
Th vo :
2
2
N
.2
2
q
M . 0
N A 2 q
b).
Xc nh cc thnh phn phn lc HA :

phng ngang:
q
M
HA
x
C
Hnh II.10.6
Tng cng kh d:
: x
A A H A A q H A . x
A 0 H
Gii phng lin kt NA :
VA
M
B
A
yB
yA
dx
Hnh II.10.7
Cho h 1 di chuyn kh d
Tng cng kh d :
A A VA A q A M
Ta c:
y x. y
0 x
x
A q y.q.dx q. x. x.dx q.
2
0
0
q 2
2
2
A M M A . q .
y A 2.
A VA VA . y A
VA .2
1 2
2
A VA .2. q q 0
2
1 2
q q
1
2
VA
q
2
4
2
Gii phng lin kt VC :

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VC
yB
yC
u
u 2
du
Hnh II.10.8
y u.
2
A q y q.du u.q. .du

Copyright By
2 Focebk.com
u2
A q q.
2
4 2
2
q.
q.
2
2
3 2
q
2
A M M . q 2 .
yC 2.
A VC VC yC
VC .2.
A A q A M A VC
3 2
A q VC 2.
2
3 2
2
q q VC .2
2
3 2
q q 2 5
VC 2
q
2
4
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
m1 ta khng ma st trn mt phng ngang c nh. Vt B c bn
knh r, khi lng m2 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: m1, m2, F, , 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 tm B 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.
B
A
BI
v
P1
P2
ng trung tuyn
Hnh II.11.1
a) Phn ch chuyn ng ca cc vt rn trong h
Vt ln tru A c chuyn ng tnh n thng theo phng
ngang.
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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 tm vn tc tc thi khng phi
l im p xc I.
Bc t do ca h:
Dof h 2
xc nh c v
V ta cn dng 2 thng s c lp vx mi
tr ca ton h.
Hai ta suy rng ca h c chn l:
q1 x , q2
b). Phn ch chuyn ng phc hp ca tm B:
Chuyn ng ko theo: tnh n cng lng tr A.
Chuyn ng tng i: ln khng trt trn mt nghing

ca lng tru A (tm quay tc thi l im I).
Dng nh l hp vn tc ca im:
B B B
va ve vr
B B* A
ve va va B A BI
Vi: B BI
va va v
vr v
Tnh ln vector vn tc
tuyt i im B:
A
va
BI
v
(khi tng 2 gc bng thi cos

gc ny bng - cos gc kia).
I
Hnh II.11.2
B
va

Cng thc lng trong tam gic thng:
B 2
a
A 2
a

v v 2v v
v
A
a
BI
BI
2vaAv BI cos
A BI
a
cos
BI
M: v x ; v r . r .
A
a
B 2
a
2
2
2
x r . 2r.cos .x.
c). ng nng h:
T h T A T B
1
Vi: T m1 . vaA
2
A
1
m1.x 2
2
1
1
B 2
T m2 va J B . 2
2
2
J B m2 .r 2 ;
B
Ta c:
1
1
2
2 2
T m2 x r 2r cos .x. m2 .r 2 2
2
2
1
2
2
2
m2 x 2r . 2r cos .x.
2
1
m1 m2 .x 2 m2 .r 2 . 2 m2 .r.cos .x.
2
Xc nh lc suy rng
Q1 : Qx
x0
C2 B
P1
I
P2
BI
r v
A
va
Hnh II.11.3
q1 x 0 ; q2 0
(a khng quay nn ton h l mt vt duy nht: m = m1 +m2)!
Tng cng kh d:
A A P1 A P2 A N A F
A F
A F . x
(P1, P2 khng thay i cao; phng N vung gc phng
chuyn ng).
Q1 Qx
F
x
Xc nh lc suy rng
Q2 : Q
q1 x 0 ;
q2 0
hB
hB sB .sin
sB
r. .sin
Hnh II.11.4
Tng cng kh d:
A A P1 A P2 A N A F
A P2 m2 .g hB
A m2 .g hB
m2 .g .r.sin .
Q2 Q
m g .r.sin
d) Dng phng trnh Lagrange 2:
d T
dt qi
T
Qi , i 1, 2
qi
T T
0
q1 x
d T d T
m1 m2
x m2 .r.cos
dt q1 dt x
T T
0
q2
d T d T
2
m2 .r.cos x 2m2 r
dt q2 dt
m1 m2
x m2 .r.cos F
m
.
r
.cos
2
m
r
m2 g .r.sin
2
2
y l h phng trnh vi phn cp 2 cc k d gii. Cch gii

c trnh by chi t:
X 1
x;
X 2
Nghim:
F
g .sin
X 1
x
m1 m2
m2 .r.cos
2r
m2 .r.cos
cos
2r
2r.F m2 g .r.sin .cos
2r m1 m2 m2 r.cos 2
1
2 F m2 g sin 2
2
const
2
2 m1 m2 m2 cos
m1 m2
cos
g .sin
X 2
m1 m2 m2 .r. cos
cos
2r
m1 m2 g .sin F .cos
2 m1 m2 m2 cos 2 r
const
Bi tp 12. Cho mt a c dng hnh qut ng cht, c, dy

iu, bn knh R, gc chn tm l 2 ,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 tm O a
b) Xc nh v tr ca khi tm C a.
c) Xc nh phng trnh qu o ca khi tm C a nu
chn h trc ta nh hnh
xyve:
d) Tnh ng nng ca a va tng cng cc ti tc ng
ln a.
e) Tm vn tc gc ca a v gia tc gc ca a.
t
R
Cho: m, R, 0 ,
C0
u
Hnh II.12
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:
Tm O a chuyn ng thng vi qu o l ng thng
Oon
thng c nh v cch ng thng c nh
song song
mt on bng bn knh ca a. Do , vn tc v gia tc
ca tm O nm trn ng thng ny.
v0 0 ; 0 0
b). Do a hnh qut c mt trc i xng nn khi tm C ca
a s nm trn trc i xng ny.
Dng h trc ta vung gc mi

trc trngutrc i xng ca a.
gn lin vi a sao cho

Out
tc 0
Kho st mt din ch vi phn k thuc a nh hnh v:
dr
r
dAk
O
uk
K
u
Hnh II.12.1
Gi: A l din ch a.
l khi lng ring a.
Ta c:
A R2
: rad
m
m
2); vt dy (kg/m3)

;
(vt
phng
(kg/m
A R2
dAk dr r.d
uk r.cos
(uk: ta u ca im K).
m
mk dAk
dr rd
2
R
(mk: khi lng ca din ch dAk ).
p dng cng thc nh ngha ca khi tm:
m u
k k
uc
1 m 2

r cos .dr.d
2
m A R
k 1
1
2
uc
r
dr cos .d
2
R 0
1 r
sin
2
R 3 0
1 R3
2sin
2
R 3
2R
uc
sin
3
c). Kho st chuyn ng ca a:

P,: N
H ngoi lc tc ng ln a
Dng nh l chuyn ng khi tm:

2

e
mac F j P N
j 1
Chiu (1) ln trc x:
m.
xc 0
xc 0
xc const xc 0
m s2
m s ; (vn tc lc u bng 0)
xc const xc 0
Vy phng trnh chuyn ng ca khi tm C l:
ng thng c y ; vc y ; ac y .
xc 0 ;
d). ng nng a: (a l hnh trn c ng cht).
1 2 1
T mvc J c . 2
2
2
Ta c: ( : l
gc hp bi trc u v trc Oy).
2
J c J 0 m OC J 0 m.uc2
Theo nh ngha:
J 0 mk OK
k 1
m
2

r
.
dr
.
d
.
r
2
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m
3
J0
r
dr d
2
R 0
m r

2
R 4 0
m R4
2
2
R 4
1
2
J 0 mR (ging cng thc hnh qut)
2
R2
2
Jc m
uc
2
Tm vn tc tc thi ca a: P
PC OC .sin
y
O
uc sin
Do :
vc PC. uc .sin .
1
1
2
2
2
T m uc sin . mR 2 2
2
4
1 2 2
1 2 2
m uc sin R
2
2
v0
vc
Hnh II.12.2
Tng cng cc ti:
A A P A N
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Vi: A N 0
A P P.hc
mg HC HC0
y
O0
C0
hc
C
P
Hnh II.12.3
A P mg OC.cos O0C0 .cos 0

mg .uc cos cos 0
e) Dng nh l bin thin ng nng:
h
1
h
0
T T
1 2 2
1 2 2
m uc sin R mg .uc cos cos 0 ;
2
2
Vn tc gc ca a:
2 g .uc cos cos 0

1 2
2
2
uc sin R
2
Gia tc gc ca a:
o hm 2 v (2) theo thi gian t:
1 2
1 2 2
1 2
2
uc 2 sin cos . uc sin R 2.
2
2
2
g .uc sin .
uc sin uc cos . 2 g

1 2
2
2
uc sin R
2
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 tm C 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.
B
C0
0
Hnh II.13
Cho : m, 2, 0
Bi tp 14.
Cho c h nh hnh v (Hnh II.14).

Cho r1, r2, P1, P2, M const.
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 O1
v xem nhnh dy AB lun c
phng thng ng. Rng rc O1
l a trn c, ng cht v rng
rc O2 l vnh trn ng cht.
a. Xc nh bc t do ca h.
Chn cc h ta suy rng
cho h.
r1
O1
P1
A
O2
r2
Hnh II.14
P2
b. Phn ch chuyn ng cho cc vt rn trong h. Phn ch

chuyn ng phc hp ca tm O2. 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.
Dofh = +2
r1
Chn 2 ta
suy rng:
q1 1;
q2 2
O1
P1
A
O2
r2
Hnh II.14.1
P2
b.
Phn ch chuyn ng cc vt.
Rng rc O1:
Chuyn ng quay quanh tm O1 c nh.

Rng rc O2:
Chuyn ng song phng vi tm vn tc tc thi khng phi l
im p xc A.
Phn ch chuyn ng phc hp ca tm O2.
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)
M
r1
O2 O 2 O2
va ve vr
1
O1
B
B
va
P1
O2
Hnh II.14.2
A O2
A vr
va
r2
P2
O2
O A
v e y
2
v e v a O
A
B
2
a
a r1 .1 r1.1
e
Vi :
O2
O2
v r AO2 hay v r y
O2 O2 A
v r v O2
v r r22 r2 .2
O2
a
O2
O2 O2
v a v e v r r1.1 r2 .2
ch khi 2 vector
c.
ng nng ton h:
The TO1 T O2
1
P1 2
2
J
m
r
O1 2 1 1 2g r1
Ta co :
J m .r 2 P2 .r 2
2 2
2
O2
g
Vi :
O1
O2
O2
1
P1 2 2
2
JO1 .1 .r1 .1
2
4g
1
1
O2 2
m2 v a
JO2 .22
2
2
1 P2
1 P2 2 2
2
.r2 .2
r1.1 r2 .2
2 g
2 g
P2 2 2 P2
P2 2 2
.r1 .1 .r1.r2 .1.2 .r2 .2

2g
g
g
he
1 P1
P2 2 2
2 2 P2
P2 .r1 .1 .r1.r2 .1.2 .r2 .2
2g 2
g
g
d.
Nhn xt:
H s c 2 lc suy rng Q1, Q2 ng vi 2 ta suy rng chn.
Xc nh lc suy rng Q1:

Chn 1 di chuyn kh d c bit cho h.
1 0 ; 2 0
Ta c : v Oa2 r1.1 r2 .2
1
2
r1.
r2
dt
dt
r1.1
Tnh tng cng kh d:
A A M A P2
A M.1 P2 . sO2
M:
O2
a
sO2
r1.
dt
dt
sO2 r1.1
Vay :
A M P .r .
2 1
Lc suy rng Q1:
Q1
M P .r
1
2 1
Tnh lc suy rng Q2:

Chn mt di chuyn kh d dc bit cho h:
1 0 ; 2 0
Ta c : v Oa2 r1.1 r2 .2
1
2
2
r1.
r2 .
r2 .
dt
dt
dt
Ma : v
O2
a
sO2
dt
sO2 r2 . 2
Tng cng kh d:
A A P2
P2 . sO2 P2 .r2 .2
Lc suy rng Q2:
Q2
P .r
2 2
Vay : Q1 M P2 .r1
Q2 P2 .r2
e.
Dng phng trnh Lagrange 2 (i vi h khi mt cn bng):
d T T
Qi

dt qi qi
, i 1, 2
d T d T 1 P1
..
2 .. P2
P2 .r1 .1 .r1.r2 .2
dt q1 dt 1 g 2
g
T T
0
q1 1
(V Th khng phu thuc 1).
d T d T P2
.. 2P2 2 ..
.r2 .2
.r1.r2 .1
dt q2 dt 2 g
g
T
T
0
q2 2
(V Th khng phu thuc 2).
1 P1
2
A
P
2 r1 const
g 2
P2
at : B .r1.r2 const
g
2.P2 2
C
.r2 const
Thay cc kt qu vo phng trnh Lagrange 2, ta c:
A.1 B.2 M + P2 .r1 D
B.1 C.2 P2 .r2 E

at : X1 1 ;
X2 2
A.X1 B.X 2 D
B.X1 C.X 2 E
C.D B.E
X1 1 A.C B2 const
X 2 2 A.E B.D const
A.C B2
(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).
P
Hnh II.15
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,
, aMA const
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 im C ny.
d. Xc nh cc lc suy rng tng ng vi cc ta suy rng
chn cho h.
e. Thit lp h phng trnh vi phn chuyn ng cho ton h.
Bi sa
a.
Dofh = 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)
Chn 2 ta suy rng: q1 1; q2 2
b.
Phn ch chuyn ng ca cc vt rn trong h:
(Hnh II.15.1)
1
A
A
va
A
C
vr
C
va
C
ve
2 C
Hnh II.15.1
a trn A:
Chuyn ng song phng trong mt phng cha vt vi tm vn

tc tc thi (TVTTT) l im p xc I.
Thanh thng AB:
Chuyn ng song phng trong mt phng cha vt vi TVTTT l
im cha xc nh.
Qu o tm A l ng thng
A
A v a . A
Phn ch chuyn ng phc hp ca khi tm C ca thanh

AB.
Chuyn ng ko theo : tnh n cng vi tm A.
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v e va
Do :
Chuyn ng tng i: quay quanh tm A.

Do :
C CA
v r v AC
Vit biu thc nh:
C 2
a
C C C
va v e vr
A 2
a
C 2
r
v v
2 v aA v rC cos 2
2
r.1
c. ng nng ton h:

. 2 r..cos 2 .1.2
2
The T A T AB
1
1
A 2
Vi : T m A v a JA .A2
2
2
A
Q
Ta co : mA ; v aA r.1.
g
1
Q 2
2
JA m A .r .r
2
2g
A 1
Q 2 2 Q 2 2
T r .1 r .1
2g
4g
3Q 2 2
r .1
4g
A
Ta co :
Vay : T
1
1
C 2
2
m AB v a JC .AB
2
2
P
m AB ; AB 2
g
1
P 2
2
JC m AB .
.
12
12g
T
he
AB
AB
P 2 2 P 2 2 P
r .1 .2 r..cos 2 .1.2
2g
6g
2g
1
3 2 2 P 2 2 P
P Q r .1 .2 r..cos 2 .1.2
2g
2
6g
2g
d.
Tnh lc suy rng Q1 ng vi ta suy rng q1 1 .
Cho h mt di chuyn kha di c bit: 1 > 0 ; 2 = 0

A A M
M.1
Q1
M
1
Tnh lc suy rng Q1 ng vi ta suy rng q2 2 .

Cho h mt di chuyn kh d c bit: 1 = 0 ; 2 > 0.
Tng cng kh d ca cc ti tc ng:(Hnh II.15.2)
A A P P. hC P 2 2 sin 2
A
Q2
P.sin
2
2
C
hC
Vay : Q1 M
Q2 P.sin 2
2
C0
2
P
Hnh II.15.2
e.
Phng trnh Lagrange 2:
d T T
Q1

dt 1 1
d T T
Q2

dt 2 2
T 1
2 2
P
Vi :
P Q r .1 r..cos 2 .2
3
2g
1 g
d T 1
2 2
P
2
Q
r
.
.
r
.
sin
1
2 2 cos 2 . 2
dt 1 g
3
2g
T
0
1
P
T P 2
. . 2 r. cos 2 .1
2 3g
2g
P
d T P 2
.2 r. sin 2 .1.2 cos 2 .1
dt 2 3g
2g
T
P
r..sin 2 .1.2
2
2g
1
3 2
P
P
2
Vay :
P
Q
r
.
r
.
.cos
r
.
.
sin
1
2 2
2 2 M
g
2
2g
2g
P
P 2
r..cos 2 .1 . 2 P.sin 2
2g
3g
2
Bi tp 16. Cho
m1 , m2 , m3 , mA , JO1 , JO2 , JO3 , M1 , M 2 , R 2 2r1 R 3 2r3 2r .

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.
Cc nhnh dy trong h c
cc
nh cht: mm, nhe,
M2
M1
R2
r1
O1
O2
khng gin, khng trt

trn cc vt v lun cng. B
R3
qua ma st cc khp bn
l. (Hnh II.16)
O3
A
r3
Hnh II.16
Bi sa
a. Dofh = +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 q1 1 ; q2 2
b.
Phn ch chuyn ng cc vt:
Rng rc 1: quay quanh tm O1 c nh.
Rng rc 2: quay quanh tm O2 c nh.
Rng rc kp 3: chuyn ng song phng.
Vt A tnh tin thng ng.
M1
B
va
r1
O1
M2
O2
D
D
va
R3
C
va
O3
r3
Hnh II.16.1
R2
E
E
va
A
Xc nh 3:
Ta c:
Ma :
C B
v a v a
E D
v a v a
vBa r1.1 r.1
D
v a R 2 .2 2r.2
Xc nh tm vn tc tc thi rng rc 3:
(Hnh II.16.2)
C
va
O3
va
P
C
O3
Hnh II.16.2
E
va
Vn tc gc ca rng rc 3:
v Ca
v Ea
v aC v Ea r.1 2r.2 1
3
1 22
PC PE PC PE
3r
3
Xc nh vn tc vt A:
Vn tc tm O3:
v Oa3 PO3 .3
Ta co :
v Ca
r.1
31
PC =
.r
3 1 2
1 22
1
2
3
2 1 2
31
PO3 PC O3C
r r
r
1 22
1 22
Vay :
O3
a
2
r. 1 2
3
Do dy khng gin nn:

A O3
va va
1
3 1 22
3
2
v aA v aO3 r 1 2
3
c.
Tnh ng nng h:
T he T1 T 2 T 3 T A
Vi :
1
1
2
T JO11 JO1 .12
2
2
1
1
1
2
T JO2 .2 JO2 .22
2
2
2
1
1
O3 2
T m3 v a JO3 .32
2
2
1
4 2 2
1
1 2
2
m3 r 1 2 21.2 JO3 . 1 4.22 41.2
2
9
2
9
1
2
2
2
2
2
2
4m3 .r JO3 1 m3 .r JO3 .2 JO3 2.m3 .r 2 .1.2

18
9
9
1
1
4 2 2
A 2
T m A v a mA . r 1 22 21.2
2
2
9
2
2
4
2
2
2
2
mA .r .1 mA .r . 2 m A .r 2 .1.2
9
9
9
A
he
1
4
1
4
2
2 2
JO1 m3 .r JO3 m A .r 1
2
9
9
9
1
4
4
4
2
JO2 m3r JO3 m A .r 2 22
2
9
9
9
2
JO3 2 m3 m A r 2 1.2
9
d.
Tnh lc suy rng Q1:
Cho h mt di chuyn kh d c bit: 1 > 0 ; 2 = 0
Tnh A :
A A M1 A P3 A PA
Vi :
A M1 M1.1
P3 P3 . h3 m3 .g. sO3
sO3
2
2 1 2
Ta co : v
r 1 2 r
dt
3
3 dt
dt
2
2
sO3 r 1 2 r.1
3
3
2
Do o : A P3 m3 .g.r.1
3
2
A PA PA . sA mA .g. sO3 mA .gr. .1
3
O3
a
A M1 gr
. m3 m A 1
3
Q1
M
1
m3 mA g.r
1
3
Tnh lc suy rng Q2:

Cho h mt di chuyn kh d c bit: 1 = 0 ; 2 >0
Tnh A :
A A M 2 A P3 A PA
Vi :
A M 2 M 2 .2
A P3 P3 . h3 m3 .g. sO3
Ta co :
O3
a
sO3
2
2 1 2
r 1 2 r
dt
3
3 dt
dt
2
2
sO3 r 1 2 r.2
3
3
2
Do o :
A P3 m3gr. .2
3
2
A PA PA . s A mA .g. sO3 mA .g.r. 2
3
A M 2 g.r m3 m A 2
3
Q2
M
2
m
g
.
r
3 A
2
3
e. Vit h phng trnh vi phn cho h bng cch dng phng

trnh Lagrange 2:
d T T
Qi , i 1, 2

dt i i
d T
2A.1 C2
dt 1
d T
C1 2B2
dt 2
T T
0
1 2
2

2A1 C2 M1 3 m3 m A g.r
Vay :
C. 2B. M 2 m m g.r
2
2
3
A
1
3

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BK

TRNG I HC BCH KHOA TP. H CH MINH

Phn I: TNH HOC

PGS. TS. TRNG Tch Thin

PGS. TS. Trng Tch Thin

Tnh hc l mt phn ca c hc l thuyt, nhm gii

PGS. TS. Trng Tch Thin

PGS. TS. Trng Tch Thin

PGS. TS. Trng Tch Thin

1.1. 2. Cc nh ngha khc v lc

PGS. TS. Trng Tch Thin

b). Tnh cht ca hp lc: hp lc c 2 tnh cht.

PGS. TS. Trng Tch Thin

PGS. TS. Trng Tch Thin

C nhng h lc lun c hp lc v cng c nhng h lc

1.1.3. Phn loi h lc

PGS. TS. Trng Tch Thin

Ngoi lc: l nhng lc do nhng i tng bn ngoi h

PGS. TS. Trng Tch Thin

PGS. TS. Trng Tch Thin

PGS. TS. Trng Tch Thin

V d: p lc nc tc dng ln thnh . (hnh 1.5)

PGS. TS. Trng Tch Thin

V d: Trng lc tc dng ln vt l loi lc phn b th

PGS. TS. Trng Tch Thin

PGS. TS. Trng Tch Thin

1.1.4.2. Trng hp ring

PGS. TS. Trng Tch Thin

b. Lc phn b tam gic: (hnh 1.9).

PGS. TS. Trng Tch Thin

1.2 Cc tin tnh hc

PGS. TS. Trng Tch Thin

Tin 2: Tin thm bt hai lc cn bng

Cn ch rng tnh cht nu trn ch ng i vi vt

PGS. TS. Trng Tch Thin

Tin 3: Tin hnh bnh hnh lc

Tin 4: Tin tc dng v phn tc dng

PGS. TS. Trng Tch Thin

PGS. TS. Trng Tch Thin

PGS. TS. Trng Tch Thin

PGS. TS. Trng Tch Thin

Tin 6: Tin gii phng lin kt

PGS. TS. Trng Tch Thin

PGS. TS. Trng Tch Thin

PGS. TS. Trng Tch Thin

Kh nng ca lc F lm vt rn quay quanh tm O s

Hng quay ca cc ngn

PGS. TS. Trng Tch Thin

PGS. TS. Trng Tch Thin

1.3.2.2. Moment ca lc i vi mt trc

PGS. TS. Trng Tch Thin

PGS. TS. Trng Tch Thin

PGS. TS. Trng Tch Thin

iu kin cn v lc F khng c kh nng lm vt

PGS. TS. Trng Tch Thin

Cng phng, cng

(F, F ') : F ' F

PGS. TS. Trng Tch Thin