H = I xx i - I xy j - I xz k x + -I xy i + I yy j - I yz k y + -I xz i - I yz j + I zz k z

TGi =

dH
I xx i - I xy j - I xz k x + -I xy i + I yy j - I yz k y
dt

+ -I xz i - I yz j + I zz k z + (x i + y j + z k)
xx

i - I xy j - I xz k x + -I xy i + I yy j - I yz k y + -I xz i - I yz j + I zz k z

x = y = x = y = 0

TGi = (I yz z2 - I xz z ) i - (I xz z2 + I yz z )j + (I zz z )k

I xx = I xx M y A + z A , I yy = I yy M x A + z A , I zz = I zz M x A + y A ,
A

I xy = I xy Mx A y A , I xz = I xz Mx A z A, I yz = I yz My A z A
A

m(0.5Lj)
= 0.5Lj k bileeni yok : rmil rG
m
a G = k rmil - 2 rmil k 0.5Lj - 2 0.5Lj = -0.5L i - 0.5L 2 j

rG =

m a G = FA + FB yazarak, FB = m a G - FA ile
Tk + 2L k FA - 2L k FB = (I yz 2 - I xz )i - (I xz 2 + I yz )j + I zzk
m 2 m 2 m 2
L + L L
12
4
3
m
Tk + 2L k FA - 2L k m a G - FA = L2 k
3
m 2
Tk 4 L k FA -2 L k m aG L k
3
FA FAx i FAy j ile
I xz = 0, I yz = 0, I zz =

Tk 4 L FAx j - FAy i -2 L k m -0.5L i - 0.5L 2 j

Tk 4 L FAx j - FAy i mL2 j - j 2i
mL
mL 2
m
, FAy , T L2
4
4
3
FB m aG - FA ile
FAx -

FBx -

mL 2
mL
, FBy
4
4

FA FAx2 FAy2 , FB FBx2 FBy2

m 2
L k
3

m 2
L k
3

m(0.5Lj + 2Lk)
= 0.5Lj + 2Lk rmil = 0.5Lj
m
a G = k rmil - 2 rmil -0.5L i - 0.5L 2 j
rG =

mL2
L
mL2
I xz = 0, I yz = mL , I zz =
+m

12
4
3
2
2
Tk + 4L k FA = (I yz - I xz ) i - (I xz + I yz )j + I zz k
2

mL2
Tk + 4L k FAx i + FAy j = mL i - mL j +
k
3
mL2
Tk + 4L FAx j - FAy i = mL2 2 i - mL2j +
k
3
mL
4L FAx = -mL2 FAx

4
mL 2
-4LFAy = mL2 2 FAy

4
mL2
T=

3
m a G = FA + FB yazarak, FB = -0.5mL i - 0.5mL2 j - FAx i - FAy j

FB = -0.5mL i - 0.5mL2 j +
=-

mL
mL 2
i +
j
4
4

mL
mL 2
i j
4
4

2
2
2
2
FA = FAx
+ FAy
ve FB = FBx
+ FBy

A ve B deki tepki kuvvetlerini ve milin asal ivmesini herhangi bir T torku iin bulunuz?
Ktle iin 1 kg/m kullannz.
FA + FB = 0 FB = -FA = -(FAx i + FAy j)
a
a
Tk + 3(b + )k FA - 3(b + )k FB = (I yz 2 - I xz ) i - (I xz 2 + I yz )j + I zz k
2
2
aa
3
a 3a

a + b a a a 3a

I xz = -a + b - ba
- a - a + b - ba a + b - a + 2b

2 2
2
2 2

2 2 2 2 2

a 3a
3
a 3a
1
aa

aa

I yz = -a + 2b - ba a + b - a + b - a - ba a + b - a + b
2 2
2
2 2
2
2 2

2 2

I zz = 8

aa 2
a2
+ 8a 0 + + 4b 0 + a 2
12
4

= T / I zz = dt, FAx = -(I xz 2 + I yz ) / (6b + 3a),

FAy = (I yz 2 - I xz ) / (6b + 3a)
2
2
FA = FB = FAx
+ FAy

m(r i + rk) + m(rj + 4rk) r i + rj + 5rk

r
=
, rmil =
i + rj
2m
2
2
a G = k rmil - 2 rmil

rG =

2m a G = FA + FB , FB = 2m a G - FA
Tk + 6rk FA = (I yz 2 - I xz ) i - (I xz 2 + I yz )j + I zz k
I xz = m(r)(r), I yz = m(r)(4r), I zz = mr 2 + mr 2 ve
FA = FAx i + FAy j,

ma G -m(e i + 2ej) = FA + FB ve FA = FAx i + FAy j, FB = FBx i + FBy j

Tk + L1k FA - L 2 k FB = (I yz 2 - I xz ) i - (I xz 2 + I yz )j + I zz k
I xz = 0, I yz = 0, I zz = 0.5mR 2 + me 2
2
2
2
2
FA = FAx
+ FAy
ve FB = FBx
+ FBy

m(0.5aj + 3.5ak) + 2m(a i + 3.5ak)

2
1
7
2
1
= a( i + j + k), rmil = a( i + j)
3m
3
6
2
3
6
2
a G = k rmil - rmil

rG =

I xz = 2m(a)(3.5a), I yz = m(0.5a)(3.5a), Izz =

m 2 m
a + (2a) 2 + ma 2 m(0.5a) 2
12
12

ve FA = FAx i + FAy j ile

Tk + 3.5a k FA - 3.5a k FB = (I yz 2 - I xz ) i - (I xz 2 + I yz )j + I zzk

Aada verilen sistemde A ve B yataklarna gelen kuvvetleri ve milin asal hzn t=3s iin
bulunuz?

T(t)=20sin(3t), m1 2m 2 4 kg, r 0.1 m, 1 45 , 2 270

T = (I

rmil =

yz

2 I xz )i (I xz 2 + I yz )j + I zzk

0.1414i+0.0414j

m1 3r 0.7071 i+j +m 2 3r j
m1 m 2

I xz = 4(0.2121)(0.8) = 0.6788, I yz = 4(0.2121)(0.8) + 2(0.3)(0.1) = 0.6188,

I zz = 4(0.09) 2(0.09) = 0.54 ve FA = FAx i + FAy j
a G =k rmil 2 rmil 0.0414+0.14142 i+ 0.1414 0.04142 j
Tk + 0.7k FA = (I yz 2 I xz )i (I xz 2 + I yz )j + I zz k

Tk + 0.7 FAx j FAy i = (0.61882 0.6788)i (0.67882 + 0.6188)j + 0.54k

T 0.54=20sin(3t)

20
20
sin(3t)
cos(3t)
0.54
1.62

FAx (0.96972 + 0.884) = 230.93

FAy (0.8842 0.9697) = 174.8
6 a G = FA + FB FB = 6 a G FA

Dnm Eksen Takm

i 11 12 13 i


j 21 22 23 j
k 31 32 33 k


2
2
2
I x'x' = I xx 11 + I yy 21 + I yy 31
2
2
I y'y' = I xx 12
+ I yy 222 + I zz 32
2
2
2
I z'z' = I xx 13
+ I yy 23
+ I zz 33

I x'y' = -(I xx 1112 + I yy 21 22 + I zz 31 32 )

I y'z' = -(I xx 12 13 + I yy 22 23 + I zz 32 33 )
I x'z' = -(I xx 1311 + I yy 23 21 + I zz 33 31 )

Disk iin asal eksende

Izz = MR 2 / 2
I xx = I yy = M(3R 2 + h 2 ) /12
FA + FB = 0 FB = -FA = -(FAx i' + FAy j' + FAz k')
Tk + Lk' FA = (I y'z'2 - I x'z')i' - (I x'z'2 + I y'z')j' + I z'z'k'
2
2
i 1
I z'z' = I yy 23
+ Izz 33
0
0 i

j = 0 cos -sin j I y'z' = -(I yy 22 23 + I zz 3233 )

0 sin cos
I x'z' = 0
k
k