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Mehanika M 6 PDF
Mehanika M 6 PDF
. .
T2
T1 +
I ud = F ud dt = F ud dt
T1
T1
dv ud
m
=F
dt
v ' = v (T2 ),
1 T1 +
Fsr = F ud dt
T1
v = v (T1 )
1 T1 + ud
v' = v +
F dt
m T1
dr
1 T1 +t ud
v (t ) = v +
F dt = dt , t t1
m T1
1 T1 +t
dr = vdt + F ud dt dt
m T1
1
r2 = r1 + v + I srud
m
T
+
ud 1 1 ud
I sr = I dt
T1
1
r = r2 r1 = v + I srud 0
m
' '
mv = K
mv = K
d ( mv ) = dI
mv ' mv = I ud = Fsrud
T2
mv 'y mv y = Y ud dt = I ud
y
T1
T2
()
mi vi' mi vi = I is + I iu
i = 1, 2,..., n
mi
vi -
vi' -
n
n
n n
mi vi' mi vi = I is + Iiu
i =1
i =1
i =1
i =1
n
I s = I is
i =1
n
I u = I iu = 0
i =1
n
K ' = mi vi'
i =1
n
K = mi vi
i =1
n
K ' K = I s = I is
i =1
K x' K x = I ixs
K y'
i =1
n
Ky =
i =1
n
I iys
K z' K z = I izs
i =1
'
mvCx
mvCx = I ixs
'
mvCy
i =1
n
mvCy = I iys
i =1
n
'
mvCz
mvCz = I izs
i =1
n
I s = I is = 0
i =1
'
K =K
vC' = vC
K = mvC
I xs = I ixs = 0
i =1
K x' = K x
'
vCx
= vCx
K ' = mvC'
ri mi vi' ri mi vi = ri Iis + ri Iiu
n
i = 1, 2,..., n
n
ri mi vi' ri mi vi = ri I is + ri Iiu
i =1
i =1
i =1
n
LA' = ri mi vi'
i =1
n
LA = ri mi vi
i =1
i =1
T2 n
T2
s n T2 s
s
s
r
I
=
r
F
dt
=
r
F
dt
=
i i i i
i i
M Adt
i =1
i =1
T1
T1 i =1
T1
T
T
T2
n
n
2
2
n u
u
u
u
r
I
=
r
F
dt
=
r
F
dt
=
i i i i
i i
M A dt = 0
i =1
i =1
T1
T1 i =1
T1
T
n
2
LA' LA = ri I is = M As dt
n
i =1
T1
n
'
LAx
LAx =
i =1
n
Iis
M Ax
s
Ii
'
LAy
LAy = M Ay
'
LAz
i =1
n
s
Ii
LAz = M Az
i =1
s
I
ri I is = M Ai = 0
i =1
i =1
s
I
M Axi = 0
i =1
'
LAx
= LAx
LA' = LA
.
()
mv ' mv = I N
mvn' mvn = I N
mvT' mvT = 0
mv' mv = 0
mvn = I N1
vT' = vT
v' = v = 0
I N = I N1 + I N 2
mvn' = I N 2
k=
I N2
I N1
vn'
vn
vn' = kvn
I N = mvn (1 + k )
vn = v cos
I N = mv (1 + k ) cos
v sin = v 'sin
v=
vn
cos
tg = k tg
1
tg = tg
k
v =
'
vn'
cos
v' =
kvn
cos
kv cos
cos
v sin kv cos
=
sin
cos
f ( x, y , z ; t ) 0
x = x(t ), y = y (t ), z = z (t )
f [ x(t ), y (t ), z (t ); t ] = 0
t = T1
d2 f
dn f
df
,
=
0
,...,
=
0
n = 0 ,...
dt
2
t =T1
dt t =T1
dt t =T1
df
<0
dt t =T1
df
>0
dt
t =T2
df
=0
dt t =Tm
df f f
f
f
= +
x +
y +
z =
dt t x
y
z
f
f
= + v gradf = + gradf vn
t
t
df
f
=
+ gradf
dt t =Tm t t =Tm
f
t + gradf
t =T1
t =T1
t =Tm
un = 0
un 0
mun mvn = I N1
(1)
mvn' mun = I N 2
(2)
f
+ gradf
t t =T1
I N2 = kI N1
t =T1
un = 0
(3)
vn' un
k=
un vn
(4)
k=
v2' n v1' n
v2 n v1n
K ( xK , y K , z K )
v ' yC ' , 0, 0
v ( yC , 0, 0 )
)
'
LOy
= J yz '
'
LOx
= J xz '
LOx = J xz
LOy = J yz
K y' = K z' = 0
K x = myC
K y = Kz = 0
'
LOz
= J z '
LOz = J z
(I )
( II )
K ' K = I s + IA + IB
s
LO' LO = M OI + M OI A + M OI B
myC ' = I xs + I Ax + I Bx
0 = I ys + I Ay + I By
0 = I zs + I Az
( )
J ( ) = I x + I z
J ( ) = I y + I x
J xz ' = I ys z K + I zs yK + I Ay a I By b
'
s
z
yz
'
s
x
s
x
s
y
+ I Ax a I Bx b
I Ax = I Ay = I Az = 0
I Bx = I By = 0
(1)
myC ' = I xs
(2)
0 = I ys
(3)
0 = I zs
(4)
J xz ' = 0
(5)
J yz
zK
(6)
J z ' = I xs yK
(2), (3)
(4)
(5), (6)
( )
( ) = I
'
s
x
' =
zK =
yK =
I xs
myC
J yz
myC
J + myC2
J
Jz
= Cz
= yC + Cz
myC
myC
myC
I ys = I zs = 0
J xz = 0
xK -
J
yK = yC + Cz
myC
J yz
zK =
myC
( zK = 0
J yz = 0
d T
dt q j
T
=
+ Qj
q j
'
= Sj
'
t =T2
q j
T
q j
q j
T
=
q j
( j = 1,2,..., N )
T T
q j q j
t =T1
T2
T2
T1
T1
S j = Q j dt
d T
dt q j
q j dt = 0
f (t ; q1 , q 2 ,..., q N ) = 0
T
f
=
+ Qj +
q j
q j
Qj = 0 :
q j
m q j
q j
T
q j
'
= 1 f
q j
= 2 f
q j
m
t =T1
2 = k1 ,
(2)
t =T1
=0
(3)
(4)
:
Tm
1 = dt
(1)
t =T1
N
f
df
f
=
+
q j
dt t =Tm t t =T1 j =1 q j
T1
( j = 1,2,..., N )
T2
2 = dt
Tm