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B mn C K thut Khoa Khoa hc ng dng i hc Bch khoa Tp.HCM

Phn I
TNH HC
Tnh hc l phn u ca c hc l thuyt kho st s cn
bng ca vt th chu tc dng ca lc
Mc tiu
Hai vn chnh c gii quyt trong tnh hc l:

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.
i tng
i tng ca tnh hc l vt rn tuyt i

Phn I
TNH HC
Chng 1: Cc khi nim c bn, m hnh phn lc lin kt
Chng 2: Thu gn h lc, iu kin cn bng
Chng 3: Cc bi ton c bit
Chng 4: Ma st
Chng 5: Trng tm

Chng 1. Cc khi nim c bn tnh hc
Chng 1
Cc khi nim c bn tnh hc
NI DUNG
1.1. Cc nh ngha ca tnh hc
1.2. Cc khi nim c bn v lc, moment
1.3. Cc tin tnh hc
1.4. Cc m hnh lin kt v phn lc lin kt

1.1. Cc nh ngha ca tnh hc
Vt rn tuyt i
L loi vt rn c hnh dng v th tch khng thay i di mi
tc ng t bn ngoi.
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:
o Tnh tin thng u.
o Vt ng yn (c thm tnh cht vn tc bng 0).

Lc
Lc l mt i lng vector c dng o lng s tng tc
c hc gia cc vt cht vi nhau.

Cc c trng ca lc
b
A: im t ca lc F
Gi ab l phng ca lc F, hng
A
ca l chiu ca lc tc dng
: ln (cng ) ca lc F
a
K hiu ca lc:

H lc
L mt tp hp nhiu lc ang tc ng ln i tng kho st
K hiu h n lc:
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 h 2 lc tng ng: ~

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 h lc cn bng:

Hp lc
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 hp lc:
Tnh cht ca hp lc:

Vector hp lc c xc nh bng vector
tng ca cc vector lc trong h.
Hnh chiu ca mt vector lc ln mt trc l mt gi tr i s
Vector hp lc ca h lc ch nm trn mt ng tc dng duy

nht trong khng gian .
C nhng h lc lun c hp lc v cng c nhng h lc khng bao
gi c hp lc.

Hp lc

Phn loi h lc
Cch 1 (ni v ngoi lc):
Ngoi lc: l nhng lc do nhng Ni lc: l nhng lc do nhng
i tng bn ngoi h thng kho i tng bn trong h thng kho
st sinh ra tc ng vo nhng v st sinh ra tc ng vo nhng
tr bn trong h thng ang xt. v tr bn trong h thng ang xt.
V d:
Xt h kho st gm ch c vt
l ngoi lc.
Xt h kho st gm vt +
ngi l ni lc.

Phn loi h lc
Cch 2 (dng hnh hc ca lc):
Lc tp trung: L loi lc ch tc dng ti mt im duy nht trn vt.

Phn loi h lc
Lc phn b: L loi lc tc ng cng lc ln nhiu im trn vt.
- Lc phn b trn 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

Phn loi h lc
- Lc phn b trn mt: L loi lc phn b
m qu tch cc im tc dng ln vt to
thnh mt loi mt hnh hc trn vt. n v:
N/m2

Phn loi h lc
- Lc phn b trn th tch: L loi lc phn b m qu tch cc im
tc dng ln vt to thnh mt loi th tch hnh hc. n v: N/m3

Quy i lc phn b
Tng qut


Quy i lc phn b
Trng hp lc phn b u
Trng hp lc phn b tam gic

Moment ca lc
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

Moment ca lc i vi 1 tm
Xt moment ca vector lc F i vi tm O
Kh nng ca lc F lm vt rn quay quanh tm O s c nh gi bi

vector moment ca lc F i vi tm O nh sau:
( : tch c hng)
Moment ca lc i vi 1 tm
Xt moment ca vector lc F i vi tm O
Chiu

nh l
iu kin cn v lc F khng c kh nng lm vt rn quay
quanh tm O l:

Moment ca lc i vi 1 trc
Xt moment ca vector lc F lm vt c khuynh hng quay quanh trc z

Quy c:
Moment ca lc F i vi trc quay z s c quy c l i lng
dng (+) nu nhn dc theo trc quay z 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 z ca vector moment lc F i vi tm
O bng moment ca lc F i vi trc z

nh l:
iu kin cn v lc F khng c kh nng lm vt rn quay
quanh trc z l moment ca lc F i vi trc z bng 0.
M trc z ct mp (OAB) ti O nn trc z mp(OAB)
ng phng.

Ngu lc
Ngu lc l mt h hai lc tha ng thi cc iu kin sau y:

Cng phng, cng ln, ngc chiu v khng cng ng tc
dng.
K hiu ngu lc:

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.
Ngu lc l loi h lc khng

c hp lc. Ngha l ngu lc
l mt dng ti gin ca cc h
lc:

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.
o lng kh nng lm quay vt ca ngu lc ngi ta nh ngha
i lng vector moment ca ngu lc:
Chiu

Cch k hin 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.)
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)
Ch : Ch rng c rt nhiu ngu

c th chn biu din mt
moment.

Cch k hin moment
C 3 cch k hiu moment

Cch 3: Biu din moment bng mt vector cong, phng nm trong mt
phng tc dng ca ngu lc. 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 v 3 chiu)

1.3. Cc tin tnh hc
C 6 tin tnh hc
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 .
A B A B

1.3. Cc tin tnh hc
C 6 tin tnh hc
Tin 2: Tin thm bt hai lc cn bng
Tc dng ca mt h lc khng thay i khi thm hoc bt hai lc

cn bng
B A

1.3. Cc tin tnh hc
C 6 tin tnh hc
Tc dng ca mt h lc khng thay i khi thm hoc bt hai lc

cn bng
H qu: Tc dng ca lc ln vt rn tuyt i khng thay i khi trt
lc trn ng tc dng ca n. (nh l trt lc)
A A A
Ch : Tnh cht trn ch ng vi vt rn tuyt i

1.3. Cc tin tnh hc
C 6 tin 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

1.3. Cc tin tnh hc
C 6 tin tnh hc
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
A B
Ch : Lc tc dng v phn tc dng khng phi l hai lc cn bng

v chng khng tc dng ln cng mt vt rn

1.3. Cc tin tnh hc
C 6 tin 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
Si dy Si dy
Ha rn Ha rn
Thanh thp Thanh thp
Ch : iu ngc li khng ng

1.3. Cc tin tnh hc
C 6 tin 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

Cc khi nim c bn
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.
Bc t do ca vt rn
L s chuyn ng c lp m vt rn y c th thc hin ng
thi trong khng gian.
K hiu bc t do ca vt rn l Dof (Degree of freedom).

Cch xc nh BTD ca VR
Trong khng gian hai chiu: 2D

: tnh tin thng theo phng ngang.
: tnh tin thng theo phng ng.
: quay.
C v th vt tnh tin theo phng xin.
C c th vt va tnh tin va quay ng thi.

Cch xc nh BTD ca VR
Trong khng gian ba chiu: 3D

Ch : rng mt chuyn ng c lp bao gm c hai chiu

chuyn ng theo mt phng.

Lin kt
L nhng i tng c tc dng hn ch kh nng chuyn ng
ca vt rn trong khng gian.
Rng buc
L s chuyn c lp b mt do lin kt
K hiu: Rlk
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.

BTD ca h nhiu VR lin kt nhau
Kho st mt h thng c hc gm c n vt rn c lin kt vi nhau

bi m lin kt.
Tng cc rng buc ca cc lin kt trong h l:
Trong khng gian 2 chiu (2D):
Trong khng gian 3 chiu (3D):
Vi n l s vt rn trong h.
Dof h > 0: h khng lun cn bng vi mi loi ti tc ng.
Dof h 0: h lun cn bng vi mi loi ti tc ng.

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

Tnh cht ca phn lc lin kt
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 ) ].
V d: Rlk = 2,5 lin kt c 3 phn lc lin kt.
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.

Cc dng lin kt c bn
1. Lin kt dy: Rdy = 0,5

C 1 phn lc lin kt.

Cc dng lin kt c bn
1. Lin kt dy:

Cc dng lin kt c bn
2. Lin kt ta nhn (ta trn khng ma st): Rta = 0,5

C 1 phn lc lin kt.
tip tuyn chung

Cc dng lin kt c bn
2. Lin kt ta nhn (ta trn khng ma st): Rta = 0,5

Cc dng lin kt c bn
3. Lin kt khp bn l c nh: Rblc = 2

C 2 phn lc lin kt.

Cc dng lin kt c bn
3. Lin kt khp bn l c nh: Rbl = 2

Cc dng lin kt c bn
4. Lin kt khp bn l di ng: Rbld = 1

C 1 phn lc lin kt.

Cc dng lin kt c bn
Phn bit khp bn l ni v khp bn l ngoi:

Cc dng lin kt c bn
5. Lin kt khp cu: Rcu = 3

C 1 phn lc lin kt.

Cc dng lin kt c bn
5. Lin kt khp cu: Rcu = 3

Cc dng lin kt c bn
6. Lin kt ngm phng: Rngm2D = 3

C 3 phn lc lin kt.

Cc dng lin kt c bn
7. Lin kt ngm khng gian: Rngm3D = 6

Cc dng lin kt c bn
8. Lin kt thanh: Rthanh = 1 C 1 phn lc lin kt.

Kho st nhng thanh thng, cong, lin kt thanh xut hin khi:
- Thanh c trng lng rt b so vi cc lc m thanh phi chu.
- C 2 lin kt 2 u mt thanh thuc 1 trong 3 loi lin kt sau: bn l,
khp cu, ta nhn.
-Thanh ch chu ti hai u mt, khng chu lc gia thanh.
Cc phn lc nm trn ng ni lin 2 u mt ca thanh

Cc dng lin kt c bn
8. Lin kt thanh:

BI GING
Mn hc: C HC L THUYT
Nguyn Thanh Nh
T: 08.38660568 0908568181

Phn I
TNH HC
Chng 4: Ma st
Chng 5: Trng tm

Chng 2. Thu gn h lc v iu kin cn bng ca h lc
Chng 2
Thu gn h lc v iu kin cn bng ca h lc
NI DUNG
2.1. Hai thnh phn c bn ca h lc
2.2. Cc nh l c bn ca tnh hc
2.3. iu kin cn bng ca h lc
2.4. Cc dng chun ca h lc (dng ti gin)

Kho st mt h c nhiu lc
Mt h lc lun c 2 thnh phn c bn l vector chnh v vector

moment chnh:
MO
M1
P2
P1
PO
P3
O
Pn M2
Mm

Vector chnh
Vector chnh ca mt h nhiu lc l vector tng ca tt c cc
vector lc trong h.
Tnh cht:
-i vi 1 h lc xc nh, vector chnh ca h lc l vector hng gi l
bt bin th nht vi h lc .
-Vector chnh ca mt h lc l mt vector t do, c th nm trn ng
tc dng song song ty trong khng gian tn ti ca h lc.
Vector chnh Thnh phn c bn th nht ca mt h lc

Vector moment chnh

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.
Tnh cht:
-Tnh cht 1: Moment chnh ca h lc i vi mt tm khng phi l
vector hng v s ph thuc vo v tr ca tm O y.
-Tnh cht 2: Hnh chiu vung gc ca vector moment chnh h lc i
vi mt tm O ln phng ca vector chnh ca h lc y l mt hng s
vi mi tm O trong khng gian.
y c gi l bt bin th hai ca h lc
Vector moment chnh Thnh phn c bn th hai ca mt h lc
Vector moment chnh
M t cc tnh cht:

nh l 3 lc
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:
ng phng.
Hoc ng quy hoc song song trong mt phng.
Ch :
y 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

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
lA
l A // lB
A
B

nh l thu gn h 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.

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:

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

Cc trng hp c bit
H lc phng trong mt phng ta Oxy

Cc trng hp c bit
H lc song song vi trc y trong khng gian 3 chiu

Cc trng hp c bit
H lc song song vi trc y, ng phng trong Oxy
H lc ng trc y

Cc trng hp c bit
H lc ng quy
H lc ng quy trong mt phng Oxy

Cc dng 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).
Dng chun 1: Khi 2 thnh phn u = 0

H lc cn bng, khng c hp lc
Dng chun 2:
H lc Ngu, khng c hp lc,
h chuyn ng quay thun ty


Dng chun 3:
H lc c hp lc chnh l vector chnh ti O, vt

chuyn ng tnh tin
H lc c hp lc nhng hp lc ny khng i qua O
O

Dng chun 4:
H lc khng c hp lc m s tng ng vi 1 lc v 1
vector moment H xon vt ng

BI GING
Mn hc: C HC L THUYT
Nguyn Thanh Nh
T: 08.38660568 0908568181

Phn I
TNH HC
Tnh hc l phn u ca c hc l thuyt kho st s cn
bng ca vt th chu tc dng ca lc
Mc tiu
Hai vn chnh c gii quyt trong tnh hc l:

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.
i tng
i tng ca tnh hc l vt rn tuyt i

Phn I
TNH HC
Chng 4: Ma st
Chng 5: Trng tm

Chng 3. Cc bi ton c bit
Chng 3
Cc bi ton c bit
NI DUNG
3.1. Bi ton gin phng
3.2. Bi ton vt lt

Khi nim
Bi ton gin l bi ton m trong cc thanh ch chu lc tc
dng u thanh (lin kt thanh).
Mc tiu ca bi ton gin l tm ng lc trong cc thanh.
ng lc trong thanh
ng lc l thnh phn ni lc dc trc trong thanh
T T
T T
C C
C C

Quy c
Thanh chu ko: ng lc mang gi tr dng (>0)

Thanh chu nn: ng lc mang gi tr m (<0)
T
A C
A
C
T 0

C 0
Cc phng php gii
1. Phng php tch nt

2. Phng php mt ct

Phng php tch nt
Ln lt xt tng nt sao cho ti mi nt c 2 n s ng lc. H lc

ti mi nt l h lc ng quy nn ch c 2 phng trnh cn bng.
VD Cc bc thc hin 1. Ha rn h, tm cc phn lc

YA S AE
2. Xt nt A cn
Q bng tm SAE v
SAB A S AB
SCD
YA SCD
S AE YC 3. Xt nt C cn
SCB bng tm SCD v
YC
SCB
SCB
S AB XC C
P XC
4. Ln lt xt cc nt cn li
V d
Cho h gin phng nh hnh v, b qua trng lc cc thanh tm

ng lc trong cc thanh
B
3
D P 10kN
2 6
A 4 E
1 C 5
300

Gii Ha rn h, tm cc phn lc
RB
B
D
P 10kN
NA
HA
A C
E
Nhn thy h lc ng quy ti E NA 0
Cc phng trnh cn bng:
Fx H A RB cos 0 P
RB 20kN
sin
Fy P RB sin 0 H 20cos 10 3 17,32kN
A
3.1. Bi ton gin phng B
RB
Gii Xc nh ng lc trong tng thanh D
P 10kN
Kho st s cn bng nt E P HA
A E
S ED C
S EC S EC
E
10
Fx S ED cos 300 S EC 0 S ED 1 / 2 20kN

Fy P S ED cos 60 0
0
S 20 3 17,32kN 0
EC 2
Thanh DE chu ko
Thanh CE chu nn

RB
P 10kN
Kho st s cn bng nt D S DB HA
A C
E
D
S DA S DE
S DC
Fx S DA cos S DB cos S DE cos 0

Fy S DB sin S DA sin S DC S DE sin 0
S DA S DE S DB 20 20 0kN

S DC S DB S DA S DE 20 0 20 0kN
Thanh DA v thanh DC khng chu lc

RB
P 10kN
Kho st s cn bng nt C HA
A C
E
C
SCA SCE
F x SCA SCE 0 SCA 17,32kN
Thanh AC chu ko

Phng php mt ct
S dng mt ct ct qua 3 thanh bt k chia gin thnh 2 khung ring,

sau ch cn xt cn bng cho 1 bn tm ng lc.
VD Cc bc thc hin 1. Ha rn h, tm cc phn lc
2. Ct ngang cc thanh ED, EB,

Q S ED AB, xt 3 phng trnh cn bng
tm c
SCD
YA S EB S ED , S EB , S AB
YC
SCB
S AB XC
P
V d
S dng mt ct ct qua 3 thanh DE, DC, AC
RB
B
RB
D
B
P 10kN
D
HA
E S DE
A C S DC
HA
A S AC

3.2. Bi ton vt lt
Bi ton tm iu kin khng lt cho c h:
Xt trng thi chm lt quanh B

Moment gy lt Moment chng lt
M B ( P ) M B (Q )
P.2,5l Ql
P 0, 4Q
Pmax ?
Pmax 0, 4Q
A B
2l l 2,5l
Q
BI GING
Mn hc: C HC L THUYT
Nguyn Thanh Nh
T: 08.38660568 0908568181

Phn I
TNH HC
Chng 4: Ma st
Chng 5: Trng tm

Chng 4. Ma st
Chng 4
Ma st
NI DUNG
4.1. Lc ma st, phn loi v tnh cht
4.2. Bi ton cn bng c k ti ma st

Chng 4. Ma st
Khi nim
Khi hai vt trt ln nhau, lc ma st chnh l nguyn nhn dn
n tn tht nng lng v nng lng tn tht s bin thnh
nhit v s n mn ca vt liu.

Chng 4. Ma st
Phn loi ma st
+Ma st kh (Dry Friction): Khi hai b mt vt rn tip xc v trt ln
nhau. Lc ma st tip tuyn vi b mt tip xc.
+Ma st nht (Fluid Friction): Ma st nht sinh ra khi cc lp ca lu

cht chuyn ng vi vn tc khc nhau.
+Ma st ni (Internal Friction): Khi tc ng lc ln vt rn lm vt

bin dng th cc phn t bn trong chuyn ng tng i vi nhau
sinh ra ma st gia cc phn t gi l ma st ni.

Chng 4. Ma st
Ma st kh
C hai loi ma st trong ma st kh:
1. Ma st tnh: hai b mt tip xc ng yn tng i vi nhau
2. Ma st ng: hai b mt tip xc chuyn ng tng i vi nhau

Chng 4. Ma st
Ma st tnh
- Dng lc P ko mt vt c khi lng m
trn mt phng, tng dn P t gi tr 0.
- Ti mt tip xc xut hin lc ma st cn

bng vi lc ko P. Khi P cha ln, vt m
vn cn bng.
- Khi P tng n mt gi tr ti hn Pgh th vt

m chm trt.
Lc ma st tnh c gi tr t 0 Fmsgh

Chng 4. Ma st
Ma st tnh
Lc ma st gii hn:
Trong :
- N l phn lc gia hai b mt tip xc
- l h s ma st trt tnh
iu kin vt khng trt:
Lu : Trong c hc vt rn tuyt i, lc ma st khng ph thuc

vo din tch b mt tip xc

Chng 4. Ma st
Ma st tnh
Gc ma st
Gc ma st gii hn:
Gc ma st tnh:
iu kin vt cha trt:

Chng 4. Ma st
Ma st ng
Khi lc ma st vt qua gii hn tnh vt s chuyn ng, lc ma

st gia hai b mt l ma st ng.
C hai loi ma st trong ma st ng:
1. Ma st trt ng: hai b mt tip xc trt ln nhau.
Lc ma st trt ng gia hai b mt l:
Vi l h s ma st trt ng
Lu : lc ma st trt ng thng nh
hn lc ma st tnh

Chng 4. Ma st
Ma st ng
- Dng lc Q ko mt vt c trng lng G
2. Ma st ln:
trn mt phng, tng dn Q t gi tr 0.
- Khi Q cha ln vt vn cn bng
Gii thch:
- Khi : s n hi nn lm N chm dch chuyn song song mt
on k n N
- Bnh xe cn bng vi 2 ngu:
Ngu cn ln
Chng 4. Ma st
Ma st ng
Ngu cn ln (ma st ln):
2. Ma st ln:
- Khi Q tng, k tng theo:
- Khi Q t gi tr ti hn, vt chm ln:
H s ma st ln, c th
nguyn l chiu di
- Khi Q vt qu gi tr ti hn, vt ln

Chng 4. Ma st
4.2. Bi ton cn bng c k n ma st
V d 1 Tm gc ti a vt m cha trt, bit h s ma st trt
iu kin cn bng:
M khng trt

Chng 4. Ma st
V d 2
Vt 1 c trng lng P, vt 2 c trng lng Q, h s ma st trt tnh

gia vt 1 v 2 l f, b qua ma st vt 2 vi sn v cc ma st rng rc,
dy khng co gin khi lng dy khng ng k. Lc F tc dng vo vt
2 theo phng ngang nh hnh v.
Tm lc F ti a vt 1 khng trt trn vt 2.
1
F
2

Chng 4. Ma st
V d 2
1
F
Phn tch lc tc ng ln hai vt: 2
N1
T
1 iu kin cn bng vt 1:
P Fms
iu kin cn bng vt 2:
N2
Fms
T F Lp h 4 phng trnh 4 n, gii c:
2
N1
Q
Chng 4. Ma st
V d 2
1
F
2
iu kin vt 1 khng trt trn vt 2:

Chng 4. Ma st
V d 3
Cho m hnh sau bit h s ma st trt tnh gia cc vt nh hnh, dy

khng co gin khi lng dy khng ng k. Lc P tc dng vo vt 2
theo phng nh hnh v.
Tm lc P ti a cc vt u khng trt.

C hc L thuyt
Nguyn Thanh Nh
T: 08.38660568 0908568181
Tnh hc
Chng 4: Ma st
Chng 5: Trng tm
Trng tm
Trng tm ca vt rn
Trng tm ca h nhiu vt rn
Chng 5. Trng tmCunConFC.blogspot.com
Trng tm ca vt rn

z
C ( xC , yC , zC ) xdG
V x
C V
C G
dV
rC

ydG
dG
y C
y V
O r G
G

zdG
x rd G
z
C V
rC V
G
G

r ( x, y , z )
Trng tm ca vt rn Nu vt ng cht:
z Trng lng ring const
C ( xC , yC , zC )

C
V
xdG
xdV
dV x V x
C V
C G V

O
rC
r G
dG
y

ydG

ydV
yC
V yC V
G V
dG dV
x
G V

zdG
zdV
z V z
C V
C V

G

Trng tm ca vt rn
Trng tm ca mt cong Trng tm ca hnh phng

xdS
xdA Nu chn hnh
x
C S
x A phng trng vi
S A C
S
A mt xy
dS

ydS C
dA ydA

C
xdA
C
S
y C
A
S
y
A x
C A

zdS
zdA
A
z
C S
z
C A A ydA

S A y
C
A
Trng tm ca vt rn
Trng tm ca ng cong

xdl
dl x
C l
l

C
l

ydl
C
y l
l

zdl
z
C l
l

Trng tm ca h nhiu vt rn
Trong khng Trong khng
gian ba chiu gian hai chiu

xC
v x k k
s x
xC
k k
V
S

yC
vk yk
y sk yk
V

C
S

zC
vk zk
V
Vi xc, yc, zc l ta trng tm h nhiu vt
xk, yk, zk l ta trng tm ca tng vt trong h
sk l din tch ca tng vt trong h, S=s1+s2+
vk l th tch ca tng vt, V=v1+v2+
V d
V d: Cho cc hnh sau y, tm trng tm ca hnh
y
V hnh c tnh i xng qua trc y
R 0,5m
nn trng tm ca hai hnh phi
nm trn trc y
x
xC
sk xk
0
S

y sk yk

C
S
h 0, 2m yC
s y
k k

S y
1 1 S y
2 2

R 2
y1 bhy2
S S1 S2 R 2 bh
b 0,3m 0 0,3.0, 2.(0, 6)
0, 04(m)
3,14.0,5 0,3.0, 2
2
V d
Nu hnh b khot b ta s dng
khi nim din tch m gii

xC
sk xk
0
S

y sk yk

C
S
yC
s y
k k

S1 y1 ( S2 ) y2
S S1 ( S2 )
BI GING
Mn hc: C HC L THUYT
Nguyn Thanh Nh
T: 08.38660568 0908568181

Phn II
NG HC
Khi nim
ng hc l mt phn ca c hc l thuyt, nghin cu cc

tnh cht hnh hc ca chuyn ng ca vt th
Mc tiu
Kho st quy lut chuyn ng, khng quan tm n nguyn

nhn gy ra chuyn ng.
Cung cp kin thc cho phn ng lc hc, l c s cho cc
mn hc khc nh: c cu my, ng lc my, nguyn l my
Phc v cho cc bi ton k thut v cng ngh cn thit lp cc
mi quan h v ng hc thun ty.

Phn II
NG HC
Khi nim
ng hc l mt phn ca c hc l thuyt, nghin cu cc

tnh cht hnh hc ca chuyn ng ca vt th
i tng
i tng ng hc l cc im, h nhiu im

(vt rn).

Phn II
NG HC
Ni dung kho st chuyn ng vt th
Lp phng trnh chuyn ng: thit lp quan h hm s gia

cc thng s nh v vi thi gian ch ra v tr ca vt th mt
cch lin tc (vi ng im c th ch ra qu o)
Xc nh cc c trng ca chuyn ng (vn tc, gia tc)
Tm quan h gia vn tc, gia tc ca im thuc vt vi chuyn
ng ca vt

Phn II
NG HC
Chng 6: ng hc im
Chng 7: Chuyn ng c bn ca vt rn
Chng 8: Chuyn ng phc hp ca im
Chng 9: Chuyn ng song phng ca vt rn

Chng 6. ng hc im
Chng 6
NG HC IM
NI DUNG
6.1. Kho st ng hc im bng h ta Descartes
6.2. Kho st ng hc im bng h ta t nhin
6.3. Kho st ng hc im bng h ta cc

Chng 6. ng hc im
Kho st ta
Xt im M chuyn ng trong khng gian. Nu im M chuyn

ng cch O c nh th v tr M c xc nh bng vector
M1
M2 * Phng trnh chuyn ng ca im M
M3 M4

Chng 6. ng hc im
Kho st vn tc
M(t+t)
M(t)
* Vn tc ca im M
Vector vn tc tc thi ti mt im lun tip tuyn vi qu

o ti im

Chng 6. ng hc im
Kho st gia tc
M(t+t)
M(t)
* Gia tc ca im M
Vector gia tc tc thi ti mt im lun hng vo b

lm ca qu o ti im

Chng 6. ng hc im
Nu ta t vo O h trc ta Descartes Oxyz, v tr ca im

M c xc nh theo vector r
z * Phng trnh chuyn ng ca im M(x,y,z)
O y
Vi
x
(Phng trnh chuyn ng ca im M

trong h ta Descartes )

Chng 6. ng hc im
* Vn tc ca im M
z
M
O y
x
Vi
(Cc thnh phn vn tc ca im M theo 3 phng)

Chng 6. ng hc im
* Gia tc ca im M
z
M
O y
x
Vi
(Cc thnh phn gia tc ca im M theo 3 phng)

Chng 6. ng hc im
* Tnh cht chuyn ng ca im M

V v W cng phng: im M chuyn ng thng
V v W khc phng: im M chuyn ng cong
V tng theo thi gian: im M chuyn ng nhanh dn
V gim theo thi gian: im M chuyn ng chm dn
V khng i theo thi gian: im M chuyn ng u

Chng 6. ng hc im
Gia tc khng i theo thi gian (hng s)
Vn tc l hm theo thi gian
V tr l hm theo thi gian
Vn tc l hm theo v tr

Chng 6. ng hc im
Xt im M chuyn ng trong khng gian trn qu o bit.

Nu ly im O c nh trn qu o bit lm gc ta
v quy c chiu dng th v tr im M hon ton xc nh
thng qua di s=OM.
s
M

O
n
Phng trnh chuyn ng ca im M
Dng h trc ta Mn gn lin vi im M sao cho:

- l vector n v tip tuyn vi qu o ca im M theo
chiu dng
- n l vector n v php tuyn chnh vung gc vi

Chng 6. ng hc im
Vn tc ca im M
s
M

O
n
- Vector vn tc lun tip tuyn vi qu o
- Du ty thuc vo chiu dng ta chn, nu i theo chiu
dng th V>0, v nu theo chiu m th V<0

Chng 6. ng hc im
Gia tc ca im M s
M

O
n
Vi: L gia tc tip tuyn
L gia tc php tuyn
L bn knh cong qu o. Nu ta c y=f(x)

Chng 6. ng hc im
V d: Tnh bn knh cong ca qu o ti v tr x=1 ca

phng trnh ng cong
Gii:
Tnh o hm bc 1 v o hm bc 2 ca hm s
p dng cng thc tnh bn knh cong qu o

Chng 6. ng hc im
V d: Ta c vector nh v ca thng hng trt ln qu o
cong. Tnh vn tc v gia tc ca thng hng ti thi im t= 2s
Gii
Ta ca thng hng trong h trc Oxyz
Vn tc ca thng hng trong h trc Oxyz

Chng 6. ng hc im
6.3. Kho st ng hc im bng h ta cc
(Sinh vin t tham kho thm trong sch)

BI GING
Mn hc: C HC L THUYT
Nguyn Thanh Nh
T: 08.38660568 0908568181

Phn II
NG HC
Chng 6: ng hc im

Chng 7. Chuyn ng c bn ca vt rn
Chng 7
CHUYN NG C BN CA VT RN
NI DUNG
7.1. Chuyn ng tnh tin ca vt rn
7.2. Chuyn ng quay quanh trc c nh ca vt rn
7.3. Cc c cu truyn ng c bn

7.1. Chuyn ng tnh tin ca vt rn
Chuyn ng tnh tin l chuyn ng m mi on thng

thuc vt c phng khng i trong qu trnh chuyn ng.
A
A
B
B
Vn tc bng nhau
Gia tc bng nhau
Qu o nh nhau
Nhn xt: kho st chuyn ng ca vt ch cn kho st
chuyn ng ca mt im thuc vt

Chuyn ng quay quanh trc c nh l chuyn ng m vt rn

c hai im c nh v vt rn quay quanh hai im c nh
: phng trnh chuyn ng

: Vn tc gc
: Gia tc gc
khi nhin t nh vt quay ngc kim ng h

khi vt quay theo chiu dng
Vt chuyn ng quay u
Cng chiu : vt quay nhanh dn
Ngc chiu : vt quay chm dn

Kho st im thuc vt
Xt mt ct vung gc vi trc quanh v ct trc quay ti I.
Qu o ca im M l ng trn tm I bn knh R
Chn O lm mc thuc qu o ca im M
M Phng trnh chuyn ng:
Vn tc:
I
O
Phng: tip tuyn vi qu o
Chiu: xc nh theo chiu
ln:
Vi l gc gia vector v vector r
vector n l vector n v vung gc vi vector v r

Gia tc:
I Vector gia tc tip tuyn:

Phng: tip tuyn vi qu o
Chiu: xc nh theo chiu
ln:
Vector gia tc php tuyn:
Phng: cng phng vi bn knh
Chiu: lun hng vo tm
ln:
Phng: hp vi bn knh gc sao cho
ln:

Truyn ng chuyn ng quay quanh trc c nh thnh
mt chuyn ng quay trc c nh song song
Du (+) nu n khp trong

Du (-) nu n khp ngoi

Nhiu bnh rng n khp nhau
Vi i l s n khp ngoi


Truyn ng c cu cam:
Quay <-> Quay
Tnh tin <-> Tnh tin
Quay <-> Tnh tin

Chng 8. Chuyn ng phc hp ca im
BI GING
Mn hc: C HC L THUYT
Nguyn Thanh Nh
T: 08.38660568 0908568181

Phn II
NG HC
Chng 6: ng hc im

Chng 8
CHUYN NG PHC HP CA IM
NI DUNG
8.1. nh l hp vn tc, hp gia tc
8.2. Cc bi ton v d

nh ngha chuyn ng
z1 y1
z Chuyn ng tuyt i:
M
O1 L chuyn ng ca im M so vi h
trc c nh Oxyz
x1
Vn tc v gia tc tuyt i l:
y
O Chuyn ng tng i:
x L chuyn ng ca im M so vi h
trc ng O1x1y1z1
Vn tc v gia tc tng i l:
Chuyn ng ko theo:
L chuyn ng ca h trc ng
O1x1y1z1 so vi h trc c nh Oxyz
Vn tc v gia tc ko theo l:
nh l hp vn tc:
nh l hp gia tc:
Vi l gia tc Coriolis
Phng: vung gc vi v
Chiu: quy tc bn tay phi
ln:
H ng chuyn ng tnh tin
Khng c chuyn ng tng i !

8.2. Bi ton v d
V d: Cho c cu sau Bit , , OA=R

Tnh vn tc gc v gia tc gc thanh O1B.
Gii
*Chn thanh O1B lm h ng.
*Phn tch chuyn ng
+Chuyn ng tuyt i
Chuyn ng ca con chy A quay quanh O
+Chuyn ng tng i
Chuyn ng ca con chy A trt trn O1B
+Chuyn ng ko theo
Chuyn ng ca tay quay O1B quay quanh O1

8.2. Bi ton v d
(*)
Phn tch vector
Phng: vung gc vi OA
ln:
Phng: cng phng vi O1B

ln:
Phng: vung gc vi O1B

ln:

8.2. Bi ton v d
(*)
Chiu (*) ln trc x, y

Ox:
Oy:
Cch 2:
V hai vector vung gc

8.2. Bi ton v d
(*)
_|_ OA //OA //O1B _|_ O1B //O1B _|_ O1B

Ox:
Oy:

Chng 9. Chuyn ng song phng ca vt rn
BI GING
Mn hc: C HC L THUYT
Nguyn Thanh Nh
T: 08.38660568 0908568181

Phn II
NG HC
Chng 6: ng hc im

Chng 9
CHUYN NG SONG PHNG CA VT RN
NI DUNG
9.1. Kho st vt chuyn ng song phng
9.2. Nhng chuyn ng song phng c bit
9.3. Bi ton v d

Khi nim:
L chuyn ng m mi im thuc vt chuyn ng trong
mt phng song song vi mt c nh.
Ta ch cn kho
B B st chuyn ng
A B
A A ca im A v B
trong mt phng
cha chng
Chuyn ng bao gm chuyn ng tnh tin + quay

Chn A lm cc
A Phng trnh chuyn ng
B
Vn tc chuyn ng
A
B
Gia tc chuyn ng
A B

V d: Tm vn tc v gia tc ca im I,A,B,C bit bn knh R

*Bi ton vn tc
+Vn tc im I: V im I tip xc mt t nn
vn tc ca n bng 0
+Vn tc im O (chn I lm cc)
Cch 2: (S dng cch tnh tch hu hng)
Vi

+Vn tc im B: (c 2 cch chn O hoc I lm cc)
Vi

+Vn tc im A:
+Vn tc im C:

*Bi ton gia tc

+Gia tc im O:
Do im O chuyn ng tnh tin trong sut qu
trnh chuyn ng nn gia tc ca im O ch
c MT thnh phn gia tc l gia tc tip tuyn.
+Gia tc im I: (ly O lm cc)

Vi

+Gia tc im A: (chn O lm cc)
+Gia tc im C:

+Gia tc im B:
Nhn xt:
* V vn tc:
im I chnh l tm vn tc tc thi

*Cch xc nh tm vn tc tc thi
VA khng song song VB
B
A

*Cch xc nh tm vn tc tc thi
VA khng song song VB VA song song VB v vung gc AB

VA cng chiu VB VA ngc chiu VB
B A A
A
P
P B
B

VA song song VB nhng khng vung gc AB
A
Tnh tin tc thi

Nhn xt:
* V gia tc:
im I khng phi l tm gia tc tc thi
Do Khng c s dng quy tc tm vn tc tc thi tnh
gia tc

C cu bnh rng hnh tinh

Cng thc Willis
Du (+) nu bnh rng n khp trong

Du (-) nu bnh rng n khp ngoi

Nhiu bnh rng n khp nhau
Vi i l s n khp ngoi

9.3. Bi ton v d
V d: Cho c cu tay quay O1AB quay quanh O1. Ba bnh

rng n khp rng nh hnh v, cc bn knh tng ng R1,
R2, R3 bit R1=0,2 m, R2=0,6m, R3=0,3m, 1=1,5 rad/s, 1=0,5
rad/s2, c=2 rad/s, c=1 rad/s2.
1) Tnh vn tc gc v gia tc gc ca bnh rng th ba.
2) Tnh vn tc v gia tc im M.
y
+ x
c c
O1(I) A B
1
(III)
1
(II) M

9.3. Bi ton v d
1) Tnh vn tc gc v gia tc gc ca bnh rng th ba
y Theo cng thc Willis ta c:
+ x
c c
O1(I) A B
1
(III)
1
(II) M

9.3. Bi ton v d
1) Tnh vn tc gc v gia tc gc ca bnh rng th ba
Theo cng thc Willis ta c:
y
+ x
c c
O1(I) A B
1
(III)
1
(II) M

9.3. Bi ton v d
2) Tnh vn tc v gia tc im M
y *Bi ton vn tc
3 3 Ta chn B lm cc ta c cng thc
+ x
quan h sau
c c
O1(I) A B
1
(III) Do B quay quanh O1 nn
1 M
(II) Do M c chuyn ng quay quanh B

nn

9.3. Bi ton v d
Cch 2: Ta c th tnh vn tc bng cng thc vector

y
3 3
c c
O1(I) B x
1
A (III)
Vi
1 M
(II)

9.3. Bi ton v d
y *Bi ton gia tc

+ x 3 3
c c
Do B quay quanh O1 nn
B
O1(I)
1
A (III)
Do M c chuyn ng tng i
1 M
quay quanh B nn
(II)

9.3. Bi ton v d
y Cch 2: Ta c th tnh vn tc bng cng thc vector
3 3
c c B
O1(I) x
1
A (III)
1 M
(II) Vi

9.3. Bi ton v d
V d 2: Cho m hnh nh hnh v. Bit AB=BC=R
Tnh vn tc gc v gia tc gc
ca thanh BC, CD.
Gii
*Phn tch chuyn ng
+ im B quay quanh A c
nh
+ im C quay quanh D c
nh

9.3. Bi ton v d
*Gii bi ton vn tc
+Tnh vn tc VB
+Tnh vn tc VC (C 3 cch tnh VC)

Cch 1: Dng cng thc quan h vn tc
(*)
|_ CD |_ AB |_ BC

Ox:
Oy:

9.3. Bi ton v d
Cch 2: Dng tm vn tc tc thi

(**)
(**)
(**)

9.3. Bi ton v d
Cch 3: Dng php tnh vector

(*)

9.3. Bi ton v d
*Gii bi ton gia tc

+Tnh gia tc ti C (Chn B lm cc)
(***)
|_ CD // CD |_ AB // AB |_ BC // BC
Chiu (***) ln trc x, y

9.3. Bi ton v d
Cch 2: Dng php tnh vector

9.3. Bi ton v d
V d 3: Cho m hnh nh hnh v. Bit R=3r=0,6m, tm B

chuyn ng theo phng ngang vi vn tc VB=2m/s v gia
tc WB=1m/s2. Con ln B ln khng trt, b qua ma st rng
rc C, dy khng co gin, b qua khi lng dy v rng rc C.
Tnh vn tc v gia tc ca ti A
Gii
B *Phn tch chuyn ng
I + Con ln B chuyn ng song phng
+ Ti A chuyn ng tnh tin
y H
+ x C

9.3. Bi ton v d
*Bi ton vn tc
B
Con ln B ln khng trt nn tm vn
tc tc thi ti I nn
I
y H
C
V I l tm vn tc tc thi nn
+ x
Do dy khng co gin nn
VA c phng thng ng v hng

nh hnh v

9.3. Bi ton v d
*Bi ton gia tc

B
Do tm B chuyn ng tnh tin nn
I
Theo cng thc quan h gia tc ta c:

y H
C (Chn B lm cc)
+ x

9.3. Bi ton v d
Do dy khng co gin nn
B
WA c phng thng ng v hng
I nh hnh v
y H
+ x C

Chng 10. Phng trnh vi phn chuyn ng
BI GING
Mn hc: C HC L THUYT
Nguyn Thanh Nh
T: 08.38660568 0908568181

Phn III
NG LC HC
- ng lc hc l mt phn ca c hc l thuyt nghin cu quy lut
chuyn ng ca vt th di tc dng ca lc
- ng lc hc nghin cu quan h tng tc qua li gia lc l
nguyn nhn gy ra chuyn ng v chuyn ng m cc vt th
nhn c t cc lc trn
- i tng nghin cu: cht im, h cht im v vt rn tuyt i
- Cc kt qu v lc trong tnh hc v chuyn ng trong ng hc s

tip tc c dng chng ny
Phn III
NG LC HC
Phn III
NG LC HC
Chng 10: Phng trnh vi phn chuyn ng
Chng 11: Nguyn l DAlembert
Chng 12: Cc nh l tng qut ng lc hc
Chng 13: Nguyn l di chuyn kh d
Chng 14: PT tng qut ng lc hc v PT Lagrange II

Chng 10
PHNG TRNH VI PHN CHUYN NG
NI DUNG
10.1. Khi nim c bn ng lc hc
10.2. PT vi phn chuyn ng ca cht im
10.3. PT vi phn chuyn ng ca h cht im

Cht im:
- L im hnh hc c khi lng.
- Nu kch thc vt rn khng ng k so vi kch thc qu o
chuyn ng, c th xem nh cht im.
C h:
- L tp hp cc cht im m chuyn ng ca chng ph thuc
ln nhau.
+ C h t do: l c h m cc cht im ca chng tng tc vi nhau
v vi gi ch qua lc tc dng
+ C h khng t do: l tp hp cc cht im m v tr v vn tc ca
chng ngoi vic chu nh hng ca lc cn b rng buc bi mt s
iu kin hnh hc cho trc (cc lin kt)

H quy chiu qun tnh:

- H quy chiu: vt chun dng nh gi chuyn ng ca i tng
khc.
- H quy chiu qun tnh: l h quy chiu m trong h tin
Newton c nghim ng.
- H quy chiu qun tnh thng dng trong k thut: tri t v
nhng vt chuyn ng thng u i vi tri t
H tin Newton-Galile:
- Cht im chu tc dng ca lc s chuyn ng tha mn quan
h:

Dng vector v h ta Decartes:
Dng ta t nhin:

V d: Cho qu i bc nng 10kg bn thng ng vi vn tc ban u
V0=50m/s. Tnh chiu cao ti a ca qu i bc khi:
1. B qua lc cn khng kh.
2. Lc cn khng kh l FD=0,01V2(N)
Gii
1. B qua lc cn khng kh
Qu n ch chu tc dng ca trng lc
nh lut Newton II:

(1)
Chiu (1) ln Oz:

Gii
Bi ton ng hc:
iu kin ban u: Ti z0 = 0 : V0 = 50 m/s
zmax = h : V = 0 m/s
Do qu i bc chuyn ng vi gia tc l hng s nn:

Gii
Cc lc tc dng ln qu n:
nh lut Newton II: (2)
Chiu (2) ln Oz:

Gii
*Bi ton ng hc:
iu kin ban u: Ti z0 = 0 : V0 = 50 m/s
zmax = h : V = 0 m/s
Dng quan h gia gia tc v vn tc:

V d: Cho qu i bc bn nghing vi phng ngang mt gc v
vn tc ban u V0. Tnh phng trnh chuyn ng ca n (b qua
ma st khng kh)
Gii
Phn tch cc lc tc ng ln qu n
Ch c trng lc tc ng ln qu n
nh lut Newton II trong h

trc ta Descarte
*Bi ton ng hc
iu kin ban u:

V d: Cho qu i bc bn nghing vi phng ngang mt gc v
vn tc ban u V0. Tnh phng trnh chuyn ng ca n (b qua
ma st khng kh)
Gii
Ly tch phn ba phng trnh vi phn trn vi iu kin

ban u ta c:
Qu o ca n l:

V d: Cho thng hng nng 50kg. H s ma st ng
Tnh vn tc ca thng ti thi im 3s

tnh t lc bt u ko thng.
Gii
Phn tch cc lc tc ng ln thng
Khi gii phng lin kt ta c:

V d: Cho thng hng nng 50kg. H s ma st ng
Tnh vn tc ca thng ti thi im 3s

tnh t lc bt u ko thng.
Gii
nh lut Newton II:
(1)
Chiu ln 2 phng Ox, Oy:
*Bi ton ng hc: V gia tc l hng s:

Da vo ngoi lc v ni lc:
Da vo lc hot ng v phn lc lin kt:

V d: Cho ti A v ti B c khi lng ln lt l 100kg v 20kg. Tnh
vn tc ca ti B ti thi im 2s (B qua ma st, khi lng ca dy
v rng rc khng ng k)
Gii
*Xt rng rc C:
*Xt ti A:
(1)
*Xt ti B:
(2)

V d: Cho ti A v ti B c khi lng ln lt l 100kg v 20kg. Tnh
vn tc ca ti B ti thi im 2s (B qua ma st, khi lng ca dy
v rng rc khng ng k)
Gii
*Bi ton ng hc:
Quan h chuyn ng gia A v B:
Ly o hm 2 ln biu thc trn:
(3)
T (1), (2) v (3) gii c:
Ti A s chuyn ng tng tc i xung, ti B

chuyn ng tng tc i ln

Chng 11. Nguyn l DAlembert
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Mn hc: C HC L THUYT
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T: 08.38660568 0908568181

Phn III
NG LC HC

Chng 11
NGUYN L DALEMBERT
NI DUNG
11.1. Cc c trng hnh hc khi lng ca c h
11.2. Lc qun tnh, nguyn l DAlembert
11.3. Thu gn h lc qun tnh

Khi tm ca c h:
z
im C c bn knh vector
M1(m1) M2(m2)
C
Mk(mk)
Vi

Moment qun tnh ca vt rn i vi mt trc
zk
mk
Xt trong h ta Oxyz
yk
y
xk

Moment qun tnh ca vt rn i vi trc z
Vi: L cnh tay n vung gc vi trc z

L vi phn khi lng
Suy ra:

Moment qun tnh ca vt rn i vi tm O
zk
Trong h ta Oxyz
O yk
y
xk

V d: Tnh Moment qun tnh ca thanh thng i vi trc () khi
lng M di L nh hnh v
1. Trc () i qua u thanh.
2. Trc () i qua trng tm ca thanh.
Gii
1. Trc () i qua u thanh: Xt mt phn t nh:

mk Vi
(M) Theo nh ngha

x
A B
xk xk

2. Trc () i qua trng tm ca thanh : Xt mt phn t nh
() Tng t nh trn
mk
(M)
x
A xk xk B
L/2 L/2
C th s dng cng thc trn cho tm hnh ch nht

()
(M)
D C
x
A B
L/2 L/2

V d: Tnh Moment qun tnh ca vnh trn v mt tr trn i vi trc ()

i qua tm ca vnh v mt tr trn khi lng M, bn knh R nh hnh v
Gii

Theo nh ngha
(M) (M)
R O mk R O

V d: Tnh Moment qun tnh ca tm trn v tr trn i vi trc ()

i qua tm ca tm v tr trn khi lng M, bn knh R nh hnh v
Gii
Xt mt phn t nh ta c

(M)
dr (M)
Theo nh ngha
R r O R O

Trong k thut, moment qun tnh khi lng thng c biu din dng:
()

Vi M l khi lng ton vt(kg)

l bn knh qun tnh(m)

nh l lin h gia cc trc song song
Lin h mmen qun tnh gia 2 trc song song

(C)
d
Vi M l khi lng vt
C d l khong cch gia 2 trc song song
JC l mmen qun tnh i vi trc qua khi tm

nh l lin h gia cc trc khng song song
Vi
L moment tch qun tnh khi lng

z
y
x

V d: Tnh Moment qun tnh ca thanh thng i vi trc () i qua
trng tm ca thanh khi lng M di L nh hnh v
Gii
(A) (C) Moment qun tnh ca thanh i vi trc
i qua u thanh:
(M)
x
A C B
L/2 L/2
S dng cng thc i trc song song

Moment qun tnh khi lng ca mt s vt ng cht n gin
Thanh thng ng cht khi lng M chiu di L

1. Trc () i qua u thanh ti A
A C B

2. Trc () i qua khi tm C cch A L/2
A C B

Moment qun tnh khi lng ca mt s vt ng cht n gin
Vnh trn (ng trn) ng cht khi lng M bn knh R

R O
R O
Mt trn (tr trn) ng cht khi lng M bn knh R

R O
R O

Moment qun tnh ca h nhiu vt
Vi l moment qun tnh ca vt th i ti khi tm C
l khi lng ca vt th i
l khong cch t khi tm ca vt th I n im

mun tnh moment qun tnh

V d: Tnh Moment qun tnh ca khung hnh ch nht OABC i vi trc
O bit AB=2BC=2L v khi lng thanh AB, BC ln lt l 2M v M.
Gii
Ta c moment qun tnh ca tng thanh i vi O

O
S dng cng thc:
A
C (Do trc i qua u thanh OA v OC)

E
S dng cng thc i trc:

V d: Tnh Moment qun tnh ca khung hnh ch nht OABC i vi trc
O bit AB=2BC=2L v khi lng thanh AB, BC ln lt l 2M v M.
Gii
A Moment qun tnh ca khung OABC i vi O
C C
E

V d: Tnh Moment qun tnh i vi trc O ca thanh v tm trn sau bit
OA=L, bn knh tm trn l R=L/4 v khi lng thanh OA bng khi lng
tm trn v bng M.
Gii
O
Ta c
S dng cng thc ta c
(Do trc i qua u thanh OA)

A
S dng cng thc i trc ta c
C

i vi cht im
Lc qun tnh ca cht im:
Theo nh lut Newton II:
Nguyn l DAlembert i vi cht im
Lc thc tc ng ln cht im v lc qun tnh ca n l h lc cn

bng

i vi c h
Lc qun tnh ca h cht im
Nguyn l DAlembert cho c h
Ch cn xc nh v t vic thu gn h lc qun tnh v

mt tm, sau th vo h lc.
Tm iu kin cn bng ca h lc

Vt rn chuyn ng tnh tin
Thu gn h lc v khi tm C

chuyn ng tnh tin

Vt rn quay quanh trc c nh c khi tm C (xC,yC,zC)
Thu gn lc qun tnh v tm O

z
mk
C Vi
Nguyn l DAlembert cho c h chuyn ng

y
quay quanh trc c nh
x
Vi O l tm ca trc quay v C l khi tm

Vt rn quay quanh trc c khi tm C thuc mt Oxy
Thu gn lc qun tnh v tm O

y

Vt rn quay quanh trc c khi tm C thuc mt Oxy
Nguyn l DAlembert cho c h chuyn

ng quay quanh trc c nh

Vt rn chuyn ng song phng
Thu gn h lc v khi tm C

V d: Cho khung hnh vung khi lng M, cnh L quay quanh O vi vn tc

gc v gia tc sao cho =2.Thu gn h lc qun tnh v tm quay O
Gii
y
S dng cng thc thu ngn h lc ca vt rn quay
C 450
quanh trc c nh
450
O x

V d: Cho khung hnh vung khi lng M, cnh L quay quanh O vi vn tc

gc v gia tc sao cho =2.Thu gn h lc qun tnh v tm quay O
Gii
y
O x
O x

V d: Cho mt vnh trn, ng cht khi lng M, bn knh R0,
chuyn ng ln trn mt ng ngang vi 0, 0, v0 = R00. Thu gn
h lc qun tnh v tm O ca vnh.
Gii
R0 S dng cng thc thu ngn h lc ca vt rn

y
chuyn ng song phng
O
v
j 0 0
i 0
x
k

V d: Bnh xe ch ng t bn knh R, khi lng m, bn knh qun
tnh i vi trc quay l , chu ngu lc M, lc tc ng ln trc bnh
xe P1=4mg. Tm iu kin ca M bnh xe ln khng trt, bit h s
ma st trt tnh gia bnh xe v mt ng l f, b qua ma st ln.
Gii
Phn tch lc tc ng ln bnh xe (gii phng

lin kt)
O Quan h ng hc

iu kin h lc cn bng
iu kin ca M bnh xe ln khng trt

V d: Bnh xe ch ng t bn knh R, khi lng m, bn knh qun
tnh i vi trc quay l , chu ngu lc M, lc tc ng ln trc bnh
xe P1=4mg. Tm iu kin ca M bnh xe ln khng trt, bit h s
ma st trt tnh gia bnh xe v mt ng l f, b qua ma st ln.
Gii
Phn tch lc tc ng ln bnh xe
(gii phng lin kt)
Quan h ng hc

iu kin h lc cn bng

iu kin ca M bnh xe ln khng trt

V d: Cho trc quay l tr trn ng cht c trng lng Q, ti A trng

lng P, ngu M l hng s t vo trc quay, b qua ma st trc.
Xc nh WA, lc cng dy T, phn lc trc ti O. iu kin M dy
khng b chng
Gii
M
Tch h thnh 2 vt kho st:
O
- Vt A chuyn ng tnh tin
- Tr trn chuyn ng trn quanh O
Quan h ng hc
A
A Kho st chuyn ng vt A
(1)


khng b chng
Gii M
Kho st chuyn ng ca trc quay O
O
(2)
(3)
(4)
T (1), (2), (3) v (4), lp c 4 phng trnh 4 n


khng b chng
Gii M


khng b chng
Gii M
iu kin ca M dy khng b chng
O
Trong iu kin dy b chng tnh gia tc ca A v trc quay O

Gii li 4 phng trnh vi T=0 :

BI GING
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Phn III
NG LC HC

Chng 12
CC NH L TNG QUT
NG LC HC
NI DUNG
12.1. Cc nh ngha c bn
12.2. nh l chuyn ng khi tm
12.3. nh l bin thin ng lng
12.4. nh l bin thin moment ng lng
12.5. nh l ng nng

12.1. Cc nh ngha c bn
ng lng ca c h
Mment ng lng ca c h i vi tm O
Mment ng lng ca c h i vi trc quay () l i lng i s
Nu im mk ang xt cch trc di hk th:

nh lut 2 Newton
(Phng trnh m t chuyn ng khi tm)

nh l chuyn ng khi tm
Khi tm ca c h chuyn ng nh mt cht im mang khi
lng ca ton h chu tc dng ca vector chnh ngoai lc tc
dng ln h
Cc trng hp c bit:
a) Khi tm c h c bo ton
b)
Hnh chiu vector chnh lc ngoi ln mt trc no (trc x) bng
khng hnh chiu ca vn tc khi tm ln trc (trc x) c
bo ton:

c bit nu c h ban u ng yn:
Vi xk v xk(0) l ta cht im th k ti thi im ty v thi

im u
Trong k l dch chuyn tuyt i khi tm ca cht im

hoc cht im th k theo trc x
nh l chuyn ng khi tm gip gii thch mt s hin tng

sau:
+Chuyn ng ca xe t hay u my xe la trn ng thng
nm ngang khi khi ng hoc tng tc.
+Hm xe

Thng p dng cho cc bi ton:

-Bit dch chuyn ca mt s vt rn thuc c h, tm dch chuyn
ca vt rn cn li.
-Lp phng trnh vi phn chuyn ng khi tm ca c h khi bit
lc tc dng.
-Bit chuyn ng khi tm ca c h, xc nh lc (phn lc) tc
dng ln h. Tuy nhin c th gp bi ton c cc yu cu ng
thi.

nh lut 2 Newton
nh l bin thin ng lng

o hm theo thi gian ng lng ca c h bng vector chnh
cc lc ngoi tc dng ln h.
Cc trng hp c bit:
a) ng lng c bo ton
b)
Hnh chiu vector chnh lc ngoi ln mt trc no (trc x) bng
khng hnh chiu ca ng lng ln trc (trc x) c bo
ton:

nh lut bo ton ng lng gip gii thch mt s hin tng:
+Tu thy hoc my bay chuyn ng nh chn vt hoc cnh qut
ca my bay.
+Chuyn ng bng phn lc ca my bay v tn la trong chn

khng theo phng ngang.

-Tnh ng lng ca c h.
-Tnh vn tc sau va chm.
-Tnh phn lc tng hp ca dng chy lng, kh.
Gi s tm ly moment ng lng l O, ly O lm gc xc nh
bn knh rk ca cht im mk, ta c
Chiu ln trc ty i qua O
nh l bin thin v moment ng lng

o hm theo thi gian moment ng lng ca c h i vi tm
(trc) bng moment chnh cc lc ngoi i vi tm (trc) .

Cc trng hp c bit:
a) Hoc
b) C h l vt rn quay quanh trc c nh
y l phng trnh vi phn chuyn ng ca vt rn quay quanh

trc c nh

nh lut bo ton mment ng lng gip gii thch hin
tng sau:
+My bay trc thng mun bay ln thng ln, ngi ta phi gn vo
ui my bay cnh qut li hoc s dng 2 ng c quay ln thng
ngc chiu.

-Xc nh vn tc, gia tc ca c h gm cc vt rn chuyn ng
quay quanh trc c nh v tnh tin.
-Lp phng trnh vi phn chuyn ng ca vt rn quay quanh trc
c nh.
-Tnh phn lc tng hp ca dng chy lng, kh.

12.5. nh l ng nng
Cng ca lc lm vt di chuyn trn qung ng s
Du (+) nu lc Fc cng chiu vi s

(-) nu lc Fc ngc chiu vi s
Cng ca lc trng trng
y l di thng ng ca im t
Du (+) nu im t i xung
(-) nu im t i ln

12.5. nh l ng nng
Cng ca lc l xo
Cng ca lc lm vt quay quanh trc c nh
Du (+) nu lc M cng chiu vi

(-) nu lc M ngc chiu vi
Nhng lc khng sinh cng

+Lc vung gc vi qung ng i c.
+Lc ma st tnh gia vt ln khng trt vi mt ng

12.5. nh l ng nng
ng nng ca c h N cht im
ng nng ca vt rn chuyn ng tnh tin

Vt chuyn ng tnh tin
ng nng ca vt rn quay quanh trc c nh
Vi
V th
Hoc Vt quay quanh trc O c nh

Vi

12.5. nh l ng nng
ng nng ca vt rn chuyn ng song phng
Hoc ta c th tnh ng nng ti tm vn tc

tc thi P
Chuyn ng song phng

12.5. nh l ng nng
Dng vi phn
Dng o hm (khi ta cn tnh gia tc)
Dng hu hn (khi ta cn tnh vn tc, khi ta phi

bit vn tc ban u ca h)

12.5. nh l ng nng
Xc nh WA. iu kin M dy khng b chng, gi s h ban u
ng yn
M Gii
Quan h ng hc
ng nng T ca h

12.5. nh l ng nng
Cng ca hu hn trn di tng ng

M
S dng nh l ng nng dng o hm

A

12.5. nh l ng nng
M
dy khng b chng
Lu : tm phn lc trc v lc cng dy ta ch cn

s dng 3 trong 4 phng trnh thit lp bi trc
theo nguyn l DAlembert

Chng 13. Nguyn l di chuyn kh d
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Phn III
NG LC HC

Chng 13
NGUYN L DI CHUYN KH D
NI DUNG
13.1. Khi nim c bn
13.2. Nguyn l di chuyn kh d

13.1. Kh nim c bn
Lin kt v c h khng t do
Lin kt l iu kin rng buc chuyn ng ca c h, khng ph

thuc vo lc tc dng ln n v cc iu kin u ca chuyn ng.
Nhng iu kin rng buc thng c din t di dng nhng

h thc gia cc yu t xc nh v tr, vn tc ca cc cht im hay
vt rn thuc h v thi gian. Ngi ta gi l nhng phng trnh
lin kt v vit di dng:
Trong k l s th t ca cc cht im thuc c h, j l s th t

ca cc h thc biu th cc lin kt.

13.1. Kh nim c bn
V d
1- Vt rn l mt c h gm v s cht im vi v s lin kt v lin
kt c biu th bng ng thc: MN=const vi MN l khong
cch ca cp im M, N bt k thuc vt.
2- H tay quay thanh truyn nh hnh
C h khng t do
C h khng t do l c h chu cc lin kt c biu din bng
biu thc

13.1. Kh nim c bn
Di chuyn kh d Bc t do ca h
Di chuyn kh d (DCKD) ca c h l tp di chuyn v cng b ca
cc cht im ca c h t v tr ang xt sang v tr ln cn m vn
tha mn cc lin kt ti v tr ang xt.
phn bit di chuyn thc v cng b v DCKD ngi ta k hiu
nh sau
Di chuyn thc v cng b :
Di chuyn kh d:
Ti mi v tr c h c v s DCKD . Cc DCKD ny khng c

lp tuyn tnh do phi tha mn cc phng trnh. Ta c th chn
trong tp mt h vector c s cc DCKD c lp tuyn tnh.
xc nh chuyn ng c h ta ch cn xc nh s DCKD c lp
bng vi s bc t do ca c h
13.1. Kh nim c bn
Ta suy rng
S ta suy rng c lp xc nh h:
Ta suy rng c lp tuyn tnh va xc nh v tr c h gi

l h y , k hiu l {q1, q2, q3,, qn}
V d

13.1. Kh nim c bn
V d
Con ln ln khng trt

13.1. Kh nim c bn
Lc suy rng
Xt c h N cht im chu tc dng ca cc lc hot ng .
Cho c h thc hin mt DCKD , cc lc s thc hin
cng trn di :
c gi l cng kh d. Chn h ta suy rng {qi}, i=1,n
Vi

13.1. Kh nim c bn
Cch tnh lc suy rng
1 p dng trc tip nh ngha:
2 p dng tnh cng kh d Cc DCKD phi c lp tuyn tnh

Cho h di chuyn kh d sao cho: cn
H s tnh cng chnh l h lc suy rng tng ng
3 p dng tnh cng kh d trong trng hp lc hot ng l lc th
L hm th nng
Trong trng hp lc hot ng c c lc th v lc khng th ta

c th tnh
(lc khng th)

13.1. Kh nim c bn
V d Tnh cc lc suy rng bit OA=2a, AB=2b
Tnh lc suy rng bng nh ngha
Biu din vector

13.1. Kh nim c bn
S dng cng thc tnh lc suy rng:

13.1. Kh nim c bn
V d Tnh cc lc suy rng bit con ln ln khng trt

H ta suy rng y v c lp
Tnh Q1
Cho h DCKD vi
(Rng rc C khng quay)

13.1. Kh nim c bn
Tnh Q2
Cho h DCKD vi
(Con ln D ng yn)

13.1. Kh nim c bn
Lin kt l tng
C h c gi l lin kt l tng nu tng cng ca tt c cc
phn lc lin kt t vo c h trn mi DCKD u bng 0
Trong thc t cc h gm vt rn, dy mm khng dn, b qua ma

st u l c h chu lin kt l tng.

Pht biu nguyn l di chuyn kh d

iu kin cn v c h chu lin kt gi, dng, hnh hc v l
tng cn bng v tr ang xt l tng cng ca tt c cc lc
hot ng trn mi DCKD k t v tr u bng khng
Nu cc ta suy rng c lp tuyn tnh ta c
Cc loi bi ton p dng nguyn l DCKD

- Tm iu kin cn bng ca h
- Tm cc thnh phn phn lc lin kt ca c h
- Thit lp PT, h PT vi phn chuyn ng ca c h

p dng nguyn l di chuyn kh d tm phn lc lin kt,

iu kin cn bng:
p dng nguyn l di chuyn kh d tm gia tc

V d Tnh cc lc suy rng bit OA=2a, AB=2b. Tnh cc gc

theo P, Q, F khi h cn bng
iu kin h cn bng

Chng 14. PT tng qut LH v PT Lagrange II
BI GING
Mn hc: C HC L THUYT
Nguyn Thanh Nh
T: 08.38660568 0908568181

Phn III
NG LC HC

Chng 14
PHNG TRNH TNG QUT LH
V PHNG TRNH LAGRANGE II
NI DUNG
14.1. Phng trnh Tng qut ng lc hc
14.2. Phng trnh Lagrange II

14.1. Phng trnh Tng qut ng lc hc
Phng trnh tng qut ng lc hc
Phng trnh Lagrange II

T phng trnh tng qut ng lc hc, ta biu din theo h ta
suy rng y v c lp tuyn tnh

Trng hp cc lc c th
Nu tt c cc lc tc dng ln h l cc lc c th, th p dng
cng thc sau
Hm L ca cc ta suy rng v vn tc suy rng bng hiu gia

ng nng v th nng ca h, c gi l hm Lagrange hay hm
th. Khi phng trnh Lagrange ca cc lc c th c dng:
y l h phng trnh vi phn chuyn ng ca c h. S lng

phng trnh bng ng s bc t do ca h.

V d Khng k n ma st, vit phng trnh chuyn ng ca h bao

gm thanh AB ng cht chiu di l, trng lng P v c th quay quanh
trc A trn mt phng thng ng. Vin bi M trng lng Q chuyn ng
trn thanh. Chiu di t nhin ca l xo AM l l0, cng bng k.
Chn ta suy rng
Lc suy rng

Tnh ng nng ca h
Thanh AB qua quanh A c nh
M chuyn ng trt tng i trn thanh AB v chuyn

ng ko theo ca M l quay quanh A
Vi
(Hoc dng Pitago tnh)

Tnh cc o hm theo ta suy rng th nht
Phng trnh vi phn chuyn ng th nht

Tnh cc o hm theo ta suy rng th hai
Phng trnh vi phn chuyn ng th hai
Vy h phng trnh vi phn chuyn ng ca ton h

Copyright By Focebk.com
BK
TP.HCM
TRNG I HC BCH KHOA TP. H CH MINH
C HC L THUYT
Phn I: TNH HOC
PGS. TS. TRNG Tch Thin Design

Tp.By haughtycool
H Ch Minh, 01/ 2007 B mn C K Thut
CunConFC.blogspot.com 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
C HC L THUYT 1: Tnh Hc By haughtycool
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
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.
F
Phng v chiu. A
ln.
l
Vi l : ng tc dng ca lc.
K hiu ca lc: Hnh 1.1

F N ; 1 N 1 kg .m / s 2
Design
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
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
y
n
B
Rx F jx
Fj
j1
Fjy
n
Ry F jy
j 1 A
n
Rz F jz
j 1 O x
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

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
e
Ngoi lc: Fj
Design
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) C
Xt h kho
st gm ch
c vt P l ngoi lc. P
Tri t
Xt h kho st
gm : vt
+ tri t P l ni lc. Hnh 1.3
Design
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
q
P
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
V d: p lc nc tc dng ln thnh . (hnh 1.5)
Hnh 1.5

p

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

tch (hnh 1.6).
Th tch cc nh.
V
C
Trng lc l lc tp
trung: khi nim ng
P 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
q(x)
Q
C C
O
xA
A B
x
~ O A
xD D
B
x
x
xC
xB b)
a)
Hnh 1.7
x
B
Q q ( x ).dx
x A
Vi:
x
x q( x). x.dx Q x
B
D x A

C
Design
Trong : 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.
1.1.4.2. Trng hp ring
a). Lc phn b u (hnh 1.8) .
l
l 2 l 2
D
A
C
B ~ A
C
B
q.l q const Q q.l

a) b)
Hnh 1.8
Design
b. Lc phn b tam gic: (hnh 1.9).
1
1 Q qmax .l
qmax .l 2
qmax 2 C
A
C
2l 3 B ~ A
D 2l 3 B
l
b)
a)
Hnh 1.9
Design
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).
F B A F F B A F
a) b)
Hnh 1.10
Design

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 B A FA
Tc dng ca lc ln F B FB
vt rn tuyt i
khng thay i khi
trt lc trn ng Hnh 1.11
tc dng ca n.
Cn ch rng tnh cht nu trn ch ng i vi vt

rn tuyt i.
Design
Tin 3: Tin hnh bnh hnh lc

H hai lc cng t ti F1
mt im tng ng F
vi mt lc t ti im
t chung v c vector
lc bng vector ng
cho hnh bnh hnh m O
F2
hai cnh l hai vector biu
din hai lc thnh phn.
(hnh 1.12) 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
F F
A B
a)
F F
A B
b)
Hnh 1.13
Ch rng lc tc dng v phn tc dng khng phi l
hai lc cn bng v chng khng tc dng ln cng mt
vt rn.
Tin 4 l c s m rng cc kt qu kho st mt
vt sang kho st h vt v n ng cho h quy chiu
qun tnh cng nh h quy chiu khng qun tnh.
Design
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) F F
b)
F F
Hnh 1.14
Design
Ch : (hnh 1.15)
Si dy Si dy
F F
F F
Ha rn Ha rn
F F
Thanh thp Thanh thp
F F
a)
b)
Hnh 1.15
Design
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).
q q
RA RB
B A
a) b)
Hnh 1.16
Design
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
z H

B F
d
A (l )
r
O
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
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).
Hng quay ca cc ngn
M O (F ) r F
cn li ca bn tay phi.
( : tch c hng) r

F
M O ( F ) m p (O A B )

Chiu M O (F ) : RHR
Hng ch
M O ( F ) r . F . s in ca ngn ci M O (F )
F .d bn tay phi

2 .S ( O A B )
Hnh 1.18
Design
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
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
z H
B
d F
A (l )
O r
y
x

M Z (F )
M O (F )
Bxy
Fxy
Axy
Hnh 1.19

M (F) M O (Fxy ) 2.S(OA xy Bxy )
Design
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
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.

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

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

(F, F ') : F ' F Hnh 1.20
Design
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 ' ) R
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
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
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
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.
n
Fj , Fj ~ j 1

Q, Q M Q, Q M Fj , Fj , j 1, n
1.3.2.4. K hiu moment

C 3 cch k hiu Moment: M
Cch 1: K hiu Moment bng

mt vector thng hai u.
(Dng trong bi ton khng P
gian 3 chiu.). (hnh 1.21) Hnh 1.21
Vector cng di vt rn quay cng nhanh.
Design
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).

Ch rng c rt M(F,F) M
nhiu ngu c th
chn biu din
mt moment.
F
F
P
Hnh 1.22
Design
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).

M

M
P
Hnh 1.23
Design
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
b). Xc nh Dof ca vt rn t do hon ton
Trong khng gian hai chiu: 2D (hnh

1.24)
DofVR 3
y S

: tnh tin thng theo
phng ngang.

: tnh tin thng theo
phng ng.
O x

: 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
Trong khng gian 3 chiu: 3D (hnh 1.25)

z
V

DofVR 6

O
y
x
Hnh 1.25
Ch rng mt chuyn ng c lp bao gm c hai

chiu chuyn ng theo mt phng.
Design
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
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
Tng cc rng buc ca cc lin kt trong h l: j
R
j1
c1). Xt mt c h trong khng gian hai chiu (2D)

m
lk
Lc ny Dof h = 3n - j
R
j1
m
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
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

RB
Tnh cht 1: S phn lc lin kt V
ca mt loi lin kt s bng s RA
lm trn ca rng buc lin kt y A
[= round (Rlk)]. B
lk
V d: R = 2,5 lin kt

c 3 phn lc lin kt.
PA Hnh 1.26 PB
Design
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
TA dy
Rdy = 0,5
A
C 1 phn lc lin kt: Lc cng dy T A
(hnh 1.27). V
Hnh 1.27
Design
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.

V
tA
N A : phn lc php tuyn, NA
thng gc vi mt ta (mt
tip xc) v hng vo vt A
kho st.
Hnh 1.28-a
Design
S
tB
NA NB
B
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
Ta
Hnh 1.28-c
Design
1.4.2.3. Khp bn l c nh (khp bn l ngoi c nh, gi

c nh).
S
Rbl = 2
VA
C 2 phn lc
lin kt.
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
Khp bn l c nh

Fx Fy F
Hnh 1.29 b
M hnh lin kt khp bn l trong l thuyt
A RA Ay Ax
A Ay
A
A Ax A
A
Hnh 1.29 c
Design
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 V
NA
C 1 phn lc lin kt.
Chiu v ln phn lc
cha bit.
Hnh 1.30 a
Design
Hnh 1.30 b
M hnh lin kt khp bn l di ng trong l thuyt
Hnh 1.30 c
Design
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
V2
H 2 H1

V2 V1 H1 H2
V1
Hnh 1.31-b
Khp bn l ni
Hnh 1.31-c
Design
1.4.2.6. Ngm phng (ngm hai chiu) (xem hnh 1.32).

VA
Rngm2D = 3
HA B
C 3 phn lc
A
lin kt.
MA
Hnh 1.32
Design
1.4.2.7. Khp cu (xem hnh 1.33)

Rcu = 3 z
C 3 phn lc
lin kt. V

zA

xA yA y
A
x
Hnh 1.33
Design
1.4.2.8. Ngm khng gian (ngm 3 chiu ) (xem hnh 1.34)

Rngm3D = 6
C 6 phn lc z
lin kt.

Ngm
A A
zA
M
y A Mx
xA
A
yA y
Mz
x
Hnh 1.34
Design
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.
RB RD V
C hai lin kt hai u
cui ca mi thanh thuc D
B
ba loi lin kt sau y:
khp cu, khp bn l,
ta nhn.
Cc thanh khng chu tc

ng ca lc hoc A C
moment gia thanh.
Hnh 1.35 a
Design
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
Lin kt thanh
Lin kt thanh
Hnh 1.35 b
Design
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
Rx
j 1
Fjx

n n
R Fj Ry Fjy
j 1 j 1

n
Rz Fjz
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
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
n
M Ox M x
Fj
j1
n n
MO MO
Fj M Oy M y
Fj
j1 j1
n
M Oz M z

Fj
j1
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
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

R
O2

hcR ( MO1 ) hcR ( M O2 )
O1 b) MO2
a) Hnh 2.1
Design
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
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
A

~ F B ; MB F A , B R3
Design

F l
A

F
B
F
A
B

MB F
A
Hnh 2.3
Design
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

RF RQ
~
Fj Qk F Q
M O M O
j 1, n k 1, m
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
n
Rx Fjx 0 1
j 1

n n
R Fj 0 Ry Fjy 0 2
j 1 j 1

n
Rz Fjz 0 3
j 1

n
j 1

M Ox M x Fj 0 4

n n
j 1

M O M O Fj 0 M Oy M y Fj 0
j 1
5

n

M Oz
j 1

M z Fj 0 6
Design
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). F2

F1
Ch cn tha (1), (2), (6)

i vi h lc phng. Fn
d1
O x
Hnh 2.4
Design
n n
6 Mz
Fj M O F j 0 6
j 1 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)

Fn
F1
(2), (4), (6)
F2
z O x
Hnh 2.5
Design
H lc song song y v ng phng trong Oxy:
(2), (6). y
H lc ng trc y. (hnh 3.3)
(2)

Hnh 2.6
Design
2.3.3. H lc ng quy. (hnh 3.4)

y
(1), (2), (3)
F1
H lc ng quy
phng trong mt F2
phng Oxy:
(1), (2)
O
x

z Fn
Hnh 2.7
Design
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
ngu lc3 v s khng bao gi c hp
tng ng vi mt
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
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)

R R
O Hnh 2.8
Design

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

R M
OO * O

R 2
O R R
MO
d OO*
R 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
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 N

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

Vt rn s cn bng di tc ng ca h hai lc: P, N ~ 0
Design
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
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
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 N
di tc dng ca 2 lc O
N v P. (hnh 5.1)
R

P
Hnh 2.10
Design
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 N
h lc : O Q
M msl

P, N , Q, Fmst , M msl ~ 0 R

Vi Mmsl : moment ma Fmst
st cn ln. P
Khi tng dn Q, khi Q
cha ln, vt vn cn Hnh 2.11
bng.
Design
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
: gc tip xc (gc m); rad Q
( ft .a) P
Euler : Q P.e
e( ft .a)

P Hnh 2.12
Design
V e( ft .a) 1 nn Q < P
V d: vi a 20.2p ; f t 0,5
Th ta c:
ft .a
e e 20 p 1,94.1027
2.6. Trng tm ca vt rn
(T c)
Design
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
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
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
y
(vector hng). Ngha l cc lc dy khng gin
ny s c im t, phng
l
chiu, ln khng thay i F
theo thi gian. (Hnh 1.1).
iu kin rng buc hnh hc:
2 2 2 M ( x, y )
x y l 0
x
Cc lc trong bi ton ng lc Hnh 1.1
hc, ni chung, l nhng lc

thay i theo thi gian, theo v r K F
tr v theo vn tc ca cht
im chu tc ng. (Hnh 1.2) O
Hnh 1.2
F F (t , r , v )
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 K ak
Fk
Do mk 0 ak Fk ;
Fk
ak Hnh 1.3
mk
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).
n
i 1 2 n Fn F1
ak ak ak ak ... ak
K

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

a
O* k
n t
rk ak
ak (C )

n Fk
O y
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:
mk .
xk Fkx

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

di dng vector cho
Fk
ton c h nh sau:
e i i
m1.a1 F1 F1 K
e i Fk
m2 .a2 F2 F2
Hnh 1.7

e i
mn .an Fn Fn

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
K
K , mk V
C
rk

rC
O
y
x Hnh 2.1
rkx xk
K ( xk , yk , k )
Gi: rky yk
rk OK (rkx , rky , rk ) r
k k
Design
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
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 .dV
k ; 1
k 1 V
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 ; 2
Design
1 n
M .dV V
2 V mk .xk
2. Khi tm c h rCx xC k 1
M
L mt im hnh
hc tn ti trong n
khng gian ca h,

k 1
mk . yk
c k hiu bng r
Cy yC
im C v c v tr M
c xc nh nh n

sau:
n
mk. k
mk .rk rC C k 1
k 1 M
rC
M
Design
n

mk .xk
vCx xC k 1
M
n
n
mk .vk mk . y k

vC rC k 1
vCy yC k 1
M M
n

mk . k
vC C k 1
M

Design
n

mk .
xk
aCx
xC k 1
M
n
n
mk .ak mk .
yk

aC vC rC k 1
aCy
yC k 1
M M
n

mk . k
aC C k 1
M

Design
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 n
J 0 I 0 mk .(OK )2 mk .rk2 0 , kg.m2
k 1 k 1
M: rk2 xk2 yk2 k2

n
Nn: J 0 mk . xk yk k
2 2
2
k 1
Design
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:
n
d 2
kz r
k
2 2
k
2
x y
k
2
k J mk xk yk
2 2
k 1
n

J x mk yk k
2 2

Tng t: k 1
n
J m 2 x 2
y
k 1
k k k
Design
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
O J O M .O2
M
i vi trc ta
J x, y , 2
x, y , J x , y , M . x , y ,
M
Design
d) Moment qun tnh ly tm ca h

i vi h trc xy:
n
J xy I xy mk .xk . yk 0 , kg.m 2
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
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
C //
d
M
2
J J C M .d K
K
C
J J C

O
y
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
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).

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

y
M
ly
O x
lx
Hnh 2.6
1 2 1 2
J x Ml y ; J y Ml x
3 3
1 2

2
J J O M lx l y
3

Design
5. ng tr trn, ng cht, mng, khng y (Hnh 2.7).

C
2
J C MR J C h
M
2
C
J xC J yC yC h
R
1 2 h2
M R
2 6 xC
Hnh 2.7
Vi M l khi lng ton h.
Design
6. Hnh tr trn, c, ng cht (Hnh 2.8).

C
1
J C MR 2 J C
2 h M
2
J xC J yC C h
2
R
yC
1 2 h
M R
4 3 xC
Vi M l khi lng ton h. Hnh 2.8
Design
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
Vi M l khi lng ton h.

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
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.
m Khi tm C ca h
e
j 0 aC 0 vC const chuyn ng thng
F
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
K,mk

i lng vector c k hiu v qk
xc nh nh sau (Hnh 2.9):

qk mk .vk , ( N vk
.s) q
n k n
vk

ng lng ca h: Q qk mk .vk Hnh 2.9
k 1 k 1
Design
b) Cng thc tnh Q.

Dng nh ngha khi tm:
m

mk .vk m
vC k 1
Q mk .vk M .vC
M k 1
2. Xung lng ca lc
t

S Fk S k Fk .dt , N .s
0
3. nh l bin thin ng lng ca h

a) Dng 1: m
dQ
F je
dt j 1
Design
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
j 1
e

Q1 Q0 S Fj S je
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
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

vk
O qk
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
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
y
+ i vi trc x: M x qk M O qk
x
+ i vi trc y: M y qk M O qk

M Ox M x qk

Gi M O qk M Ox , M Oy , M O M Oy M y qk
M
O M qk
Design
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.
n

+ i vi trc : M qk L
k 1

n

+ i vi trc x: M x qk Lx LO Lx , Ly , L
k 1
n

+ i vi trc y: M y qk Ly
k 1
Design
c) Th d:
Kho st vt rn quay quanh trc c nh (Hnh 2.10).
z
Lx J x . ; Ly J y .
L J .
V

Vi hcz

Nu trc l trc qun tnh chnh
ca vt th :
x O y
J x J y 0 Lx Ly 0
Hnh 2.10
Vy: LO 0, 0, J . , Hay LO // O
Design
2. nh l bin thin moment ng lng ca h i vi 1
tm

m
d LO
dt
M O Fje
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
ng nng c h : T mk .vk 0 , N .m
k 1 2
Design
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
C h l mt vt rn phng chuyn ng song phng trong

mt phng cha vt (hnh 2.11). P
c
1 1 P
T .M .vc .Jc . 2
2
2 2 M
C
1 2 vc mp P
T J P .
2 P
Hnh 2.11
2. Cng v cng sut
K
a) nh ngha. rk

Cng phn t (cng vi phn) ca Fk
ti l cng do loi ti y to ra O
drk dxk , dyk , d k
trn on ng vi phn.
Hnh 2.12
Design
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
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
dt

dt

Fk .vk Fkx .xk Fk y . y k Fk . k
+ Cng sut ca moment M :
dA M M.d N .m
P M PM M. , n v Watt: W
dt dt s
Design
Cng hu hn.
K K
+ Ca lc:
A Fk Ak dA k Fk .drk
KO KO

+ Ca moment: A M AM M .d
0
Nu: M const th AM M . , : rad

b) Cng ca cc loi ti ph bin.
Cng ca trng lc.
C0 x0 , y0 ,0
(Hnh 2.13)
C x, y ,

A P P 0 M .g .hC
P

P
Vi. hC 0 : lng O y
thay i cao ca C. x
Hnh 2.13
Design

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 x
O
Hnh 2.14
k 2
As x0 x12
2
Design
* Cng ca lc ma st trt
Cng ca lc ma st trt tnh. (Hnh 2.15)

A Fmst Fmst .s 0 Fmst
N Q

P
Hnh 2.15
Cng ca lc ma st trt ng: (Hnh 2.16)

N
s

A Fms Fms .s Fms .s
Fms
f .N .s 0
P
Hnh 2.16
Design
3. nh l
a) Dng o hm:
dT n
P Fk
dt k 1

b) Dng hu hn:
n
h h
T1 T0 A Fk
k 1

n e
C h khng bin hnh :
A Fk A Fj
k 1

e
h h
T1 T0 A F j
Design
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 : tng cng ca cc loi ti bng
tng cng ca cc lc ch ng
(hot ng).
a
h
T1 T0 h

A F
Design
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 V mk 0
mk .ak 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
Chng 3 : Nguyn l D Alembert
qt qt
Fk Fk Fk
qt qt K , mk
Fk Fk 0 (Fk , Fk ) ~ 0 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
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
M R
* n n qt O
O
M 0 M 0 ( Fk ) M 0 ( Fk )
k 1 k 1
qt Rqt MO
M 0 M 0 0
Hnh 3.2
Design
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
qt
n

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
k 1
' vi tm O.
2.3.2. Xc nh R qt , M 0qt (vector chnh ca h lc qun tnh
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
Vi mi dng chuyn ng ca c h ta u c:
' n
n

Rqt (mk .ak ) (mk .ak ) M.aC
k 1 k 1
qt
2. Xc nh M O .
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
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 M 0qt
Nu l trc qun tnh chnh ca vt th:
qt qt O
O : M 0 J . M0 V J 0
y
J : Moment qun tnh ca vt i vi trc x
(hnh 3.3). Hnh 3.3
c) C h l mt vt c
rn phng chuyn S
ng song phng M Cqt
trong mt phng C
cha vt (hnh 3.4).
P aC
qt
Chn O C : M 0 Jc.
Hnh 3.4
Design
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. O y

l
Chuyn ng ca im M b rng
buc bi lin kt dy. M x, y
x2 y2 l 2 0, l : chiu di dy
x
Hnh 4.1
Design
Chng 4 :Nguyn l di chuyn kh d
Th d 2: C cu tay quay con trt trn hnh 4.2.
y
A l2 l1
l1 yB 0
O l2 l1 xB l2 l1
x
B xB , yB
Hnh 4.2
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
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
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 l y
Lin kt gi (hnh 4.3) Thanh cng
2 2 2
f1 (x, y) x y l 0 M x, y
x
Hnh 4.3
Design
Lin kt khng gi (hnh 4. 4) O l y

dy
f2 (x, y) x2 y2 l 2 0
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
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
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
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
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 ,
2
1, s
Design
Bin thin o ca cc phng trnh lin kt s c xc
nh nh sau : *
f f f 0
n
f f f
M f . xk . yk . k 0 ,
k 1 xk yk k 3

1, s
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
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
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
xk . qi
i 1 qi
xk xk q1 , q2 , , qm
m
yk
yk yk q1 , q2 , , qm yk . qi 4
i 1 qi
k k q1 , q2 , , qm m
k
k . qi
i 1 qi
Design
V d: (Hnh 4.5)
Dofh m 3n - Rlk
3.2 - 4 = 2
O y
C 2 ta suy rng. 1 1
Chn q1 1 ; q2 2
x A l1.cos 1 ; y A l1.sin 1 A xA , y A
xB x A l2 .cos 2 2 2
l .cos l .cos
1 1 2 2

yB y A l2 .sin 2 x B xB , yB
l1.sin 1 l2 .sin 2
Hnh 4.5
Design
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 2 2
x y 0
A A 1
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
n n n

k 1

A Fk Ak Fk . rk
k 1 k 1
n
Fkx . xk Fky . yk Fk . k , 5
k 1

n n
m
xk yk k
Ak Fkx .
i 1 qi
Fky .
qi
Fk . qi
qi
k 1 k 1
n
xk yk k
t: Qi Fkx . Fky . Fk .
k 1 qi qi qi
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
Lc ny tng cng kh d ca cc lc Fk c tnh theo
cng thc nh sau :
n m
A K Qi . qi
k 1 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 m
Ak Qi . qi Q1. q1 Q2. q2 ... Qi . qi ... Qm. qm Qi . qi
k 1 i 1
n
A
k 1
k
Qi
qi
Design

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 n
k kx k ky k k . k 0
A
k 1
a
F a
.
k 1
x F a
. y F a
a
Vi
ln h.

Fk Fkxa , Fkya , Fka 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
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 h
T T (t, qi , qi ) ; ( qi : vn tc suy rng th i)
Design
C h s chuyn ng tun theo phng trnh Lagrange

2:
1 T T
( ) Qi , i 1, m
dt qi qi
Design
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/
P2
Cho 1 c h nh hnh ve (hnh 1).
Cho bit: , P1, P2. D P1
a. H cho c lun cn bng vi C
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. B
A
c. Hy xc nh cc ng lc ln
tng thanh thng trong h.
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. Design By haughtycool
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
S 4 S 3
Thanh chu nn
S1
ng lc
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
t
. 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
R j 2 2 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.

Kho st s cn bng ca ton h (hnh 2).
T do ho h (b ht cc lin kt ngoi):
y
YD = 0 P2
YD
XD XD P1
D C

YA
B x
A XA
Hnh 2
Vit cc phng trnh cn bng cho h lc:
F X P X 0 1
jx A 1 D

Fjy YA P2 0 2

MA Fj P2 . P1. XD . 0 3
Gii h (1), (2), (3) ta nhn c:
(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)
S C ,
XD
Hnh 3a
SC, = XD SC, = (P1 + P2)
y
P2
S,C
Kho st s cn P1
bng ca nt C x
C.(hnh 3b) 450

S,C S,C
Design By haughtycool Hnh 3b
2
Fjx P1 S,C S,C 0
2
Ta c:
F P S S 2 0
jy 2 ,C ,C
2
S,C (P1 S,C ) 2 P1 (P1 P2 ) 2 2P2

2 2
S,C (P2 S,C ) P2 ( 2P2 ) 0
2 2
ng lc tc dng ln & :

SC ,

S A ,
S A , SC, S,C 2.P2
Kho st s cn bng nt B (hnh 4).

y
A B

S,B 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?
q M=q2
A C
B
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): d
y
q Q 2 NC
M=q
YA
XA
x
A XA B C

NC
2 Hnh 2
Q q. d AC.cos 2 cos
Vit cc phng trnh cn bng cho h lc tc ng:
Fjx X A NC .sin 0 1

Fjy YA Q NC .cos 0

2

MA Fj Q 2 M NC d 0 3
Gii h phng trnh (1), (2), (3) ta thu c cc kt qu:

q
3 NC 0
Cc kt qu NC < 0 v XA < 0
4cos
q chng t cc chiu ng ca

1 X A tg 0 2 phn lc ny ngc vi
4
5 cc chiu chn cho chng.

2 YA q 0
4
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
D P q
2
q B C
A

Hnh 1
BI SA
3
lk
a. d o fh e 3 .n

j
R
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
D P K

NC
3 C
EK H
2
3

ME F P. NC .CE M 0
2
M

YE
EH d
Vi : CE
sin sin
3 2
q M E x
NC 2 XE
CE
Hnh 2
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 (1)
2 2
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.

1
Thay M = q2 vo cng thc tnh NC, ta c: NC q.sin
2
Kho st s cn bng ca khung ABC (Hnh 3).
y
NCx NCx NC .sin
q B
C

NC NCy NCy NC .cos
Q q
YA
2 MA
x
XA A 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
q 2 1 2 q 2
1
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 0
(hnh 1)
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>
A

M
3

O P
B
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).
y
* T do ho thanh OA.
A
* Thit lp phng trnh
cn bng cho thanh OA. R,
M
d
d cos YO
O
XO x
Design By haughtycool 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
M
XO 0

M
R, 0
cos
M
YO tan 0
Kho st s cn bng ca thanh AB (hnh 3).

T do ho thanh AB.

R, A
B
Fx R, R, 0
R,
M
R, R, 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 :
y

Fx P R, cos 0
R, MB
Fy NB R, sin 0

MB F MB 0 B

P x

MB 0 NB

M
NB tan 0 Hnh 4

M
P 0
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:

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

Y M tan
O
Bi 5/
Cho 2 h lc cng tc ng ln 1 hnh lp phng c chiu di 1
n v nh hnh v.
a. Cc h lc cho c tng ng vi nhau hay khng?
b. H lc no c hp lc?
c. Tm im t cho hp lc ca h lc c hp lc?
z z
A1 A
F2
2
M1
F2
M1 F1

M2
O O
A y A1 y
2
x F1 x M2
H lc 1 H lc 2
nh l:
iu kin cn v h lc 1 tng ng vi h lc 2 l khi
thu gn v cng 1 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 :

R R

Fj Fk
MO MO , O
3
j1,n k 1,m
BI SA z z

A 1 A 2 F2
M1
F2
M1 F1

M2
O O
y
A 2 A1 y

x x
H lc 1 F1 M2

H lc 2
Thu gn: A1 0,0,1 A 2 0,1, 0

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

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

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

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

2
R Fj 2,1,0
j1
2 2
j1

MO MO Fj Mk
k 1

MO
F1 OA1 F1 1,1,0
MO 0, 0, 2

MO
F2 OA 2 F2 1,0, 1
Hai thnh phn thu gn ca h lc (2):

2
R Fj 2, 0,1
j1
2 2
j1

MO MO Fj Mk
k 1

MO
F1 OA1 F1 1, 0, 1
MO 0,3, 1

MO
F2 OA 2 F2 1,1,0

a. V R R nn h khng tng ng h
b. H lc :

R 0

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

R MO 2, 4, 0 2 4
OO * 2
; ;0
R 5 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 3
ft 0,577 ft 0,577
b1. Cho : 3 b2. Cho : 3
30o 30o
( ft : h s ma st trt tnh gia vt v mt nghing)
dy B
A

P P
Hnh 1 Hnh 2
BI SA
a. Kho st s cn bng ca vt A (hnh 1a).

Fx Fmst P.sin 0 y N x

Fy N P.cos 0 Fmst

Fmst P.sin

N P cos P
iu kin vt khng trt: Hnh 1a
Fmst Fmstgh ft .N P.sin ft P.cos
tan ft arctan ft
3
b1. 30o tan tan30 ft Hnh 2b,c
3
y N TA
Tho mn Vy ma st sc x
gi vt cn bng.
Fmstgh
Do , lc cng dy: TA = 0
3
o
b2. 30 tan tan30 ft P
3 Hnh 2a
Ma st khng sc gi vt cn bng. Lc cng dy s tn
ti lm vt mt kh nng trt. Lc ny:
F 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
E
y
TA

R D
r
x

C NI

Fmst
I
dA dB
Hnh 1
PA PB
BI SA
a. Kho st s cn bng .
Fx Fmst TD PA sin P sin 0 1
Fy NI PA PB .cos 0 2
M I PA r R.sin PB R R sin TD .2R 0 3
P P
T 3 TD 1 2sin 2 1 sin 4sin 1
4 4
P 1
T 1 Fmst 2P sin 4sin 1 P sin
4 4
T 2 NI 2P.cos
iu kin vt khng trt l:
Fmst Fmstgh ft N
1
P sin ft 2P cos
4
1
sin
4 f
t
2cos
b. Cc thnh phn phn lc ti I:
NI 2P cos

1
F
mst P sin
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.
q B C
P q M q 2
E
A

Hnh 1
BI SA
3
lk
d o fh e 3 .n

j
R
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
q B HC HC HC
C
C

P q M
Q q VC VC

y D
y
/2 VE
HA x HE x
X
A E
VA
a) b)
Hnh 2
+ Vit cc phng trnh cn bng:
F jx HA Q HC 0 (1)
F jy VA P VC 0 (2)

MA Fj Q P HC VC 0 (3)
2
* Kho st s cn bng ca thanh thng CDE.
+ T do ha thanh thng CDE (hnh 2b).
+ Vit cc phng trnh cn bng:
F jx HC HE 0 (4)
F VC VE 0 (5)
jy

ME Fj M HC VC 0 (6)
* 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. P2
a. H cho c lun cn bng vi D
mi loi ti tc ng khng? Ti
C
sao?
b. Nu h cn bng, hy xc nh

cc phn lc lin kt ca cc lin

kt ngoi. P1
c. Hy xc nh cc ng lc tc B
ng ln cc thanh thng (1), A
(2) v (4) trong h.
Hnh 1
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
y
XC
C

XA P1
B x
A
Design By Hnh 2
haughtycool
F X P X 0 1
jx A 1 C

Fjy YC P2 0 2

MC Fj P1. X A . 0 3
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:
y
F X 0 4 YD
jx D
5 D x
Fjy YD YC 0
C

MD Fj MD YC . 0 6
MD
XD

Gii h (4), (5), (6) ta nhn c: YC YC
(4) XD = 0 Hnh 3
(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
* Kho st s cn bng ca nt C (hnh 4). YC P2
T do ha nt C:
Vit cc phng trnh cn bng cho h lc: x
C
2 450
Fjx S4,C 0 7
2
S,C S,C
F Y P S S 2 0
jy C 2 2,C 4 ,C 8 Hnh 4
2
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 9
Gii phng trnh (9) ta c: S1,B = P1 > 0.
ng lc tc dng ln (hnh 7):
y

S A , SB, SB, S,B
S,B
B P1
x Hnh 7
Hnh 6
Phn II: ng Hc
Bi 1/
D
Cho c h nh hnh v. Bit: u, v,

, a, DM = < a. M C
u

Hy phn tch chuyn ng phc
hp ca cc im: M v N. Xc N
nh gia tc Coriolis ca cc im: b

M v N. A v
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
M
Xc nh gia tc Coriolis ca im M: aC

M M aMC
a C 2 e v r 2 u D

aMC mp , u mp ABCD M C
u
M
chieu aC : RHR
M
Ca 2 .u.sin 90 o
2..u N
b
Xc nh gia tc Coriolis ca im N:
N
aC A v
N N a
aC 2 e v r 2 v
B
N N
V aC 2..v.sin180o 0 aC 0
Bi 2/
Cho mt ng trn bn knh R
quay quanh ng knh AB c B
H M
nh vi vn tc gc . im M

u
chuyn ng dc trn ng trn
u
y vi vn tc . Bit R, , u, . O
a.Hy xc nh vector gia tc
Coriolis ca im M.
A
b.Tm v tr im M trn ng
trn M M
aC ; aC Hnh 1
max min
BI SA
a.Phn tch chuyn ng phc hp im M.
y
Chuyn ng ko theo: quay cng vi
ng trn quanh ng knh c
B M
ac
nh AB, vi vn tc gc . Do : e
H

e M
= . M
vr u

Chuyn ng tng i: chuyn ng O
x
ca im M theo qu o l ng
trn ng knh AB vi vn tc u. Do A
: vrM = u.
Hnh 2
M
Xc nh aC :
M M
a C 2 e v r 2 u M
e ac
M
aC mp , u
M M
chieu aC : RHR
M
aC 2 .u. sin M
vr u
b. Xc nh im M:
M 00
aC 0 sin 0
min
1800
M 90o
aC 2..u sin 1
max
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
nghing vi phng trnh chuyn ng: 6 xc nh
. 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
B
va vr
R y
A

x
x
Hnh 1
BI SA
a)
Bi ton vn tc:
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).
1 B C
s const va
6 t ; rad
0 s2 6
C
B
v a R. R const B B BP B
B6 va v vr
Ta co : v a const
R
Vy im B chuyn P
A y
ng thng u. vA
B
aa 0
x
Hnh 2
C 2. v Cax v Ca .cos 0,715R

v a PC. 2.R. R C C
6 v
ay v a .sin 0,192 R
C C
C y
v a v ax . i v ay . j C
va

R 0, 715 i 0,192 j 45 15
C x
Bi ton gia tc (hnh3).
C CB
a a an
Chn im B lm cc
tnh gia tc im C:
C B CB CB P
aa aa a a
CB CB CB
a a n a n
Hnh 3
aCB .BC 0 m / s 2
Vi :
2
anCB 2 .BC .R 0, 27.R

6
aCax aCa cos 0, 234.R
C C
a
ay a a sin 0,135.R
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
x v o t v a x v o const v a v o i const
A
A A
a v 0
a 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
B ve va

B
va
B BP
vr v
P
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 A BP 3
v ax v a v .cos v o R.
2
vB v BP .sin 1 R
ay 2
B 3 1
va vo R i R. j
2 2
Bi ton gia tc.

B B A
ae aa aa 0
B B B B B B
a a a e ar aC Vi ar v r 0
B B
aC 2 e v r 0, e 0
B
aa 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 B

1

O2
A
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 va B
ng song phng trong mt O
1
phng hnh v.
1
Thanh O2B chuyn

ng quay quanh 1 2

tm O2 c nh.
v aA
b. Bi ton vn tc. A O2
Hnh 2
(Hnh 2) Design By haughtycool
Vn tc im A thuc
vt 1:
s
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

AB 0 s
Vn tc gc ca thanh O2B:
B vBa v aA
v O2B.2
a 2 1 1s1
O 2B
c. Bi ton gia tc. (Hnh 3)
y
Gia tc im A thuc BA
thanh O1A: a
A A A x B
aa a an O1 B
a
Vi BA
an aB BA
a
aA O1A.1 0, 4 m s2
A
an
3 n
anA O1A.12 0, 4 m 2
s
A O2
Chn A lm cc tnh a A 2
Hnh 3
gia tc im B thuc
thanh AB.
B A BA A A BA BA
aa aa a a an a an , (1)
B B B
Mt khc: aa a an 2
ng nht hai phng trnh (1) v (2) ta c:
B B A A BA BA
(*) a an a a n a a n
Phng
O2B BO 2 O1A AO1 AB BA
chiu
22 .O 2B 2
AB .AB
ln ?
0,4m/s2 0,4m/s2 ?

0,4 m / s2 0
Chiu (*) ln trc (y):

0 0, 4 0 0, 4 aBA .cos
0,8
a BA

cos s
0,92 m 2 0
Ngc chiu.
Gia tc gc thanh AB:
aBA AB .AB
O1A
AB 0,8 m
sin
aBA 0,92
AB 3 1,15(s 2 )
AB 0,8
Chiu (*) ln AB:
aB .cos 0, 4.sin 0, 4.cos 0, 4.sin 0

aB 0, 4 0,8.tan 0, 062 m s 0
2
chiu chn ng.
Gia tc gc thanh O2B:
aB 2 .O2B
aB 0,062
2 0,155 s2
O 2B 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

O
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).
A y
va
A

1

O B
x va B
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.
AB 0s1
Vy B A
va va
c. Bi ton gia tc. (Hnh 3)

A
a
A
A
an AB
y BA
1 an BA
a
B
aa
O B
x aa B

Hnh 3
Gia tc im A thuc tay quay OA:

A A A
aa a an
aA OA.1 .1
Vi :
anA OA.12 .1
Chn A lm cc tnh gia tc im B.

B A BA A A BA BA
(1) a a a a a a a n a a n
Phng
//x OA AO AB BA
Chiu
2
. 1 .1 AB.AB
ln ? ?

0
Chiu (1) ln trc Oy:

0 0 .12 aBA .cos
BA .12
a 0
cos
aBA .12 / cos
AB 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.
B
Chiu chn cho ala sai. Chiu ng ngc li.
Nu 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?
R1 2 1
r2
O2
1 O1 B D
2 1
1
R3
C E
r3 O3
Hnh 1 A
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:
s
v Ba R1.1 2r1.1 1 m
R1 B 1
va r
2
O2
1 O1 B D
D 1
va
1
R3
C
va
O3
C E
r3
3 3
O3 E
va va
Hnh 2
A
Vn tc im C:
C B
V dy khng dn nn: va va
Vn tc im D:
s
v Da r2 .2 0,5 m
Vn tc im O3:
O3 D
V si dy khng dn nn: va va
Tm vn tc tc thi ca rng rc hai tng O3 l: P
Ta c:
C
v Ca 3 .PC va
O3 P O3 E
v a 3 .PO3 C
3 O3
va
PC v Ca O3
O3 3 aa E
PO3 v a va
E
Hnh 3 aa
PC PO3 v Ca v aO3

PO3 v Oa3
1 1
R3 1,5 3 3 3 3 (m) 0,33(m)
PO R
3
PO3 0.5 PC R3 PO3 2 0, 67(m)
3
Vn tc ca im E:
E 2 5
v PE.3 PO3 r3 .3 r r .3 r.3
a
3 3
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.
dv Oa 3
v Oa 3 vDa r2 .2 aOa 3
dt

r2 . 2 0, 5 m 2
s
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
3 1 3 1 1,5(s2 )
2 2
Gia tc vt A:
A
dv d E
A
aa a
va
dt dt
5
A 5
a r. 3 r.1
a
3 2
1, 25 m 2
s
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 A B
A
cam y
O C x
e
R

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.

e
Chuyn ng tng i: trt dc trn b mt trn ca cam.
b. Bi ton vn tc. (Hnh 2)

A
a aa
p dng nh l hp vn ve C A
CAx va
tc ca im chuyn A ar
ng phc hp ta c th
A vr
tnh c vct vn tc a e an
ca im A thuc cn
nh sau: R
A
va ve vr
O C
OA R e2 2 e
A
v e v a A
Ta co : v e v a OA

A cam
Design By haughtycool Hnh 2

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 1
Phng Chiu //y OA //x
ln ? R2 e 2 . ?
Chiu (1) ln trc (y):
R 2 e 2 .cos
v aA v e .cos .e
2 2
R e
v aA e. 0
R
sin
R2 2
Vi :
e
cos
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
c r
A
a a a e ar a c 2

Phng Chiu //y A *O //x y
ln ? R2 e 2 . 2 ? 2R 2
Chiu (2) ln trc y:
A 2 2 2 R
a R e . .
a 0 2R 2
R2 e2
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).
OA R; OA OB
Cho
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.
1
B
O
1
C
2 3

P 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!!!!
A A A
b. Phn tch a va

A B2 A
chuyn ng phc 1 an an
B
ca im B2 thuc O
B2 A B2 B2
a vr va
thanh AC: (Hnh 2) B2
B2 ar
1 ac
Chuyn ng
ko theo: quay
theo con lc (3) 2 3
quanh tm B.
P Hnh 2
Chuyn ng tng i: chuyn ng thng dc theo phng

B2 B2
ng thng AC. Ta c: v r AC; ar AC
.
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.
R
Ta co : AB
sin
AB R
PA
sin sin 2
AB R
PB
tg sin .tg
v aA
v aA PA.2 2
PA
R.1

Vay 2 1.sin 2
R
sin 2
Vn tc ca im B2.
R
v Ba2 PB.2 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: 3 2
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
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 (1)
B2
Mt khc ta c th tnh gia tc aa theo nh l hp gia tc
trong chuyn ng phc hp:
B2 B2 B 2 B2
a a a e ar a C (2)
B2 B*2 B3
a e aa aa 0
B2
Vi : ar AC
B2 B2 B2

aC 2 v r 2 3 v a
ng nht hai cng thc (1) v (2):

a A
a A
n a B

2 A
a B
n
2 A
a B
r
2
a B
C
2
, (3)

OA OA AB BA //AC AC
R.1 R12 ? AB.22 ? 23 .vBa2
R
2
Vi : AB. 2 12 .sin 4
sin
R.12 .sin 3
23 .v Ba2 21.sin 2 .R.1.cos

2R.12 .cos .sin 2

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
aBA
a BA AB. 2 2
AB
R.1 2 cos .sin 2 sin cos sin

Ma : AB
R
: 3 2
Vay

Bi 9/
Cho c h nh hnh v: (Hnh1)

r1 2r2 2r ;
0
30
3 r1
Cho 1 c c
2 1 O2
O1
3
1 c r2
2 OA A
c
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.

j c m rk
b. Dng nh l Willis: (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 (1)
r2
3
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 (2)
r2
(2) bnh rng tnh tin tc thi.

O2
y va
c
O2
1 O1 x an O2

OA c A
O2
a
C
O2
CA
Hnh 2
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 aO2 O1O2 C 3r C
A O2 O2
O O2

v a v a v ax i v ay j v ay j (3rC ) j
2
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
A O2 O2
O 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 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 )

a b
Vy phng trnh qu o ca ng trn (CA) l:

2 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.
1

1O O2
1

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
A va
1
2
1O O2
1
Hnh 2
C

3
B
v Ba
P Design By haughtycool
b. Bi ton vn tc (hnh 2).
Vn tc im A thuc vt 1:
B

v aA O1A.1 2 m
s
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
A v 2
v a PA.2 2 a
0,5 s 1
PA 4
Vn tc im B thuc vt 2 (cng quay quanh tm P):
vBa PB.2 2 2.0,5 2 m / s
Vn tc im B thuc vt 3 (quay quanh tm O2):
B
B v 2
v a O 2B.3 3 a
1 s 1
O2B 2
c. Bi ton gia tc (hnh 3).
A
a A
A 2
an

1O 2 O2
1
C 3
B
a
BA
a
BA B
an an 3
Hnh 3
A A A
Gia tc im A thuc thanh O1A: aa a an

Vi :
1 1
a A O A. 4 m
s2

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 B A A BA BA
(3) : a an a an a an
Phng
chiu O2B BO 2 O1A AO1 AB BA
2
.O 2B 22 .AB
ln ?

3
4m/s2 4m/s2 ?
2
2 m / s2 m / s2
2

Chiu cng thc (3) ln trc O, ta
2B
c:
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
BA a 5 2
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
B 2 2 2 B 2
a 0 ( 4
4 ) (0 ) a m / s2 0
2 2 2 2
Gia tc gc ca thanh lc O2B:
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.
y
N

T x

v
Fc
150

P
hnh 1.2
Dng tin 2 ng lc hc im:
4
m.a Fk P T N Fc 1
k 1
Trng hp 1:

Xe chuyn ng thng u nn a0

Tin 2 tr thnh: 0 P T N Fc 2
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.
k 0
O t
A x0
P
x
hnh 1
Bi sa
Chn trc Oxc 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 F jx P Fs 0 1
Fs P m.g
M: Fs k . t

P Fs m.g
hnh 1.1
t
k k
Chn t 0 lc
s l xo b gin thm mt lng : x0
v0 0 m s x0

x t 0 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 2
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 3
k
Vi:
m
Dng nghim tng qut:
x A.sin t 0
A v 0c m t cc iu kin ban u:
x x0 A.sin 0
t 0 s:
x0 A. .cos t 0 t 0
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.

a v

2T

P
s 10 m
hnh 1.5
Bi sa
Kho st chuyn ng ca xe:

a1 v1
N1 y
x

Fms
P
hnh 1.5.1
S dng tin 2 ng lc hc:

m1a1 P N1 Fms 1
Chiu (1) ln x,: y

m1a1 Fms 2

0 P N1 3
3 N1 P
2 2
Ta c: v v 2a1s
0
0 36 2a1.10
2
a1 1,8 m s 0
2
Thay a 1,8 m s vo 2 :
Fmst m1a1 6000.1,8
10800 N
Kho st s cn bng ca ph:
Copyright
By Focebk.com
N1 y

2.T N Fms x

Q
hnh 1.5.2
*
F jx 2T F mst 0 5
*
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:
m, , ,qun
Hy xc nh moment OA tnh
a,ca
OBthanh
b. AB i vi trc x, y,z v
tm O (thanh AB nm trong mt phng Oyz).
z B z B u
d kz K du
y d ky
O O u y
x x
A A
Hnh II.2a Hnh II.2b
Bi sa
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:

m
, kg m

Kho st mt cht im K trn thanh:
Chiu di: du
d kz u.sin

d ky u. cos
Khi lng im K: mk .du
d u
kx
Moment qun tnh ca ton thanh i vi trc z :
b b
Jz mk .d
k 1
2
kz .du.u .sin sin u du
2 2 2 2
a a
3
m 2 u b m
Jz sin . sin 2 b3 a 3
3 a 3
m
3
2
2 2
sin a b a ab b
m 2

3

a ab b 2 sin 2
Moment qun tnh ca ton thanh i vi trc y:
b
J y mk .d ky2 .du.u 2
. cos 2

k 1 a
b
2 2
cos u du
a
3
m u b m
2
J y cos . cos2 b3 a 3
3 a 3
m
cos a b a ab b
2
2 2
3
m 2
a ab b 2 cos2
3
Moment qun tnh ca ton thanh i vi trc x:
b b
J x mk .d 2
kx .du.u u du
2 2
k 1 a a
3 b
u
b a 3 ( a b)( a 2 ab b2 )
3 3
3 a 3
m 2
( a ab b 2 )
3 Design By haughtycool
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
B
ab
Hnh II.3
Bi sa
y
b
x C0
B
CB0
N
C0A CA CB

O xC0 x PB b
A
a PA 3
sA a/3
x CA
x CB
Design ByHnh II.3.1

haughtycool
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 B
Ta c:
a 2
x C0 = ; x C0 = b ;
A 3 B 3
a b
x CA = s A ; x CB = s A a
3 3
Ban u ton h ng yn.

v C0

x 0 = 0 m
CA
=0

s
A
A
y C0 = 0 m s

x 0 = 0 m
CB s
v C0 =0
y C0 = 0 m
B
B s
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.
3
M.aC = Fje = PA PB N ; 1
j=1
Chiu (1) ln trc x:
M. xC = 0 m
x C = 0 s 2
x C = const
x C = x C0
Theo nh ngha khi tm h, ta c:
2
mk .x k mA .x C mB .x C
x C = k =1 = A B
M mA mB
do :
m A .x CA mB .x CB mA .x C0 mB .x C0
A B
= =0
mA mB mA mB
x C = 0
x C = const = x C0
mA .x CA mB .x CB mA .x C0 mB .x C0
A B
=
m A mB mA mB
m A .x CA mB .x CB = m A .x C0 mB .x C0
A B

a b a 2
mA . sA mB . s A a = mA . mB . b
3
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 iuM kin ca ft con ln O ln khng M trt trn mt
phng nghing c nh.
r
O

P
A

Hnh II.4
Bi gii
y
0
M
v
r N s0 0

O x
a0
Rqt

P
Fmst
qt A
M
O
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
h 1 2 1 2
T m.v 0 JO .

2 2
m P
g

2 P 2
Vi JO m.r r do vat la vanh
g
v 0 r.

1P 2 2 1P 2 2 P 2 2
h
T . .r . . r . r .

2 g 2 g g
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 h0

A M M. O
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 A

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
g
2.P.r
M P.r.sin
a0 .r .g
2.P.r
iu kin ca M vnh ln ln:
0 M P.r.sin 0
chieu a chon la ung
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
Rqt m.aO g . 2P.r
.g

M P.r.sin
Rqt
2r
Moment chnh ca h lc qun nh i vi tm O.
MOqt JO .
MOqt

qt P 2 M P.r.sin
MO JO . g .r . 2P.r 2 .g

1
qt
M M - P.r.sin
O
2
Kho st s cn bng ca vnh:
Fjx P.sin Rqt Fmst 0 1

Fjy N P cos 0 2
Gii h (1), (2) ta thu c:
N P.cos 3
Fmst P.sin Rqt
M P.r.sin
P.sin
2r
M + P.r.sin
Fmst 4
2r
d. iu kin vnh ln khng trt:
Fmst Fmsgh ft .N 5
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
F
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 N
Kho st chuyn ng ft c1 M1

ca ton h. a
P1 c
H ngoi lc tc ng y c2 M2 F
ln h:
x P2
P1 , P2 , F , N O Hnh II.5.1
Dng nh l chuyn ng khi tm cho h.
4
e
M.ac Fj P1 P2 F N 1
j 1
Chiu (1) ln trc x:

F F
M.a F a 2
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:
N1 M1
P1 , Fmst , N1 y
c1 a
Dng nh l chuyn ng
x
khi tm cho vt 1: O

P1 Fmst
Hnh II.5.2
3
e
M1.aC1 Fj P1 Fmst N1 3
j1
Chiu (3) ln 2 trc x,y:

Ox : M1.a Fmst 4
Oy : 0 P1 N1 5
Thay (2) vo (4), ta c:
M1
Fmst .F 6
M1 M2
T (5) ta nh c:
N1 P1 M1.g 7
iu kin vt (1) khng trt trn vt (2):
Fmst Fmsgh ft .N1 8

Thay (6), (7) vo (8):
M1
.F ft .M1.g
M1 M2
F ft M1 M2 .g
Bi tp 6. Cho mt a trn,c, ng cht c bn knh R v khi
lng , b y mln 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 A , ca
m, vng , tm
, f t ,af v . A a. Tm mi
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 nghingA a ln khng trt trn
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
lA
Rqt
y x
sA , vA

A , A N
Fmst (v vt ln khng trt)
M qt
A
aA A
I
A
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 vi
song song 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 vA aA
A A A
R R R
b.
ng nng ca h: 1 1
T h m Av A J A A2
2
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 A
3P 2 3P 0 2

4g
vA
4g

v A P sin s A

const
2 4
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
2 aA 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

0 2 4

v A g .sin . 0
3
0 2 3 0 2 3
vA g ..sin v A g ..sin
3 3
e. Xc nh cc thnh phn phn lc:
Theo nguyn ly DAlembert, ta s
Copyright Byb sung vo a hai thnh phn
Focebk.com
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
1 P 2 aA 1 P 2 1
M Aqt R R g .sin P.R.sin
2 g R 2g 3 3
Vit cc phng trnh cn bng:
F jx P.sin Fmst Rqt 0
F jy 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)
x

A N
I

Fms
P
Hnh II.6.2
g2.
Xc nh lc suy rng Q1 tng
Qx ng vi ta suy rng
: q1 x
Cho h mt di chuyn kh d c bit:
q1 x 0, q2 0
(a ch trt m khng ln v ) 0
Tng cng kh d ca cc ti:

A A P A Fms A N ; N 0
P. h Fms . x
P.sin . x f N . x
P.sin f P. cos x
A P sin f .cos x
x h
A Hnh II.6.3
x0

N
0
A
N 0 : v khi chiu ln
I phng trt phng
ca lc nng N vung
Fms
P gc so vi phng
trt.
Hnh II.6.4
Lc suy rng:
Q1 Qx
A
sin f cos P

x
sin f cos M .g
Xc nh lc suy rng Q2 tng
Q ng vi ta suy rng
q2
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
A
f .P.r.cos

x0

N
0
A
sI r.
Fms
P

Hnh II.6.5
Q2 Q f .M .g .r.cos
g3. Dng phng trnh Lagrange 2:
d T T
Qi , i 1, 2
dt qi qi
Xc nh ng nng h:
h 1 1
T M .v A J A 2

2
2 2
1 2 11 2 2
M .x M .r
2 22
T T
0 (khng c x ch c o hm ca x)
q1 x
d T d T
M .
x
dt q1 dt x
T T
0 (khng c )
q2
d T d T 1
M .r 2
.
dt q2 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

r
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
M
r
B
B , B , B

Q
A

sA , vA , aA
P
Hnh II.7
a) Phn ch chuyn ng:
Vt A: chuyn ng tnh n thng ng, nhanh dn, c chiu
hng xung.
Rng rc B: chuyn ng quay nhanh dn, cng chiu kim
ng h quanh trc vung gc vi mt phng hnh v v i
qua 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:
h A B
T T T
1P 2
Vt A chuyn ng tnh n: TA vA
2g
1
Vt B chuyn ng quay: 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
h 1 P 2 1Q 2 2
T vA r B
2g 2g
1 1

2g
P.v 2
A Q.v A
2

2g
P Q A
v 2
Tng cng cc ti:

A A(M ) A( P )
M
Vi: A( M ) M. B sA ; A( P ) PhA Ps A
r
M
A r P sA
c).
Gia tc ca A v gia tc gc ca rng rc B:
p dng nh l bin thin ng nng:
T1h T0h A
1 2 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:
A A
Rqt m A .a A Rqt TA y
M M A
P P
A P r r
Rqt g P
g PQ P Q
P aA

Hnh II.7.1
A Copyright By Focebk.com
Sau khi b sung Rvo
qt
thi vt A cn bng.
A
Phng trnh cn bng: Rqt TA PA 0
A
Chiu ln trc y: F jy TA R P 0
qt
M
r P
A
TA P Rqt P P
PQ

M
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 2
g
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
bit: f , M mm,
r , P , QDy const , ,f tkhng
nhe , f , gin,
. lun
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 t ng cc vt rn trong h. Tm mi quan
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 M

Q A

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

P x
Hnh II.8.1
- Vit cc phng trnh cn bng:
F jx Fmst P.sin 0 1
F jy N A P.cos 0 2
- Gii h (1), (2):
Fmst P.sin 3
N A P.cos 4
iu kin vt A khng trt:
Fmst Fmsgh f t .N A 5
Thay (3) v (4) vo 2 v ca (5), ta c:
P.sin f t .P.cos
tg f t 6
iu kin vt A trt:
tg f t 7
b) V tg nn
f t vt A trt c trn mt nghing.
b1. Phn ch chuyn ng ca cc vt rn trong h:
r M
B
B B
sA
B vA
aA

Q A

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 vA aA
B ; B ; B
r r r
b2. ng nng ca h: T h T A T B
A 1 2 P 2
T 2 mAvA 2 g v A

Vi:
2
1
T B J . 2 1 1 Q 2 v A
Q 2
B B r 2 vA
2 2 2 g r 4g
h 1 Q 2
T 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
M
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 vA P sin f cos s A
2g 2 r
1 Q M
P 2v A a A P sin f cos v A
2g 2 r
M
r P sin f cos
aA g
Q
P
2
M
P sin f cos
aA
B r g
r Q
P r
2
b4. Kho st chuyn ng ca vt A:

aA
Ta c: TA
Fms f .N A NA
Fms A y

P x
Hnh II.8.3
Dng nh l chuyn ng khi tm cho vt A:
4
e
mA .a A Fj P N A TA Fms 8
j 1
Chiu (8) ln hai phng x, y

mA .a A P.sin TA Fms
9
0 P cos N A
N A P cos 10
TA P.sin Fms m A .a A
M
P sin f cos
P r g
P sin f P cos
g Q
P
2
M
P P sin f cos
r
TA P sin f cos
Q
P
2
Q M
P sin f cos
2 r
TA
Q
11
P
2
b5. iu kin dy cng: TA 0
Q M
sin f cos 0
2 r
Q.r
M sin f cos
2
iu kin dy chng:
Q.r
M sin f cos
2
Xc nh li av
A : B
a A sin f cos g
2M
B 2
g
Q.r
Bi tp 9. Cho c h nh hnh v:
q const
A B

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
3 (ngm phng)
R
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.
b). Lin kt c mt rng buc c gi l lin kt n (v d:
khp bn l trt, lin kt thanh). Lin kt ngm phng c 3
rng buc s c xem l tng ng vi 3 lin kt n.
xc nh cc thnh phn phn lc ca lin kt ngm ta
gii phng ln lt tng lin kt n v 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:
q
HA A B
x
Hnh II.9.1
Cho h mt di chuyn kh d . x
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 A 0
Xc nh phn lc NA :
Gii phng lin kt n cn tr chuyn ng tnh n thng
theo phng ng.
Cho h mt di chuyn kh d . y
NA
q
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 A 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.
Cho h mt di chuyn kh d .
x dx
q
A
MA B
y x.
Hnh II.9.3
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.
0 0
2
x q 2
q. .
2 0 2
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:
q P q
a) A
B C M q 2
2
Hnh II.10.1
q
M
b)
A B C
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
P q
A q
HA
B C M
x
Hnh II.10.3
Tnh tng cng kh d:

A A H A A q A( P) A( M ) A H A
By Focebk.com
Copyright

A A H A H A . x
+ p dng nguyn l di chuyn kh d:
A 0 H A 0
- Xc nh thnh phn phn lc NB :
P q
q
C
M
A yB B yC
NB
Hnh II.10.4
+ Cho h mt di chuyn kh d :
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
A 0 2 N B 2 q 0
N B q
Xc nh thnh phn phn lc NA :

phng ng:
2
u
q P q
NA
yC
A B C M
y
yA
du
Hnh II.10.5
Cho h mt di chuyn kh d
:
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 2
u
A q y q.du q.u. .du q. .
0 0
2 0
Copyright2By Focebk.com
A q 2 q .
yC .

A P P. yC q.. q 2 .
A M M . q 2 .
Th vo :
2 2
A N A .2 . 2 q . q M . 0
N A 2 q
b).
Xc nh cc thnh phn phn lc HA :
phng ngang:
q
HA M
x
B C
A
Hnh II.10.6
Cho h mt di chuyn kh d : x

Tng cng kh d:
A A H A A q H A . x
A 0 H A 0
Gii phng lin kt NA :
2
VA x
M
B C
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
2
x
A q y.q.dx q. x. x.dx q.
0 0
2 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
2
q q 1
VA 2 q
2 4
Gii phng lin kt VC :
Copyright ByqFocebk.com
M
B C
A
yB VC
yC
u
u 2 du
Hnh II.10.8
y u.
2 2

A q y q.du u.q. .du

2
u2 4 2 2
A q q. q. q.
2 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.
x r
B
BI
v
A
N I
P2
F

P1 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.
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
A
Tnh ln vector vn tc va
tuyt i im B: B
BI B
(khi tng 2 gc bng thi cos v va
gc ny bng - cos gc kia).
I
Hnh II.11.2

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

va va v BI
2vaAv BI cos
2 2
v v 2v v
A
a
BI A BI
a cos
M: v x ; v r . r .
A BI

a
B 2
v a x r . 2r.cos .x.
2 2
2
c). ng nng h:
T h T A T B
1 2 1
Vi: T m1. va m1.x 2
A A
2 2
1 B 2 1
T m2 va J B . 2
B
2 2
Ta c: J B m2 .r 2 ;
1 1
T m2 x r 2r cos .x. m2 .r 2 2
2
B 2 2 2
2

1
m2 x 2r . 2r cos .x.
2 2
2
2
1
T h
m1 m2 .x 2 m2 .r 2 . 2 m2 .r.cos .x.
2
Xc nh lc suy rng Q1 : Qx
x0
C2 B 0
BI
A r v
N I A
F P2 va

P1
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
A
F
x
Xc nh lc suy rng Q2 : Q
q1 x 0 ; B
sB
q2 0 hB

hB sB .sin I
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
A
m g .r.sin
2

d) Dng phng trnh Lagrange 2:
d T T
Qi , i 1, 2
dt qi qi
T T
0
q1 x
d T d T
x m2 .r.cos
m1 m2
dt q1 dt x
T T
0
q2
d T d T
m2 .r.cos x 2m2 r
2

dt q2 dt
x m2 .r.cos F
m1 m2
2
m .r .cos
x 2m2 r 2

m2 g .r.sin
y l h phng trnh vi phn cp 2 cc k d gii. Cch gii
c trnh by chi t:
t x ; X 2
X 1
Nghim:
F m2 .r.cos
g .sin 2r
X 1
x
m1 m2 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 F
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.
y t
R
Cho: m, R, 0 ,
O 2
C0
0
N u
P
x
I
c
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
song song thng c nh v cch ng thng c nh
mt on bng bn knh ca a. Do , vn tc v gia tc
ca tm O nm trn ng thng ny.

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 Out
gn lin vi a sao cho
trc trngutrc i xng ca a.
tc 0
Kho st mt din ch vi phn k thuc a nh hnh v:
dr
r
dAk
d
O
K
uk
u
Hnh II.12.1
Gi: A l din ch a.

l khi lng ring a.
Ta c: A R2 : rad
m m
; (vt phng (kg/m2); vt dy (kg/m3)
A R2
dAk dr r.d
uk r.cos (uk: ta u ca im K).
m
mk dAk 2
dr rd
R
(mk: khi lng ca din ch dAk ).
p dng cng thc nh ngha ca khi tm:

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

H ngoi lc tc ng ln a P,: N
Dng nh l chuyn ng khi tm:
2
e
mac F j P N 1
j 1
Chiu (1) ln trc x:
m.
xc 0
xc 0 m s2
xc const xc 0 m s ; (vn tc lc u bng 0)
xc const xc 0 m
Vy phng trnh chuyn ng ca khi tm C l: xc 0 ;

ng thng c y ; vc y ; ac y .
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

2 m 2
Theo nh ngha: J 0 mk OK 2
r .dr .d .r
k 1 A R
Copyright By
R Focebk.com

m 3
J0 2
r dr d
R 0
4 R
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
uc sin O v0
Do :
vc PC. uc .sin .
P C
1 1
2
2 2
4

T m uc sin . mR 2 2
2

1 2 2 1 2 2 u
m uc sin R vc
2 2
Tng cng cc ti: Hnh II.12.2

A A P A N
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Vi: A N 0
A P P.hc
mg HC HC0
y
O0 O H 0
0
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 h
T T
1 0 A
1 2 2 1 2 2
m uc sin R mg .uc cos cos 0 ; 2
2 2
Vn tc gc ca a:
2 g .uc cos cos 0

3
2 2 1 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
uc 2 sin cos . uc sin R 2.

2
2 2 2
g .uc sin .
uc sin uc cos . 2 g

2 2 1 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
A 0
Hnh II.13
Cho : m, 2, 0
Bi tp 14.
Cho c h nh hnh v (Hnh II.14). M
r1
Cho r1, r2, P1, P2, M const.
Dy c cc nh cht sau y:
mm, nhe, khng gin, khng O1 B
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 P1
rc O2 l vnh trn ng cht. O2
a. Xc nh bc t do ca h. A
Chn cc h ta suy rng r2
cho h. P2
Hnh II.14
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. M
Dofh = +2 r1
Chn 2 ta 1
suy rng:
O1 B
q1 1;
q2 2
P1
y 2
O2
A
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
O2 O 2 O2 r1
va ve vr
1
O1 B
B
va
P1
y 2
O2
A O2
A vr r2
va
Hnh II.14.2 P2
O2
O A v e y
v e v a O
2
A B

ev 2
v a v
a r1 .1 r1.1
Vi : O2
O2
O2 O2 A v r AO2 hay v r y
v r v O2
v r r22 r2 .2
O2 O2 O2 O2
v a v a v e v r r1.1 r2 .2

ch khi 2 vector
c.
ng nng ton h:
The TO1 T O2
1 2 P1 2
O1 2 1 1 2g r1
J m r
Ta co :
J m .r 2 P2 .r 2
O2 2 2
g
2
O1 1 P1 2 2
Vi : T JO1 .1 .r1 .1
2
2 4g
1 O2 2 1
T O2
m2 v a
2
JO2 .22
2
1 P2 2 1 P2 2 2
r1.1 r2 .2 .r2 .2
2 g 2 g
O2 P2 2 2 P2 P2 2 2
T .r1 .1 .r1.r2 .1.2 .r2 .2

2g g g
he 1 P1 2 2 P2 P2 2 2
T 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
O2
sO2 1
M: v a r1.
dt dt
sO2 r1.1
Vay : A M P .r .
2 1 1
Lc suy rng Q1:
Q1
A
M P .r 2 1
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
O2
sO2
Ma : v a
dt
sO2 r2 . 2
Tng cng kh d:

A A P2
P2 . sO2 P2 .r2 .2
Lc suy rng Q2:
Q2
A
P .r2 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 , i 1, 2
dt qi qi
d T d T 1 P1 2 .. P2 ..
P2 .r1 .1 .r1.r2 .2
dt q1 dt 1 g 2 g

A B
T T
0 (V Th khng phu thuc 1).
q1 1
d T d T P2 .. 2P2 2 ..
.r1.r2 .1 .r2 .2
dt q2 dt 2 g g

B C
T T
0 (V Th khng phu thuc 2).
q2 2
1 P1 2
A P 2 r1 const
g 2

P2
at : B .r1.r2 const
g
2.P2 2
C .r2 const
g
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 (rng rc 1 quay nhanh dn u)
X 2 2 A.E B.D const (rng rc 2 quay nhanh dn u)

A.C B2
Bi tp 15.
Cho mt c h nh hnh v (Hnh II.15).
r I C

Q
B
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)
x
M
1
A
A va A
C
vr C
va
r I C
ve
2 C
Q
B
P
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.
A
Qu o tm A l ng thng 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.
C A
Do : v e va
Chuyn ng tng i: quay quanh tm A.

C CA
Do : v r v AC
Vit biu thc nh:

C C C
va v e vr
C 2 A 2 C 2
v a v v
a r 2 v aA v rC cos 2
2
2
r.1 . 2 r..cos 2 .1.2
2
c. ng nng ton h: The T A T AB
1 A 2 1
Vi : T m A v a JA .A2
A
2 2
Q
Ta co : mA ; v aA r.1.
g
1 2 Q 2
JA m A .r .r
2 2g
A 1
AQ 2 2 Q 2 2
T r .1 r .1
2g 4g
3Q 2 2
r .1
4g
1 C 2 1
T AB
m AB v a JC .AB
2
2 2
P
Ta co : m AB ; AB 2
g
1 2 P 2
JC m AB . .
12 12g
AB P 2 2 P 2 2 P
T r .1 .2 r..cos 2 .1.2
2g 6g 2g
he 1 3 2 2 P 2 2 P
Vay : T 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
A
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
A
P.sin 2
2 2
2 2
C
Vay : Q1 M hC
C0
Q2 P.sin 2 2
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

1 g 3 2g
d T 1 2 2 P
P Q r .1 .r ..
sin . 2

2 2 cos 2 . 2

dt 1 g 3 2g
T
0
1
T P 2 P
. . 2 r. cos 2 .1

2 3g 2g
d T P 2 P
.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
Vay :
g
P Q
2
r .1
2g
r ..cos .
2 2

2g
r .. sin 2 2 M
. 2
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.
M1 M2
R2
Cc nhnh dy trong h c
r1
cc nh cht: mm, nhe, O1 O2
B D
khng gin, khng trt
trn cc vt v lun cng. B
qua ma st cc khp bn R3
l. (Hnh II.16)
C E
O3 r3
A 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 M2 R2
B
r1 va
O1 O2
B D
1 D 2
va
C R3
va
O3
E
C r3
E
va
Hnh II.16.1 A
Xc nh 3:
C B
Ta c: v a v a
E D
v a v a
vBa r1.1 r.1

Ma : 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 E
O3
E
va
Hnh II.16.2
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
v Ca r.1 31
Ta co : PC = .r
3 1 2 1 22
1 2
3
31 2 1 2
PO3 PC O3C r r r
1 22 1 22
O3 2
Vay : v a 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
1 1
Vi : T JO11 JO1 .12
1 2
2 2
1 1
T JO2 .2 JO2 .22
2 2
2 2
1 O3 2 1
3
2

T m3 v a JO3 .32
2
1 4 2 2 1 1 2
m3 r 1 2 21.2 JO3 . 1 4.22 41.2
2
2 9 2 9
1 2 2

18
2 2
9
2 2
9

4m3 .r JO3 1 m3 .r JO3 .2 JO3 2.m3 .r 2 .1.2
1 A 2 1 4 2 2
T m A v a mA . r 1 22 21.2
A
2 2 9
2 2 4
mA .r .1 mA .r . 2 m A .r 2 .1.2
2
2 2
2
9 9 9
he 1 4 1 4 2 2
T JO1 m3 .r JO3 m A .r 1
2
2
9 9
9
A
1 4 4 4
JO2 m3r JO3 m A .r 2 22
2
2
9
9 9
B
2
JO3 2 m3 m A r 2 1.2
9

d. C
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
O3
sO32 2 1 2
Ta co : v a

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
2
. m3 m A 1
A M1 gr
3
Q1
A
M
2
m3 mA g.r
1
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
O3
sO3
2 2 1 2
Ta co : v a
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
2
A M 2 g.r m3 m A 2
3
Q2
A
M
2
3 A
m m g.r

2 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
A
1 2 2
3
3

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B mn C K thut Khoa Khoa hc ng dng i hc Bch khoa Tp.HCM

Hai vn chnh c gii quyt trong tnh hc l:

i tng ca tnh hc l vt rn tuyt i

Chng 2: Thu gn h lc, iu kin cn bng

Chng 3: Cc bi ton c bit

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1.1. Cc nh ngha ca tnh hc

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Trng thi cn bng

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B mn C K thut Khoa Khoa hc ng dng i hc Bch khoa Tp.HCM

B mn C K thut Khoa Khoa hc ng dng i hc Bch khoa Tp.HCM

L mt tp hp nhiu lc ang tc ng ln i tng kho st

Hai h lc c gi l tng ng vi nhau v c hc nu hai

K hiu h 2 lc tng ng: ~

B mn C K thut Khoa Khoa hc ng dng i hc Bch khoa Tp.HCM

L loi h lc khng lm thay i trng thi c hc ca vt rn khi

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Nu mt h nhiu lc tng ng vi mt h mi ch c duy nht

Tnh cht ca hp lc:

Hnh chiu ca mt vector lc ln mt trc l mt gi tr i s

Vector hp lc ca h lc ch nm trn mt ng tc dng duy

B mn C K thut Khoa Khoa hc ng dng i hc Bch khoa Tp.HCM

B mn C K thut Khoa Khoa hc ng dng i hc Bch khoa Tp.HCM

B mn C K thut Khoa Khoa hc ng dng i hc Bch khoa Tp.HCM

B mn C K thut Khoa Khoa hc ng dng i hc Bch khoa Tp.HCM

B mn C K thut Khoa Khoa hc ng dng i hc Bch khoa Tp.HCM

B mn C K thut Khoa Khoa hc ng dng i hc Bch khoa Tp.HCM

B mn C K thut Khoa Khoa hc ng dng i hc Bch khoa Tp.HCM

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Trng hp lc phn b tam gic

B mn C K thut Khoa Khoa hc ng dng i hc Bch khoa Tp.HCM

Di tc ng ca mt lc vt rn c th chuyn ng tnh tin,

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Kh nng ca lc F lm vt rn quay quanh tm O s c nh gi bi

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M trc z ct mp (OAB) ti O nn trc z mp(OAB)

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Ngu lc l mt h hai lc tha ng thi cc iu kin sau y:

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Ngu lc l loi h lc khng

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Cch k hin moment

C 3 cch k hiu moment

Cch 2: K hiu moment bng mt ngu hai lc nm trong mt phng

Ch : Ch rng c rt nhiu ngu

B mn C K thut Khoa Khoa hc ng dng i hc Bch khoa Tp.HCM