DYNAMICS

Plane Kinetics of Rigid Bodies

Ali Bakhshi, PhD, P.E.

Associate Professor, and
Director of Earthquake Simulation National LAB
Head of Earthquake Eng. Research Center
Civil Eng. Dept., Room 422
Sharif University of Technology
‫‪Plane Kinetics of Rigid Bodies‬‬ ‫ﺳﻴﻨﺘﻴﻚ ﺻﻔﺤﻪ ﺍﻱ ﺍﺟﺴﺎﻡ ﺻﻠﺐ‬

‫ﻓﺼﻞ ‪6‬‬

‫ﺑﺮﺧﻮﺭﺩ‬ ‫ﺗﻜﺎﻧﻪ ﻭ ﺍﻧﺪﺍﺯﻩ ﺣﺮﻛﺖ‬ ‫ﺭﻭﺵ ﻫﺎﻱ ﺍﻧﺮژﻱ‬ ‫ﻧﻴﺮﻭ‪ -‬ﺷﺘﺎﺏ‬

‫ﺍﻧﺮژﻱ‬ ‫ﻛﺎﺭ‬
‫ﺑﺮﺧﻮﺭﺩ‬ ‫ﺍﺻﻞ‬ ‫ﻣﻌﺎﺩﻻﺕ ﺣﺎﻛﻢ ﺑﺮ‬
‫ﺑﻘﺎﻱ‬ ‫ﺟﻨﺒﺸﻲ‬ ‫ﻧﻴﺮﻭﻫﺎ ﻭ‬ ‫ﺭﻭﺵ ﺣﻞ ﻣﺴﺎﺋﻞ ﺷﺎﻣﻞ‬
‫ﻏﻴﺮ‬ ‫ﺍﺻﻞ ﺗﻜﺎﻧﻪ ﻭ ﺍﻧﺪﺍﺯﻩ ﺣﺮﻛﺖ‬ ‫ﺗﻮﺍﻥ‬ ‫ﻛﺎﺭ ﻭ‬ ‫ﺣﺮﻛﺎﺕ ﻣﻘﻴﺪ‬ ‫ﺣﺮﻛﺖ ﺍﺟﺴﺎﻡ‬
‫ﺍﻧﺮژﻱ‬ ‫ﺍﺟﺴﺎﻡ‬ ‫ﺯﻭﺝ‬ ‫ﺣﺮﻛﺖ ﺟﺴﻢ ﺻﻠﺐ‬
‫ﻣﺮﻛﺰﻱ‬ ‫ﺍﻧﺮژﻱ‬ ‫ﺻﻠﺐ‬
‫ﺻﻠﺐ‬ ‫ﻧﻴﺮﻭ ﻫﺎ‬

‫ﺩﻭﺭﺍﻥ‬ ‫ﭼﺮﺧﺶ‬ ‫ﭼﺮﺧﺶ‬

‫ﺣﺮﻛﺖ‬
‫ﺣﻮﻝ‬ ‫ﺣﻮﻝ‬ ‫ﺣﻮﻝ‬ ‫ﺩﻭﺭﺍﻥ‬ ‫ﻣﻌﺎﺩﻻﺕ‬
‫ﺍﻧﺪﺍﺯﻩ‬ ‫ﺍﻧﺪﺍﺯﻩ‬ ‫ﺻﻔﺤﻪ‬ ‫ﻣﻌﺎﺩﻻﺕ‬
‫ﻣﺤﻮﺭ‬ ‫ﻣﺤﻮﺭ‬ ‫ﺣﺮﻛﺖ‬ ‫ﻣﺤﻮﺭﻱ‬ ‫ﺣﻮﻝ‬ ‫ﺣﺮﻛﺖ‬ ‫ﺣﺮﻛﺖ‬
‫ﺣﺮﻛﺖ‬ ‫ﺣﺮﻛﺖ‬ ‫ﺍﻱ ﺩﺭ‬ ‫ﻣﻤﺎﻥ‬
‫ﺧﺎﺭﺝ ﺍﺯ‬ ‫ﺧﺎﺭﺝ ﺍﺯ‬ ‫ﻏﻠﻄﺸﻲ‬ ‫ﺧﺎﺭﺝ ﺍﺯ‬ ‫ﻣﺮﻛﺰ‬ ‫ﺍﻧﺘﻘﺎﻟﻲ‬ ‫ﺻﻔﺤﻪ‬
‫ﺯﺍﻭﻳﻪ ﺍﻱ‬ ‫ﺧﻄﻲ‬ ‫ﺣﺎﻟﺖ‬ ‫ﺩﻳﮕﺮ‬
‫ﻣﺮﻛﺰ‬ ‫ﻣﺮﻛﺰ‬ ‫ﻣﺮﻛﺰ‬ ‫ﺟﺮﻡ‬ ‫ﺍﻱ‬
‫ﻛﻠﻲ‬
‫ﺟﺮﻡ‬ ‫ﺟﺮﻡ‬ ‫ﺟﺮﻡ‬
‫‪Equations of Motion for a‬‬ ‫ﻣﻌﺎﺩﻻﺕ ﺣﺮﻛﺖ ﺑﺮﺍﻱ ﻳﻚ ﺟﺴﻢ ﺻﻠﺐ‬
‫‪Rigid Body‬‬

‫ﺑﻪ ﻃﻮﺭ ﻛﻠﻲ ﺩﻭ ﻣﻌﺎﺩﻟﻪ ﻱ ﺑﺮﺩﺍﺭﻱ ﺯﻳﺮ ﻣﻮﺟﻮﺩ ﺍﺳﺖ‪:‬‬

‫‪‬‬ ‫‪‬‬
‫‪∑ F = ma‬‬
‫‪‬‬
‫‪ ‬‬ ‫‪‬‬
‫‪∑ M G = H G‬‬
‫ﺍﻧﺪﺍﺯﻩ ﺣﺮﻛﺖ ﺯﺍﻭﻳﻪ ﺍﻱ ﺑﺮﺍﻱ ﺟﺴﻢ ﺻﻠﺐ‪:‬‬

‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﺑﺮﺍﻱ ﺣﺮﻛﺖ ﺻﻔﺤﻪ ﺍﻱ ﺟﺴﻢ ﺻﻠﺐ ﺩﺍﺭﻳﻢ‪:‬‬

‫‪‬‬ ‫‪‬‬
‫‪‬‬ ‫‪ ∑ Fx = ma x‬‬
‫=∑‬‫‪F ma ⇒  ‬‬ ‫‪‬‬ ‫ﺑﺮﺁﻳﻨﺪ ﻧﻴﺮﻭﻫﺎ ﺩﺭ ﺩﻭ ﺭﺍﺳﺘﺎﻱ ﺍﻓﻘﻲ ﻭ ﻗﺎﺋﻢ‬
‫‪∑ Fy = ma y‬‬
‫‪‬‬ ‫‪‬‬ ‫‪‬‬ ‫ﺑﺮﺁﻳﻨﺪ ﻟﻨﮕﺮ ﻧﺴﺒﺖ ﺑﻪ ﻣﺤﻮﺭ ﻋﻤﻮﺩ ﺑﺮ ﺳﻄﺢ‬
‫‪∑ M G = I α ⇒ MG = I α‬‬
 ‫‪Alternative Moment‬‬ ‫ﻣﻌﺎﺩﻻﺕ ﺩﻳﮕﺮ ﻣﻤﺎﻥ‬
‫‪Equations‬‬

‫‪ ‬ﺍﮔﺮ ﺑﺨﻮﺍﻫﻴﻢ ﻣﻌﺎﺩﻟﻪ ﻱ ﻣﻤﺎﻥ ﺭﺍ ﺣﻮﻝ ﻧﻘﻄﻪ ﻱ ﺩﻳﮕﺮﻱ ﺑﻪ ﺟﺰ ﻣﺮﻛﺰ ﺟﺮﻡ ﺑﻨﻮﻳﺴﻴﻢ‪،‬‬
‫ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‪:‬‬
‫‪∑ M P= H G + r × ma‬‬
‫‪‬‬
‫‪‬‬
‫‪∑ M P = I α + mad‬‬
 ‫ﻣﺜﺎﻝ‬
‫ ﺩﺭ ﺣﺎﻝ ﺣﺮﻛﺖ ﺍﺳﺖ‬10m/s ‫ ﺑﺎ ﺳﺮﻋﺖ‬m ‫ﻛﺎﻣﻴﻮﻧﻲ ﺑﻪ ﺟﺮﻡ‬
‫ﻛﻪ ﻧﺎﮔﻬﺎﻥ ﺭﺍﻧﻨﺪﻩ ﺗﺮﻣﺰ ﻣﻴﻜﻨﺪ ﻭ ﺩﺭ ﻧﺘﻴﺠﻪ ﻱ ﺁﻥ ﭼﺮﺥ ﻫﺎ‬
‫ﻗﻔﻞ ﺷﺪﻩ ﻭ ﺭﻭﻱ ﺯﻣﻴﻦ ﻣﻲ ﻟﻐﺰﺩ ﻭ ﭘﺲ ﺍﺯ ﻃﻲ ﻣﺴﺎﻓﺖ‬
.‫ ﻣﻲ ﺍﻳﺴﺘﺪ‬7.5m

m
v 2 − v02 =2a x ⇒ 0 − 102 =2a (7.5) ⇒ a =−6.67
s2
(∑ Fy )ext =(∑ Fy )effective ⇒ N1 + N 2 − W =0 ⇒ N1 + N 2 =W
(∑ Fx )ext = (∑ Fx )effective ⇒ − F1 −F2 = −ma ⇒ μ k N1 + μ k N 2 = ma
a 6.67
μ k ( N1 + N 2 ) =μ kW ⇒ ma =μ k mg ⇒ μ k = = = 0.68
g 9.81
 N = 0.6W
(∑ M 1 )effective ⇒ 4.6W − 4 N 2 =
(∑ M 1 )ext = −1.2ma ⇒  2
 N1 = 0.4W
F1 =μ k N1 =0.68 × 0.4W =0.27W
F2 =μ k N 2 =0.68 × 0.6W =0.41W
‫‪Solution of Problems Involving‬‬ ‫ﺭﻭﺵ ﺣﻞ ﻣﺴﺎﺋﻞ ﺷﺎﻣﻞ ﺣﺮﻛﺖ‬
‫‪the Motion of a Rigid Body‬‬ ‫ﺟﺴﻢ ﺻﻠﺐ‬
‫ﻣﻌﺎﺩﻝ ﻗﺮﺍﺭ ﺩﺍﺩﻥ ﺩﻭ ﺳﻴﺴﺘﻢ‬
‫ﺣﻞ‬ ‫ﻧﻴﺮﻭ ﻫﺎﻱ ﺧﺎﺭﺟﻲ ﻭ ﻣﻮﺛﺮ ﺑﺎ‬
‫ﺳﻴﻨﻤﺎﺗﻴﻜﻲ‬ ‫ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻣﻌﺎﺩﻻﺕ ﺣﺮﻛﺖ‬
‫ﻣﺴﺌﻠﻪ)ﺭﻭﺍﺑﻂ‬ ‫ﺟﺴﻢ ﺻﻠﺐ‬
‫ﺗﺮﺳﻴﻢ‬ ‫ﻓﺼﻞ ‪(5‬‬
‫ﺩﻳﺎﮔﺮﺍﻡ‬
‫ﺁﺯﺍﺩ ﻭ‬
‫ﺩﻳﺎﮔﺮﺍﻡ‬
‫ﻧﻴﺮﻭ ﻫﺎﻱ‬
‫ﻣﻮﺛﺮ‬
 ‫‪Translation‬‬ ‫ﺣﺮﻛﺖ ﺍﻧﺘﻘﺎﻟﻲ‬
‫‪ ‬ﻫﻤﺎﻥ ﻃﻮﺭ ﻛﻪ ﺩﺭ ﻓﺼﻞ ‪ 5‬ﻣﻌﺮﻓﻲ ﺷﺪ‪ ،‬ﺍﮔﺮ ﺩﺭ ﺿﻤﻦ ﺣﺮﻛﺖ ﻫﺮ ﺧﻂ ﺭﺍﺳﺘﻲ ﺩﺭﻭﻥ ﺟﺴﻢ‬
‫ﺻﻠﺐ‪ ،‬ﺍﻣﺘﺪﺍﺩﺵ ﺭﺍ ﺣﻔﻆ ﻛﻨﺪ‪ ،‬ﺑﻪ ﺁﻥ ﺣﺮﻛﺖ ”ﺣﺮﻛﺖ ﺍﻧﺘﻘﺎﻟﻲ“ ﮔﻔﺘﻪ ﻣﻲ ﺷﻮﺩ‪.‬‬
‫‪ ‬ﺑﻪ ﻋﺒﺎﺭﺕ ﺩﻳﮕﺮ‪ ،‬ﺩﺭ ﺣﺮﻛﺖ ﺍﻧﺘﻘﺎﻟﻲ ﻫﻤﻪ ﻱ ﺫﺭﺍﺕ ﺟﺴﻢ ﺻﻠﺐ ﺩﺭ ﻣﺴﻴﺮﻫﺎﻱ ﻣﻮﺍﺯﻱ‬
‫ﺣﺮﻛﺖ ﻣﻲ ﻛﻨﻨﺪ‪.‬‬
‫‪ ‬ﺍﺯ ﺁﻧﺠﺎﻳﻲ ﻛﻪ ﺩﻭﺭﺍﻧﻲ ﺻﻮﺭﺕ ﻧﻤﻲ ﮔﻴﺮﺩ‪ ،‬ﺳﺮﻋﺖ ﻭ ﺷﺘﺎﺏ ﺯﺍﻭﻳﻪ ﺍﻱ ﺻﻔﺮ ﺧﻮﺍﻫﻨﺪ ﺑﻮﺩ‪.‬‬
‫‪∑ F = ma‬‬
‫‪‬‬
‫‪∑ M G = I α = 0‬‬
 ‫ﻣﺜﺎﻝ‬
‫ ﺩﺭ ﻭﺿﻌﻴﺖ ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ‬8kg ‫ ﺑﻪ ﺟﺮﻡ‬ABCD ‫ﺻﻔﺤﻪ ﻱ‬
‫ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‬.‫ ﻗﻄﻊ ﻣﻲ ﺷﻮﺩ‬BH ‫ﻗﺮﺍﺭ ﺩﺍﺭﺩ ﻛﻪ ﻧﺎﮔﻬﺎﻥ ﻛﺎﺑﻞ‬
.BH ‫ ﺷﺘﺎﺏ ﺻﻔﺤﻪ ﺑﻼﻓﺎﺻﻠﻪ ﭘﺲ ﺍﺯ ﻗﻄﻊ ﻛﺎﺑﻞ‬:

(∑ Ft )ext = (∑ Ft )effective
mg cos 30 = mat
m
=at g=
cos 30 8.5
s2
(∑=
Fn )ext (∑ Fn )effective ⇒ FAE + FDF − W=
sin 3 0 0
(∑ M G )ext = (∑ M G )effective
⇒ ( FAE + FDF ) sin 30 × 25 + ( FDF − FAE ) cos 30 ×10 =
0
 FAE= 0.611W= 47.9 N ⇒ FAE= 47.9 N (T )

 FDF =−0.111W =−8.7W ⇒ FDF = 8.7 N (C)
‫ﺩﻭﺭﺍﻥ ﺣﻮﻝ ﻣﺤﻮﺭ ﻣﺮﻛﺰ ﺟﺮﻡ ‪Centroidal Rotation‬‬
‫‪ ‬ﺍﮔﺮ ﺟﺴﻢ ﺻﻠﺐ ﺣﻮﻝ ﻣﺤﻮﺭ ﺛﺎﺑﺘﻲ ﻛﻪ ﺍﺯ ﻣﺮﻛﺰ ﺟﺮﻡ ﺁﻥ ﻣﻲ ﮔﺬﺭﺩ‪ ،‬ﺩﻭﺭﺍﻥ ﻛﻨﺪ‪ ،‬ﺷﺘﺎﺏ‬
‫ﻣﺮﻛﺰ ﺟﺮﻡ ﺻﻔﺮ ﺧﻮﺍﻫﺪ ﺑﻮﺩ‪ ،‬ﺑﻨﺎﺑﺮﺍﻳﻦ‪:‬‬
‫‪∑ F = 0‬‬
‫‪‬‬
‫‪∑ M G = I α‬‬
 ‫ﻣﺜﺎﻝ‬
‫‪ ‬ﻗﺮﻗﺮﻩ ﺍﻱ ﺑﻪ ﻭﺯﻥ ‪ 12lb‬ﻭ ﺷﻌﺎﻉ ژﻳﺮﺍﺳﻴﻮﻥ ‪ 8in‬ﺑﻪ ﺩﻭ ﻭﺯﻧﻪ ﻣﻄﺎﺑﻖ‬
‫ﺷﻜﻞ ﻣﺘﺼﻞ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺑﺎ ﻓﺮﺽ ﺍﻳﻨﻜﻪ ﺍﺻﻄﻜﺎﻙ ﻣﺤﻮﺭﻱ ﻭﺟﻮﺩ‬
‫ﻧﺪﺍﺭﺩ ﺷﺘﺎﺏ ﺯﺍﻭﻳﻪ ﺍﻱ ﻗﺮﻗﺮﻩ ﻭ ﺷﺘﺎﺏ ﻫﺮ ﻳﻚ ﺍﺯ ﻭﺯﻧﻪ ﻫﺎ ﺭﺍ ﺗﻌﻴﻴﻦ‬
‫ﻛﻨﻴﺪ ‪.‬‬

‫‪∑M‬‬ ‫‪G‬‬ ‫)‪= 0 ⇒ WB × 6 − 5 ×10 = 0 ⇒WB = 8.33(lb‬‬

‫‪10‬‬ ‫‪6‬‬
‫↑ ‪a A = rAα = ( ft )α‬‬ ‫‪,‬‬ ‫↓ ‪aB = rB α = ( ft )α‬‬
‫‪12‬‬ ‫‪12‬‬

‫‪W 2‬‬ ‫‪12lb‬‬ ‫‪8‬‬

‫=‬ ‫=‬
‫‪I mk‬‬ ‫‪2‬‬
‫=‬
‫‪k‬‬ ‫‪2‬‬
‫= (‬‫‪ft ) 2 0.1656lb. ft.s 2‬‬
‫‪g‬‬ ‫‪32.2 ft / s 12‬‬

‫‪6‬‬ ‫‪10‬‬ ‫‪6‬‬ ‫‪10‬‬

‫‪∑M‬‬ ‫‪G‬‬ ‫‪= ∑ ( M G )eff :‬‬ ‫) ‪(1 lb)( 0 ft ) −(5lb)( ft ) = + I α + mB aB ( ft ) + mA a A ( ft‬‬
‫‪12‬‬ ‫‪12‬‬ ‫‪12‬‬ ‫‪12‬‬
‫‪6‬‬ ‫‪10‬‬ ‫‪10‬‬ ‫‪6‬‬ ‫‪6‬‬ ‫‪5 10‬‬ ‫‪10‬‬
‫=‪10 × − 5‬‬ ‫×‬ ‫‪0.1656α +‬‬ ‫‪× α× +‬‬ ‫×‪× α‬‬
‫‪12‬‬ ‫‪12‬‬ ‫‪32.2 12‬‬ ‫‪12 32.2 12‬‬ ‫‪12‬‬
‫)‪α = +2.374 (rad / s ) (counterclockwise‬‬
‫‪2‬‬

‫‪10‬‬
‫= ‪a A = rAα‬‬ ‫↑ ) ‪× 2.374 = 1.978 (ft/s 2‬‬
‫‪12‬‬
‫‪6‬‬
‫= ‪a B = rB α‬‬ ‫↓ ) ‪× 2.374 = 1.187 (ft/s 2‬‬
‫‪12‬‬
 ‫ﺣﺮﻛﺖ ﺻﻔﺤﻪ ﺍﻱ ﺩﺭ ﺣﺎﻟﺖ ﻛﻠﻲ ‪General Plane Motion‬‬
‫‪ ‬ﺩﺭ ﺣﺎﻟﺖ ﻛﻠﻲ ﻣﻲ ﺗﻮﺍﻥ ﻫﺮ ﺣﺮﻛﺖ ﺻﻔﺤﻪ ﺍﻱ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺗﺮﻛﻴﺒﻲ ﺍﺯ ﺣﺮﻛﺖ‬
‫ﺍﻧﺘﻘﺎﻟﻲ ﻭ ﺩﻭﺭﺍﻥ ﺣﻮﻝ ﻣﺮﻛﺰ ﺟﺮﻡ ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺖ‪.‬‬
‫‪ ‬ﺑﻪ ﻣﻨﻈﻮﺭ ﺗﺸﺨﻴﺺ ﻧﻮﻉ ﺣﺮﻛﺖ ﺑﻴﻦ ﺩﻭ ﺣﺎﻟﺖ ﻛﻠﻲ ﻭ ﺩﻭﺭﺍﻥ ﺣﻮﻝ ﻣﺮﻛﺰ ﺟﺮﻡ‪،‬‬
‫ﻛﺎﻓﻴﺴﺖ ﺑﺮﺭﺳﻲ ﻛﻨﻴﻢ ﻛﻪ ﺁﻳﺎ ﻣﺮﻛﺰ ﺟﺮﻡ ﺟﺴﻢ ﺻﻠﺐ‪ ،‬ﺩﺭ ﺍﺛﺮ ﺍﻋﻤﺎﻝ ﻧﻴﺮﻭ ﻫﺎﻱ‬
‫ﺧﺎﺭﺟﻲ ﺷﺘﺎﺏ ﻣﻲ ﮔﻴﺮﺩ ﻳﺎ ﺧﻴﺮ‪.‬‬
 ‫ﻣﺜﺎﻝ‬
‫‪ ‬ﻛﺎﺑﻠﻲ ﺩﻭﺭ ﻳﻚ ﺻﻔﺤﻪ ﻱ ﻫﻤﮕﻦ ﺑﻪ ﺷﻌﺎﻉ ‪ 5m‬ﻭ ﺟﺮﻡ ‪ 15kg‬ﭘﻴﭽﻴﺪﻩ ﺷﺪﻩ ﺍﺳﺖ ‪.‬‬
‫ﺍﮔﺮ ﻛﺎﺑﻞ ﺑﻪ ﺳﻤﺖ ﺑﺎﻻ ﺑﺎ ﻧﻴﺮﻭﻱ ‪ T‬ﺑﻪ ﺍﻧﺪﺍﺯﻩ ﻱ ‪ 180N‬ﻛﺸﻴﺪﻩ ﺷﻮﺩ ‪ .‬ﺗﻌﻴﻴﻦ ﻛﻨﻴﺪ ‪:‬‬
‫ﺍﻟﻒ( ﺷﺘﺎﺏ ﻣﺮﻛﺰ ﺩﻳﺴﻚ‬
‫ﺏ( ﺷﺘﺎﺏ ﺯﺍﻭﻳﻪ ﺍﻱ ﺻﻔﺤﻪ‬
‫ﺝ( ﺷﺘﺎﺏ ﻛﺎﺑﻞ‬

‫) ‪∑ F= ∑ ( F‬‬
‫‪x‬‬ ‫‪x eff‬‬ ‫‪⇒ 0= max ⇒ ax= 0‬‬
‫‪T − W 180 − 15 × 9.81‬‬ ‫‪m‬‬
‫) ‪∑ F =∑ ( F‬‬
‫‪y‬‬ ‫‪y eff‬‬ ‫= ‪⇒ T −W‬‬ ‫= ‪ma y ⇒ a y‬‬
‫‪m‬‬
‫=‬
‫‪15‬‬
‫=‬‫↑ ‪+2.19 2‬‬
‫‪s‬‬
‫‪1‬‬ ‫‪2T‬‬ ‫)‪2(180‬‬ ‫‪rad‬‬
‫‪∑ M G =∑ (M G )eff ⇒ −Tr = I α ⇒ −Τr = 2 mr 2α ⇒ α = − mr = − 15(0.5) = −48.0 s 2‬‬
‫‪m‬‬
‫↑ ‪acord= (a A )t= a + (a A )t= 2.19 ↑ +0.5(48) ↑= 26.2 2‬‬
‫‪G‬‬ ‫‪s‬‬
 ‫‪Constrained Plane‬‬ ‫ﺣﺮﻛﺖ ﺻﻔﺤﻪ ﺍﻱ ﻣﻘﻴﺪ‬
‫‪Motion‬‬
‫‪ ‬ﺩﺭ ﺍﻳﻦ ﻧﻮﻉ ﻣﺴﺎﺋﻞ‪ ،‬ﭘﺲ ﺍﺯ ﺣﻞ ﺳﻴﻨﻤﺎﺗﻴﻜﻲ ﺑﺎ ﻛﻤﻚ ﺭﻭﺵ ﻫﺎﻳﻲ ﻛﻪ ﺩﺭ ﻓﺼﻞ ‪ 5‬ﺩﺭ‬
‫ﻗﺎﻟﺐ ﺷﺘﺎﺏ ﻧﺴﺒﻲ ﻣﻌﺮﻓﻲ ﺷﺪ‪ ،‬ﺍﺯ ﻣﻌﺎﺩﻻﺕ ﺳﻴﻨﺘﻴﻜﻲ ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲ ﻛﻨﻴﻢ‪.‬‬
‫‪ ‬ﺑﻪ ﻋﻨﻮﺍﻥ ﻧﻤﻮﻧﻪ ﻣﻴﻠﻪ ﻱ ‪ AB‬ﻛﻪ ﺩﻭ ﺍﻧﺘﻬﺎﻱ ﺁﻥ ﺑﻪ ﺗﺮﺗﻴﺐ ﻣﻘﻴﺪ ﺑﻪ ﺣﺮﻛﺖ ﺩﺭ ﺟﻬﺖ‬
‫ﺍﻓﻘﻲ ﻭ ﻗﺎﺋﻢ ﻣﻲ ﺑﺎﺷﻨﺪ ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺘﻪ ﻭ ﺷﺘﺎﺏ ﻣﺮﻛﺰ ﺟﺮﻡ ﻭ ﺷﺘﺎﺏ ﺯﺍﻭﻳﻪ ﺍﻱ ﺁﻥ ﺭﺍ‬
‫ﻣﺤﺎﺳﺒﻪ ﻣﻲ ﻛﻨﻴﻢ‪:‬‬
‫‪  ‬‬
‫=‪a‬‬‫‪B‬‬ ‫‪a A + aB‬‬
‫‪A‬‬

‫‪a A = l α cos θ‬‬

‫‪aB = l α sin θ‬‬
‫‪   l ‬‬
‫‪aG = a = a A + α‬‬
‫‪2‬‬
‫‪‬‬
‫‪aG‬‬ ‫‪A‬‬

‫‪‬‬ ‫‪l‬‬
‫‪‬‬ ‫‪a‬‬ ‫‪sin‬‬ ‫‪β‬‬‫=‬ ‫‪α sin θ‬‬
‫‪‬‬ ‫‪2‬‬ ‫=‪a‬‬
‫‪‬‬ ‫) ‪f (α‬‬
‫‪⇒‬‬
‫‪x‬‬
‫‪‬‬
‫=‪‬‬ ‫‪l‬‬
‫‪a A a cos β + α cos θ‬‬ ‫=‪ a‬‬
‫‪‬‬ ‫‪y‬‬ ‫) ‪g (α‬‬
‫‪‬‬
‫‪‬‬ ‫‪2‬‬
 ‫ﻣﺜﺎﻝ‬
‫ ﺑﻪ ﻃﻮﺭ ﺁﺯﺍﺩﺍﻧﻪ‬10Kg ‫ ﺑﻪ ﻭﺯﻥ‬1.2m ‫ﺩﻭ ﺍﻧﺘﻬﺎﻱ ﻳﻚ ﻣﻴﻠﻪ ﻱ‬
‫ ﺣﺮﻛﺖ ﺍﺯ ﺳﻜﻮﻥ‬. (‫ﻣﻲ ﺗﻮﺍﻧﺪ ﺣﺮﻛﺖ ﻛﻨﺪ)ﺑﺪﻭﻥ ﺍﺻﻄﻜﺎﻙ‬
‫ ﺍﻟﻒ( ﺷﺘﺎﺏ ﺯﺍﻭﻳﻪ ﺍﻱ ﺑﺮﺍﻱ‬: ‫ ﺗﻌﻴﻴﻦ ﻛﻨﻴﺪ‬. ‫ﺁﻏﺎﺯ ﻣﻲ ﺷﻮﺩ‬
B‫ﻭ‬A ‫ ﺏ( ﻋﻜﺲ ﺍﻟﻌﻤﻞ ﻫﺎ ﺩﺭ‬. ‫ﻟﺤﻈﻪ ﻱ ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ‬

sin 45 sin 60 sin 75 = a A 1.64α

= = ⇒
1.2α aA aB =
aB 1.47α
        
aB= a A + aB = a A + l α , a= a A + aG = a A + 0.6α
A A

=
ax 1.64α − 0.6α cos 60 , a= y 1.34αiˆ − 0.52αˆj

a= 1.34αiˆ − 0.52αˆj
1 1
=I = ml 2 =
(10)(1.2) 2
1.2kg.m 2 ⇒ I α= 1.2α
12 12
Rad
(∑ M G )ext = (∑ M G )effective ⇒ 0.52W = 1.2α + (1.34α)(1.34) + 5.2α(0.52) ⇒ α = 2.33
s2
(∑ Fx )ext = (∑ Fx )effective ⇒ N B cos 45 = max = 13.4(2.32) ⇒ N B = 44.1N
(∑ Fy )ext =(∑ Fy )effective ⇒ N A − N + N B sin 45 =−m a y ⇒ NA =54.8 N

−0.52×2.33
‫‪Noncentroidal Rotation‬‬ ‫ﺩﻭﺭﺍﻥ ﺣﻮﻝ ﻣﺤﻮﺭﻱ ﺧﺎﺭﺝ ﺍﺯ ﻣﺮﻛﺰ ﺟﺮﻡ‬

‫‪ ‬ﺩﺭ ﺍﻳﻦ ﻧﻮﻉ ﺍﺯ ﺣﺮﻛﺖ ﻣﻘﻴﺪ ﺍﺯ ﻣﻌﺎﺩﻟﻪ ﻱ ﻣﻤﺎﻥ ﺣﻮﻝ ﻣﺤﻮﺭ ﺩﻭﺭﺍﻥ ﺑﻪ ﺷﻜﻞ ﺯﻳﺮ‬
‫ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲ ﺷﻮﺩ‪:‬‬
‫‪(∑ M O )ext = (∑ M O )effective‬‬

‫‪(∑ M O )effective = I α + mOG α = ( I + mOG )α = I O α‬‬

‫‪2‬‬ ‫‪2‬‬
 ‫ﻣﺜﺎﻝ‬
‫ﺻﻔﺤﻪ ﻱ ﻣﺴﺘﻄﻴﻞ ﺷﻜﻠﻲ ﺑﻪ ﻃﻮﻝ ‪0.2‬ﻭ ﻋﺮﺽ ‪ 0.15‬ﻭ ﺟﺮﻡ ‪ 20Kg‬ﺍﺯ ﺩﻭ ﭘﻴﻦ ‪ A,B‬ﻣﻌﻠﻖ ﺍﺳﺖ ‪ .‬ﺍﮔﺮ ﭘﻴﻦ ‪B‬‬
‫ﻧﺎﮔﻬﺎﻥ ﺍﺯ ﺑﻴﻦ ﺑﺮﻭﺩ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ ‪:‬‬
‫ﺍﻟﻒ ( ﺷﺘﺎﺏ ﺯﺍﻭﻳﻪ ﺍﻱ ﺻﻔﺤﻪ‬
‫ﺏ( ﻣﻮﻟﻔﻪ ﻫﺎﻱ ﻋﻜﺲ ﺍﻟﻌﻤﻞ ﺩﺭ ﭘﻴﻦ ‪ A‬ﺩﺭﺳﺖ ﺩﺭ ﻟﺤﻈﻪ ﻱ ﺑﻌﺪ ﺍﺯ ﺑﻴﻦ ﺭﻓﺘﻦ ﭘﻴﻦ ‪B‬‬

‫ﺻﻔﺮ ﻣﻲ ﺷﻮﺩ‪.‬‬ ‫‪an = ω2 r‬‬ ‫ﭼﻮﻥ ﺣﺮﻛﺖ ﺍﺯ ﺳﻜﻮﻥ ﺁﻏﺎﺯ ﻣﻲ ﺷﻮﺩ ﺩﺭ ﻟﺤﻈﻪ ﻱ ﺷﺮﻭﻉ ﺣﺮﻛﺖ ‪ ω =0‬ﺍﺳﺖ ‪ .‬ﭘﺲ‬

‫‪(∑ M G )ext = (∑ M G )effective‬‬

‫‪Wx = I α + m a (r ) = I α + mr 2 α = ( Ι + mr 2 ) = I Aα‬‬
‫‪rα‬‬

‫‪M 2‬‬ ‫‪20‬‬ ‫‪Wx‬‬ ‫)‪20(9.81)(0.1‬‬ ‫‪Rad‬‬

‫=‬
‫‪Ι‬‬ ‫=‪(a + b‬‬
‫‪2‬‬
‫)‬ ‫=‪(0.22 + 0.15‬‬
‫‪2‬‬
‫=⇒ ‪) 0.1042kg.m 2‬‬
‫‪α‬‬ ‫=‬ ‫=‬ ‫‪47.08 2‬‬
‫‪12‬‬ ‫‪12‬‬ ‫)‪I A 0.1042 + 20(0.125‬‬ ‫‪2‬‬
‫‪s‬‬
‫‪N‬‬
‫‪a = r α = (0.125)(47.08) = 5.89‬‬
‫‪s2‬‬
‫=‬ ‫‪= 117.7 N‬‬
‫)‪ma (20)(5.89‬‬
‫‪3‬‬
‫= ‪(∑ Fx )ext‬‬
‫= ‪(∑ Fx )effective ⇒ Ax‬‬ ‫= )‪− (117.7‬‬
‫← ‪−706 N‬‬
‫‪5‬‬
‫‪4‬‬
‫= ‪(∑ Fy )ext‬‬
‫= ‪(∑ Fy )effective ⇒ Ay − W‬‬‫= )‪− (117.7‬‬‫‪102.0 N‬‬
‫‪5‬‬
 ‫‪Rolling Motion‬‬ ‫ﺣﺮﻛﺖ ﻏﻠﺘﺸﻲ‬

‫‪ ‬ﺍﺑﺘﺪﺍ ﺣﺮﻛﺖ ﻏﻠﺘﺸﻲ ﺑﺪﻭﻥ ﻟﻐﺰﺵ ﺭﺍ ﺑﺮﺍﻱ ﻳﻚ ﺩﻳﺴﻚ ﻫﻤﮕﻦ ﺩﺭ ﻧﻈﺮ ﻣﻲ ﮔﻴﺮﻳﻢ‪:‬‬
‫)ﻣﻨﻈﻮﺭ ﺍﺯ ﻫﻤﮕﻦ ﺑﻮﺩﻥ ﻣﻨﻄﺒﻖ ﺑﻮﺩﻥ ﻣﺮﻛﺰ ﺟﺮﻡ ﺑﺎ ﻣﺮﻛﺰ ﺩﻳﺴﻚ ﻣﻲ ﺑﺎﺷﺪ(‬
‫‪ ‬ﺍﮔﺮ ﺍﺯ ﺭﺍﺑﻄﻪ ﻱ ﻣﺴﺎﻓﺘﻲ ﻛﻪ ﻣﺮﻛﺰ ﺩﻳﺴﻚ ﻃﻲ ﻳﻚ ﺩﻭﺭﺍﻥ ﺑﻪ ﺍﻧﺪﺍﺯﻩ ﻱ ‪ θ‬ﻣﻲ ﻛﻨﺪ‬
‫ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﻢ‪ ،‬ﺑﺎ ﺩﻭﺑﺎﺭ ﻣﺸﺘﻖ ﮔﻴﺮﻱ ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‪:‬‬
‫يريگ قتشم راب ود‬
‫‪rθ‬‬
‫= ‪xO‬‬ ‫→‬ ‫= ‪aO‬‬
‫‪rα‬‬

‫‪ ‬ﺣﺎﻝ ﺍﮔﺮ ﻣﺮﻛﺰ ﺟﺮﻡ ﻣﻨﻄﺒﻖ ﺑﺮ ﻣﺮﻛﺰ ﻫﻨﺪﺳﻲ ﺩﻳﺴﻚ ﻧﺒﺎﺷﺪ‪:‬‬

‫‪  ‬‬
‫=‬
‫‪a aO + aG‬‬
‫‪O‬‬
‫‪  ‬‬ ‫‪‬‬
‫‪a =+‬‬
‫‪aO (aG )t + (aG ) n‬‬
‫‪‬‬ ‫‪O‬‬ ‫‪‬‬ ‫‪O‬‬
‫‪OGα‬‬ ‫‪OGω2‬‬
Equation of Rolling & ‫ﺭﻭﺍﺑﻂ ﺣﺮﻛﺖ ﻟﻐﺰﺷﻲ ﻭ ﻏﻠﺘﺸﻲ‬
Sliding Motion

a = rα Ff ≤ μ s N ‫ﻏﻠﺘﺶ ﺑﺪﻭﻥ ﻟﻐﺰﺵ‬

‫ﻏﻠﺘﺶ ﺩﺭ ﺁﺳﺘﺎﻧﻪ ﻱ‬
a = rα Ff = μ s N
‫ﻟﻐﺰﺵ‬

a ≠ rα
a , α → independent
Ff = μ k N ‫ﻏﻠﺘﺶ ﻭ ﻟﻐﺰﺵ‬
 ‫ﺑﺤﺚ ﺩﺭﺑﺎﺭﻩ ﻱ ﺣﺮﻛﺖ ﻣﻄﻠﻖ ﻭ ﻧﺴﺒﻲ ﻧﻘﻄﻪ ﻱ ﺗﻤﺎﺱ ﺩﻳﺴﻚ ﺑﺎ ﺯﻣﻴﻦ‬

‫ﺳﺮﻋﺖ ﻧﺴﺒﺖ ﺑﻪ ﻧﻘﻄﻪ ﻱ ﻣﺠﺎﻭﺭ‬

‫•ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻦ ﻛﻪ ﻟﻐﺰﺵ ﻧﺪﺍﺭﻳﻢ‪ ،‬ﺻﻔﺮ ﺍﺳﺖ‪.‬‬
‫ﻛﻪ ﺑﺮ ﺭﻭﻱ ﺯﻣﻴﻦ ﻗﺮﺍﺭ ﺩﺍﺭﺩ‬

‫•ﺍﺯ ﺁﻧﺠﺎﻳﻲ ﻛﻪ ﺳﺮﻋﺖ ﺯﻣﻴﻦ ﺻﻔﺮ ﻣﻲ ﺑﺎﺷﺪ ﻭ ﺳﺮﻋﺖ ﻧﻘﻄﻪ ﻱ ﺗﻤﺎﺱ ﻧﺴﺒﺖ ﺑﻪ ﺯﻣﻴﻦ ﻧﻴﺰ ﺻﻔﺮ ﺍﺳﺖ ﻧﺘﻴﺠﻪ ﻣﻲ ﮔﻴﺮﻳﻢ ﺳﺮﻋﺖ ﻣﻄﻠﻖ‬
‫ﻧﻴﺰ ﺑﺎﻳﺪ ﺻﻔﺮ ﺑﺎﺷﺪ‪.‬‬
‫ﺳﺮﻋﺖ ﻣﻄﻠﻖ‬

‫ﻣﻲ ﺑﺎﺷﺪ‪ ،‬ﺗﻮﺟﻪ ﺷﻮﺩ ﻛﻪ ﻣﺮﻛﺰ ﻫﻨﺪﺳﻲ‬ ‫•ﺳﺮﻋﺖ ﻧﺴﺒﻲ ﺑﺎ ﺍﻧﺘﺨﺎﺏ ﺟﻬﺖ ﻣﺜﺒﺖ ﺑﻪ ﺳﻤﺖ ﺟﻬﺖ ﺣﺮﻛﺖ ﻣﻌﺎﺩﻝ‬
‫ﺩﻳﺴﻚ ﺳﺎﻛﻦ ﻧﻴﺴﺖ‪.‬‬
‫ﺳﺮﻋﺖ ﻧﺴﺒﺖ ﺑﻪ ﻣﺮﻛﺰ ﺩﻳﺴﻚ‬

‫•ﺩﺭ ﺭﺍﺳﺘﺎﻱ ﻣﻮﺍﺯﻱ ﺳﻄﺢ ﺑﺮﺍﺑﺮ ﺻﻔﺮ ﻣﻲ ﺑﺎﺷﺪ‪.‬‬ ‫ﺷﺘﺎﺏ ﻧﺴﺒﺖ ﺑﻪ ﻧﻘﻄﻪ ﻱ ﻣﺠﺎﻭﺭ ﻛﻪ‬
‫ﺩﺭ ﺟﻬﺖ ﺭﻭ ﺑﻪ ﻣﺮﻛﺰ ﺟﺮﻡ ﺍﺳﺖ‪.‬‬ ‫•ﺩﺭ ﺭﺍﺳﺘﺎﻱ ﻗﺎﺋﻢ ﺑﻪ ﺳﻄﺢ ﺑﺮﺍﺑﺮ‬ ‫ﺑﺮ ﺭﻭﻱ ﺯﻣﻴﻦ ﻗﺮﺍﺭ ﺩﺍﺭﺩ‬

‫•ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺳﺎﻛﻦ ﺑﻮﺩﻥ ﺯﻣﻴﻦ ﺩﺭ ﻫﺮ ﺩﻭ ﺭﺍﺳﺘﺎﻱ ﻗﺎﺋﻢ ﻭ ﻣﻮﺍﺯﻱ‪:‬‬

‫ﺷﺘﺎﺏ ﻣﻄﻠﻖ‬
‫ﺩﺭ ﺟﻬﺖ ﺭﻭ ﺑﻪ ﻣﺮﻛﺰ ﺟﺮﻡ ﺍﺳﺖ‪.‬‬ ‫•ﺩﺭ ﺭﺍﺳﺘﺎﻱ ﻣﻮﺍﺯﻱ ﺳﻄﺢ ﺑﺮﺍﺑﺮ ﺻﻔﺮ ﻣﻲ ﺑﺎﺷﺪ‪-.‬ﺩﺭ ﺭﺍﺳﺘﺎﻱ ﻗﺎﺋﻢ ﺑﻪ ﺳﻄﺢ ﺑﺮﺍﺑﺮ‬

‫•ﺩﺭ ﺭﺍﺳﺘﺎﻱ ﻣﻮﺍﺯﻱ ﺳﻄﺢ‪:‬‬

‫ﺷﺘﺎﺏ ﻧﺴﺒﺖ ﺑﻪ ﻣﺮﻛﺰ ﺩﻳﺴﻚ‬
‫•ﺩﺭ ﺭﺍﺳﺘﺎﻱ ﻗﺎﺋﻢ ﺑﺮ ﺳﻄﺢ‬
 ‫ﻣﺜﺎﻝ‬
‫‪ ‬ﻃﻨﺎﺑﻲ ﺩﻭﺭ ﻏﻠﺘﻚ ﺩﺍﺧﻠﻲ ﭼﺮﺧﻲ ﭘﻴﭽﻴﺪﻩ ﺷﺪﻩ ﺍﺳﺖ ﻭ ﭼﺮﺥ ﺭﺍ ﺑﺎ ﻧﻴﺮﻭﻱ‬
‫ﺍﻓﻘﻲ ‪ 200N‬ﻣﻄﺎﺑﻖ ﺷﻜﻞ ﻣﻲ ﻛﺸﺪ‪ .‬ﭼﺮﺥ ‪ 50Kg‬ﺟﺮﻡ ﺩﺍﺭﺩ ﻭ ﺷﻌﺎﻉ‬
‫ژﻳﺮﺍﺳﻴﻮﻥ ﺁﻥ ‪ 70mm‬ﺍﺳﺖ ‪ .‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻨﻜﻪ ‪ u(s)=0.20‬ﻭ‬
‫‪ u(k)=0.15‬ﺷﺘﺎﺏ ﻧﻘﻄﻪ ﻱ ‪ G‬ﻭ ﺷﺘﺎﺏ ﺯﺍﻭﻳﻪ ﺍﻱ ﭼﺮﺥ ﺭﺍ ﺗﻌﻴﻴﻦ ﻛﻨﻴﺪ‪.‬‬
‫‪a = r α = 0.1α‬‬
‫=‬ ‫=‬
‫‪I mk‬‬ ‫‪2‬‬
‫=‬
‫)‪(50)(0.07‬‬ ‫‪2‬‬
‫‪0.245‬‬
‫=∑‬
‫‪M‬‬ ‫‪∑ (M‬‬ ‫‪C‬‬ ‫‪C eff‬‬‫=× ‪) : 200‬‬
‫‪0.04 ma (0.1) + I α‬‬
‫‪8( N .m) = 50(kg )0.1(m)α0.1(m) + 0.245(kg .m 2 )α ⇒ α = +10.74‬‬
‫‪⇒ a = r α = 0.1× 10.74 = 1.074‬‬
‫) ‪∑ F =∑ ( F‬‬
‫‪x‬‬ ‫‪x eff‬‬ ‫= ‪: F + 200‬‬‫= ‪ma‬‬
‫= ‪50 × 1.074 ⇒ F‬‬‫← ) ‪−146.3( N‬‬

‫) ‪∑ F =∑ ( F‬‬
‫‪y‬‬ ‫‪y eff‬‬ ‫= ‪: N − W =0 ⇒ N =W =mg‬‬‫↑ ) ‪50 × 9.81 =490.5( N‬‬
‫= ‪Fmax‬‬
‫= ‪μs N‬‬
‫= ‪0.2 × 490.5‬‬
‫‪98.1‬‬ ‫) ‪(F>Fmax‬‬
‫=‪F‬‬
‫= ‪Fk‬‬
‫= ‪μk N‬‬
‫= ‪0.15 × 490.5‬‬
‫‪73.6‬‬
‫‪m‬‬
‫) ‪∑ F = ∑ (F‬‬
‫‪x‬‬ ‫‪x eff‬‬ ‫‪: 200 − 73.6= 50a ⇒ a= 2.53‬‬
‫‪s2‬‬
‫→‬

‫‪rad‬‬
‫‪∑M‬‬ ‫‪G‬‬ ‫‪= ∑ ( M G )eff : 73.6 × 0.1 − 200 × 0.06 = 0.245α ⇒ α = −18.94‬‬
‫‪s2‬‬
‫ﺭﻭﺵ ﻫﺎﻱ ﺍﻧﺮژﻱ ﺑﺮﺍﻱ ﺣﺮﻛﺖ ﺻﻔﺤﻪ ‪Energy Methods for Plane‬‬
‫‪Motion of Rigid Bodies‬‬ ‫ﺍﻱ ﺍﺟﺴﺎﻡ ﺻﻠﺐ‬

‫ﺍﺻﻞ ﻛﺎﺭ ﻭ ﺍﻧﺮژﻱ‬

‫ﺍﻧﺮژﻱ ﺟﻨﺒﺸﻲ ﺍﺟﺴﺎﻡ ﺻﻠﺐ‬

‫ﺑﻘﺎﻱ ﺍﻧﺮژﻱ‬
‫‪Principle of Work‬‬ ‫ﺍﺻﻞ ﻛﺎﺭ ﻭ ﺍﻧﺮژﻱ‬
‫‪and Energy‬‬
‫ﺍﻧﺮژﻱ ﺟﻨﺒﺸﻲ ﺍﻭﻟﻴﻪ ﻭ ﺛﺎﻧﻮﻳﻪ‬

‫= ‪T1 + U1→2‬‬
‫‪T2‬‬
‫‪Work of Forces and‬‬ ‫ﻛﺎﺭ ﻧﻴﺮﻭﻫﺎ ﻭ ﺯﻭﺝ ﻧﻴﺮﻭ ﻫﺎ‬
‫‪Couples‬‬
‫‪ ‬‬ ‫‪A2‬‬ ‫‪S2‬‬
‫‪ ‬ﻛﺎﺭ ﻧﻴﺮﻭ ﻫﺎﻱ ﺧﺎﺭﺟﻲ‪:‬‬
‫=∫ ‪U1→2‬‬
‫=‬ ‫‪F .dr‬‬ ‫∫‬ ‫‪F cos αds‬‬
‫‪A1‬‬ ‫‪S1‬‬

‫‪ ‬ﺗﺬﻛﺮ‪ :‬ﺩﺭ ﺣﺮﻛﺖ ﻏﻠﺘﺸﻲ ﺑﺪﻭﻥ ﻟﻐﺰﺵ‪ ،‬ﻛﺎﺭ ﻧﻴﺮﻭﻱ ﺍﺻﻄﻜﺎﻙ ﺻﻔﺮ ﺍﺳﺖ ﺯﻳﺮﺍ ﻧﻘﻄﻪ ﺗﻤﺎﺱ ﺩﺭ ﻟﺤﻈﻪ ﻱ ﺍﺛﺮ‬
‫ﻧﻴﺮﻭ ﺟﺎﺑﺠﺎﻳﻲ ﻧﺪﺍﺭﺩ‪.‬‬

‫‪ ‬ﻛﺎﺭ ﺯﻭﺝ ﻧﻴﺮﻭ ﻫﺎﻱ ﺧﺎﺭﺟﻲ‪:‬‬

‫ﻛﺎﺭ ﻧﺎﺷﻲ ﺍﺯ ﭼﺮﺧﺶ ‪ +‬ﻛﺎﺭ ﻧﺎﺷﻲ ﺍﺯ ﺟﺎﺑﺠﺎﻳﻲ ‪ :‬ﻛﺎﺭ ﻛﻠﻲ‬

‫‪   ‬‬ ‫‪A '2  ‬‬ ‫‪θ2‬‬
‫‪U1→2‬‬ ‫= ‪= F .d r1 − F .d r1 + ∫ F .d r2‬‬ ‫‪∫θ‬‬ ‫‪Fr dθ‬‬
‫‪‬‬
‫‪A '1‬‬ ‫‪1‬‬
‫‪M‬‬
‫‪θ2‬‬
‫‪U1→2 = ∫ Mdθ‬‬
‫‪θ1‬‬
‫ﺍﻧﺮژﻱ ﺟﻨﺒﺸﻲ ﺍﺟﺴﺎﻡ ﺻﻠﺐ ﺩﺭ ﺣﺮﻛﺖ ‪Kinetic Energy of a Rigid‬‬
‫‪Body in Plane Motion‬‬ ‫ﺻﻔﺤﻪ ﺍﻱ‬
‫‪ ‬ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺗﻌﺮﻳﻒ ﺳﺮﻋﺖ ﻫﺮ ﺍﻟﻤﺎﻥ ﺍﺯ ﺟﺴﻢ ﺻﻠﺐ ﺩﺭ ﺩﺳﺘﮕﺎﻩ ﻣﺨﺘﺼﺎﺕ ﻣﺮﻛﺰ ﺟﺮﻡ‬
‫ﺩﺍﺭﻳﻢ‪:‬‬
 ‫ﻣﺜﺎﻝ‬
‫ﺳﻴﻠﻨﺪﺭ ﻧﺼﻔﻪ ﺍﻱ ﺑﻪ ﺟﺮﻡ ‪ m‬ﻭ ﺷﻌﺎﻉ ‪ r‬ﺍﺯ ﺣﺎﻟﺖ ﺳﻜﻮﻥ ﻣﻄﺎﺑﻖ ﺷﻜﻞ ﺭﻫﺎ ﻣﻲ ﺷﻮﺩ‪ .‬ﺍﻳﻦ‬
‫ﺳﻴﻠﻨﺪﺭ ﻧﺼﻔﻪ ﺑﺪﻭﻥ ﻟﻐﺰﺵ ﻣﻲ ﻏﻠﺘﺪ ‪ .‬ﺗﻌﻴﻴﻦ ﻛﻨﻴﺪ ‪:‬‬
‫ﺍﻟﻒ ( ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪ ﺍﻱ ﺑﻌﺪ ﺍﺯ ﺍﻳﻨﻜﻪ ﺳﻴﻠﻨﺪﺭ ‪ 900‬ﻏﻠﺘﻴﺪ ‪.‬‬
‫ﺏ( ﻋﻜﺲ ﺍﻟﻌﻤﻞ ﺩﺭ ﺳﻄﺢ ﺍﻓﻘﻲ ﺩﺭ ﻫﻤﺎﻥ ﻟﺤﻈﻪ‬
 ‫‪Noncentroidal‬‬ ‫ﭼﺮﺧﺶ ﺣﻮﻝ ﻣﺤﻮﺭ ﺧﺎﺭﺝ ﺍﺯ‬
‫‪Rotation‬‬ ‫ﻣﺮﻛﺰ ﺟﺮﻡ‬
‫‪ ‬ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺭﺍﺑﻄﻪ ﻱ ﺑﺪﺳﺖ ﺁﻣﺪﻩ ﺑﺮﺍﻱ ﺍﻧﺮژﻱ ﺟﻨﺒﺸﻲ ﺍﺟﺴﺎﻡ ﺻﻠﺐ ﺩﺍﺭﻳﻢ‪:‬‬
‫‪1 2 1 2‬‬
‫=⇒‬
‫‪T‬‬ ‫‪mv + I ω‬‬
‫‪2‬‬ ‫‪2‬‬

‫‪ ‬ﻫﻤﭽﻨﻴﻦ ﺍﻳﻦ ﺭﺍﺑﻄﻪ ﺭﺍ ﻣﻲ ﺗﻮﺍﻥ ﻣﺴﺘﻘﻴﻤﺎ ﺍﺯ ﺗﻌﺮﻳﻒ ﺍﻧﺮژﻱ ﺟﻨﺒﺸﻲ ﺑﺮﺍﻱ ﺗﻚ ﺗﻚ‬
‫ﺍﻟﻤﺎﻥ ﻫﺎﻱ ﺟﺴﻢ ﺻﻠﺐ ﺑﺪﺳﺖ ﺁﻭﺭﺩ‪:‬‬
 ‫ﻣﺜﺎﻝ‬
‫‪ ‬ﮔﻮﻱ ﻫﻤﮕﻨﻲ ﺑﻪ ﺷﻌﺎﻉ ‪ r‬ﺩﺭ ﮔﻮﺷﻪ ﻱ ‪ A‬ﻗﺮﺍﺭ ﺩﺍﺭﺩ ﻭ ﺑﻪ ﺁﻥ ﺣﺮﻛﺖ‬
‫ﻛﻮﭼﻚ ﺳﺎﻋﺘﮕﺮﺩﻱ ﺩﺍﺩﻩ ﻣﻲ ﺷﻮﺩ ‪ .‬ﺑﺎ ﻓﺮﺽ ﺍﻳﻨﻜﻪ ﮔﻮﺷﻪ ﻱ ‪ A‬ﺗﻴﺰ ﺍﺳﺖ‬
‫ﻳﻌﻨﻲ ﺿﺮﻳﺐ ﺍﺻﻄﻜﺎﻙ ﺍﻳﺴﺘﺎﻳﻲ ﺩﺭ ﻧﻘﻄﻪ ﻱ ‪ a‬ﺑﺴﻴﺎﺭ ﺑﺰﺭگ ﺍﺳﺖ ﺗﻌﻴﻴﻦ ﻛﻨﻴﺪ ‪:‬‬
‫ﺍﻟﻒ( ﺯﺍﻭﻳﻪ ﻱ ‪ B‬ﺍﻱ ﺭﺍ ﻛﻪ ﮔﻮﻱ ﭼﺮﺧﻴﺪﻩ ﺩﺭ ﻟﺤﻈﻪ ﺍﻱ ﻛﻪ ﺗﻤﺎﺳﺶ ﺭﺍ ﺑﺎ ﻧﻘﻄﻪ ﻱ ‪ A‬ﺍﺯ ﺩﺳﺖ ﻣﻲ ﺩﻫﺪ‬
‫ﺏ(ﺳﺮﻋﺖ ﻣﺮﻛﺰ ﮔﻮﻱ ﺩﺭ ﻟﺤﻈﻪ ﻱ ﻣﺬﻛﻮﺭ‬

‫⇒‬ ‫⇒‬ ‫⇒‬

‫⇒‬
‫⇒‬
‫‪Conservation of Energy‬‬ ‫ﺑﻘﺎﻱ ﺍﻧﺮژﻱ‬

‫‪ ‬ﺍﮔﺮ ﻧﻴﺮﻭ ﻫﺎ ﭘﺎﻳﺴﺘﺎﺭ ﺑﺎﺷﻨﺪ‪:‬‬

‫ﺍﺻﻞ ﻛﺎﺭ ﻭ ﺍﻧﺮژﻱ‬
‫ﻧﻴﺮﻭ ﻫﺎﻱ ﭘﺎﻳﺴﺘﺎﺭ‬

‫‪ ‬ﺩﺭ ﺣﺎﻟﺖ ﺟﺎﻣﻊ ﺗﺮ ﻭﻗﺘﻲ ﻧﻴﺮﻭ ﻫﺎ ﭘﺎﻳﺴﺘﺎﺭ ﻧﺒﺎﺷﻨﺪ‪:‬‬

 ‫ﻣﺜﺎﻝ‬
‫‪ ‬ﻣﻴﻠﻪ ﻱ ﻧﺎﺯﻙ ‪ AB‬ﺑﺎ ﻃﻮﻝ ‪ l‬ﻭ ﺟﺮﻡ ‪ m‬ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ ﻛﻪ ﺍﺯ ﺩﻭ ﺍﻧﺘﻬﺎ ﺑﻪ ﺩﻭ ﺑﻠﻮﻙ‬
‫ﺑﺪﻭﻥ ﺟﺮﻡ ﻣﺘﺼﻞ ﻣﻲ ﺑﺎﺷﺪ‪ ،‬ﺍﮔﺮ ﺑﻠﻮﻙ ﻫﺎ ﺑﻪ ﺗﺮﺗﻴﺐ ﻣﻘﻴﺪ ﺑﻪ ﺣﺮﻛﺖ ﺩﺭ ﺭﺍﺳﺘﺎﻱ ﺍﻓﻘﻲ ﻭ‬
‫ﻗﺎﺋﻢ ﺑﺎﺷﻨﺪ ﻭ ﻣﻴﻠﻪ ﺍﺯ ﺣﺎﻝ ﺳﺎﻛﻦ ﻭ ﺍﻓﻘﻲ ﺭﻫﺎ ﺷﻮﺩ‪ ،‬ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪ ﺍﻱ ﻣﻴﻠﻪ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ‬
‫ﺗﺎﺑﻌﻲ ﺍﺯ ﺯﺍﻭﻳﻪ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪:‬‬

‫=‬
‫=‪T1 0,‬‬
‫‪V1 0‬‬
‫‪1‬‬ ‫‪1‬‬ ‫‪1‬‬ ‫‪l‬‬ ‫‪1 1‬‬ ‫‪1 2 2‬‬
‫=‬
‫‪T2‬‬ ‫‪mv 2 + I ω‬‬‫=‬‫‪2‬‬
‫=‪m( ω) 2 + ( ml‬‬ ‫‪2‬‬
‫)‬ ‫‪ml ω‬‬
‫‪2‬‬ ‫‪2‬‬ ‫‪2 2‬‬ ‫‪2 12‬‬ ‫‪6‬‬
‫‪l‬‬
‫= ‪V2‬‬‫= ‪−Wy‬‬ ‫‪−W sin θ‬‬
‫‪2‬‬
‫‪1 2 2‬‬ ‫‪l‬‬ ‫‪3g‬‬
‫=‪T1 + V 1= T2 + V2 ⇒ 0 + 0‬‬ ‫=‪ml ω − mg sin θ ⇒ ω‬‬ ‫‪sin θ‬‬
‫‪6‬‬ ‫‪2‬‬ ‫‪l‬‬
 ‫‪Power‬‬ ‫ﺗﻮﺍﻥ‬
‫‪ ‬ﻫﻤﺎﻥ ﮔﻮﻧﻪ ﻛﻪ ﺩﺭ ﻓﺼﻞ ‪ 3‬ﻣﻌﺮﻓﻲ ﺷﺪ‪ ،‬ﺗﻮﺍﻥ ﻋﺒﺎﺭﺕ ﺍﺳﺖ ﺍﺯ ﺁﻫﻨﮓ ﺗﻐﻴﻴﺮﺍﺕ ﺯﻣﺎﻧﻲ ﻛﺎﺭ ﻣﻲ‬
‫ﺑﺎﺷﺪ‪ ،‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﺑﺮﺍﻱ ﺟﺴﻢ ﺻﻠﺒﻲ ﻛﻪ ﻧﻴﺮﻭﻱ ‪ F‬ﺑﻪ ﻣﺮﻛﺰ ﺟﺮﻡ ﺁﻥ ﺍﺛﺮ ﻣﻲ ﻛﻨﺪ‪ ،‬ﺩﺍﺭﻳﻢ‪:‬‬
‫‪dU‬‬
‫=‬
‫‪Power‬‬ ‫‪= F .v‬‬
‫‪dt‬‬
‫‪ ‬ﺑﻪ ﺷﻜﻠﻲ ﻣﺸﺎﺑﻪ ﺩﺭ ﻣﻮﺭﺩ ﺟﺴﻢ ﺻﻠﺒﻲ ﻛﻪ ﺗﺤﺖ ﻣﻤﺎﻧﻲ ﻣﻮﺍﺯﻱ ﺑﺎ ﻣﺤﻮﺭ ﺩﻭﺭﺍﻧﺶ‪ ،‬ﻣﻲ ﭼﺮﺧﺪ‪،‬‬
‫ﺩﺍﺭﻳﻢ‪:‬‬
‫‪dU Mdθ‬‬
‫=‪Power‬‬ ‫=‬ ‫‪= Mω‬‬
‫‪dt‬‬ ‫‪dt‬‬
‫‪ ‬ﺩﺭ ﺣﺎﻟﺖ ﻛﻠﻲ‪ ،‬ﺍﮔﺮ ﺑﺮﺍﻳﻨﺪ ﻧﻴﺮﻭﻫﺎﻳﻲ ﻛﻪ ﺑﺮ ﺟﺴﻢ ﺍﺛﺮ ﻣﻲ ﻛﻨﻨﺪ ﺭﺍ ﺑﺎ ‪ R‬ﻭ ﻣﻤﺎﻥ ﺁﻥ ﻫﺎ ﺣﻮﻝ ﻣﺮﻛﺰ‬
‫ﺟﺮﻡ ﺟﺴﻢ ﺻﻠﺐ ﺭﺍ ﺑﺎ ‪ M‬ﻧﺸﺎﻥ ﺩﻫﻴﻢ ﺩﺍﺭﻳﻢ‪:‬‬
‫‪P = F .v + M ω‬‬
‫‪dU=′ dT + dV‬‬
‫‪dU ′   d‬‬
‫=‪P‬‬ ‫) ‪= T + V = (T + V‬‬
‫‪dt‬‬ ‫‪dt‬‬
‫‪dT d 1‬‬ ‫‪1‬‬ ‫‪1‬‬
‫=‪T‬‬ ‫=‬ ‫‪( mv .v + I ω2 )= m(a .v + v .a ) + I ωω= ma .v + I α(ω)= R.v + M ω‬‬
‫‪dt dt 2‬‬ ‫‪2‬‬ ‫‪2‬‬
 ‫ﻣﺜﺎﻝ‬
‫‪ ‬ﻭﺳﻴﻠﻪ ﻱ ﺁﺯﻣﺎﻳﺸﮕﺎﻫﻲ ﻣﻘﺎﺑﻞ ﺑﺮﺍﻱ ﺍﻧﺪﺍﺯﻩ ﮔﻴﺮﻱ ﺗﻮﺍﻥ ﺧﺮﻭﺟﻲ ﻳﻚ‬
‫ﺗﻮﺭﺑﻴﻦ ﻛﻮﭼﻚ ﻣﻮﺭﺩ ﺍﺳﺘﻔﺎﺩﻩ ﻗﺮﺍﺭ ﻣﻲ ﮔﻴﺮﺩ‪ .‬ﻭﻗﺘﻲ ﺗﻮﺭﺑﻴﻦ ﺑﺎ ﺳﺮﻋﺖ‬
‫‪ 200rpm‬ﻛﺎﺭ ﻣﻲ ﻛﻨﺪ ﺍﻋﺪﺍﺩ ‪ 10lb‬ﻭ ‪ 22lb‬ﺍﺯ ﺭﻭﻱ ﺩﻭ ﻓﻨﺮ ﺧﻮﺍﻧﺪﻩ‬
‫ﻣﻲ ﺷﻮﺩ‪ .‬ﺗﻮﺍﻧﻲ ﻛﻪ ﺗﻮﺳﻂ ﺗﻮﺭﺑﻴﻦ ﺍﻳﺠﺎﺩ ﻣﻴﺸﻮﺩ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ ‪.‬‬

‫⇒‬
 ‫ﻣﺜﺎﻝ ﻣﺮﻭﺭﻱ ‪1‬‬
‫‪ ‬ﻫﺮ ﻛﺪﺍﻡ ﺍﺯ ﻣﻴﻠﻪ ﻫﺎﻱ ﺑﺎﺭﻳﻚ ﻣﻘﺎﺑﻞ ‪ 0.75m‬ﻃﻮﻝ ﻭ ‪ 6Kg‬ﻭﺯﻥ ﺩﺍﺭﻧﺪ ‪.‬‬
‫ﺍﮔﺮ ﺳﻴﺴﺘﻢ ﺍﺯ ﺣﺎﻝ ﺳﻜﻮﻥ ﺑﺎ ‪ β = 60o‬ﺭﻫﺎ ﺷﻮﺩ ﺗﻌﻴﻴﻦ ﻛﻨﻴﺪ ‪:‬‬
‫ﺍﻟﻒ( ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪ ﺍﻱ ﻣﻴﻠﻪ ﻱ ‪ AB‬ﻭﻗﺘﻲ ‪β = 20o‬‬
‫ﺏ( ﺳﺮﻋﺖ ﻧﻘﻄﻪ ﻱ ‪ D‬ﺩﺭ ﻫﻤﺎﻥ ﻟﺤﻈﻪ‬
‫)‪BC = 0.75(m‬‬
‫=‬ ‫=‬
‫)‪CD 2(0.75‬‬ ‫)‪sin 20o 0.513(m‬‬
‫)‪EC = 0.522(m‬‬
‫=‬
‫‪v AB 0.375ω ‬‬
‫‪vB =0.75ω‬‬
‫= ‪vB =(BC )ωBD =0.75ωBD =0.75ω ⇒ ωBD‬‬
‫‪ω‬‬
‫‪vBD =(EC )ω‬‬
‫=‬ ‫‪BD‬‬ ‫‪0.522ω ⇒ vBD =0.522ω ‬‬
‫= ‪Position 1: W‬‬
‫= ‪6 × 9.81‬‬
‫) ‪58.86( N‬‬
‫= ‪Potential Energy : V1 = 2Wy1‬‬
‫= ‪2 × 58.86 × 0.325‬‬
‫) ‪38.26( J‬‬
‫‪Kinetic Energy : T1 = 0‬‬
 1 ‫ﺍﺩﺍﻣﻪ ﻱ ﻣﺜﺎﻝ ﻣﺮﻭﺭﻱ‬
Position 2:
Potential Energy : V2 =
2Wy2 =
2 × 58.86 × 0.1283 =
15.10( J )
Kinetic Energy :
1 1
I AB =I BD = ml 2 = 6 × 0.752 =0.281
12 12
1 1 1 1
T=2 mv AB 2 + I AB ω AB 2 + mvBD 2 + I BD ωBD 2
2 2 2 2
1 1 1 1
T2 = 6 × (0.375ω) 2 + 0.281× ω2 + 6 × (0.522ω) 2 + 0.281× ω2
2 2 2 2
T2 =1.520ω 2

T1 + V1= T2 + V2 ⇒ 0+38.26=1.520ω2 + 15.10 ⇒ ω= 3.90

rad
ω AB =
3.90 (clockwise)
s
m
v=
D (CD)=
ω 0.513 × 3.90 ⇒ v=
D 2 →
s
 ‫ﻣﺜﺎﻝ ﻣﺮﻭﺭﻱ ‪2‬‬
‫‪ ‬ﺩﺭ ﻣﻜﺎﻧﻴﺴﻤﻲ ﻣﻄﺎﺑﻖ ﺷﻜﻞ ﺟﺮﻡ ﻫﺮ ﻳﻚ ﺍﺯ ﺩﻭ ﭼﺮﺥ ‪ 30Kg‬ﻭ ﺷﻌﺎﻉ ﭼﺮﺧﺶ ﻣﺮﻛﺰﻭﺍﺭﻱ ﺁﻥ ‪ 100mm‬ﺍﺳﺖ‪ .‬ﺟﺮﻡ ﻫﺮ‬
‫ﻣﻴﻠﻪ ﻱ ‪ OB‬ﺑﺮﺍﺑﺮ ‪ 10Kg‬ﺍﺳﺖ ﻭ ﻣﻲ ﺗﻮﺍﻥ ﺁﻥ ﺭﺍ ﻣﻴﻠﻪ ﻱ ﺑﺎﺭﻳﻚ ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺖ ‪ .‬ﻃﻮﻗﻪ ﻱ ‪ B‬ﺑﻪ ﺟﺮﻡ ‪ 7Kg‬ﺭﻭﻱ ﻣﻴﻞ‬
‫ﻣﺤﻮﺭ ﻋﻤﻮﺩﻱ ﺛﺎﺑﺖ ﺑﺎ ﺍﺻﻄﻜﺎﻙ ﻗﺎﺑﻞ ﭼﺸﻢ ﭘﻮﺷﻲ ﻣﻲ ﻟﻐﺰﺩ‪ .‬ﺳﻔﺘﻲ ﻓﻨﺮ ‪ k=30kN/m‬ﺍﺳﺖ ﻭ ﻫﻨﮕﺎﻣﻲ ﻛﻪ ﻣﻴﻠﻪ ﻫﺎ ﺑﻪ‬
‫ﻭﺿﻌﻴﺖ ﺍﻓﻘﻲ ﺑﺮﺳﻨﺪ ﺑﺎ ﺳﻄﺢ ﺯﻳﺮﻳﻦ ﻃﻮﻗﻪ ﺗﻤﺎﺱ ﭘﻴﺪﺍ ﻣﻲ ﻛﻨﺪ‪ .‬ﻃﻮﻗﻪ ﺍﺯ ﺣﺎﻟﺖ ﺳﻜﻮﻥ ﺩﺭ ﻭﺿﻌﻴﺖ ‪ θ=45o‬ﺭﻫﺎ ﻣﻲ ﺷﻮﺩ‬
‫ﻭ ﺍﺻﻄﻜﺎﻙ ﺑﺮﺍﻱ ﺟﻠﻮﮔﻴﺮﻱ ﺍﺯ ﻟﻐﺰﺵ ﭼﺮﺥ ﻫﺎ ﻛﺎﻓﻲ ﺍﺳﺖ ‪ .‬ﻣﻄﻠﻮﺏ ﺍﺳﺖ ﺗﻌﻴﻴﻦ ‪:‬‬
‫ﺍﻟﻒ( ﺳﺮﻋﺖ ‪ vB‬ﻃﻮﻗﻪ ﻭﻗﺘﻲ ﺑﺮﺍﻱ ﻧﺨﺴﺘﻴﻦ ﺑﺎﺭ ﺑﺎ ﻓﻨﺮ ﺑﺮ ﺧﻮﺭﺩ ﻣﻲ ﻛﻨﺪ ‪.‬‬
‫ﺏ(‪ , x‬ﺣﺪﺍﻛﺜﺮ ﺗﻐﻴﻴﺮ ﻃﻮﻝ ﻓﻨﺮ‬

‫ﺍﻟﻒ ( ﺣﺎﻟﺖ ﻫﺎﻱ ‪1‬ﻭ‪2‬ﻭ‪ 3‬ﺭﺍ ﺑﻪ ﺗﺮﺗﻴﺐ ﺩﺭ ﻭﺿﻌﻴﺖ ﻫﺎﻱ ‪ θ=45o‬ﻭ ‪ θ=0‬ﻭ ﺣﺪﺍﻛﺜﺮ ﺗﻐﻴﻴﺮ ﻃﻮﻝ ﻓﻨﺮ ﺗﻌﺮﻳﻒ ﻣﻲ ﻛﻨﻴﻢ ‪.‬‬
‫‪1‬‬ ‫‪1‬‬ ‫‪1‬‬ ‫‪v‬‬ ‫‪1‬‬
‫‪T2 =[2( I O ω2 )]rods + [ mv 2 ]co llar = 10 × (0.375) 2 ( B ) 2 + 7vB 2 =6.83vB 2‬‬
‫‪2‬‬ ‫‪2‬‬ ‫‪3‬‬ ‫‪0.375‬‬ ‫‪2‬‬
 ‫ﺍﺩﺍﻣﻪ ﻱ ﻣﺜﺎﻝ ﻣﺮﻭﺭﻱ ‪2‬‬
‫ﭘﺎﻳﻴﻦ ﻣﻲ ﺁﻳﺪ ﻭ ﺩﺭ ﻧﺘﻴﺠﻪ ‪:‬‬ ‫‪0.375‬‬
‫)‪= 0.265(m‬‬ ‫ﻃﻮﻗﻪ ‪ B‬ﺑﻪ ﺍﻧﺪﺍﺯﻩ‬
‫‪2‬‬
‫‪0.265‬‬
‫=‪V‬‬
‫‪1‬‬ ‫)‪2(10)(9.81‬‬ ‫) ‪+ 7(9.81)(0.265)= 44.2( J‬‬ ‫‪,‬‬ ‫‪V2= 0‬‬
‫‪2‬‬
‫‪m‬‬
‫‪T1 + V1 + U1′→2 = T2 + V2 ⇒ 0 + 44.2 + 0 = 6.83vB 2 + 0 ⇒ vB = 2.54‬‬
‫‪s‬‬

‫ﺩﺭ ﻭﺿﻌﻴﺖ ﺣﺪﺍﻛﺜﺮ ﺗﻐﻴﻴﺮ ﻃﻮﻝ ‪ x‬ﻓﻨﺮ ﻫﻤﻪ ﻱ ﻗﻄﻌﺎﺕ ﺑﻪ ﻃﻮﺭ ﻟﺤﻈﻪ ﺍﻱ ﻣﺘﻮﻗﻒ ﻣﻲ ﺷﻮﻧﺪ ﻭ ﺩﺭ ﻧﺘﻴﺠﻪ ‪ . T3=0‬ﭘﺲ ‪:‬‬

‫⇒ ‪T1 + V1 + U1′→3 = T3 + V3‬‬

‫‪0.265‬‬ ‫‪x‬‬ ‫‪1‬‬
‫)‪0 + 2(10)(9.81‬‬ ‫‪+ 7(9.81)(0.265) + 0 = 0 − 2(10)(9.81) − 7(9.81) x + (30)(103 ) x 2‬‬
‫‪2‬‬ ‫‪2‬‬ ‫‪2‬‬
‫‪x = 60.1mm‬‬
 ‫‪Momentum and‬‬ ‫ﺭﻭﺵ ﻫﺎﻱ ﺍﻧﺪﺍﺯﻩ ﺣﺮﻛﺖ ﻭ‬
‫‪Impulse Methods‬‬ ‫ﺗﻜﺎﻧﻪ‬

‫ﺭﻭﺍﺑﻂ ﺍﻧﺪﺍﺯﻩ‬
‫ﺣﺮﻛﺖ ﺧﻄﻲ ﻭ‬ ‫ﺍﺻﻞ ﺗﻜﺎﻧﻪ ﻭ ﺍﻧﺪﺍﺯﻩ‬
‫ﺯﺍﻭﻳﻪ ﺍﻱ ﺑﺮﺍﻱ‬ ‫ﺣﺮﻛﺖ‬
‫ﺟﺴﻢ ﺻﻠﺐ‬

‫ﺩﻭﺭﺍﻥ ﺣﻮﻝ ﻣﺤﻮﺭ‬

‫ﺑﻘﺎﻱ ﺍﻧﺪﺍﺯﻩ ﺣﺮﻛﺖ‬
‫ﺧﺎﺭﺝ ﺍﺯ ﻣﺮﻛﺰ ﺟﺮﻡ‬
 ‫‪Principle of Impulse and‬‬ ‫ﺍﺻﻞ ﺗﻜﺎﻧﻪ ﻭ ﺍﻧﺪﺍﺯﻩ ﺣﺮﻛﺖ ﺑﺮﺍﻱ ﺣﺮﻛﺖ‬
‫‪Momentum for the Plane‬‬ ‫ﺻﻔﺤﻪ ﺍﻱ ﺟﺴﻢ ﺻﻠﺐ‬
‫‪Motion of a Rigid Body‬‬
‫‪ ‬ﺍﮔﺮ ﺳﻴﺴﺘﻢ ﺫﺭﺍﺕ ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﻢ‪ ،‬ﺍﺻﻞ ﺗﻜﺎﻧﻪ ﻭ ﺍﻧﺪﺍﺯﻩ ﻱ ﺣﺮﻛﺖ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺧﻮﺍﻫﺪ ﺑﻮﺩ‪:‬‬

‫‪ ‬ﺩﺭ ﺭﺍﺑﻄﻪ ﻱ ﻓﻮﻕ ﺍﻧﺪﺍﺯﻩ ﺣﺮﻛﺖ ﺑﻪ ﺻﻮﺭﺕ ﻣﺠﻤﻮﻉ ﺩﻭ ﺑﺮﺩﺍﺭ ﺍﻧﺪﺍﺯﻩ ﺣﺮﻛﺖ ﺧﻄﻲ ﻭ ﺯﺍﻭﻳﻪ ﺍﻱ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ‬
‫‪ n‬‬ ‫ﺗﻌﺮﻳﻒ ﻣﻲ ﺷﻮﺩ‪:‬‬
‫‪‬‬
‫‪‬‬
‫∑‬
‫=‪L‬‬
‫‪i =1‬‬
‫‪∫ mi‬‬
‫‪v dm‬‬
‫‪‬‬ ‫‪n‬‬
‫‪‬‬
‫∑ ‪ G‬‬ ‫∫‬
‫=‬ ‫‪H‬‬ ‫‪‬‬ ‫‪r ′ × v dm‬‬
‫‪mi‬‬
‫‪i =1‬‬

‫‪ ‬ﺍﮔﺮ ﺣﺮﻛﺖ ﻳﻚ ﺟﺴﻢ ﺻﻠﺐ ﺩﺭ ﺻﻔﺤﻪ ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﻢ ﺭﻭﺍﺑﻂ ﻓﻮﻕ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺳﺎﺩﻩ ﺧﻮﺍﻫﻨﺪ ﺷﺪ‪:‬‬
‫‪‬‬ ‫‪‬‬
‫‪ L = mv‬‬
‫‪‬‬
‫‪ H G = I ω‬‬
‫ﺍﻧﺪﺍﺯﻩ ﺣﺮﻛﺖ ﺧﻄﻲ ﺟﺴﻢ ﺻﻠﺐ ‪Linear Momentum of a‬‬
‫‪Rigid Body‬‬
‫‪ ‬ﺍﺻﻞ ﺗﻜﺎﻧﻪ ﻭ ﺍﻧﺪﺍﺯﻩ ﺣﺮﻛﺖ ﺑﺮﺍﻱ ﺍﻧﺪﺍﺯﻩ ﺣﺮﻛﺖ ﺧﻄﻲ ﻳﻚ ﺟﺴﻢ ﺻﻠﺐ ﺩﺭ ﺣﺮﻛﺖ‬
‫ﺻﻔﺤﻪ ﺍﻱ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺩﺭ ﻣﻲ ﺁﻳﺪ‪:‬‬
‫‪‬‬
‫‪‬‬ ‫‪‬‬
‫‪ L = mv‬‬
‫‪ ‬‬ ‫‪‬‬
‫‪∑ Fext = L‬‬
‫‪‬‬
‫‪‬‬
‫‪L +‬‬
‫‪t2‬‬
‫‪‬‬ ‫‪‬‬
‫‪‬‬ ‫‪1‬‬ ‫∫‬ ‫∑‬ ‫= ‪Fext dt‬‬
‫‪L2‬‬
‫‪‬‬ ‫‪t1‬‬
‫ﺍﻧﺪﺍﺯﻩ ﺣﺮﻛﺖ ﺯﺍﻭﻳﻪ ﺍﻱ ﺟﺴﻢ ﺻﻠﺐ ‪Angular Momentum of‬‬
‫‪a Rigid Body‬‬
‫‪ ‬ﺍﺻﻞ ﺗﻜﺎﻧﻪ ﻭ ﺍﻧﺪﺍﺯﻩ ﺣﺮﻛﺖ ﺑﺮﺍﻱ ﺍﻧﺪﺍﺯﻩ ﺣﺮﻛﺖ ﺯﺍﻭﻳﻪ ﺍﻱ ﺣﻮﻝ ﻣﺮﻛﺰ ﺟﺮﻡ ﻳﻚ‬
‫ﺟﺴﻢ ﺻﻠﺐ ﺩﺭ ﺣﺮﻛﺖ ﺻﻔﺤﻪ ﺍﻱ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺩﺭ ﻣﻲ ﺁﻳﺪ‪:‬‬

‫‪‬‬
‫‪‬‬ ‫‪‬‬ ‫ﺣﺮﻛﺖ ﺻﻔﺤﻪ ﺍﻱ‬

‫=‪ H‬‬‫‪G‬‬ ‫‪I ω ‬‬ ‫=‪→ H‬‬ ‫‪G‬‬ ‫‪Iω‬‬

‫‪‬‬ ‫‪‬‬
‫‪∑ M G = H G‬‬
‫‪‬‬ ‫‪t2‬‬
‫‪( H ) +‬‬
‫‪‬‬ ‫‪G‬‬ ‫‪1‬‬ ‫∫‬ ‫∑‬ ‫= ‪M G dt‬‬
‫‪( H G )2‬‬
‫‪‬‬ ‫‪t1‬‬
 ‫ﻣﺜﺎﻝ‬
‫‪ ‬ﻧﻴﺮﻭﻱ ‪ P‬ﻛﻪ ﺑﺮ ﻛﺎﺑﻞ ﭘﻴﭽﻴﺪﻩ ﺷﺪﻩ ﺩﻭﺭ ﺗﻮﭘﻲ ﻣﺮﻛﺰﻱ ﭼﺮﺥ ﻣﺘﻘﺎﺭﻥ ﻭﺍﺭﺩ‬
‫ﻣﻲ ﺷﻮﺩ ﺑﻪ ﺁﻫﺴﺘﮕﻲ ﻭ ﻃﺒﻖ ﺭﺍﺑﻄﻪ ﻱ ‪ P=1.5t‬ﺍﻓﺰﺍﻳﺶ ﻣﻴﺎﺑﺪ ﻛﻪ ﺩﺭ ﺁﻥ‬
‫‪ P‬ﺑﺮ ﺣﺴﺐ ﭘﻮﻧﺪ ﻭ ‪ t‬ﺯﻣﺎﻥ ﺑﺮ ﺣﺴﺐ ﺛﺎﻧﻴﻪ ﭘﺲ ﺍﺯ ﺍﻋﻤﺎﻝ ﻧﻴﺮﻭﻱ ‪ P‬ﺍﺳﺖ ‪.‬‬
‫ﻣﻄﻠﻮﺏ ﺍﺳﺖ ﺗﻌﻴﻴﻦ ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪ ﺍﻱ ‪ ω2‬ﭼﺮﺥ ‪ 10‬ﺛﺎﻧﻴﻪ ﭘﺲ ﺍﺯ ﺍﻋﻤﺎﻝ‬
‫ﻧﻴﺮﻭﻱ ‪ P‬ﻫﺮﮔﺎﻩ ﭼﺮﺥ ﺑﻪ ﺳﻤﺖ ﭼﭗ ﻏﻠﺘﺶ ﻛﻨﺪ ﻭ ﺳﺮﻋﺖ ﻣﺮﻛﺰ ﺁﻥ ﺩﺭ‬
‫ﻟﺤﻈﻪ ﻱ ‪ t=0‬ﺑﺮﺍﺑﺮ ‪ 3ft/sec‬ﺑﺎﺷﺪ ‪ .‬ﻭﺯﻥ ﭼﺮﺥ ‪ 120lb‬ﻭ ﺷﻌﺎﻉ ﭼﺮﺧﺶ‬
‫ﺁﻥ ﺣﻮﻝ ﻣﺮﻛﺰﺵ ‪ 10in‬ﺍﺳﺖ‪ .‬ﭼﺮﺥ ﻏﻠﺘﺶ ﺑﺪﻭﻥ ﻟﻐﺰﺵ ﺍﻧﺠﺎﻡ ﻣﻲ ﺩﻫﺪ‪.‬‬

‫‪t2‬‬
‫‪120‬‬ ‫‪120 18‬‬
‫=‪[(Gx )1 + ∫ ∑ F‬‬
‫‪10‬‬

‫‪t1‬‬
‫‪x‬‬ ‫‪dt‬‬ ‫(‬‫‪G‬‬ ‫)‬
‫‪x 2‬‬ ‫]‬ ‫⇒‬
‫‪32.2‬‬
‫(‬ ‫‪−‬‬‫)‪3‬‬ ‫‪+‬‬ ‫∫‬‫‪0‬‬
‫‪(1.5‬‬‫‪t‬‬ ‫‪−‬‬ ‫‪F‬‬ ‫=‬
‫)‬ ‫‪dt‬‬
‫‪32.2‬‬
‫] ‪[ ω2‬‬
‫‪12‬‬
‫)‪(I‬‬

‫‪t2‬‬ ‫‪10‬‬
‫‪120 10 2‬‬ ‫‪3‬‬ ‫‪18‬‬ ‫‪9‬‬ ‫‪120 10 2‬‬
‫‪[( H G )1 + ∫ ∑ M G dt‬‬
‫⇒ ] ‪= ( H G )2‬‬ ‫‪( ) (− ) + ∫ [ F − (1.5t )]dt‬‬
‫=‬ ‫‪( ) ω2‬‬ ‫)‪(II‬‬
‫‪t1‬‬
‫‪32.2‬‬ ‫‪12‬‬ ‫‪18‬‬ ‫‪0‬‬
‫‪12‬‬ ‫‪12‬‬ ‫‪32.2‬‬ ‫‪12‬‬
‫‪12‬‬
‫) ‪( I ),( II‬‬
‫‪rad‬‬
‫‪⇒ ω2 =3.13‬‬ ‫)‪(clockwise‬‬
‫‪s‬‬
 ‫‪Noncentroidal‬‬ ‫ﺩﻭﺭﺍﻥ ﺣﻮﻝ ﻣﺤﻮﺭﻱ ﺧﺎﺭﺝ ﺍﺯ‬
‫‪Rotation‬‬ ‫ﻣﺮﻛﺰ ﺟﺮﻡ‬
‫‪ ‬ﺍﺻﻞ ﺗﻜﺎﻧﻪ ﻭ ﺍﻧﺪﺍﺯﻩ ﺣﺮﻛﺖ ﺑﺮﺍﻱ ﺍﻧﺪﺍﺯﻩ ﺣﺮﻛﺖ ﺯﺍﻭﻳﻪ ﺍﻱ ﻳﻚ ﺟﺴﻢ ﺻﻠﺐ ﺩﺭ‬
‫ﺩﻭﺭﺍﻥ ﺣﻮﻝ ﻧﻘﻄﻪ ﺍﻱ ﺧﺎﺭﺝ ﺍﺯ ﻣﺮﻛﺰ ﺟﺮﻡ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺩﺭ ﻣﻲ ﺁﻳﺪ‪:‬‬

‫‪‬‬
‫‪ H O = I ω + (mr ω)r = ( I + mr )ω = I O ω‬‬
‫‪2‬‬

‫‪‬‬
‫‪∑ M O = H O‬‬
‫‪‬‬
‫= ‪( H 0 )1 + ∫ ∑ M O dt‬‬
‫‪t2‬‬
‫‪( H 0 )2‬‬
‫‪‬‬ ‫‪t1‬‬
 ‫ﻣﺜﺎﻝ‬
‫‪ ‬ﻧﻴﺮﻭﻱ ‪ P‬ﻛﻪ ﺑﺮ ﻛﺎﺑﻞ ﭘﻴﭽﻴﺪﻩ ﺷﺪﻩ ﺩﻭﺭ ﺗﻮﭘﻲ ﻣﺮﻛﺰﻱ ﭼﺮﺥ ﻣﺘﻘﺎﺭﻥ ﻭﺍﺭﺩ ﻣﻲ ﺷﻮﺩ ﺑﻪ ﺁﻫﺴﺘﮕﻲ ﻭ ﻃﺒﻖ‬
‫ﺭﺍﺑﻄﻪ ﻱ ‪ P=1.5t‬ﺍﻓﺰﺍﻳﺶ ﻣﻴﺎﺑﺪ ﻛﻪ ﺩﺭ ﺁﻥ ‪ P‬ﺑﺮ ﺣﺴﺐ ﭘﻮﻧﺪ ﻭ ‪ t‬ﺯﻣﺎﻥ ﺑﺮ ﺣﺴﺐ ﺛﺎﻧﻴﻪ ﭘﺲ ﺍﺯ ﺍﻋﻤﺎﻝ‬
‫ﻧﻴﺮﻭﻱ ‪ P‬ﺍﺳﺖ ‪ .‬ﻣﻄﻠﻮﺏ ﺍﺳﺖ ﺗﻌﻴﻴﻦ ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪ ﺍﻱ ‪ ω2‬ﭼﺮﺥ ‪ 10‬ﺛﺎﻧﻴﻪ ﭘﺲ ﺍﺯ ﺍﻋﻤﺎﻝ ﻧﻴﺮﻭﻱ ‪ P‬ﻫﺮﮔﺎﻩ‬
‫ﭼﺮﺥ ﺑﻪ ﺳﻤﺖ ﭼﭗ ﻏﻠﺘﺶ ﻛﻨﺪ ﻭ ﺳﺮﻋﺖ ﻣﺮﻛﺰ ﺁﻥ ﺩﺭ ﻟﺤﻈﻪ ﻱ ‪ t=0‬ﺑﺮﺍﺑﺮ ‪ 3ft/sec‬ﺑﺎﺷﺪ ‪ .‬ﻭﺯﻥ ﭼﺮﺥ‬
‫‪ 120lb‬ﻭ ﺷﻌﺎﻉ ﭼﺮﺧﺶ ﺁﻥ ﺣﻮﻝ ﻣﺮﻛﺰﺵ ‪ 10in‬ﺍﺳﺖ‪ .‬ﭼﺮﺥ ﻏﻠﺘﺶ ﺑﺪﻭﻥ ﻟﻐﺰﺵ ﺍﻧﺠﺎﻡ ﻣﻲ ﺩﻫﺪ‪.‬‬

‫ﻟﻨﮕﺮﻫﺎﻱ ﻭﺯﻥ ‪ 120lb‬ﻭ ﻧﻴﺮﻭﻱ ﻣﺴﺎﻭﻱ ‪ N‬ﻳﻜﺪﻳﮕﺮ ﺭﺍ ﺧﻨﺜﻲ ﻣﻲ ﻛﻨﻨﺪ ﻭ ‪ F‬ﺣﺬﻑ ﻣﻲ ﺷﻮﺩ ‪ .‬ﺯﻳﺮﺍ ﻟﻨﮕﺮ ﺁﻥ ﺣﻮﻝ‬
‫ﻧﻘﻄﻪ ﻱ ‪ O‬ﺻﻔﺮ ﺍﺳﺖ ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﺍﻧﺪﺍﺯﻩ ﺣﺮﻛﺖ ﺯﺍﻭﻳﻪ ﺍﻱ ﺣﻮﻝ ‪ O‬ﻋﺒﺎﺭﺕ ﺍﺳﺖ ﺍﺯ ‪:‬‬
‫‪H O = I ω + mvr = mk 2 ω + mr 2 ω = m(k 2 + r 2 )ω‬‬

‫= ‪ k 2 + r 2‬ﻭ ‪H C= I C ω= mkC2 ω‬‬

‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﻣﺸﺎﻫﺪﻩ ﻣﻲ ﻛﻨﻴﻢ ﻛﻪ ‪ H O = H C :‬ﺯﻳﺮﺍ ‪kC2 :‬‬

‫‪∑M‬‬
‫‪t2‬‬
‫∫ ‪( H 0 )1 +‬‬ ‫‪O‬‬ ‫= ‪dt‬‬
‫‪( H 0 )2‬‬
‫‪t1‬‬

‫‪120 10 2 18 2‬‬ ‫‪3‬‬ ‫‪10‬‬ ‫‪18 − 9‬‬ ‫‪120 10 2 18 2‬‬ ‫‪rad‬‬

‫=( ‪[( ) + ( ) ][− ] + ∫ 1.5t‬‬ ‫‪)dt‬‬ ‫=] ) ( ‪[( ) +‬‬
‫‪ω2 ⇒ ω2 3.13‬‬ ‫)‪(clockwise‬‬
‫‪32.2 12‬‬ ‫‪12‬‬ ‫‪18‬‬ ‫‪0‬‬ ‫‪12‬‬ ‫‪32.2 12‬‬ ‫‪12‬‬ ‫‪s‬‬
‫‪12‬‬
 ‫ﻣﺜﺎﻝ‬
‫‪ ‬ﻗﻄﻌﻪ ﻣﺴﺘﻄﻴﻠﻲ ﻳﻜﻨﻮﺍﺧﺘﻲ ﻛﻪ ﺍﺑﻌﺎﺩ ﺁﻥ ﻣﻄﺎﺑﻖ ﺷﻜﻞ ﺍﺳﺖ ﻭﻗﺘﻲ ﺑﻪ ﭘﻠﻪ ﻱ‬
‫ﻛﻮﭼﻚ ‪ O‬ﺑﺮﺧﻮﺭﺩ ﻣﻲ ﻛﻨﺪ ﺑﺎ ﺳﺮﻋﺖ ‪ v1‬ﺭﻭﻱ ﺳﻄﺢ ﺍﻓﻘﻲ ﺑﻪ ﺳﻤﺖ ﭼﭗ‬
‫ﻣﻲ ﻟﻐﺰﺩ ‪ .‬ﻭﺍﺟﻬﺶ ﺩﺭ ﭘﻠﻪ ﻗﺎﺑﻞ ﭼﺸﻢ ﭘﻮﺷﻲ ﺍﺳﺖ ‪ .‬ﻣﻄﻠﻮﺏ ﺍﺳﺖ ﻣﺤﺎﺳﺒﻪ‬
‫ﻱ ﻣﻘﺪﺍﺭ ﺣﺪﺍﻗﻞ ‪ v1‬ﻛﻪ ﺑﻪ ﻗﻄﻌﻪ ﺍﻣﻜﺎﻥ ﻣﻲ ﺩﻫﺪ ﺁﺯﺍﺩﺍﻧﻪ ﺣﻮﻝ ‪ O‬ﻧﻮﺳﺎﻥ‬
‫ﻛﻨﺪ ﻭ ﺩﺭﺳﺖ ﺑﺎ ﺳﺮﻋﺖ ﺻﻔﺮ ﺑﻪ ﻭﺿﻌﻴﺖ ‪ A‬ﺑﺮﺳﺪ ‪ n .‬ﺩﺭﺻﺪ ﺍﺗﻼﻑ ﺍﻧﺮژﻱ‬
‫ﺭﺍ ﺩﺭ ﺣﺎﻟﺘﻲ ﻛﻪ ‪ b=c‬ﺗﻌﻴﻴﻦ ﻛﻨﻴﺪ‪.‬‬

‫‪b‬‬ ‫‪1‬‬ ‫‪c‬‬ ‫‪b‬‬ ‫‪m 2 2‬‬

‫‪( H O )1= mv1‬‬
‫‪2‬‬
‫‪,‬‬ ‫=‪H O= I O ω ⇒ ( H O ) 2= [ m(b 2 + c 2 ) + m(( ) 2 + ( ) 2 )]ω2‬‬
‫‪12‬‬ ‫‪2‬‬ ‫‪2‬‬ ‫‪3‬‬
‫‪(b + c )ω2‬‬ ‫‪ (I‬ﺑﺮﺧﻮﺭﺩ‬
‫‪b m 2 2‬‬ ‫‪3v1b‬‬
‫=‪( H‬‬
‫‪O )1‬‬ ‫‪( H O ) 2 ⇒ mv‬‬
‫=‬ ‫=⇒ ‪(b + c )ω2‬‬ ‫‪ω2‬‬
‫) ‪2(b 2 + c 2‬‬
‫‪1‬‬
‫‪2 3‬‬

‫‪1‬‬ ‫‪b‬‬ ‫‪c‬‬ ‫‪b‬‬

‫⇒ ‪T2 + V2 = T3 + V3‬‬ ‫‪I O ω22 + 0 = 0 + mg[ ( ) 2 + ( ) 2 −‬‬
‫‪2‬‬ ‫‪2‬‬ ‫‪2‬‬ ‫‪2‬‬ ‫‪ (II‬ﭼﺮﺧﺶ ﺣﻮﻝ ‪O‬‬
‫‪1m 2 2‬‬ ‫‪3v b‬‬ ‫‪mg‬‬ ‫‪g‬‬ ‫‪c2‬‬
‫= ‪(b + c )[ 2 1 2‬‬ ‫‪]2‬‬ ‫=⇒ )‪( b 2 + c 2 − b‬‬
‫‪v1 2‬‬ ‫)‪(1 + 2 )( b 2 + c 2 − b‬‬
‫‪23‬‬ ‫) ‪2(b + c‬‬ ‫‪2‬‬ ‫‪3‬‬ ‫‪b‬‬
‫‪1 2 1‬‬
‫‪∆E 2 mv1 − 2 I O ω2‬‬
‫‪2‬‬
‫‪k 2 ω2‬‬ ‫‪b2 + c2‬‬ ‫‪3b‬‬ ‫‪3‬‬ ‫‪n for b=c‬‬
‫= =‪n‬‬ ‫‪=−‬‬
‫‪1 O 2 2 =−‬‬
‫( ‪1‬‬ ‫‪)( 2 2 ) 2 =−‬‬‫‪1‬‬ ‫=‪⇒ n‬‬ ‫‪62.5%‬‬
‫‪E‬‬ ‫‪1 2‬‬ ‫‪v‬‬ ‫‪3‬‬ ‫(‪2‬‬‫‪b‬‬ ‫‪+‬‬ ‫‪c‬‬ ‫)‬ ‫‪c‬‬ ‫‪2‬‬
‫‪mv1‬‬ ‫‪1‬‬
‫) ‪4(1 + 2‬‬
‫‪2‬‬ ‫‪b‬‬
 ‫‪Conservation of‬‬ ‫ﺑﻘﺎﻱ ﺍﻧﺪﺍﺯﻩ ﺣﺮﻛﺖ‬
‫‪Momentum‬‬
‫‪ ‬ﻫﻤﺎﻥ ﻃﻮﺭ ﻛﻪ ﺩﺭ ﻣﺜﺎﻝ ﻫﺎﻱ ﻗﺒﻠﻲ ﻣﺸﺎﻫﺪﻩ ﺷﺪ‪ ،‬ﺍﮔﺮ ﺗﻜﺎﻧﻪ ﺍﻱ ﺑﻪ ﺳﻴﺴﺘﻢ ﺍﻋﻤﺎﻝ ﻧﺸﻮﺩ‪،‬‬
‫ﺍﻧﺪﺍﺯﻩ ﺣﺮﻛﺖ ﭘﺎﻳﺴﺘﻪ ﻣﻲ ﻣﺎﻧﺪ‪.‬‬
‫‪ ‬ﺍﺯ ﺁﻧﺠﺎﻳﻲ ﻛﻪ ﺍﻧﺪﺍﺯﻩ ﺣﺮﻛﺖ ﻭ ﺗﻜﺎﻧﻪ ﻫﺮ ﺩﻭ ﻛﻤﻴﺖ ﻫﺎﻱ ﺑﺮﺩﺍﺭﻱ ﺍﻧﺪ‪ ،‬ﺳﻪ ﻣﻌﺎﺩﻟﻪ ﻱ ﺍﺳﻜﺎﻟﺮ‬
‫ﻣﺴﺘﻘﻞ ﺯﻳﺮ ﻧﺘﻴﺠﻪ ﻣﻲ ﺷﻮﺩ‪.‬‬
‫‪ ‬‬ ‫)‪( L1 ) x = ( L2 ) x (I‬‬
‫=‪ L‬‬ ‫‪L2 ⇒ ‬‬
‫)‪( L1 ) y = ( L2 ) y (II‬‬
‫‪1‬‬
‫‪‬‬
‫‪‬‬
‫=( ‪( H G )1‬‬‫‪H G ) 2 or‬‬ ‫)‪( H O )1 ( H O ) 2 (III‬‬

‫‪ ‬ﺑﺎﻳﺪ ﺗﻮﺟﻪ ﺩﺍﺷﺖ ﻛﻪ ﺑﻘﺎﻱ ﺍﻧﺪﺍﺯﻩ ﺣﺮﻛﺖ ﺩﺭ ﻳﻚ ﺭﺍﺳﺘﺎ ﻫﻴﭻ ﺍﺭﺗﺒﺎﻃﻲ ﺑﺎ ﺑﻘﺎ ﻳﺎ ﻋﺪﻡ ﺑﻘﺎﻱ‬
‫ﺍﻧﺪﺍﺯﻩ ﺣﺮﻛﺖ ﺩﺭ ﺭﺍﺳﺘﺎﻫﺎﻱ ﺩﻳﮕﺮ ﺭﺍ ﻧﺪﺍﺭﺩ‪.‬‬
 ‫ﻣﺜﺎﻝ‬
‫‪ ‬ﺩﻭ ﻛﺮﻩ ﻱ ﺟﺎﻣﺪ ﺑﻪ ﺷﻌﺎﻉ ‪ 3in‬ﻛﻪ ﻭﺯﻥ ﻫﺮ ﻛﺪﺍﻡ ﺍﺯ ﺁﻥ ﻫﺎ ‪ 2lb‬ﺍﺳﺖ ﺩﺭ ﻧﻘﺎﻁ ‪ A‬ﻭ ‪ B‬ﺭﻭﻱ ﻣﻴﻠﻪ ﻱ ﺍﻓﻘﻲ‬
‫’‪ A’B‬ﻗﺮﺍﺭ ﺩﺍﺭﻧﺪ ‪ .‬ﻛﻪ ﺍﻳﻦ ﻣﻴﻠﻪ ﻣﻴﺘﻮﺍﻧﺪ ﺑﻪ ﻃﻮﺭ ﺁﺯﺍﺩﺍﻧﻪ ﺣﻮﻝ ﻣﺤﻮﺭ ﻋﻤﻮﺩﻱ ﺑﺎ ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪ ﺍﻱ ﺧﻼﻑ‬
‫ﺟﻬﺖ ﻋﻘﺮﺑﻪ ﻫﺎﻱ ﺳﺎﻋﺖ ﺑﻪ ﺍﻧﺪﺍﺯﻩ ﻱ ‪ 6rad/s‬ﺑﭽﺮﺧﺪ‪ .‬ﻛﺮﻩ ﻫﺎ ﺑﻮﺳﻴﻠﻪ ﻱ ﻃﻨﺎﺑﻲ ﺑﻪ ﻫﻤﺪﻳﮕﺮ ﻣﺘﺼﻞ ﺍﻧﺪ‬
‫ﻛﻪ ﺑﻪ ﻃﻮﺭ ﻧﺎﮔﻬﺎﻧﻲ ﺑﺮﻳﺪﻩ ﻣﻲ ﺷﻮﺩ ‪ .‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻨﻜﻪ )‪ IR=0.25(lb.ft.s2‬ﺑﺮﺍﻱ ﻣﻴﻠﻪ ﺍﺳﺖ ‪ .‬ﺗﻌﻴﻴﻦ‬
‫ﻛﻨﻴﺪ ‪:‬‬
‫ﺍﻟﻒ ( ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪ ﺍﻱ ﻣﻴﻠﻪ ﺑﻌﺪ ﺍﺯ ﺍﻳﻨﻜﻪ ﮔﻠﻮﻟﻪ ﻫﺎ ﺑﻪ ﻧﻘﺎﻁ’‪ A‬ﻭ ’‪ B‬ﺭﺳﻴﺪﻧﺪ ‪.‬‬
‫ﺏ( ﺍﻧﺮژﻱ ﻫﺪﺭ ﺭﻓﺘﻪ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺑﺮﺧﻮﺭﺩ ﻧﺎ ﻛﺸﺴﺎﻥ ﮔﻠﻮﻟﻪ ﻫﺎ ﻭ ﻧﮕﻪ ﺩﺍﺭﻧﺪﻩ ﻫﺎﻱ ’‪ A‬ﻭ ’‪. B‬‬
 ‫ﺍﺩﺍﻣﻪ ﻱ ﻣﺜﺎﻝ‬

Syst.Momenta1 + Syst.Ext.Im p1→2 =

Syst.Momenta2
2(ms r1ω1 )r1 + 2 I S ω1 + I R ω
=1 2(ms r2 ω2 )r2 + 2 I S ω2 + I R ω2
(2ms r12 + 2 I S +=
I R )ω1 (2ms r2 2 + 2 I S + I R )ω2
2 2 2 3 2
=IS = ms a 2 ( =
)( ) 0.00155(lb. ft.s 2 )
5 5 32.2 12
2 5 2 25
=ms r12 (= )( ) 2 0.0108 , = ms r2 2 ( = )( ) 2 0.2696
32.2 12 32.2 12
=I R 0.25 ,= ω1 6 ⇒ 0.275 × 6=0.792ω2 = ⇒ ω2 2.08
1 1 1 1
=T 2( ms v 2 + I S ω2 ) + = I R ω2 (2ms r 2 + 2 I S + I R )ω2
2 2 2 2
1 1
T1 = (0.275)(6) 2 =4.95 T2 = (0.792)(2.08) 2 = 1.713 T =T2 − T1 =−3.24( ft.lb)
2 2
‫‪Eccentric Impact‬‬ ‫ﺑﺮﺧﻮﺭﺩ ﻏﻴﺮ ﻣﺮﻛﺰﻱ‬
‫ﺍﻧﻮﺍﻉ ﺑﺮﺧﻮﺭﺩ‬

‫ﺑﺮﺧﻮﺭﺩ ﻏﻴﺮ ﻣﺮﻛﺰﻱ‬ ‫ﺑﺮﺧﻮﺭﺩ ﻣﺮﻛﺰﻱ‬

‫ﻣﺮﻛﺰﻱ‬

‫ﻓﻘﻂ ﺑﺮﺍﻱ ﺍﺟﺴﺎﻡ ﺻﻠﺐ ﻣﻲ‬

‫ﻣﺴﺘﻘﻴﻢ‬
‫ﺗﻮﺍﻧﺪ ﺭﺥ ﺩﻫﺪ‬

‫ﻏﻴﺮ‬ ‫ﻏﻴﺮ ﻣﺮﻛﺰﻱ‬

‫ﻣﺴﺘﻘﻴﻢ‬ ‫ﻏﻴﺮ ﻣﺴﺘﻘﻴﻢ‬
‫ﻣﺴﺘﻘﻴﻢ‬
 ‫‪Eccentric Impact‬‬ ‫ﺑﺮﺧﻮﺭﺩ ﻏﻴﺮ ﻣﺮﻛﺰﻱ‬
‫‪ ‬ﺑﺮﺧﻮﺭﺩ ﻏﻴﺮﻣﺮﻛﺰﻱ‪ ،‬ﺑﻪ ﺑﺮﺧﻮﺭﺩﻱ ﮔﻔﺘﻪ ﻣﻲ ﺷﻮﺩ ﻛﻪ ﺧﻂ ﻭﺍﺻﻞ ﻣﺮﺍﻛﺰ ﺟﺴﻢ ﺍﺟﺴﺎﻡ ﺻﻠﺐ‬
‫ﺑﺮﺧﻮﺭﺩ ﻛﻨﻨﺪﻩ‪ ،‬ﻣﻨﻄﺒﻖ ﺑﺮ ﺧﻂ ﺑﺮﺧﻮﺭﺩ ﻧﺒﺎﺷﺪ‪.‬‬
‫‪ ‬ﻫﻤﺎﻥ ﻃﻮﺭ ﻛﻪ ﭘﻴﺶ ﺗﺮ ﻣﻌﺮﻓﻲ ﺷﺪ‪ ،‬ﺑﺮﺧﻮﺭﺩ ﺷﺎﻣﻞ ﺩﻭ ﺑﺎﺯﻩ ﻱ ﺯﻣﺎﻧﻲ ‪Deformation Period‬‬
‫ﻭ ‪ Restitution Period‬ﻣﻲ ﺑﺎﺷﺪ‪.‬‬
‫‪ ‬ﺿﺮﻳﺐ ﺍﺳﺘﺮﺩﺍﺩ ﺑﻪ ﺻﻮﺭﺕ ﻧﺴﺒﺖ ﺗﻜﺎﻧﻪ ﻱ ﻭﺍﺭﺩ ﺷﺪﻩ ﺩﺭ ﺑﺎﺯﻩ ﻱ ﺯﻣﺎﻧﻲ ﺍﺳﺘﺮﺩﺍﺩ ﺑﻪ ﺗﻜﺎﻧﻪ ﻱ ﻭﺍﺭﺩ‬
‫ﺷﺪﻩ ﺩﺭ ﺑﺎﺯﻩ ﻱ ﺯﻣﺎﻧﻲ ﺗﻐﻴﻴﺮ ﺷﻜﻞ‪.‬‬

‫‪ ‬ﻫﻤﺎﻥ ﻃﻮﺭ ﻛﻪ ﺩﺭ ﺷﻜﻞ ﻫﺎﻱ ﺯﻳﺮ ﻣﺸﺎﻫﺪﻩ ﻣﻲ ﺷﻮﺩ‪ ،‬ﺩﺭ ﻟﺤﻈﻪ ﺍﻱ ﻛﻪ ﺗﻐﻴﻴﺮ ﺷﻜﻞ ﻫﺎ ﺑﻪ ﺣﺪﺍﻛﺜﺮ‬
‫ﺧﻮﺩ ﻣﻲ ﺭﺳﻨﺪ‪ ،‬ﺳﺮﻋﺖ ﻧﻘﺎﻁ ﺗﻤﺎﺱ ﺍﺯ ﻫﺮ ﻳﻚ ﺍﺯ ﺍﺟﺴﺎﻡ ﺻﻠﺐ ﺑﺎ ﻫﻢ ﺑﺮﺍﺑﺮ ﻣﻲ ﺷﻮﺩ‪.‬‬
 Eccentric Impact ‫ﺑﺮﺧﻮﺭﺩ ﻏﻴﺮ ﻣﺮﻛﺰﻱ‬
‫ ﺩﺭ ﺍﻳﻦ ﺍﺳﻼﻳﺪ ﻧﺸﺎﻥ ﻣﻲ ﺩﻫﻴﻢ ﻛﻪ ﺭﺍﺑﻄﻪ ﺍﻱ ﻛﻪ ﺩﺭ ﺑﺮﺧﻮﺭﺩ ﻣﺮﻛﺰﻱ ﺑﺮﺍﻱ ﺿﺮﻳﺐ‬
.‫ ﻣﻌﺘﺒﺮ ﻣﻲ ﻣﺎﻧﺪ‬،‫ﺍﺳﺘﺮﺩﺍﺩ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻳﻢ‬

=e
∫=Rdt un − vn'
(From (I) &(III)) 
mv n − ∫ Pdt
mu n − ∫ Rdt
= mun (I) = mVn' (III)
⇒
∫ Pdt vn − un  (un ± r ω* ) − (vn' ± rω' )
  ⇒e=
(vn ± r ω) − (un ± r ω* )
 I ω − ∫ rPdt = I ω (II)
*
 I ω − ∫ rRdt = I ω (IV)
'
= e
∫=Rdt ω* − ω' 
(From (II) & (IV)) 
∫ Pdt ω − ω* 

(u A ) n − (v A' ) n 
For A: e = 
(v A ) n − (u A ) n  (vB' ) n − (v A' ) n
⇒e=
(uB ) n − (vB' ) n  ( v A ) n − ( vB ) n
For B: e =
(vB ) n − (uB ) n 
 ‫ﻣﺜﺎﻝ ‪1‬‬
‫‪ ‬ﻣﻴﻠﻪ ﻱ ﺑﺎﺭﻳﻚ‪ AB‬ﺍﺯ ﺣﺎﻝ ﺳﻜﻮﻥ ﻣﺎﻧﻨﺪ ﺷﻜﻞ ﺭﻫﺎ ﻣﻲ ﺷﻮﺩ ‪ .‬ﻣﻲ‬
‫ﭼﺮﺧﺪ ﺗﺎ ﺑﻪ ﺣﺎﻟﺖ ﻋﻤﻮﺩﻱ ﺑﺮﺳﺪ ﻭ ﺑﻪ ﻣﻴﻠﻪ ﻱ ﻫﻤﺎﻧﻨﺪ ﺩﻳﮕﺮﻱ ﺑﻪ ﺍﺳﻢ‬
‫‪ CD‬ﻛﻪ ﺭﻭﻱ ﺳﻄﺢ ﺑﺪﻭﻥ ﺍﺻﻄﻜﺎﻛﻲ ﻗﺮﺍﺭ ﺩﺍﺭﺩ ﺑﺮﺧﻮﺭﺩ ﻣﻲ ﻛﻨﺪ ‪ .‬ﺑﺎ‬
‫ﻓﺮﺽ ﺍﻳﻨﻜﻪ ﺿﺮﻳﺐ ﺍﺳﺘﺮﺩﺍﺩ ﺑﻴﻦ ﺩﻭ ﻣﻴﻠﻪ ‪ 0.4‬ﺑﺎﺷﺪ ﺳﺮﻋﺖ ﻣﻴﻠﻪ ﻱ‬
‫‪ CD‬ﺭﺍ ﺩﺭﺳﺖ ﺑﻌﺪ ﺍﺯ ﻟﺤﻈﻪ ﻱ ﺑﺮﺧﻮﺭﺩ ﺗﻌﻴﻴﻦ ﻛﻨﻴﺪ‪.‬‬

‫⇒‬
 ‫ﺍﺩﺍﻣﻪ ﻱ ﻣﺜﺎﻝ ‪1‬‬

‫⇒‬
 ‫ﻣﺜﺎﻝ ‪2‬‬
‫‪ ‬ﮔﻠﻮﻟﻪ ﺍﻱ ﺑﻪ ﺟﺮﻡ ‪ 2Kg‬ﻛﻪ ﺑﻪ ﻃﻮﺭ ﺍﻓﻘﻲ ﺑﻪ ﺳﻤﺖ ﺭﺍﺳﺖ ﺣﺮﻛﺖ ﻣﻲ ﻛﻨﺪ ﺩﺍﺭﺍﻱ‬
‫ﺳﺮﻋﺖ ﺍﻭﻟﻴﻪ ﻱ ‪ 5m/s‬ﺍﺳﺖ ﻛﻪ ﺑﻪ ﺍﻧﺘﻬﺎﻱ ﭘﺎﻳﻴﻨﻲ ﻣﻴﻠﻪ ﻱ ‪ AB‬ﺑﻪ ﺟﺮﻡ ‪8Kg‬‬
‫ﺑﺮﺧﻮﺭﺩ ﻣﻲ ﻛﻨﺪ ‪ .‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻨﻜﻪ ﺿﺮﻳﺐ ﺍﺳﺘﺮﺩﺍﺩ ﺑﻴﻦ ﻣﻴﻠﻪ ﻭ ﮔﻠﻮﻟﻪ ‪ 0.8‬ﺍﺳﺖ‬
‫ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪ ﺍﻱ ﻣﻴﻠﻪ ﻭ ﺳﺮﻋﺖ ﮔﻠﻮﻟﻪ ﺩﺭﺳﺖ ﺩﺭ ﻟﺤﻈﻪ ﻱ ﺑﻌﺪ ﺍﺯ ﺑﺮﺧﻮﺭﺩ ﺭﺍ‬
‫ﺗﻌﻴﻴﻦ ﻛﻨﻴﺪ‪.‬‬

‫=‪moment about A : ms‬‬

‫' ‪vs (1.2) ms v 's (1.2) + mR v 'R (0.6) + I ω‬‬
‫‪1‬‬ ‫‪1‬‬
‫=‬‫‪I‬‬ ‫=‬ ‫‪ml 2‬‬ ‫=‬
‫)‪(8)(1.2‬‬ ‫‪2‬‬
‫) ‪0.96(kg .m 2‬‬
‫‪12‬‬ ‫‪12‬‬
‫)‪⇒ 2(5)(1.2‬‬
‫' ‪= 2(v 's )(1.2) + 8(0.6)(ω ')(0.6) + (0.96)ω‬‬
‫‪⇒ 12‬‬
‫' ‪= 2.4v 's + 3.84ω‬‬
‫)‪v 'B − v 's = e(vs − vB ) ⇒ v 'B − v 's = 0.80(5‬‬ ‫‪,‬‬ ‫=' ‪v‬‬
‫‪B‬‬ ‫' ‪1.2ω‬‬
‫‪rad‬‬ ‫‪m‬‬
‫‪⇒ ω ' = 3.21‬‬ ‫‪,‬‬ ‫‪v 'S = −0.143‬‬ ‫←‬
‫‪s‬‬ ‫‪s‬‬
 ‫‪Chapter Review‬‬ ‫ﻣﺮﻭﺭ ﻓﺼﻞ‬
‫• ﺍﺻﻞ ﻛﺎﺭ ﻭ ﺍﻧﺮژﻱ‬ ‫• ﻣﻌﺎﺩﻻﺕ ﺣﺎﻛﻢ ﺑﺮ ﺣﺮﻛﺖ ﺍﺟﺴﺎﻡ‬
‫• ﻛﺎﺭ ﻧﻴﺮﻭﻫﺎ ﻭ ﺯﻭﺝ ﻧﻴﺮﻭ ﻫﺎ‬ ‫ﺻﻠﺐ‬
‫• ﺍﻧﺮژﻱ ﺟﻨﺒﺸﻲ ﺍﺟﺴﺎﻡ ﺻﻠﺐ‬ ‫• ﻣﻌﺎﺩﻻﺕ ﺣﺮﻛﺖ ﺻﻔﺤﻪ ﺍﻱ‬
‫• ﭼﺮﺧﺶ ﺣﻮﻝ ﻣﺤﻮﺭ‬ ‫• ﻣﻌﺎﺩﻻﺕ ﻣﻤﺎﻥ ﺩﻳﮕﺮ‬
‫ﺧﺎﺭﺝ ﺍﺯ ﻣﺮﻛﺰ ﺟﺮﻡ‬ ‫• ﺭﻭﺵ ﺣﻞ ﻣﺴﺎﺋﻞ ﺷﺎﻣﻞ ﺣﺮﻛﺖ‬
‫• ﺑﻘﺎﻱ ﺍﻧﺮژﻱ‬ ‫ﺟﺴﻢ ﺻﻠﺐ‬
‫• ﺗﻮﺍﻥ‬ ‫ﺭﻭﺵ ﻫﺎﻱ‬ ‫• ﺣﺮﻛﺖ ﺍﻧﺘﻘﺎﻟﻲ‬
‫ﻧﻴﺮﻭ‪ -‬ﺷﺘﺎﺏ‬ ‫• ﺩﻭﺭﺍﻥ ﺣﻮﻝ ﻣﺮﻛﺰ ﺟﺮﻡ‬
‫ﺍﻧﺮژﻱ‬ ‫• ﺣﺮﻛﺖ ﺻﻔﺤﻪ ﺍﻱ ﺩﺭ ﺣﺎﻟﺖ‬
‫ﻛﻠﻲ‬
‫• ﺣﺮﻛﺎﺕ ﻣﻘﻴﺪ‬
‫• ﭼﺮﺧﺶ ﺣﻮﻝ ﻣﺤﻮﺭﻱ ﺧﺎﺭﺝ‬
‫ﺍﺯ ﻣﺮﻛﺰ ﺟﺮﻡ‬

‫ﺗﻜﺎﻧﻪ ﻭ ﺍﻧﺪﺍﺯﻩ‬ ‫• ﺣﺮﻛﺖ ﻏﻠﺘﺸﻲ‬

‫ﺑﺮﺧﻮﺭﺩ‬
‫• ﺍﺻﻞ ﺗﻜﺎﻧﻪ ﻭ ﺍﻧﺪﺍﺯﻩ ﺣﺮﻛﺖ‬
‫• ﺍﻧﺪﺍﺯﻩ ﺣﺮﻛﺖ ﺧﻄﻲ‬
‫ﺣﺮﻛﺖ‬
‫• ﺍﻧﺪﺍﺯﻩ ﺣﺮﻛﺖ ﺯﺍﻭﻳﻪ ﺍﻱ‬
‫• ﺩﻭﺭﺍﻥ ﺣﻮﻝ ﻣﺤﻮﺭ ﺧﺎﺭﺝ ﺍﺯ‬
‫ﻣﺮﻛﺰ ﺟﺮﻡ‬ ‫• ﺑﺮﺧﻮﺭﺩ ﻏﻴﺮ ﻣﺮﻛﺰﻱ‬