15

15.
. .
. .
, .
. .
. .

§1.

,
( ),
:
dv dN
∑ mi vi 1
m V∫
m c = F; =M, vc = i
vc = vdm . (1)
dt dt ∑ mi
i
,
: 1) vi 2) r
,
. , ,
3 . 6
, .

§2. .

) Z . v =0, (1)
. .

.
Z ,
, ,
ri ( . 1).
F,
,
.1 . F
3 ( . ): Fn
( ri), F||
, Z , ,
F, F.
F =Fi = ri⋅Fi ( , sin900=1)
, (“ ”) :

1
 15

dAi =Fidli = Fi⋅ridα = Midα A = ∑ M i dα = M ⋅ dα . |M|

i α
, , ,
( 2- , Fi=miai):
M = ∑ ri Fi = r1m1a1+ r2m2a2+ … = {a = ε⋅r} = ε⋅(m1r12 + m2r22 + …) =
= ε⋅(I1+I2+ …) = ε⋅I. (2)
: I =m ⋅r 2
. – .

( ) , ,
I = ∑ I i = ∑ mi ri2 .
i i
(2) .
, , .
(2), .1, z,
Z, :
z = ε⋅Iz (2 )
ε ω,
Z :
d
Mz = Iz = I . (3)
dt
(3)
. 2-
:

( ) , .

) ( “ ”),
( const),
r. 2- (3)
, :
d
M= (I ⋅ ) Mdt = d ( I ⋅ ) – (4)
dt
,
( , : Fdt=dp).
=0, ⋅ω = const,

( )
:
1ω1 = 2ω2. (4 )
( : )

2
 15

, ω=N ( ) (4)
(1), ,
r v=ωr:
v
Iω = mr 2 = r ⋅ mv = r ⋅ p = N . (5)
r

1. I = ∑ mi ri2 – ,
,
. , ε( =const).
2. I = ∑ I i – : =
.
3. I = ∑ mi ri2 ,
,
I = ∫ r 2 dm . (6)
4. .

,
, (
, ).
0, ρ –
0, ω -
( 0)
.2). v =ω×ρ ,
0
N =∑ i × mivi = ∑ mi i ×( × i) =
A×(B×C)=B(A⋅C)-C(A⋅B)
= ∑ miρi2 − ∑ mi i( i ⋅ ).

:
.2
N x = ωx ∑ miρ2i − ∑ mi xi ( i ⋅ ) ,
 (ρ ⋅ω) ω ω +z ωz ,
N y = ωy ∑ miρi − ∑ mi y i ( i ⋅ ) ;
2

 ρi2 = xi2 + yi2 + zi2

N z = ωz ∑ miρ2i − ∑ mi zi ( i ⋅ )
N x = ∑ mi (ρi2 − xi2 ) ⋅ ωx − ∑ mi xi y i ⋅ ωy − ∑ mi xi zi ⋅ ωz

N y = −∑ mi yi xi ⋅ ωx + ∑ mi (ρi − yi ) ⋅ ωy − ∑ mi y i zi ⋅ ωz .
2 2
(7)

N z = − ∑ mi zi xi ⋅ ωx − ∑ mi zi y i ⋅ ωy + ∑ mi (ρi − zi ) ⋅ ωz
2 2

3
 15

N– , ( ) ω–
(N=Iω). :
I xx = ∑ mi (ρi − xi ) = ∑ mi (xi + yi2 + zi2 − xi2 ) = ∑ mi ( yi2 + zi2 ) ;
2 2 2

I yy = ∑ mi (xi2 + zi2 ) , I zz = ∑ mi (xi2 + yi2 ) ; (8)

.
I xy = I yx = − ∑ mi xi yi ; I xz = I zx = −∑ mi xi zi ; I yz = I zy = −∑ mi yi zi . (9)
.
(7) :
N x = I xx ⋅ ωx + I xy ⋅ ωy + I xz ⋅ ωz

N y = I yx ⋅ ωx + I yy ⋅ ωy + I yz ⋅ ωz . (7 )

N z = I zx ⋅ ωx + I zy ⋅ ωy + I zz ⋅ ωz
: N
( )
ω.
j ,
 I xx I xy I xz 
 
: I =  I yx I yy I yz  . (10)
 
 I zx I zy I zz 
– : ,
, ,
,
. (
), :
( ) ( ).
=0, ,
.
,
, .
,
– ( 1, 2, 3).
(
), .

. ,
3 ( 1 2 3) –
( ,
). 2 , 3- –
( 1 2 3), ( ,
). 3 ( 1 2 3),

4
 15

( ) (
).
,
. ,
, .
,
, .

§3. .

.3). , .
zz. dm r
Z. (6) :
I zz = ∫ r dm = ∫ ( x + y )dm = ∫ ( x + y )ρ( x, y , z )dV = ρ ∫ ( x + y )dxdydz .
2 2 2 2 2 2 2
(11)
(dm)-
dxdy.
.

dV=2cdxdy,
-
dm=ρdV=ρ2cdxdy,
Z.

dIzz =2 ρ( 2+ 2)dxdy.

.3 zz 2 ,
2 dy:
a
a 2 a

dI zz 2 2

= 2ρc ∫ (x + y )dxdy = 2ρcdy  ∫ x dx + ∫ y 2 dx  =
−a  −a −a 
 x3 a   a 3 a3  4
= 2ρcdy  2 a 
+y x = 2ρcdy  + + y 2 a − (− y 2 a)  = ( ρca 3 + 4ρcay 2 )dy .
 3 −a 
3 3  3
 −a 
:
b
4 4 4
I zz = ∫ ( ρca 3 + 4ρcay 2 )dy = ρc (a 2 a )2b + ρc 2 a(b 2 b) =
−b 3 3 3
1 1
= ρ ⋅ (2a )( 2b)( 2c ) ⋅ ( a 2 + b 2 ) ⇒ I zz = m( a 2 + b 2 ) . (11 )
3 3
1 1
: I xx = m(c 2 + b 2 ) , I yy = m( a 2 + c 2 ) . (11 )
3 3

5
 15

(b ) (
, . 3), :
1 1 1
I zz = m( a 2 + b 2 ) , I xx = m( c 2 + b 2 ) , I yy = m( a 2 + c 2 ) .
12 12 12

:
( /2 ),
, .
2 2
dIzz =ρ ( + )dxdy,
a/2
 a/2 2 a/2

dI zz = ρa ∫ (x + y )dxdy = ρa ∫ x dx + y ∫ dx dy =
2 2 2

−a / 2  −a / 2 −a / 2 

 1 a3 a 3 2 a a  ρa 4

= ρa [ − ( − ) ] + y ( + ) dy = (  + ρa 2 y 2 )dy ;
3 8 2 2 2  12
a/2
ρa 4 ρa5 ρa5 2 3 2 1 2
I zz = ∫ ( + ρa y )dy =
2 2
+ = ρa a = ma . ( = xx = Iyy )
−a / 2 12 12 12 12 6
Ixy
dxdy :
dI xy . = −xydm = −ρxydV = −ρxy 2cdxdy , ( dIxy .= –ρxy⋅adxdy)

. 3) dy (
 a ( − a) 2 
a 2
I xy = −2cρydy ∫ xdx = −2cρ −  ydy = 0 , ( )
−a  2 2 
=0.
,
( ),
.
, 2-
, , ( , )
( . 4).
( ) (1,3)
(2,4) ,
( )
.

.4
– .
, <<(a b),
(11 ) (11 ) :
1 1 1
I xx = mb 2 , I yy = ma 2 , I zz = m( a 2 + b 2 ) = I xx + I yy .
3 3 3

6
 15

, ,
Nx = Ixωx , Ny = Iyωy , Nz = Izωz
( ), N = Iω –
N ω . N ω
.

.
,
.
.
.
(xi,yi,zi)
(xi,yi,-zi), z Izx (
) - ∑ mi xi zi , ,
z. =0.
, : y = Iyx = yz = Izy = z = Izx = 0.
,
0 (11).

, , ,
( ).
(ϕ, , r). ?

– (7) (8). ,
∑ mi xi = ∑ mi yi = ∑ mi zi2 (
2 2
, (8),
, , z,
, ). ( yi , zi )
–r , : ri = xi2 + yi2 + zi2 .
2

∑ miri2 = ∑ mi xi2 + ∑ mi yi2 + ∑ mi zi2 = 3∑ mi xi2 ,

1
∑ mi xi2 = 3 ∑ mi ri2 . ( ∑ mi ri –
2
?)
i i i

, ,
(ϕ, , r):
I xx = I yy = I zz = ∑ mi ( yi2 + zi2 ) = ∑ mi ( xi2 + zi2 ) = ∑ mi ( yi2 + xi2 ) =
1 1 2
= ∑ mi yi2 + ∑ mi xi2 = 3 ∑ mi ri2 + 3 ∑ mi ri2 = 3 ∑ mi ri2 = I0 .
dm ,
r( 0 R) ϕ( 0 360 ) o
( -90 +90 ).

7
 15

,
( dr): dm = ρdV = ρ⋅ r2dr.
2 2 2 R 2 2 R5 2 4 3 2 3
I 0 = ∫ r dm = ρ ∫ r 4πr dr = ρ4 π
2
= (ρ ⋅ πR 3 ) ⋅ R 2 = ⋅ mR 2 ,
3m 3 0 3 5 3 3 5 3 5
2
I 0 = mR 2 . ,
5 ( )

,
( Z). dm “ ”
dr b( . 5):
2
dI0 = r dm, dm = ρdV=ρb⋅ r⋅dr,
R
R4 2 R
2
1
I 0 = 2 πρb ∫ r dr = ρb2 π
3
= ρ ⋅ bπR = mR 2 .
0 4 2 2

:
∑ mi xi2 = ∑ mi yi2 , ∑ miri2 = ∑ mi xi2 + ∑ mi yi2 = 2∑ mi xi2
.5 ( ri2 = xi2 + yi2 ), I 0 = I zz = ∑ mi ( yi2 + xi2 ) = 2∑ mi xi2 = ∑ mi ri2
– ( , ). –
b.
,
) , : 1) ;
2) , = .
I xx = ∑ mi ( y i2 + zi2 ) , I yy = ∑ mi ( xi2 + zi2 ) . ( , ), z =0,
I xx = ∑ mi y i2 ; I yy = ∑ mi xi2 I zz = ∑ mi ( y i2 + xi2 ) = Iyy+Ixx=2Ixx ( 2Iyy)
1 1 1 1
⇒ I xx = I zz . I zz = I 0 = mR 2 , I xx = mR 2 ( I yy = mR 2 ).
2 2 4 4
: ,
(Z), ,
(X Y), .

, .
“ ”
dmi
dri ( . 6)
:

I = 2 ∑ ri2 dmi I = 2 ∫ r 2 dm ;
.6 i

8
 15

dm = ρdV = ρSdr;
l/2 l/2
r3 l3 l2 l2 1
I = 2ρS ∫ r 2 dr = 2ρS = 2ρS = ρ ⋅ Sl = ρV = ml 2 .
0 30 24 12 12 12

§4. .

v ω.
v = v +[ω′⋅ri′],
1 1 ω′ ri′ –
E =
2
∑ mi vi2 = ∑ mi (vc + [ ′ ⋅ ri′]) 2 =
2
(12)
, ′ ,
1 1
= ∑ mi vc2 + ∑ mivc ⋅ [ ′ ⋅ ri′] + ∑ mi ([ ′ ⋅ ri′]) 2 . .
2 2
(12) ; 2-
∑ mivc ⋅ [ ′ ⋅ ri′] = vc ⋅ [ ′ ⋅ ∑ miri′] = vc ⋅ [ ′ ⋅ 0] = 0 ,
(r ′⋅m), rc′=0 ′ .
, , ,
:
[A⋅B]⋅[C⋅D]=(A⋅C)(B⋅D)-(A⋅D)⋅(B⋅C): ( × ri )2 = ( × ri ) ⋅ ( × ri ) = ω2ri2 − ( ⋅ ri ) 2 ,
, (ω⋅ri)2=(ωxxi+ωyyi+ωzzi)2, ω2 = ω2x + ω2y + ω2z , ri2 = xi2 + yi2 + zi2 .
1
: E = ∑
2 i
mi (ω2 ri2 − ( ⋅ ri ) 2 ) ; :

1 2 2
 (ωx + ωy + ωz )∑ mi (xi + y i + zi ) − ∑ mi (ωx xi + ωy y i + ωz zi )  =
2 2 2 2 2
=
2 i i 
1
= (ω2x I xx + ω2y I yy + ω2z I zz + 2ωx ω y I xy + 2ωx ω z I xz + 2ω y ω z I yz ) . (12 )
2
, ,
:
1. ( )
1 I ω 2
E = 0 (ω 2x + ω 2y + ω2z ) = 0 . (13)
2 2
2. , ,
, ( ω = ω ,0,0),
I ω 2
E = x . (13 )
2

9
 15

3. ,

.
v ω' ,
: v = v +v ′ = v +ω'×r' , r'i – ,
, , .
, (12) (ω×r) = (ω⋅r) = ω r ,
2 2 2 2
(12 )
( ),
:
I c ω2
mvc2
E = +E = + , (14)
2 2
– ,
.

§5. .

.
, :
0
, ,
d :
I = I 0 + md 2 . (15)

ω Z (“ ”
, –
( ),
: ,
.6
(
),
(14) ) d ,
:
ω=ϕ/t Z',
, ( Z') Z
ω=ϕ/t, – v =ωd ( .
. 6). ,
.
:
I zω
2
mvc2 I z′ω2 m(ω ⋅ d )2 I 0ω2
E = E = + = + .
2 2 2 2 2
, :

10
 15

I zω2 md 2 ⋅ ω2 I 0ω2
= + ⇒ I z = md 2 + I 0 .
2 2 2
, ,
, . ,
0,
.

1. m
2. a . ε
3. v ω
4. F =[r⋅F]
5. v N=Iω; (N=[r⋅F])
6. d . . . . d
2- (mv) = F ., 2- . (I ) = M
=F dt I⋅ε = M
dt
7. mv 2 Iω2
2 2
8. l l
A = ∫ Fdl A = ∫ Mdϕ
0 0

9. .
=F⋅l = ⋅ϕ
10. N N=F⋅v N=Mω
11. =∆ =∆
12. . . =-∆U=
=-∆U= mg∆h
mg∆h
13. . : . .: Dϕ22 Dϕ12
kx22 kx12 . A = −( − )
A = −( − ) 2 2
F = -kx 2 2 M = -Dϕ
14. x=x0+v0xt+axt2/2 ϕ=ϕ0+ω0zt+εzt2/2
vx = v0x + axt ( ,Y) ωz = ω0z + εzt

11