GVHD: PGS. TS.

TRNG TCH THIN

BI TP C HC
Tp Hai: NG LC HC
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
15
0
.
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.
15
0

y
x
N

c
F

hnh 1.2

- Dng tin 2 ng lc hc im:
( )
4
1
. 1
k
k
c
T N a P F m F
=
+ + = = +

- Trng hp 1:
+ Tin 2 tr thnh:
+ Chiu phng trnh (2) ln trc y.
+ Ta c:
+ Chiu (2) ln trc x:
+ Xe chuyn ng thng u nn 0 a =
( )
0 2
c
T P N F + + = +
0 cos
.cos . .cos
P
N P m
N
g
o
o o
= +
= =
0 .sin
.sin . .sin . . .cos
c
c
P F
T P F mg f mg
T o
o o o
= + +
= =
. . . .cos
c
F f N f m g o = =
- Trng hp 2:
( )
( )
( )
. . sin .cos
700.9,81 sin15 0,15.cos15
1677,8
T m g f
N
o o =
=
~
+ Xe chuyn ng thng chm dn u ( )
a const =
1 0
. v a t v = +
Ta c:
1
0
0 ; 4
1, 6
v m s t s
v m s
= =
=
2
0
1, 6
0, 4 0
4
v
a m s
t
= = = <
+ Chiu (1) ln trc x,y:
. .sin
0 .cos
c
ma P F T
N P
o
o
= + +

= +

. . . .cos
c
f N f m g F o = =
( )
sin .cos
. .sin
.
c
a g f
T ma P F
m o o
o
( +

= +
=
( )
( )
700 0, 4 9, 81 sin15 0, 015.cos15
1957, 8 N
( = +

=
Bi tp 1:
Cho: . B qua lc cn ca khng kh v khi lng
l xo. Xc nh qui lut chuyn ng ca vt A.
0 0
, , , k m x
k
A
O
x
0
x
0
P
hinh 1
t
o
Bi sa
- Xc nh lung gin l xo khi h cn bng ( gin tnh)
- Chn trc c gc ti v tr cn bng ca vt A, c
phng thng ng v chiu dng hng xung.
Ox
s
F
P
( )
0 1
s jx
F F P = =

.
s
F P m g = =
M: .
s t
F k o =
.
s
t
F m g
k k
o = =
- Chn lc l xo b gin thm mt lng : 0 t s =
0
x
( )
( )
0 0
0
0
0
= =

= =

v m s x
x t x
hinh 1.1
- Kho st chuyn ng ca vt A ti mt v tr bt k:
+ p dng tin 2 ng lc hc:
+ Chiu (2) ln trc Ox:
( )
2
1
. 2
=
= = +
k S
k
ma F P F
( )
. . .
. . .
. . 0
s
t
m x P F m g k
m x m g k x k x
m x k x
o
o
= =
= + =
+ =
( )
2
. 0 3 x x o + =
Vi:
k
m
o =
Dng nghim tng qut:
Vy vt dao ng iu ho:
( )
0
.sin x A t o = +
A v c tm t cc iu kin ban u:
0

( )
0
0 0
0
0
.sin
0 :
. .cos 0
. .cos 0
x x A
t
A t
A
x
s
t

o o
o
= =
=
= + =
= =
0 0
cos 0
2
t
= =
0
A x =
0
.sin
2
x x t
t
o
| |
= +
|
\ .
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
10 s m =
P
hnh 1.5
Bi sa
- Kho st chuyn ng ca xe:
+ S dng tin 2 ng lc hc:
hnh 1.5.1
ms
F
P
1
a
1
v
1
N
x
y
( )
1 1 1
1
ms
ma P F N = + +
+ Chiu (1) ln :
, x y
- Kho st s cn bng ca ph:
( )
( )
1
1
1
2
0 3
ms
P
F
N
ma =

= +

( )
1
3 N P =
+ Ta c:
2 2
0 1
1
2
0 36 2 .10
v v a s
a
=
=
2
1
1,8 0 a m s = <
+ Thay
( )
2
1,8 2 : a m s = vo
( )
1 1
6000.1,8
10800
= =
=
mst
F ma
N
x
y
Q
1
N
2.T
N
ms
F
hnh 1.5.2
( )
*
2 0 5 = + =
jx mst
F T F
( )
*
10800
5400
2 2
= = =
mst
F
T N
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 o nh hnh
v. Cho bit: Hy xc nh
moment qun tnh ca thanh AB i vi trc x, y,z v tm O
(thanh AB nm trong mt phng Oyz).
, , , , . = = m OA a OB b o
A
B
z
O
o
K
u
du
u
k
d
z
Hnh II.2b
x
ky
d
y
A
B
z
O
o
Hnh II.2a
x
y
Bi sa
- Khi lng ring ca thanh:
( ) ( )
2 2 2 2 2
1
. . . .sin sin

=

= = =

} }
b b
k k
k
a a
J m d du u u du o o
z z
, =
m
kg m
- Kho st mt cht im K trn thanh:
+ Chiu di:
+ Khi lng im K:
du
.
k
m du =
. sin
. cos
o
o
=

k
ky
kx
d u
d u
d u
z
- Moment qun tnh ca ton thanh i vi trc z :
- Dng h trc Oxyz sao cho thanh nm trong Oyz.
Dng trc Ou c phng trng AB v c chiu nh hnh
v.
( )
( )
( )
( )
3
2 2 3 3
2 2 2
2 2 2
sin . sin
3 3
sin
3
sin
3
= = +

(
= + +

= +
b
m u m
J b a
a
m
a b a ab b
m
a ab b
o o
o
o
z
( ) ( )
2 2 2
y
1
2 2
. . . . cos
cos
o
o

= =
=

}
}
b
k ky
k
a
b
a
J m d du u
u du
- Moment qun tnh ca ton thanh i vi trc y:
( )
( )
( )
( )
3
2 2 3 3
y
2 2 2
2 2 2
cos . cos
3 3
cos
3
cos
3
o o
o
o
= = +

(
= + +

= +
b
m u m
J b a
a
m
a b a ab b
m
a ab b
( ) ( )
( )
2 2 2
x
1
3
3 3 2 2
2 2
. . .
3 ( )( )
3 3
( )
3

= = =
(
= = + = + +
(

= +

} }
b b
k kx
k
a a
b
a
J m d du u u du
u
b a a b a ab b
m
a ab b
- Moment qun tnh ca ton thanh i vi trc x:
( ) ( )
2 2
O
1
2 3
= + + = +
x y
m
J J J J a ab b
z
- Moment qun tnh ca ton thanh i vi tm O:
Vy: J
O
= J
x
.
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 m
A
, m
B
. 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).
a b >
A
B
b
Hnh II.3
Bi sa
O
a
0
B
C
b
A
C
B
C
x
y
0
A
C
0
B
C
x
0
A
C
x
A
s
A
C
x
B
C
x
A
P
N
B
P
/ 3 a
3
b
Hnh II.3.1
- Dng h trc Oxy nh hnh v.
- Gi:
+ Khi tm ca vt A, vt B va ton h: C
A
, C
B
, C
+ on ng chuyn ng ca vt A khi B chm mt
phng c nh: s
A
+ Ta x ca cc khi tm:
0 0
; ; ;
A B
A B
C C
C C
x x x x
- Ta c:
0 0
2
= ; = ;
3 3
= ; =
3 3
A B
A B
C C
C A C A
a
x x b
a b
x s x s a + +
- Ban u ton h ng yn.
( )
( )
0
0
0
= 0
= 0
= 0

A
A
A
C
C
C
m
x
s
v
m
y
s
( )
( )
0
0
0
= 0
= 0
= 0

B
B
B
C
C
C
m
x
s
v
m
y
s
- Kho st chuyn ng ton h (2 vt).
+ H ngoi lc tc ng ln h:
; ;
A B
P P N
+ Dung nh ly chuyn ng khi tm.
( )
3
=1
. = = ; 1
e
C j A B
j
Ma F P P N + +

+ Chiu (1) ln trc x:

( )
2
. = 0 = 0
=
C C
C
m
Mx x
s
x const

0
=
C
C
x x
- Theo nh ngha khi tm h, ta c:
2
=1
.
. .
= =
A B
k k
A C B C
k
C
A B
m x
m x m x
x
M m m
+
+

0 0
:
. .
. .
= = 0
A B A B
A B
C C
A C B C
A B A B
do
m x m x
m x m x
m m m m
+
+
+ +
= 0
C
x
0
= =
C
C
const x x
0 0
.
.
.
=
.
A B A B
A B
C C
C B C
A B A
A
B
m
m x m x
m m m
x x
m
m
+
+
+ +

0 0
. . = . .
B
A
A
B
C A B A
C C
C B
m m m x m x x x + +
3
. . = .
2
.
3 3 3
A A B B A A
a b
s s m m m m
a
b a
| |
+
| |
|
+
|

|

+
|
|
\
|
|
\
\
.
+
.
.
( )
= 0
B
A
A B
m
s b a
m m
<
+
V s
A
< 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 o c nh nh
hnh v. Trng lng ca con ln P v h s trt tnh
gia con ln O v mt phng ngang c nh l f
t
, b qua
ma st ln.
Cho P, = const, r, o, f
t
. H ban u ng yn.
a. Phn tch 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, o, , v P. Tm iu kin ca moment con ln
O ln ln.
c. Xc nh phn lc ti tip im A.
d. Tm iu kin ca f
t
con ln O ln khng trt trn
mt phng nghing c nh.
M
M
M
o
A
O
P
r
e

c
M
Hnh II.4
Bi gii
'
qt
R
qt
O
M
o
A
mst
F
O
0
v
N
P
r
e

c
M
( )
0
0
a
0
s
Hnh II.4.1
x
y
a.
- Phn tch 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 tip 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:
0 0 0
0 0 = = > = >
s v a
r r r
e c
Vi l gc quay, e l vn tc gc, c l gia tc gc ca vnh.
b. Tnh ng nng h
2 2
0
1 1
. .
2 2
h
O
T mv J e = +
( )
2 2
0
.
.

= =

O
P
m
g
P
J mr r
g
v r e
Vi do vat lavanh
2 2 2 2 2 2
1 1
. . . . . .
2 2
= + =
h
P P P
T r r r
g g g
e e e
- Tnh tng cng cc ti
( ) ( ) ( )
( )
mst
A A P A N A F A = + + +

M
( )
0, (v N N = Vi vuong goc vi be mat tiep xuc
vav iem A co nh
: A
)
( )
0
mst
A F =
( )
. A = + M M
( )
( )
0
. . .sin . A P Ph Pr o = =
0 0
.sin . .sin = = h s r V o o
( )
. A P.r.sino =

M -
0
s
o
O
Hnh II.4.2
0
h
- Ap dng nh ly bin thin ng nng:
1 0
h h
T T
0
h
T
A

ban au heng yen

= 0
( )
2 2
. . . .sin .
P
r Pr
g
e o = M
+ o hm 2 v theo thi gian t:
( ) ( )
2
. 2. . . .sin .
P
r Pr
g
c e e o = M
( )
2
2. .
P.r.sin
g
Pr
o
c =
M -
( )
0
. .sin
. .
2. .
Pr
a r g
Pr
o
c

= =
M
- iu kin ca vnh ln ln: M
0 . .sin 0
. .sin
Pr
Pr
c o
o
> >
>
chieu achon laung
M
M
c.
S dng nguyn ly DAlembert.
- Tc ng thm ln vnh 2 thnh phn c bn ca h lc
qun tnh t ti O.
+ Vector chnh ca h lc qun tnh.
.
qt O
R ma
'
=
( )
. .sin
. . .
2 .
qt O
qt O
g
g
R a
Pr
R ma
r
P
P
o
' |+

'
= =

M
( )
. .sin
2
qt
Pr
R
r
o
'
=
M
+ Moment chnh ca h lc qun tnh i vi tm O.
.
qt
O O
M J c =
2
2
. .sin
. . . .
2 .
qt
O
qt
O O
M
Pr
r g J
r g
P
M
P
c
o
c
|+

| |
| |
= =
|
|
\ .
\ .
M
( )
1
2
qt
O
M P.r.sino = M -
- Kho st s cn bng ca vnh:
( )
( )
.sin 0 1
cos 0 2
jx qt mst
jy
F P R F
F N P
o
o
'
= + =

= =

Gii h (1), (2) ta thu c:

( )
.cos 3 N P o =
.sin
. .sin
.sin
2
mst qt
F P R
Pr
P
r
o
o
o
'
= +

= +
M
( )
4
2
mst
P.r.sin
F
r
o
=
M +
d. iu kin vnh ln khng trt:
( )
. 5
mst msgh t
F F f N s =
- Thay (3), (4) vo 2 v ca (5) ta nhn c:
. .sin
2 . .cos
t
Pr
f
Pr
o
o
+
>
M
. .sin
. .cos
2
t
Pr
f P
r
o
o
+
s
M
Bi tp 5.
Cho 1 c h gm 2 vt c khi lng M
1
v M
2
c lin kt
va chu ti nh hnh v. H s ma st trt tnh gia 2 vt
l f
t
, b qua ma st gia vt c khi lng M
2
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 cung
chuyn ng tnh tin thng theo phng ngang nh nhau
(khng trt i vi nhau).
F
t
f 1
M
2
M
Hnh II.5
- Gi ln lt l gia tc ca C
1
, C
2
, C.
1 2
, ,
C C C
a a a
Bi gii
- Gi C
1
, C
2
, C ln lt l khi tm ca vt 1, vt 2 va ca
ton h.
+ V vt 1 khng b trt i vi vt 2 nn:
1 2
C C C
a a a a = = =
- Kho st chuyn
ng ca ton h.
+ H ngoi lc tc
ng ln h:
2 1
, , , F P N P
Hnh II.5.1
F
t
f
1
M
2
M
1
c
2
c
c
N
a
1
P
2
P x
y
O
+ Dung nh ly chuyn ng khi tm cho h.
( )
4
1 2
1
. 1
e
c j
j
Ma F P P F N
=
= = + + +

+ H ngoi lc tc ng ln vt 1:
. Ma F = ( )
1 2
2
F F
a
M M M
= =
+
- 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).
1 1
, ,
mst
F P N
+ Dung nh ly chuyn
ng khi tm cho vt 1:
+ Chiu (1) ln trc x:
1
M
1
c
1
N
1
P
mst
F
x
y
O
Hnh II.5.2
a
( )
1
3
1 1 1
1
. 3
e
C j mst
j
M a F P F N
=
= = + +

+ Chiu (3) ln 2 trc x,y:

( )
1
: . 4
mst
Ox M a F =
( )
1 1
: 0 5 Oy P N = +
+ Thay (2) vo (4), ta c:
( )
1
1 2
. 6
mst
M
F F
M M
=
+
+ T (5) ta tnh c:
( )
1 1 1
. 7 N P M g = =
- iu kin vt (1) khng trt trn vt (2):
( )
1
. 8
mst msgh t
F F f N s =
+ Thay (6), (7) vo (8):
1
1
1 2
. . .
t
M
F f M g
M M
s
+
( )
1 2
.
t
F f M M g s +
Bi tp 6. Cho mt a trn,c, ng cht c bn knh R
v khi lng , b y ln khng trt trn mt
nghing vi vn tc ban u ca tm A a chn dc
l . Bit mt nghing c nh nghing mt gc i
vi phng ngang v chiu di mt nghing l . Cho
bit: bn knh R,
a) Hy phn tch chuyn ng ca a v tm 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.
f) Tm iu kin ca gc nghing a ln khng trt
trn mt nghing.
m
0
A
v
o
0
A
v
o
0
, , , , , .
A t
m v f f o

g. Cho :
g1. phn tch li chuyn ng ca a. Xc nh
va 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.
3
t
tg f o >
h
dof
Hnh II.6
, e
o
,
A A
s v
I
A
R
a).
- Phn tch chuyn ng ca a:
Bi sa
Hnh II.6.1
, e
A A
o
,
A A
s v
( )
A
l
I
A
x
qt
R
'
mst
F (v vt ln khng trt)
c
A
qt
A
M
P
A
a
N
y
Do :
- Quan h ng hc gia chuyn ng ca a v chuyn
ng ca tm A a khi a ln khng trt:
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 tip xc I.
=
A
A
v
R
e
- Phn tch chuyn ng ca khi tm A a: tm A a
chuyn ng thng vi quy o l ng thng
song song vi mt nghing c nh v cch mt
nghing y mt khong bng bn knh a.

( )
A
( ) ( )
; c c
A A A A
v a
A
A
s
R
= =
A
A
a
R
c
b.
- ng nng ca h:
- Tng cng cc ti:
2 2
2
2 2
2
2
1 1
2 2
1 1 1
2 2 2
3
4
h
A A A A
A
A
A
T m v J
v P P
v R
g g R
P
v
g
e = +
| |
= +
|
\ .
=
( ) ( ) ( )
mst
A A P A F A N = + +

( )
0:
mst
A F = v vt khng trt.
( )
0: A N = v vung gc v im I ng yn tc thi.
c. Vn tc ca tm A:
Dung nh ly bin thin ng nng:
( )
( )
. .sin ;
A A
A A P Ph P s o = = =

cao hng
ln cng m
1 0
h h
T T A =

( )
( )
2
2 0
3 3
sin
4 4
const
A A A
P P
v v P s
g g
o =
( )
2
0
4
.sin
3
A A A
v v g s o
| |
=
|
\ .
o hm 2 v theo thi gian t:
d. iu kin ti thiu ca v
A
O
a ln ht dc:
e. Xc nh cc thnh phn phn lc:
( )
3 1
2 sin
4
=
A A A
v a v
g
o
2 2. .sin
.sin 0 0
3 3.
= < = = <
A
A A
a g
a g
R R
o
o c
Tm A chuyn ng thng, chm dn v a ln chm dn.
0 / tai = =
A A
v m s s
( )
2
0
4
.sin . 0
3
o =
A
v g
0 0
2 3 2 3
. .sin . .sin
3 3
o o = >
A A
v g v g
Theo nguyn ly DAlembert, ta s b sung vo a hai thnh
phn c bn ca h lc qun tnh:
thi a s trong trng thi cn bng.
qt
qt
A
R
M
'

.
qt A A
R m a
'
- =
(do tnh ln nn bo (-))
2
. . .sin ;
3
'
= =
qt A A
R m a P o
.
qt
A A A
M J c - =
2
2
2
1 1 1
.sin . .sin
2 3 3
qt
A
A
a P P
M R P R g
g
R
R g
o o
| |
= = =
|
\ .
- Vit cc phng trnh cn bng:
.sin 0
'
= + + =
ms qt t jx
F P R F o
.cos 0 = + =
jy
F P N o
- Gii h , :
.cos N P o =
.sin
2
.sin .sin
3
1
.sin 0
3
mst qt
mst
F P R
P P
F P
o
o o
o
'
=
=
= >
f. iu kin ca o a ln khng trt:
. s =
msg m t t h s
F f F N
Thay , vo :
1
.sin . .cos
3
t
P f P o o s
tan 3 s
t
f o
g.
g
1
.
- Do nn a va ln va trt trn dc. y
cung l trng hp c bit ca chuyn ng song
phng vi tm vn tc tc thi khng phi l im tip
xc I.
3
t
tg f o <
- Bc t do ca h:
2
h
dof = +

- Chn 2 ta suy rng: . (hnh 3.1) , x

Hnh II.6.2

o
I
A
ms
F
P
x
N
g
2
.
- Xc nh lc suy rng tng ng vi ta suy
rng :
1 x
Q Q
1
q x
+ Cho h mt di chuyn kh d c bit:
1 2
0, 0 q q x o o o o = > =
+ Tng cng kh d ca cc ti:
( ) ( ) ( ) ( )
( )
( )
;
. .
.sin . .
.sin .
0
cos
sin .cos
ms
ms
A A P A F
P h F x
P x f
A
N x
P f P x
N
A x
N
P f
o o o
o o
o o o
o o o
o o o o
o = +
=
=

=
+
= +
= +

(a chi trt m khng ln v ) 0 o =

o
h o
x o
A
Hnh II.6.3
+ Lc suy rng:
Hnh II.6.4
0 o =
o
I
A
ms
F
P
0 x o >
N
0: N = v khi chiu ln
phng trt
phng ca lc
nng N vung gc
so vi phng trt.
( )
( )
1
sin c
sin co
o
s .
s
x
A
f P
x
Q Q
f M g
o
o o
o
o
o
= = +
= +

+ Lc suy rng:
(a quay quanh tm A c nh hay a trt khng ln)
- Xc nh lc suy rng tng ng vi ta suy
rng
2
Q Q

2
q
( ) ( ) ( )
. . .
ms
ms I
A P A N A A F
F s f N r
o o o o
o o
= + +
= =

+ Cho h mt di chuyn kh d c bit:

1 2
0 , 0 q x q o o o o = >
+ Tng cng kh d ca cc ti:
. . .cos . A f Pr o oo =

2
. . .cos
A
Q Q f Pr

o
o
o
= =

g
3
. Dung phng trnh Lagrange 2:
2
. . . .cos Q Q f M g r

o =

Hnh II.6.5
, 1, 2
i
i i
d T T
Q i
dt q q
| |
c c
= =
|
c c
\ .
0 o >
o
.
I
s r o o =
A
ms
F
P
0 x o =
N
- Xc nh ng nng h:
2 2
2 2 2
1 1
.
2 2
1 1 1
. .
2 2 2
h
A A
T M v J
M x M r
e

= +
| |
= +
|
\ .
1
0
T T
q x
c c
= =
c c
(khng c x chi c o hm ca x)
1
.
d T d T
M x
dt q dt x
| |
c c
| |
=
|
|
c c
\ .
\ .
2
0
T T
q
c c
=
c c
(khng c )
2
2
1
. .
2
d T d T
M r
dt q dt

| |
| | c c
=
|
|
c c
\ .
\ .
Do :
( )
2
. sin cos .
1
. . . .cos .
2
r
M M
M M r
x f g
f g
o o
o
= +

( )
sin cos
2 cos .
x f g
f g
r
o o
o

= +

Bi tp 7. Cho c h nh hnh v. Bit bn knh r, P, =

const, 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 tch 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
chung. Xc nh li gia tc ca A va gia tc gc ca
rng rc B.
M
M
Hnh II.7
a) Phn tch chuyn ng:
+ Vt A: chuyn ng tnh tin thng ng, nhanh dn, c
chiu hng xung.
, ,
B B B
e c
, ,
A A A
s v a
M
A
P
Q
B
r
+ Rng rc B: chuyn ng quay nhanh dn, cung chiu
kim ng h quanh trc vung gc vi mt phng
hnh v v i qua tm B c inh (tm B c inh).
- Thit lp quan h ng hc gia cc vt:
.
.
.
=
=
=
A B
A B
A B
s r
v r
a r

e
c
b).
= +
h A B
T T T
Vt A chuyn ng tnh tin:
2
1
2
A A
P
T v
g
=
Vt B chuyn ng quay:
2
1
2
B B B
T J e =
- ng nng ca h:
(J
B
l moment qun tnh ca vt B i vi trc c nh
thng gc vi mt phng hnh v qua B)
2
B
Q
J r
g
=
( )
( )
2 2 2
2 2 2
1 1
2 2
1 1
. .
2 2
e = +
= + = +
h
A B
A A A
P Q
T v r
g g
P v Q v P Q v
g g
( ) ( ) A A A P = +

M
Vi:
B
( ) ;
A
A s
r
= =
M
M M. ( )
A A
A P Ph Ps = =
- Tng cng cc ti:
- Gia tc ca A v gia tc gc ca rng rc B:
A
A P s
r
| |
= +
|
\ .

M
+ p dng nh ly bin thin ng nng:
1 0
h h
T T A =

( )
2
1
2
A A
P Q v P s
g r
| |
+ = +
|
\ .
M
o hm 2 v
theo t:
( )( )
1
2 .
2
A A A
P Q v a P v
g r
| |
+ = +
|
\ .
M
. 0
A
P
r
a g
P Q
+
= >
+
M
c).
Gia tc gc ca rng rc:
d) Xc nh lc cng dy.
Ap dng nguyn ly DAlembert kho st s cn bng ca
vt A:
( )
A
B
P
a
r
g
r P Q r
c
+
= =
+
M
.
A
qt A A
R m a =
| |
+ +
|
= =
|
+ +
|
\ .
A
qt
P P
P
r r
R g P
g P Q P Q
M M
A
P
y
A
T
A
qt
R
Hnh II.7.1
A
a
Phng trnh cn bng:
Chiu ln trc y:
Sau khi b sung vo thi vt A cn bng.
A
qt
R
0
A
qt A A
R T P + + =
0
A
jy A qt
F T R P = + =

A
A qt
A
P
r
T P R P P
P Q
Q
r
T P
P Q
| |
+
|
= =
|
+
|
\ .
| |

|
=
|
+
|
\ .
M
M
e) iu kin dy khng b chung (dy cng):
- Khi dy b chung:
+ Gia tc vt A:
+ Gia tc gc rng rc B:
0 0 .
A
T Q Qr
r
> > <
M
M
- Vy iu kin dy b chung:
. Qr > M
A
a g =
2
.
B
g
Q r
c =
M
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 tnh va ng gia vt A va mt phng ngang c nh
l v . Cho bit: Dy mm,
nhe, khng gin, lun cng, khng trt trn rng rc.
a) Tm iu kin ca gc o A trt c trn mt
nghing.
b) Cho , dy lun cng.
b
1
) Phn tch chuyn ng cc vt rn trong h. Tm mi
quan h v ng hc gia cc vt.
b
2
) Tnh ng nng cho ton h va tng cng tc ng ln
h.
b
3
) Xc nh gia tc ca A va gia tc gc ca rng rc B
b
4
) Tnh lc cng dy
b
5
) Tm iu kin ca dy ni vt A b chung. Xc
nh li gia tc ca vt A va gia tc gc ca rng rc B.
, , , , , .
t
r P Q const f f o = M ,
t
f f

t
tg f o >
M
a) - iu kin vt A khng trt (A cn bng v dy chng):
M
P
Q
B
r
o
A
Hnh II.8
+ Kho st s cn bng ca vt A:
T do ha vt A:
- Vit cc phng trnh cn bng:
( )
.sin 0 1
jx mst
F F P o = + =

( )
.cos 0 2
jy A
F N P o = =

- Gii h (1), (2):

( )
.sin 3
mst
F P o =
Hnh II.8.1
P
x
y
o
A
N
mst
F
A
+ iu kin vt A khng trt:
Thay (3) v (4) vo 2 v ca (5), ta c:
( )
.cos 4
A
N P o =
( )
. 5
mst msgh t A
F F f N s =
.sin . .cos
t
P f P o o s
( )
6
t
tg f o s
- iu kin vt A trt:
( )
7
t
tg f o >
b
1
. - Phn tch chuyn ng ca cc vt rn trong h:
b) V nn vt A trt c trn mt nghing.
t
tg f o >
Hnh II.8.2
M
P
Q
B
r
o
A
B

B
e
B
c
A
s
A
v
A
a
+ Rng rc B quay nhanh dn, theo chiu kim ng h
quanh tm B c nh.
- Quan h ng hc:
+ Vt A tnh tin thng, nhanh dn theo phng ca mt
nghing v vi chiu hng xung.
; ;
A A A
B B B
s v a
r r r
e c = = =
b
2
. - ng nng ca h:
h A B
T T T = +
2 2
2
2 2 2
2
1
2 2
1 1 1
.
2 2 2 4

= =

| | | |

= = =
| |

\ .\ .

A
A A A
B
A
B B A
P
T m v v
g
v Q Q
T J r v
g r g
e
Vi:
- Tng cng cc ti:
2
1
2 2
h
A
Q
T P v
g
| |
= +
|
\ .
( )
( )
( )
ms
A A F A P A= + +

M
( )
( )
. .sin
A A
A P Ph P s o = =
( )
.
B A
A s
r
= + =
M
M M
( )
cos . = = =
ms msd A A A A
A F F s f N s f P s o

Vi:
( )
sin cos
| |
= +
|
\ .
A
A P f s
r
o o
M

b
3
. Ap dng nh ly bin thin ng nng:
1 0
h h
T T A =

( )
2
1
sin cos
2 2
| | | |
+ = +
| |
\ . \ .
A A
Q
P v P f s
g r
o o
M

( )
1
2 sin cos
2 2
| | | |
+ = +
| |
\ . \ .
A A A
Q
P v a P f v
g r
o o
M

( )
sin cos
2
A
P f
r
a g
Q
P
o o
(
+
(
=
(
(
+

M

b
4
. Kho st chuyn ng ca vt A:
( )
sin cos
2
A
B
P f
a
r
g
Q
r
P r
o o
c
(
+
(
(
= =
| |
(
+
|
(
\ .

M

Ta c:
.
ms A
F f N =

Hnh II.8.3
P
x
y
A
N
ms
F
A
A
T
A
a
- Dung nh ly chuyn ng khi tm cho vt A:
- Chiu (8) ln hai phng x, y
( )
4
1
. 8
e
A A j A A ms
j
m a F P N T F
=
= = + + +

( )
. .sin
9
0 cos
A A ms A
A
m F T a
N
P
P
o
o
=
+

( )
cos 10
A
N P o =
( )
.sin .
sin cos
sin cos
2
A ms A A
T P F m a
P f
P r
P f P g
Q
g
P
o
o o
o o
=
| |
+
|
\ .
=

M
( )
( )
sin cos
sin cos
2
A
P P f
r
T P f
Q
P
o o
o o
(
+
(

=
+

M
b
5
. iu kin dy cng:
( )
( )
sin cos
2
11
2
A
Q
P f
r
T
Q
P
o o
(

(

=
+

M
0
A
T >
( )
sin cos 0
2
Q
f
r
o o
(
>
(

M
( )
.
sin cos
2
Qr
f o o <

M
- iu kin dy chung:
( )
.
sin cos
2
Qr
f o o > M

- Xc nh li v :
A
a
B
c
( )
sin cos
A
a f g o o =

2
2
.
B
g
Q r
c =
M
Bi tp 9. Cho c h nh hnh v:
a). H c lun cn bng vi mi loi ti tc ng hay
khng? Ti sao?
b). Dung nguyn ly di chuyn kh d xc nh cc thnh
phn phn lc ti ngm A.
A
B
q const =
Hnh II.9
Bi sa
a. (T gii)
- Tnh bc t do ca h: Dof
h

+ S vt rn: n=1 (thanh thng nm ngang)
+ Tng rng buc ca cc lin kt:
3
lk
R =

(ngm phng)
Do bc t do ca h:
3
3.1 3 0
lk
h
Dof n R =
= =

V dof
h
0 nn h lun cn bng vi mi loi ti tc ng.
- Xc nh thnh phn phn lc H
A
:
+ Gii phng lin kt n cn tr chuyn ng tnh tin
thng theo phng ngang:
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.
A
B
q
A
H
x o
Hnh II.9.1
+ Tnh tng cng kh d:
+ Ap dng nguyn ly di chuyn kh d:
- Xc nh phn lc N
A
:
+ Gii phng lin kt n cn tr chuyn ng tnh tin
thng theo phng ng.
+ Cho h mt di chuyn kh d . x o
( )
( )
( )
o o o o
o
= + =
= +
A A
A
A A A q H
H
A H
x
0 0
A
A H o = =

+ Cho h mt di chuyn kh d . y o
+ Ap dng nguyn ly di chuyn kh d:
+ Tnh tng cng kh d:
Hnh II.9.2
A B
q
A
N
0 y o >
( ) ( ) ( )
( )
. o o o o o
o
= + = +
=
A A
A
A A N A q N y ql y
N ql y
0 0 0
A A
A N ql N ql o = = = >

+ Gii phng lin kt n cn tr chuyn ng quay

quanh tm A.
- Xc nh thnh phn phn lc M
A
:
+ Cho h mt di chuyn kh d .
o
Hnh II.9.3
A
B
q
A
M
x
o
. o o = y x
dx
+ Tnh tng cng kh d:
( ) ( )
A
A M A A q o o o = +

Ta c:
( )
A A
A M M o o =
( ) ( )
0 0
2 2
0
. . . .
. .
2 2
o o o
o o
= + =
(
= =
(

} }
A q q dx y q dx x
x q
q
2
2
o o
| |
=
|
\ .
A
q
A M
+ Ap dng nguyn ly di chuyn kh d:
2 2
0 0 0
2 2
o = = = >
A A
q q
A M M
Bi tp 10. Dung nguyn l di chuyn kh d xc nh
cc thnh phn phn lc sau:
Hnh II.10.1
Hnh II.10.2
A
B
q
= P q
2
= M q
2
C
a)
q
A C
M
B
b)
+ Tnh tng cng kh d:
a). - Xc nh thnh phn phn lc H
A
:
+ Gii phng lin kt n cn tr chuyn ng tnh tin
theo phng ngang:
+ Cho h di chuyn kh d : x o
( )
( )
( )
( ) ( ) o o o o o o = + = + +
A A
A q A P A M A A H A H
Hnh II.10.3
A
B
q
= P q
M
C
x o
A
H
+ Ap dng nguyn ly di chuyn kh d:
- Xc nh thnh phn phn lc N
B
:

( )
.
A
A
A A H H x o o o = = +

0 0
A
A H o = =

+ Cho h mt di chuyn kh d :
o
Hnh II.10.4
A
B
q
= P q
M
C
B
N
o
B
y
o
C
y
o
+ Tnh tng cng kh d:
- Xc nh thnh phn phn lc N
A
:

+ Gii phng lin kt n cn tr chuyn ng tnh tin
theo phng ng:

( )
( )
( ) ( )
2
2
.(2 . ) 2 . .(3 . ) .
(2 2 ).
o o o o o
o o o o
o
= + + +
= +
=
B
B
B
A A N A q A P A M
N q P M
N q
2
0 2 2 0 o = =
B
A N q
( )
= -
B
N q
Hnh II.10.5
A
B
q
= P q
M
2
C
A
N
du
u
y o
o
A
y o
C
y o
+ Cho h mt di chuyn kh d : o
+ Tng cng kh d:
( )
( )
( ) ( )
A
A P A A A M N A q o o o o o = + + +

( )
2
o
o o = =
A
y
tg
2 . o o =
A
y
( )
. .2 . o o o = =
A A A A
A N N y N
. o o = y u
( ) ( )
2
2 2
2
0 0
0
. . . . . .
2
o o o o = = =
} }
u
A q y q du q u du q
Th vo :
( )
2
2 . o o = A q q
. o o =
C
y
( )
2
. . . . o o o o = + = =
C
A P P y q q
( )
2
. . o o o = + = A M M q
2 2
.2 . 2 . . 0 o o o o o = + + + =
A
A N q q M
2 =
A
N q
b).
- Xc nh cc thnh phn phn lc H
A
:

+ Gii phng lin kt n cn tr chuyn ng tnh tin
theo phng ngang:
Hnh II.10.6
q
A
C
M
B
A
H
x o
+ Cho h mt di chuyn kh d :
x o
+ Tng cng kh d:
( )
( )
.
A A
A A H A q H x o o o o = + =

0 0
A
A H o = =

- Gii phng lin kt N

A
:

Hnh II.10.7
A
y o
A
C
2
M
B
x
dx
B
y o
o
A
V
+ Cho h 1 di chuyn kh d : o
+ Tng cng kh d :
Ta c:
( )
( ) ( )
A
A A V A A q M o o o o = + +

( )
. 0 o o = s s y x y x
( )
2
0 0
0
2
. . . . . .
2
2
o o o o
o
= =
=
=
} }
x
A q y q dx q x x dx q
q
( )
2
. . o o o = =
A
A M M q
- Gii phng lin kt V
C
:

2 . o o =
A
y
( )
.
.2
o o
o
=
=

A A A
A
A V V y
V
2 2
1
.2 . 0
2
o o o o = + =
A
A V q q
2 2
1
1
2
2 4
+
= =
A
q q
V q
Hnh II.10.8
q
A
C
M
B
u
du
C
y o
C
V
B
y o
ou
2 s s u
. y u o ou =
( ) ( )
2 2
. . . . o o ou = =
} }
A q y q du u q du
( )
2
2 2 2
2
4
. . .
2 2 2
3
2
o ou ou ou
ou
= =
=
u
A q q q q
q
( )
2
. . o ou ou - = = A M M q
2 . o ou - =
C
y
( )
.2 .
o o
ou
- =
=
C C C
C
A V V y
V
( ) ( )
( )
C
A A q A M A V o o o o = + +

2
2 2
3
2 .
2
3
.2
2
o ou ou
ou
=
| |
= +
|
\ .
C
C
A q V
q q V
2 2
3
5
2
2 4
+
= =
C
q q
V q
Bi tp 11. Cho mt c h gm c hnh lng tru A tit din tam
gic vung v ng tr trn, ng cht, khng y B. Vt A c
khi lng m
1
ta khng ma st trn mt phng ngang c
nh. Vt B c bn knh r, khi lng m
2
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: m
1
, m
2
, F, o, r.
a) Hy phn tch 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 tnh
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.
a) Phn tch chuyn ng ca cc vt rn trong h
+ Vt ln tru A c chuyn ng tnh tin thng theo phng
ngang.
Hnh II.11.1
x
A
F

r
BI
v
o
2
P
1
P
N
I
B
ng trung tuyn
+ ng tr trn B thc hin ng thi 2 chuyn ng: tnh
tin cung 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 tip xc I.
- Bc t do ca h:
- Hai ta suy rng ca h c chn l:
b). - Phn tch chuyn ng phc hp ca tm B:
2
h
Dof =

V ta cn dung 2 thng s c lp v mi xc nh
c v tr ca ton h.
x

1 2
, q x q
+ Chuyn ng keo theo: tnh tin cung lng tr A.
+ Chuyn ng tng i: ln khng trt trn mt
nghing ca lng tru A (tm quay tc thi l im I).
- Dung nh ly hp vn tc ca im:
B
e
B
a
B
r
v v v = +
- Tnh ln vector vn tc
tuyt i im B:
Hnh II.11.2
BI
v
I
B
A
a
v
B
a
v
o
|
(khi tng 2 gc bng t thi
cos gc ny bng - cos
gc kia).
*
B B
B B A
B A BI
a a
r
a a
I
e
v v
v v
v v
v
v

)
=
+
=
`

Vi:
c). - ng nng h:
A h B
T T T = +
Cng thc lng trong tam gic thng:
o | t | t o + = =
( ) ( ) ( )
( ) ( )
2 2 2
2 2
2 cos
2 cos
B A BI A BI
a a a
A BI A BI
a a
v v v v v
v v v v
|
o
= +
= + +
M: ; . . e = = =
A BI
a
v x v r r
( )
2
2 2 2
. 2 .cos . .
B
a
v x r r x o = + +
( )
2
2
1 1
1 1
. .
2 2
= =
A A
a
T m v m x Vi:
( )
2
2
2
1 1
.
2 2
B B
a B
T m v J e = +
Ta c:
2
2
. ;
B
J m r e = =
( )
2 2 2 2 2
2 2
2 2 2
2
1 1
2 cos . . .
2 2
1
2 . 2 cos . .
2
B
T m x r r x m r
m x r r x
o
o
(
= + + +

(
= + +

( )
2 2 2
1 2 2 2
1
. . . . .cos . .
2
o = + + +
h
T m m x m r m r x
+ Cho h mt di chuyn kh d c bit:
- Xc nh lc suy rng :
1

x
Q Q
Hnh II.11.3
A
F
0 o =
r
BI
v
o
2
P
1
P
N I
2
C B
0 o > x
A
a
v
1 2
0 ; 0 q x q o o o o > =
(a khng quay nn ton h l mt vt duy nht: m = m
1
+m
2
)!

+ Tng cng kh d:
( ) ( ) ( ) ( )
( )
1 2
A P A A N
A F
A P A F o o o o o
o
+ + = +
=

. o o = +

A F x
(P
1
, P
2
khng thay i cao; phng N vung gc
phng chuyn ng).
1 x
A
Q Q F
x
o
o
= =

Xc nh lc suy rng :
2
Q Q

+ Cho h mt di chuyn kh d c bit:

+ Tng cng kh d:
Hnh II.11.4
B
I
o
B
s o
B
h o
1
2
0;
0
q x
q
o o
o o
=
>
( )
.sin
. .sin
o o o
o o
=
=
B B
h s
r
( ) ( ) ( ) ( )
( )
( )
2 1
2 2
.
o o
o
o o o
o
= + + +
= =

B
A P A N A A P
m
A
P g
F
A h
d) Dung phng trnh Lagrange 2:
( )
2
2
.
. . .sin .
o o
o o
= +
=
B
A m g h
m g r
2 2
. .sin
A
Q Q m g r

o
o
o
= =

, 1, 2
i
i i
d T T
Q i
dt q q
| |
c c
= =
|
c c
\ .
1
0
c c
=
c c
T T
q x
- y l h phng trnh vi phn cp 2 cc k d gii.
Cch gii c trnh by chi tit:
( ) ( )
1 2 2
1
. .cos
d T d T
m m x m r
dt q dt x
o
| |
c c
| |
= + +
|
|
c c
\ .
\ .
2
0
T T
q
c c
=
c c
( )
2
2 2
2
. .cos 2 o

| |
| | c c
= +
|
|
c c
\ .
\ .
d T d T
m r x m r
dt q dt
( ) ( )
( )
( )
1 2 2
2
2 2 2
. .cos
. .cos 2 . .sin
o
o o
+ + =

+ =

m m x m r F
m r x m r m g r
+ t
1 2
; X x X = =
Nghim:
( )
( )
2
1
1 2 2
2
2
1 2
2
1
2
2
2 2
. .cos
.sin 2
. .cos
cos 2
2 . . .sin .cos
2 .c
1
2 sin 2
2
2 co
os
s
o
o
o
o
o o
o
o
o
=
+

=
+
=

+
=
F m r
g r
X x
m m m r
r
r F m g r
r m m m
F m
c
r
g
m m m
onst
( )
( )
1 2
2
1 2 2
1 2
2
1 2 2
.sin .cos
2
cos .sin
. .
cos
cos
cos 2
o o

o
o
o o
o
+
=
+
=
+

+
=
(

m m F
g
X
m m g F
m m m
m m
c
m
r
r
r
onst
Bi tp 12. Cho mt a c dng hnh qut ng cht, c,
dy iu, bn knh R, gc chn tm l 2o ,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 tch chuyn ng ca a va tm O a
b) Xc nh v tr ca khi tm C a.
c) Xc nh phng trnh quy o ca khi tm C
a nu chn h trc ta nh hnh ve:
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.
xy
0
C
( )
O
( )
c
u
t
R
N
0

P
2o
x
y
I
Hnh II.12
0
Cho: , , , m R o
Bi sa
a) Phn tch chuyn ng ca a:
- a chuyn ng song phng trong mt phng hnh v
vi tm vn tc tc thi khng phi l im tip xc I.
- Phn tch chuyn ng ca tm O a:
b). - Do a hnh qut c mt trc i xng nn khi tm
C ca a s nm trn trc i xng ny.
- Tm O a chuyn ng thng vi quy o l ng
thng song song on 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.
( )
O
( ) ( )
0 0 0 0
; o c c v
- Kho st mt din tch vi phn k thuc a nh hnh v:
- Dng h trc ta vung gc mi gn lin vi a
sao cho trc trung trc i xng ca a.
Out
u
0
c
t =
O
r
dr
k
dA
K
k
u
u
u
du
Hnh II.12.1
Gi: A

l khi lng ring a.

l din tch a.
Ta c:
2
: A R rad o o =
2
;
m m
A R

o
= =
.cos
k
u r u =
( )
.
k
dA dr r du =
( )
2
k k
m
m dA dr rd
R
u
o
= =
(vt phng (kg/m
2
); vt dy (kg/m
3
)
(u
k
: ta u ca im K).
(m
k
: khi lng ca din tch dA
k
).

- Ap dng cng thc nh ngha ca khi tm:
( )
2
1
2
1
cos . .
k k
k
c
A
m u
m
u r dr d
m m R
u u
o

=
| |
= =
|
\ .

}
| |
2
2
0
3
2
0
3
2
1
cos .
1
sin
3
1
2sin
3
R
c
R
u r dr d
R
r
R
R
R
o
o
o
o
u u
o
u
o
o
o

=
(
=
(

=
} }
c). - Kho st chuyn ng ca a:
2
sin
3
c
R
u o
o
=
+ Dung nh ly chuyn ng khi tm:
+ H ngoi lc tc ng ln a : , P N
( )
2
1
1
e
c j
j
ma F P N
=
= = +

( )
2
. 0 0
c c
mx x m s = =
- Chiu (1) ln trc x:
( )
0 ;
c c
x const x m s = = = (vn tc lc u bng 0)
d). - ng nng a: (a l hnh trn c ng cht).
( )
0
c c
x const x m = = =
Vy phng trnh chuyn ng ca khi tm C l:
0 ;
c
x =
ng thng
( )
;
c
y ; .
c c
v y a y c c
2 2
1 1
.
2 2
c c
T mv J e = +
Ta c: ( l gc hp bi trc u v trc Oy). : e =
( )
2
2
0 0
.
c c
J J m OC J mu = =
Theo nh ngha:
( )
( )
2
2
0
2
1
. . .
k
k
A
m
J m OK r dr d r
R
u
o

=
| |
= =
|
\ .

}
| |
3
0
2
0
4
2
0
4
2
4
2
4
R
R
m
J r dr d
R
m r
R
m R
R
o
o
o
o
u
o
u
o
o
o

=
(
=
(

=
} }
2
0
1
2
J mR =
(ging cng thc hnh qut)
2
2
2
c c
R
J m u
| |
=
|
\ .
( ) ( )
A A P A N = +

Tm vn tc tc thi ca a: P
- Tng cng cc ti:

P
C
0
v
u
y
O
c
v
Hnh II.12.2
.sin
sin
c
PC OC
u

=
=
Do :
. .sin .
c c
v PC u e = =
( )
2 2 2 2 2
2 2 2 2
1 1
sin .
2 4
1 1
sin
2 2
c
c
T m u mR
m u R


= +
| |
= +
|
\ .
( )
0 A N = Vi:
( )
( )
0
.
c
A P P h
mg HC HC
= +
=
Hnh II.12.3

P
C
( )
0
y
O
0
C
0
O
H
0

c
h
( ) | |
( )
0 0 0
0
.cos .cos
. cos cos
c
A P mg OC O C
mg u


=
=
e) Dung nh ly bin thin ng nng:
1 0
h h
T T A =

( ) ( )
2 2 2 2
0
2
1 1
sin . cos cos ;
2 2
c c
m u R mg u
(
+ =
(

- Vn tc gc ca a:
( )
( )
0
2 2 2
2 . cos cos
1
sin
2
3
c
c
g u
u R

e

=
+
- Gia tc gc ca a:
o hm 2 v (2) theo thi gian t:
( )
2 2 2 2 2
1 1 1
sin cos . sin .
2
. sin .
2
2 2
2
c c
c
u u R
g u



(
(
+ + =
(

=
2
2 2 2
sin cos .
1
sin
2
c c
c
u u g
u R

c

(
+

= =
+
Bi tp 13. (Cha sa).
Cho mt thanh thng mnh, ng cht, tit 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 tch chuyn ng ca thanh AB. Tm
phng trnh quy 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.
A
B
0

0
C
Hnh II.13
0
: , 2 , m Cho
Bi tp 14.
Cho c h nh hnh v (Hnh II.14).
A
B
2
r
1
r
1
O
2
O
2
P
1
P
M
Hnh II.14
Cho r
1
, r
2
, P
1
, P
2
, .
Dy c cc tnh cht sau y:
mm, nhe, khng gin, khng
trt trn cc vt v lun
cng. B qua ma st ti khp
bn l O
1
v xem nhnh dy
AB lun c phng thng
ng. Rng rc O
1
l a trn
c, ng cht v rng rc O
2

l vnh trn ng cht.
a. Xc nh bc t do ca h.
Chn cc h ta suy
rng cho h.
const = M
b. Phn tch chuyn ng cho cc vt rn trong h. Phn
tch chuyn ng phc hp ca tm O
2
. Vit biu thc
tnh 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.
Dof
h
= +2
Chn 2 ta
suy rng:
q
1

1
;
q
2

2
A
B
2
r
1
r
1
O
2
O
y
2
P
1
P
1

M
2

Hnh II.14.1
b.
- Phn tch chuyn ng cc vt.
+ Rng rc O
1
:
Chuyn ng quay quanh tm O
1
c nh.
+ Rng rc O
2
:
Chuyn ng song phng vi tm vn tc tc thi khng
phi l im tip xc A.
- Phn tch chuyn ng phc hp ca tm O
2
.
+ Chuyn ng keo theo:
Tnh tin thng ng cung vi dy.
+ Chuyn ng tng i:
Quay quanh tm vn tc tc thi A i vi dy.
- Vit biu thc tnh: (Hnh II.14.2)
2 2 2
O O O
a e r
v v v = +
A
B
2
r
1
r
1
O
2
O
y
2
P
1
P
1

B
a
v
A
a
v
M
2

2
O
r
v
Hnh II.14.2
2
2
2
2 2
2 2
2
1 1 1 1
2
2 2 2 2
. .
.
O
e
O A
e a
O A B
e a a
O O
r r O O A
r
O
r
v y
v v
v v v r r
v AO hay v y
v v
v r r
e
e

||

= = = =

||

=

= =

Vi :
2 2 2 2
1 1 2 2
2
. .
||
= = + = +
ve
O O O O
a a e r
ctor
v v v v r r
chkhi
c.
ng nng ton h:
1 2
O O
T T T = +
he
1
2
2 2
1
1 1 1
2 2
2
2 2 2
1
2 2
. .
O
O
P
J mr r
g
P
J m r r
g

= =

= =

Ta co:
1
1
2 2 2
1
1 1 1
1
. . .
2 4
e = =
O
O
P
J r
g
Vi : T
( )
( )
2 2
2
2
2
2 2
2
2 2
2 2
1 1 2 2 2 2
1 1
.
2 2
1 1
. . . .
2 2
e

= +
= + +
O O
a O
T m v J
P P
r r r
g g
2
2 2 2 2
2 2 2
1 1 1 2 1 2 2 2
. . . . . . . .
2
O
P P P
T r r r r
g g g
= + +
2 2 2 2
1 2 2
2 1 1 1 2 1 2 2 2
1
. . . . . . . .
2 2
P P P
T P r r r r
g g g

| |
= + + +
|
\ .
he
d.
Nhn xet:
H s c 2 lc suy rng Q
1
, Q
2
ng vi 2 ta suy rng
chn.
- Xc nh lc suy rng Q
1
:

+ Chn 1 di chuyn kh d c bit cho h.
1 2
0 ; 0 o o > =
2
1 1 2 2
1 2
1 2
1 1
: . .
.
.
O
a
Ta c v r r
r r
dt dt
r

o o

= +
= +
=
+ Tnh tng cng kh d:
( )
( )
2
A A A P o o o = +

M
2
1 2
. .
O
A P s o o o = + +

M
2
2
1
1
.
O
O
a
s
: r
dt dt
o
o
= = M v
2
1 1
.
O
s r o o =
( )
2 1 1
. . A P r o o = +

Vay : M
+ Lc suy rng Q
1
:
1 2 1
1
.
A
Q P r
o
o
= = +

M
- Tnh lc suy rng Q
2
:
+ Chn mt di chuyn kh d dc bit cho h:
1 2
0 ; 0 o o = >
2
1 1 2 2
1 2 2
1 2 2
: . .
. . .
O
a
Ta c v r r
r r r
dt dt dt

o o o
= +
= + =
2
2
O
O
a
s
v
dt
o
= Ma:
2
2 2
.
O
s r o o =
- Tng cng kh d:
( )
2
2
2 2 2 2
. . .
O
A A P
P s P r
o o
o o
=
= =

+ Lc suy rng Q
2
:
2 2 2
2
.
A
Q P r
o
o
= =

1 2 1
2 2 2
.
.
P r
Q P r
= +
=
Vay : Q M
e.
Dung phng trnh Lagrange 2 (i vi h khi mt cn
bng):
, 1, 2
i
i i
d T T
Q i
dt q q
| |
c c
= =
|
c c
\ .
2
1 2
2 1 1 1 2 2
1 1
1
. . . . .
2
A B
d T T P P
P r r r
q g g
d
dt dt

| | | |
c c
| |
= + +
| | |
c c
\ .
\ . \ .
.. ..
1 1
0
T T
q
c c
= =
c c
(V T
h
khng phu thuc
1
).
2
2 2
1 2 1 2 2
2 2
2
. . . . .
B C
T T P d d P
r r r
q t d g g d t

| | | |
c c
= +
| |
c c
\ . \ .
.. ..
2 2
0
T T
q
c c
= =
c c
(V T
h
khng phu thuc
2
).
2
1
2 1
2
1 2
2
2
2
1
2
. .
2.
.
P
A P r const
g
P
B r r const
g
P
C r const
g

| |
= + =
|

\ .

= =

= =

at :
( )
1 2 2 1
1 2 2 2
. . .
. . .
A B r D
B C P r E


+ = =

+ = =

P M +
1 1 2 2
; X = = at : X
1 2
1 2
. .
. .
A X B X D
B X CX E
+ =

+ =

Thay cc kt qu vo phng trnh Lagrange 2, ta c:

1
2
2
1
2
2
. .
.
. .
.
X const
X cons
CD BE
AC B
AE BD
AC B
t

= = =

= = =

(rng rc 1 quay nhanh dn u)
(rng rc 2 quay nhanh dn u)
Bi tp 15.
Cho mt c h nh hnh v (Hnh II.15).
Hnh II.15
A
C
B
P
Q
I
r
A l a trn c, ng cht c bn knh r v trng lng
Q. AB l thanh thng, mnh, ng cht, tit din u, di ,
trng lng P. Cho r, , P, Q, , a A 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
tch chuyn ng phc hp ca khi tm C thuc thanh
AB. Vit biu thc tnh vector vn tc tuyt i cho im
C ny.
c. Tnh ng nng cho ton h.
d. Xc nh cc lc suy rng tng ng vi cc ta
suy rng chn cho h.
const = M
e. Thit lp h phng trnh vi phn chuyn ng cho ton
h.
Bi sa
a.
Dof
h
= 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)
b.
- Phn tch chuyn ng ca cc vt rn trong h:
(Hnh II.15.1)
Chn 2 ta suy rng: q
1

1
; q
2

2
Hnh II.15.1
A
C
B
P
Q
I
r
M
2

x
( )
A
A
a
v
C
e
v
C
a
v
C
r
v
+ Thanh thng AB:
Chuyn ng song phng trong mt phng cha vt vi
TVTTT l im cha xc nh.
Chuyn ng song phng trong mt phng cha vt vi
tm vn tc tc thi (TVTTT) l im tip xc I.
- Phn tch chuyn ng phc hp ca khi tm C ca
thanh AB.
+ Chuyn ng keo theo : tnh tin cung vi tm A.
+ Quy o tm A l ng thng .
( ) ( )
A
A a A
v e
+ a trn A:
+ Chuyn ng tng i: quay quanh tm A.
- Vit biu thc tnh:
c. ng nng ton h:
C C C
a e r
v v v = +
( ) ( ) ( ) ( )( )
( )
2 2 2
2
2
2
1 2 2 1 2
2 cos
. . . .cos . .
2
C A C A C
a a r a r
v v v v v
r r

= + +
| |
= + +
|
\ .
A AB
T T T = +
he
C CA
r
v v AC Do :
C A
e a
v v Do :
( )
2
2
1 1
.
2 2
A A
A a A A
T m v J e = + Vi :
1
2 2
1
; . .
1
. .
2 2
A
A a
A A
A
Ta
Q
m v r
g
Q
J m r r
g

e
= =
= =
=
co:
2 2 2 2
1 1
2 2
1
. .
2 4
3
.
4
A
Q Q
T r r
g g
Q
r
g

= +
=
( )
2
2
1 1
.
2 2
AB C
AB a C AB
T m v J e - = +
2
2 2
;
1
. .
12 12
AB AB
C AB
Ta
P
m
g
P
J m
g
e = =
= =
co:
2 2 2 2
1 2 2 1 2
. . . .cos . .
2 6 2
AB
P P P
T r r
g g g
= + +
2 2 2 2
1 2 2 1 2
1 3
. . . .cos . .
2 2 6 2
P P
T P Q r r
g g g

| |
= + + +
|
\ .
he
Vay :
d.
- Tnh lc suy rng Q
1
ng vi ta suy rng q
1

1
.
Cho h mt di chuyn kha di c bit: o
1
> 0 ; o
2
= 0
+ Tng cng kh d ca cc ti:
( )
1
A A o o
o
=
= +

M
M.
1
1
A
Q
o
o
+ = =

M
- Tnh lc suy rng Q
1
ng vi ta suy rng q
2

2
.
+ Cho h mt di chuyn kh d c bit: o
1
= 0 ; o
2
> 0.
( )
2 2
. sin
2
C
A A P P h P o o o o = = =

2 2
2
.sin
2
A
Q P
o

o
= =

1
2 2
.sin
2
Q
Q P
=
=
Vay : M
2
o
0
C
2

C
A
2

C
h o
P
Hnh II.15.2
+ Tng cng kh d ca cc ti tc ng:(Hnh II.15.2)
e.
- Phng trnh Lagrange 2:
1
1 1
d T T
Q
dt
| |
c c
=
|
c c
\ .
2
2 2
d T T
Q
dt
| |
c c
=
|
c c
\ .
2
1 2 2
1
1 2
. . .cos .
3 2
T P
P Q r r
g g

| |
c
| |
= + +
| |
c
\ .
\ .
Vi :
2 2
1 2 2 2 2
1
1 2
. . . . sin . cos .
3 2
d T P
P Q r r
dt g g

| |
c
| |
(
= + + +
| |

c
\ .
\ .
1
0
T

c
=
c
2
2 2 1
2
. . . cos .
3 2
T P P
r
g g

| | c
= +
|
c
\ .
| |
2
2 2 1 2 2 1
2
. . sin . . cos .
3 2
d T P P
r
dt g g

| | | | c
= + +
| |
c
\ . \ .
2 1 2
2
. .sin . .
2
T P
r
g

c
=
c
( )
2 2
1 2 2 2 2
1 3
. . .cos . . . sin .
2 2 2
P P
P Q r r r
g g g

| |
+ + =
|
\ .
Vay : M
2
2 1 2 2
. .cos . . .sin
2 3 2
P P
r P
g g
+ =
Bi tp 16. Cho

a. Xc nh bc t do cho h v chn ta suy rng cho
h.
b. Phn tch chuyn ng ca cc vt rn trong h. Xc
nh vn tc gc ca rng rc kep 3 va vn tc tuyt i
ca vt A.
c. Tnh ng nng cho ton h.
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.
1 2 3
1 2 3 1 2 2 1 3 3
, , , , , , , , , 2 2 2 .
A O O O
m m m m J J J R r R r r = = = = M M
Cc nhnh dy trong h
c cc tnh cht: mm,
nhe, khng gin, khng
trt trn cc vt v lun
cng. B qua ma st
cc khp bn l. (Hnh
II.16)
Hnh II.16
1
O
1
r
3
R
3
r
2
R
2
O
3
O
A
1
M
B
D
E
C
2
M
Bi sa
a. Dof
h
= +2. v ta cn dung 2 thng s c lp
1
va
2

mi xc nh c v tr ca ton h.
Chn 2 ta suy rng q
1

1
; q
2

2
b.
- Phn tch chuyn ng cc vt:
+ Rng rc 1: quay quanh tm O
1
c nh.
+ Rng rc 2: quay quanh tm O
2
c nh.
+ Rng rc kep 3: chuyn ng song phng.
+ Vt A tnh tin thng ng.
Hnh II.16.1
1
O
1
r
3
R
3
r
2
R
2
O
3
O
A
1
M
2

1
D
a
v
E
a
v
C
a
v
B
a
v
B
D
E
C
2
M
- Xc nh e
3
:
Ta c:
C B
a a
E D
a a
v v
v v

1 1 1
2 2 2
. .
. 2 .
B
a
D
a
v r r
v R r
e
e

= =

= =

Ma:
+ Xc nh tm vn tc tc thi rng rc 3:
(Hnh II.16.2)
+ Vn tc gc ca rng rc 3:
( )
1 2
3 1 2
. 2 . 1
2
3 3
C E C E
a a a a
v v v v r r
PC PE PC PE r

e
+ +
= = = = = +
+
- Xc nh vn tc vt A:
Hnh II.16.2
3
O
E
a
v
C
a
v
E
C
P
3
O
a
v
+ Vn tc tm O
3
:
3
3 3
.
O
a
v PO e =
( )
1 1
3 1 2
1 2
. 3
.
1
2
2
3
C
a
v r
r

e

= =
+
+
Ta co: PC=
( )
1 2
1
3 3
1 2 1 2
2
3
2 2
PO PC O C r r r

= = =
+ +
( )
3
1 2
2
.
3
O
a
v r = Vay :
Do dy khng gin nn:
( )
( )
3
3
3 1 2
1 2
1
2
3
2
3
O A
a a
O A
a a
v v
v v r
e

=
= +
=
c.
- Tnh ng nng h:
1 2 3 A
T T T T T = + + +
he
1 1
1 2 2
1 1
1 1
.
2 2
O O
T J J e = = Vi :
2 2
2 2 2
2 2
1 1
. .
2 2
O O
T J J e = =
( )
( ) ( )
( ) ( ) ( )
3
3
3
3 3 3
2
3 2
3 3
2 2 2 2 2
3 1 2 1 2 1 2 1 2
2 2 2 2 2
3 1 3 2 3 1 2
1 1
.
2 2
1 4 1 1
2 . . 4. 4 .
2 9 2 9
1 2 2
4 . . . 2. . . .
18 9 9
O
a O
O
O O O
T m v J
m r J
m r J m r J J m r
e


= +
= + + + +
= + + + +
( ) ( )
2
2 2 2
1 2 1 2
2 2 2 2 2
1 2 1 2
1 1 4
. 2 .
2 2 9
2 2 4
. . . . . . .
9 9 9
A A
A a A
A A A
T m v m r
m r m r m r


= = +
= +
( )
1 3
3
3
2
2 2
2
1
2
2
2
1
2
3
2
2
3
3
1 4 4 4
.
2
1 4 1 4
. .
2 9
9
2
2
9 9
9
9
9
.
O O A
O O
O A
A
C
B
A
J m r J
J m m r
J m m r
m
J T r
r

| |
+ + +
|
\ .
| |
+

= +
+ +
(
+ +

\
+

|
+
he
d.
- Tnh lc suy rng Q
1
:
+ Cho h mt di chuyn kh d c bit: o
1
> 0 ; o
2
= 0
+ Tnh oA :
( )
( ) ( )
1 3 A
A A A P A P o o o o = + +

M
( )
1 3 1
2
.
3
A
A gr m m o o
(
= +
(

M
( )
( )
3
1 1 1
3 3 3 3
.
. . .
O
A
P P h m g s
o o
o o o
= +
= =
Vi : M M
( )
3
3
1 2
1 2
2 2
3 3
O
O
a
s
v r r
dt dt dt
o
o o

| |
= = =
|
\ .
Ta co:
( )
( )
3
3 3 1
1
2
. . .
3
2
. . . . . .
3
A A A A O A
A P m gr
A P P s m g s m gr
o o
o o o o
=
= = =
Do o:
( )
3
1 2 1
2 2
.
3 3
O
s r r o o o o = =
( )
1 1 3
1
2
.
3
A
A
Q m m gr
o
o
(
= = +
(

M
- Tnh lc suy rng Q
2
:
+ Cho h mt di chuyn kh d c bit: o
1
= 0 ; o
2
>0
+ Tnh oA :
( )
( ) ( )
2 3 A
A A A P A P o o o o = + +

M
( )
( )
3
2 2 2
3 3 3 3
.
. . .
O
A
A P P h m g s
o o
o o o
=
= =
Vi : M M
( )
3
3
1 2
1 2
2 2
3 3
O
O
a
s
v r r
dt dt dt
o
o o

| |
= = =
|
\ .
Ta co:
( )
3
1 2 2
2 2
.
3 3
O
s r r o o o o = =
( )
( )
3
3 3 2
2
2
. .
3
2
. . . . . .
3
A A A A O A
A P m gr
A P P s m g s m gr
o o
o o o o
= +
= = = +
Do o:
( )
2 2 3
2
2
.
3
A
A
Q m m gr
o
o
(
= = + +
(

M
( )
2 3 2
2
.
3
A
A gr m m o o
(
= + +
(

M
e. Vit h phng trnh vi phn cho h bng cch dng
phng trnh Lagrange 2:
1 2
1
2 . C
d T
dt
A

| |
c
= +
|
c
\ .
1 2
2
2
T
C
d
dt
B

| |
c
= +
|
c
\ .
1 2
0
T T

c c
= =
c c
( )
( )
1 2 1 3
1 2 2 3
2
2 .
3
2
. 2 . .
3
A
A
m m gr
m m B
A C
gr C

+ = +

+ = + +

Vay :
M
M
, 1, 2
i
i i
d T T
Q i
dt
| |
c c
= =
|
c c
\ .