NGUYEN TRQNG <chu bien>

TONG DANH >~0 - LE TH! HOANG YEN

ca HOC Lt THUYET

T!PI

PHAN TiNH HQC, DQNG HQC

..

..

NHA XUAT BAN KHOA HQC VA KY THU~T

HA NQI -2006

Nhilm dap ling nhu ctiu gi8ng dey, hrc t#p va nghit'n ciiu Cd hrc
lj thuyet cu6fl siich "Cd h9c cu sii'' dzt<;tc xuAf Mn IA'n dA'u titn
nJm 1997 vJ dii dU'fJC ttii b.Jn nhit!'u ]fl v.:io CtiC nJm fit}jJ fheo.

Bcim sit chudng tn'nh clla B(i Gitio dc v.i DBo ~ao quy djnh cho

kh& cac nganh Ky thu#t: xay d!f11g d~ dng va c6ng nghip, giao
th6ng v;Jn tdi, thzly /<Ji va m(Jt s6'ngJnh khii~ ctic tcic giJ da tit!fl
hJnh bit!n sopn i{Ji cu6fl scich va c6 nhit!'u

ro' sune;

sz.fa chiia viii

phLtdngchamnging9n va satv(ii trinh d(J chungcua ben d9c.

Lan in nay cu6n sach mang Wn "Cd hlJC lj' thuyt" va c6 ba phan
dw7c b6' tri Jam hai t#p:
T~p 1 g6m hai ph:in: Tihh hrc va d(Jng hrc.
T~p 2: Phan D(Jng l!fc hrc.
Dt!' b9n d9c nim du<;1c nhiing kiefl th lie cd bJn vi!' cct h9~ sau phli'n

Jj thuyt't c6 cac cau hdi 6n f#p. Cu6J mtfiphtin c6 trinh bay each
gidi mt s6' bci.i tocin. Sau d6 JJ clic bJi t~p dui;Jc sip xtj> tit ddn

giin d&ii phiic teP

Trang qua trinh bit'n

SO!lfl,

cu6n sach kh6ng tranh khdi khit'm

khuyet. Cfic tac giJ vui mitng nh~ du<;tc s~ g6p f cUa

b?fl d9c dt'

cu6fl sJch ngay cJng ho.in thin hdn.

cAcTACGIA

P~ANMOT"""""""""""""""""""""""~

TiNH HOC

Tinh hoc

cltu

ta

phBn thU nhB't cila Ca h9c IY thuye't, ma trong 66 nghien

ve fl/C va Oieu ki?n 0 vtjit r8n cfin b/ing dL!di tac d11ng cUa cBc fl/C-

Trong tTnh h9c c16i tuong khi!Jo sat IB vt rfin chfu t8c dl.)ng cUa cac
tvc. He life tac dng Jen

v?t

rfin phBi

thda

man Oieu kien sao cha

v?t

ran can bang, ae di tdi kt lutjin chinh xac ve vfin ae 66, ta ph8i gi8i

quyt hai b8i toan ca bBn cUa tTnh h9c:

Bai toBn thu g9n h? 11/C vEi h? fife don gii!Jn hon.
Tim a;e'u kir[:n r:Jff hr[: fife tac dvng l&n v?t rBn can bBng

ClnloNG 1
I

')

CJ\C l\.HJ\I NIEM

Cd BJ\N ,

HE TIEN DE TINH HOC

..

..

1.1. CAC KHAI

1. 1. 1.

Nl~M

CO BAN

v J.. T RAN TUY~T )01

Vt r&n tuyt d6'i la vt mil khodng <:rich gii1a hai die'nt belt
n6 kh6ng ao'i khi c6 lr,tc tcic dlfng.

ky cUa

Trong thlfc t kh6ng c6 v@.t rlln tuyt d6i. bdi vi khi c6 h;tc tac dy_ng
thi c8.c vQ.t deu bi bie'n d0ng. Ne'u b1e'n d<.ing lOn thi miit thtiC111g
quar1 s:it du:qc, cOn bie'n d1;1-ng qua nh6 thl 1n3.t thu'dng kh6ng qltan
s8.t du\lC. f'.{$.t kh8_c trong tinh to.n k:Y thu$.t C6 mQt s6' trtid11g lH_ip
st;( b1e'n dq.ng cUa v$.t kh6ng 8nh hudng r1hii2u dCn ke't qu~i Linh
to8.n, va d~ ddn gi8.n bOt qua trinh tinh to<in ta c6 th~ coi nl1u' v(1t
khfn1g b1e'n dc;i.ng, nghla la coi nhu: v$.L riin l11yt dtli.
Tro11g Cd h9c l.Y thuye't ta chl kh8o sat l\fc tac dl).r1g Jen v(it r:in
t11y~l dCli. n61 g9n 18. v()t rB.n.
1.1.2. Ll/C

Lljc 13. s6' do sf! tcic dr;,ng tli(fng hJ giiia cdc vt thf/. L\IC Iii. n1r)l ct.ii
lLicjng c6 hUClng va b.ing Lhl_l"c nghi~m ngud1 ta th8y lu'c <llt<_jl" x{H'

rlinh h61 ba ye'u tO:

ca

HQC LY THUYtT - TAP 1 PHAN TiNH HOC, DONG HQC

--------=====-~~======"'

Dic'm d$t cUa 11,ic;

Pl1tfdng, chi;u clia lu:c;

('tllJng d9 clla ltjc.

Lvc L1U:Qc bii!u di611 b~ng 1nQt vectd nl11.i tr&n hinh 1.1.

E
/

D ,
/

Hinh 1.1

(~Oc

A cUa vectd AB bi~u di@n d1~m d$_t cUa h.jc.

Pl1ttd11g, chieu cUa vectd AB 18. phu'dng, chieu clla 11,ic.

DQ dii1 ci.la vecLd AB la cu:d11g dQ clia l\l'c.

Dtic1ng th:ing DE 1nang vectd AB gQi 18. du:dng tac dvng cUa h;ic. KY
l11Cu llJc Ja F.

l. l.3. TRANG THAI CAN BANG CUA V.b.T RAN VA MQT

KHAC

so D\NH NGHiA

bitng 18. s(i dUng yen cUa vt dtfi vdi h~ quy chie'ii dri chqn.
l\f;u v~t dUng yen dOi vOi h~ quy chie'u cO djnh thl can bing :l:.'
gr_n h\ can b:?i.ng tuyt d6i, cOn ne'11 v?t dUng yCn dOi v01 h~ qtt)'
chie'u chuy~n dQng thi d(J 18. can b!ing tlidng dOi. Ta c6 the' C01

can

\':~l cfln b.ng d01 v{ji 1n$L dit 18. c:in b:lng tuy~t deli (r1hu v(l;. 18.

ta da bO qua s\)' chuy@n dQng cUa Trcii Da't). 'l'rong tlnh hQc ta
ch-i x6t de'n S-i;i can b:lng tuy9t dOi.

H~ l\fc Ia ti),p hr;p cUa nhieu lr;c cUng tcic d1Jng len m6t vit rdn.
K~'

--

1119u (F 1 .F2 '" . ,F")

1~1ui11 1111jf, TfNH HOC

h~

l\fc tlidng dlidng la hai hij. li,tc cO cUng tdc dng cd hQc
nh1t nhau (11ghla 18. ne'l1 dem hai h~ 11)'.c IUn lLfQt l<ic d\lng il'n

Hai

in(it v~t r.hn thi tr?ng th{u cc1 h9c clia v(1t r:ir1 fly ttong 11a1

trtii:lng hQp se y nhu' llhau).

l{:f

11i~u

l1ai

h~

11)'.c tu'dng L1u'dr1g ( F 1 , F1 .. ,1',,, ) - ( P1 . P~ . .. , I).,, )

Hqp l\fc ell.a m{>t

h~

l\fc

Ia

m<Jt life tlidng dliUng

V(ft

1n6t

h&ll/c.
Gqi R 18. l1Qp 11)'.c clla h$1\ic (F1 .F~, .. ,Fn) thi ta c6 the' v16't ht~
lt;ic(F1 ,F~

..... F")- R.

H~ life can bitng 18. h ltjc ma khi tdc dl,lng li!n vdt rein se
kh6ng [am fhay rJ6'i trqng thcii chuyi/n dQng
dan.g cO.

Cd

hoc niit udt

H~ l\ic cftn b~ng cOn dU:Qc g9i 18. h~ lt;ic tU:dng dtidng kl16ng.

'fa v1ift ( F1 , F., . ... F,, ) - 0.

,
1.2. MO MEN CUA Ll,fC
~

1.2. l. MOMEN CUA Ll/C DOI VOi MQT DIEM

C~l10 ltjc

tac dy.ng lCn v<;tt r&11

d~t t?i d1f;n1 .4,

lt{y 1nQt

k:Y vb. gQi QA=; JU vectd d~nl1 vi die'n1 di.1t A cUa l\]'c

ctil~1n 0 bCll

F dti'i

vOt

dit!m 0. Kl108.ng each d lll di61n 0 dCn dLi(ing tbe J.\lrlg cl1a 1\IL' F
g9i 13. c<inh tay dOn clia 11)'.c F d6'i vdi d1C1n 0 (hlnh 1.:2).

D!nl1 nghia:

F v$.t r5.n se quay quanh d1d1n 0. 'fa c{l

M01nen cUa 11)'.c F d6'i vdi d1~n1 0 1;1 1nQL V~'Ctli

m,.(F) tli~t t<;ti

0.

Du:Oi l{tc dy.ng cUa h;tc

CO HQC LYTHUYtT TAP I: PHAN TiNH HOC, EJONG HOC

10

va

C6 phlidng vu6I1g g6c vdi m;,'i.t ph~ng chUa ll;l'c F

di~m 0.

C6 cl11fiu sao cho tU ng9n clia vectd fly La nhin tha'y hjc F hti611g
qua11h 0 ngUQc chieu k1m dOng h6.

C6 tri sc) bj_ng ticl1 sO cu'dng dQ cUa hjc v61 c~111h tay d6n ci.ia n6
dOi v61 d1@'.1n 0.
lm 0 (F)i = F.d = F.r. sin a
hay

m 0 (F) = Ti\F

(l 1)

- I
k

m 0 (f")=I'AF:oolx

y z :::
F_., FY F.,

=(yF -zFY)i +(zF,. -xF,)j +(xF.v -yF"_)k

2

m" (F)-= m 11xi + m",.] + m 0 ,k

trong d6: x, y, z - hinh chiCu clla vectd r ;

F_.,, FY, F,, - hinh chi Cu cUa vectd F ;

m x,mo.vm,,., -hinhchiCuci.la m.,(Ji') Jenc:<ictrl).ct9add
0

o 7" a
/

Hinh 1.2

l'lliin 111Ut. TTNH

11

HQC

Y 11g/1la cU:1 vecto m,,(F)

Y nghfa cd hpr:: M6mcn cUa h;Ic d6i vdi mQt d1~1n d~c trting cho

tac dvng quay clia lt,Ic quanh dim d6. '1'8.c dvng quay i1D.y phv
Ll1t1Qc ba ye'u t6'.

+Vi Lri ell.a 1ni).t phAng chUa lVc va di~1n lily in6n1e11.

+ Chi@u quay cUa m6men trong m$.t phi!tng f:ly.

d9 clla

+ Cu"dng

l\ic va c8.11h Lay dOn clia liJc dOi vOi d1e'.m d6

Y righla hinh h9c: Theo dinh nghla thi dQ dH.i cUa vectd 1n6111cn
b~ng hai lfrn diQn Lich ta1n gi:lc OAB (l1i11h 1.2).

Im, (F)I
m" (F)

F.d

28 0 ,,8

0 khi d ::: 0, nghla 18. dudng Li'tc dvng cliH lt,Ic F d1

:=

qua 0.
ChU );:

:.:reu

x6t 11~ c.c lt,Ic n.im tro11g cling 1n0t n1i).l phf)11~ thl

m6men clia c:ic liJc deli vdi 1nQt d16m trong m(lt phing fiy chl c11
tinh 11hu mQt luqng d~1 siJ (vi trong tru"dng hQp nay cf1c vcctli
1n6men d@u vu6ng g6c vOi cling mi(l.t phiing chUa h.jc va di1n l~iv
tn6mer1). Phep so s:inh c8.c vecto cling phlidng

c(i

th~ dua ve phCp

so sAnh b~ng d:;ii sO.

Khi d6 ta c6 th~ v1Ct

m,(F)

F.d

(1.2)

Lrong d6: dflu (+) vrJi tru0ng hQp dudi tic dvng ciin h;Ic F v(lt quay'
quanh

o ngliQc

ch1Cu ki1n d6r1g h6 va lfiy da'u (-) v01 trtth11g hr_i\i

Ilglf\lC 101.

1.2.2. SI! BIEN THIEN MOM EN CUA Li!C >01 VOi 0 VA O,

Giel sU: h;rc F d(lt t~iA thi m6men d6i vdi 018.
vOi 0 1 sC c6 mo1(F)

::=

r 11\F (hlnl1 l.3).

;o(F) =

~1\F v<:\ dt'fi

ca HQC LY THUY~T

12

1'a c6:

--

TAP I: PHAN TTNH HOC, DONG HOC

0A=r=00 1 +r,

mn (F) = r1\F = (00 1 + r, ) ..\F-= 00 1 .\F

-r, i\F

-i

hav

(1 J:l)

Vf}.y hie11

hai vectd m6men cUa

l\ic F' dOi udl hai

die'm khdc

nhau f([ ni\jt uect(f uu6ng gOc

tJr rlor;in thling n.6i hai di&/11

-,

([6.

I\u

00 1 l\F = 0

00 1 II Ji' thl n1o(F)

hay
= 1n,,1

vectd

Hinh 1.3

(F).

1.2.3. MOMEN CUA l\IC DOI VOi MQT TR\IC

XCt 1nQt vl).t riin c6 th~ quay du:Qc quar1h trvc z dU01 L~tc dvng clla
h.,ic F d(lt t9i A. Qua A trr ve in(lt ph~ng xy vu6ng g6c vOi t1vc z vc\
ciit trvc z t0i 0 (hinl1 1.4).
l)hlln tich lt,ic F tl18.nh ha1
thnnl1 phfrn: F, so11g song
vdi Lr\].C z va F,y n:'hn trong
m(l.t pl1iir1g xy. 1'h8.nh pl1<'in
.F, c6 tile dvng li'tm cho v~t
cl1uy~n Udi d9c theo trvc z,
chi c6 thfinh phfin F,,. indi
cO ulc clvng lam cl10 v(it
qua!' quanh Lr9c z. Nhu'
v;'._ty t.c U\].ng quay clla h;i:c

F C[Ltanh tr\].C z chlnh 18.

tfic d\].tlg quay clia thi'lnh
pl1<'.in F.,,.

d,

B,f F

Fi

'Y

A='A,

Hinh 1.4

J'hiln 111Ur. TiNH HOC

13

EJ/11/1 11ghf;1: MOmen clla li;tc F dOi viii trt,tc z 18- lu:urig dar: sr{ cn

being n1dmen cUa llfc

F.vy

dOl udi diii'm 0. KY hi~u n1,(F).

trong d6 d 1 - c:inl1 tay dOn c:Ua lt;ic F"' rt61 v{Ji d1fin1 0:
m,(F) c6 ctau (+) nCu tU cl11Cu duong Lrl,lc z r1b'in thil\' llil'

F hay l\ic F

xy

quay quanh 0 ngUQc cl11eu ki1n dtlng l1tl.

dflu (-) trong trUdng hr)p ngU:Qc 10-i.

}' 11p/1ia ctia m, (F)

Y ng11Ia cd h9c: m~(F) d~c trU:ng cho t{1c dl}.ng quay cU.a luc F
quar1h Lr1,1.c z

Y nghia hinh h9c: m z (F) == '2S 0 A,B 1

'l'U (1. 4) ta th:1y 1n6men ell a h,tc F d:6i vdi trvc z b111g 0 k11i.

- l.t.Jc F song so11g vcl1 tr\lC z (vl F".:::: 0).

Trong

Cli

11ai tru:d11g l1Qp nay thl l\ic F va tr\).C z cling trong n1QL

1110.L pl1i11g.
1.2.4. DjNH LY LIEN HE GllrA M6MEN CUA LVC DOI

vo1

MQT DIEM

vA

MOMEN CUA LVC DOI VOi MQT TRVC

EJ_i11/1 ~~;: M6men cUa l(.fc dC/i vdi m(jt true bring hinh chiC'u lCn tr11c

Uy cUa vectd mbmen cU.a l{ic d6i vdi

mQt di,i'm ba't

ky

trCn tr1,1c.

trong d6: y - g6c giU:a trl,lC Oz vii vecto m 0 (F) (hl.nh 1.:3).
Ch Ung minh: Cho l\ic F va trvc z Ta ve m<'.\.t pl1ii.ng xy vu611~ gCic

vdi trvc z vii cAt tr\lc z t01 0 (hl.nh 1.5). y JA. g6c giUa trvc Oz v;l

Cd HQC LYTHUYtT TAP I: PHAN TTNH HOC, 86NG HOC

14

VP.Cld

111,,(F) hay 18. g6c giU:a

OA 1B,,. Ta b1Ct S 0 A,n 1 =

SOAH

hlli

m"1-t pl1Ang cl1Ua tam giftc GAB

va

cosy.

z
B

Hinh 1.5

::-.Jhung m,(F)

Do drl m, (F) =

2S 0 A,Hi va

l;o(:F~ = 2S0 ,1B

j;,, (:F)j cos~;= m

,,

(F)

Tuong t\1' d0i v01 cii.c tr\).c Ox va (Jy:

m,(F) ~ m,,,(F)
m,(F)

m,,,(F)

1.3. NGAU Ll/C

1.3. l. DiNH NGHiA VA cAc

vu r6 cuA NGAU LVC

a) Dinh 11g/1181: Ngdu li;tc 18. 1nQt h~

g01n hai Ive song so11g <:Ur1g cu'dr1g

dQ vii nglic;lc chiu. Ky hi~u (F1 , F 2 ) (hir1h 1.6).

15

P/ui11 1116!. T'iNH HQC

b) l.fic ;ill /({ clia 11gdu Jue

M:~L pl15.ng ehUa hai l"!jc cUa ng.1u l"!jc gQi 113. 1n$.l phA11g Lie dl}ug

clia rig. u h;Ic.

KboG.ng c:lch d

g1Ua hai

ctud11g tac d9ng clia hai h.;lc

L~o th8.nh ng.u

li.;ic gQi 13

c6.nh ta>' dOn cUa ng5.u li.;ic.

Tile d1,1ng cUa ng.u li.;ic !Am

cho v~t r~n chuy~n d<'.)11g
quay. D~ bi~u dii'!n t.c
d9ng quay clia nglu li.;lr ta
c6 kh:ii ni~m vecLCI m6men cUa ngtlu li.;ic.

Hinh 1.6

c) JJi11h 11g/1ia 2:,vectCI m6men cUa ngliu l"!jc 18. mQt vecLd ti.;l do nr c(i:

Phuong vu611g g6c vd1 m$.t

phJng tac <lvng cUa ng.u

l\}c:

Cl1i8u sao cho tU ng9n cUa

Vl'Cld [-\y ta t116> ngiiu ll}c
co 11u:Ong quay ngU:Qc ch1eu

kim d6ng hO;

'I'ri sO bli.ng tich

sO cu:dng

dQ clla 1"1c v01 c8.nh tay dOn

d cUa n6 (hin11 1.7)

F;:;:l = F 1 d = F 1 BAsir1a.

Hinh 1.7

(1.5)

}' 11g/1i;1 n16111en ctia ng8u /1fc

Y 1ighia

cd h9c: ::Vl6me11 rri clla ngliu lljc d?c trling chu l~IL' dl)ng

qt1a.v cUa ng<'i.u ltjc.

Y ng ila hinh h9c:

1

1;;;1=2SABB'

Cd HQC l YTHUY~T - TAP I: PHAN TTNH HOC, l6NG HOC

16

'l'U v1Cc \Ji~u diCn ngdu l\jc bltng vectd 1n~men ngltu lc. nE-n d
i1h8.n thiy rang: hai ng.u lt;ic biJ.ng 11l1au kl11 l1a1 vecLd n1C1nH'n
11gliu li.jc b:lr1g nhau
ChU j: :-.JCu cac ngltu ly:c cling 113-m trong m9t m$_t pl1~ng thl
m61ne11 clia ngltu lt,tc chi cfin tinh nhu' lu'Q11g d9i st) (xe1n m1,1c 1.2.1)

Fd

dJ Di11!1 ~': T6.'ng m6men cdc ll/c cUa ngciu lrjc d6i 1.,:Ji mQt diefn 0 bC(t
kj1 niio cl6 bring uect(J m6men cUa ng6u lr,tc

ay:

,.

Hinh 1.B

ChUng minh (hinl1 1.8): Theo dinh ngl:1ia.

m = m"(F1 )+m 0 (F~)

1.3.2. TiNH CHAT TUONG DUONG CUA NGAU L\fC

JJi11/1 ~{ J: Hai ng6.u llfc c6 cUng m(it ph&ng tcic d(lng citng cfu:eu

c1uay vii tr,i sO' m.6men thi tliung dtLdng nhau.

l'flu11 111(it.

TiNH HOC

17

e_;ac 11~ qui cUa d~11h l:Y 1:

He qud 1: Tac dy.ng cUa ng8-u li;ic lCn vf!.t r:iI1 kh6ng thay ctb'i ktn
lha)' U6i vj tri cUa ngfi.lJ li;tc lrong m~t pl1&ng l<:)c dl,lng clia i16

Hef qud 2: Tac tl.l,lng clla ng6.u h;lc kh6ng thay d.6i kh1 ta Ll1n:i dll1
tUy Y ct.idng UQ ciia h;ic vil c8-nh tay dOn nht.ing gill ngti~l>11
t ri

st/ 111,'1n1v1i.

Di11/1 ~'' 2: Tcic d\tng cUa ngQ.u {lie len v(it rdn kh6ng thay dC/i khi rrii

ng6u lijc

den rn(it phdng song song udi 1ndt phdng tdc dz.tng cUa

1.3.3. HOP H~ NGAU

n6.

we

H ng3u h,tc bilt k:Y trong kh6ng gian tt.idng dt.idng vOi n1Qt ng:iu lt;r:c
c6 vectd in6men b1ng t6ng hlnh h9c c3.c vcctd m6mcn clla lit c::\ c3c
ngfi.tt h,tc th8-nh ph:ftn:
..

Lni1.,

(1

Ui

le-I

ChU :J: Ne'u h~ ng3u lt;r:c cling ni:l.m trong mQt m?l phitng thl tUdng
dt.id11g vOi m(lt ngli.u li;tc c6 m61nen bi:l.ng t6'ng dQ.l sO m61nen clia l:lt
ca cac ng:iu l\[c thanh l)hAn:
( 1 7)

1.4. H~ TIEN

DE T[NH HQC

1.4.1. TIEN VE 1 (Ve hai h,ic con b&ng)

D1eu kin c8.11 va dU di m9t v~t r:in c3J1 bling dudi tac dy.ng ci.la f1ai

lt.tc l:l 11a1 lt;ic d6 c6 cling dt.idng t<ic dy.ng, cling cudng d9 va i1gu'r)c
cl1ieu. l()'

h1~u

( F 1 , FL ) - 0 (11inh 1.9).

CO HOC L1 THUYt:T - TAP I: PHAN Tl NH HOC, DONG HOC

18

'.\lhu: vt~y ta nh(ln tha':y:

MQL v?t r.n du:Oi t.c dvng ell.a mQt lVc thi kh6ng thd ctln hhng
dti\)c .

:;\Jgf:tu l\}'c 18. mQl h$ li.;ic kl16ng can bhng.

(,---- -----+--

Hinh 1.9

1.4.2. TIEN DE 2 (Ve SI,! tuong duong cua h~ 11,IC)

1'{1c {h,i11g clia 1nQt h$ l\fc lPr1 v(tt r811

kh6ng thay d6i ne'u ta th81n v{1.o hay

bOt di tU
bing.

h~

ltjc d6 mQt

h~

h.jc can

Nl1u' v(:t.)' ne'u hai h$ lijc kh.c nhau

bd1 nl(ll h$ l\)'.c can biing tl1i tU:dng

dUcJng r1hau
H~

qud cUa tiCn de' 1 vd 2: T8.c dvrig

clia 1nQt lijc Jen v$.t r;ln sC kh6ng d6i
ne'u ta trUdt Jue di tren du:dng tac
d.1,1.ng cUa n6.

Hinh 1.10

ChUng- minh: Cho li,Ic F tac dng

lE-n vQ.t r~n d:(it t:;i.i dikm A. I~i:v di~m B tren dudng tile dvng cUa
n6 va d:(it lf.1.i B 11ai l\fc can bUng F 1 , F~

F1

::::

F == -F2

(hinh 1.10) sao cho

1~Jui11 nlf)t. TfNH HQC

19

'fl1cor1Cnde2 thi F

- - - ).

-(F1 ,F~.F

MQ.t kh.c theo tien de 1 thi hai lVc (F,F2

0 nen khi bOt d1 ha1

) -

lVc F.F~ chi cOn lt;ii F 1 hay (F1 ,F2 ,F) -F1

Nhtt v:}y tac d1.J.ng

clia lVc f'1 giflng nhti tac d1.J.r1g clla Ive F chi khEtc Ia Jvc F1 d:~t l~11

1.4.3. TIEN

DE 3 (Quy t6c hinh binh hanh)

Hai Iuc di)t t~i mQt dim bao

gill cling c6 h<;Jp lvc d:;i.t t1?-i
di1n d6. H<;Jp IVc i.y dti<;lc x8.c
dinh b6i dudng cheo cUa hinh
binh h:\nh c6 l1a1 c;;:i.nh Ia hai
lVc di'i eho.
C;u1 R
lVe

/
/
/

Ia hQp h;te clla hai

F 1 ,F2 (hinh

R - (F1 ,F2

).

yg

1.11)

thi

Hinh 1.11

m~t toan

ChU.Y:
't'i.Pn d?i nay v5.n dUr1g v6"i trtidng hr,1p hai Ive c6 dudng tic dvng
e:it nhau. Khi d6 theo h qu3 cUa tien d8 2 ta ddi di6n1 d:;i.t cllc
lVc vfi di6m c:it nhau n8.y.
TU tien de nii.y ta c6 th~ suy ra each tim hQp lVc clla h~ n Ive c6
du'dng tac dvng c:it nhau t?i mQt di~m (gQi 18. h Ive dOng quy).
Kh1 J.6 ddi di@1n d~t clla tflt e:l cac lVc ve di@m c~t nhau r61 3.p
d~1ng t1n

cte 3 cho tUng c~p Ive tu lVc

F 1 den lVc F

11

TU 1nQt Ive c6 th~ ph.n tich dtt<;Jc th:\nh ha1 lVc hay ba h;tc theo
cac phU'dng cho trti6"c.

ca HOC L'? THUY~T - TAP 1- PHAN TINH HOC, J6NG HOC

20

1.4.4. TIEN

DE 4

(ve 11,ic tac dvng vo phan tac dvng)

J_,\l<' tcH' dt.u1g tu'dng 116 gilia 11a1 vc)t lb. nhU:ng hie c6 cling dLt('111g t;\c

d\}ng. cling Cu'l'i11g dQ v8. ngu'c,lC cl116u

Hinh 1.12

'\'1f'u ci8 t1Uy cl10 ta tl1:ly l\fc bao gid cling xu8t hi~n tU: ha1 pl1{11
~e'u vf1t

tl1U nh({t tUc: dvr1g lfn v<:)t thl1 ha1 n1Qt l\ic F1 ~ thi v:1t t.hlr

ha1 t-C111g L6.c d\}ng lt}11 v:}t

vHYL ft':~ --= -Jt~ 1

l1a1

\-'l~L

1.4.5. TIEN

t}1U:

nh:ll nl()l \\i('

F" 1 VC to<'in lH.Jt' ('( J t lil:

0

lia1lt;rc111~ k\i[Jng c.i\n b<\ng nh,1u vi ('hU11g d:\l

ll"..ll

kh8.c i1hau (hlnh 1.1::)

DE 5 (Nguyen ly h6a ran)

'.\.li)l v(1t bie'11 d~1ng c:in bAng dLi6i l5.c J.vng clla n1Qt 116 11,ie Lhi kh1
l16a l'<'.ln n6 v8.11 c8.n b8.ng du61 t(1c dvng cUa 11~ ly:c: d6.

_,,?

_ _,

1.5. LIEN KET VA PHAN UJC LIEN KET

1.5. l. KHA\ Nl~M VE VAT RAN Tl,I DO, Vj,.T RAN KHONG Tl,J DO, LIEN KET
v A PHAN Ll,JC LIEN KET
\r;_Jt rU11 t1j do llt. c(it cci th(/ cli chu)1fn t~t' llu trong hh6n.g gian rna

kh6ng b_i rang bu()c bdi ccic u(it hh.d.c.

!'l1i111111tit. TTNH HOC

21

V~t ril.n khOng t\( do 18. v(lt b.i ngfin ccin di c/1uyCl1 h!lt cue 16f

hh.dc. \l;)t rdn khfJng L\1 do dLi()l' g91 b\ v;1t h1 lil'rl ke't C( Jll \;~11 11.c'Ji11
0

cc't11 d1 rl1uy6'11. cl1a vc~t Li li6n ket du\Jc g91 l~\ v(1t gd:. h<'n kC.t
t)16u ki~n c:in trd stj di chuy~11 tl_i do clia v(tt d1iljc gq1 L\ hl"n l~t>'t

Vi ciu:

(~Lu\

kl1i11h khl cfi.u ba:.' lcJ ]ling trong kh6ng: g1<111 \~1 v:\l l Lid()

;)t d;)L t\'C'n lidn li1 v(1L kh6ng ltj do. :\'l;\t hiin l~t v(\l gtt:. liC'n k(~l.

1'a c6n 11i.e'u bcin chUt clia liC~n kit la v<)L gCtv lit'n k8t s1nh 1a ]l_Ic
llgi'in ('(ln cl1uyi.':11 d111g clia V<~t Li liCn k8t. Ltjc nay gqi 18. jJh:ln ll_il'

liCn ke't. COn ll_ic ina v(lt bi 11&-n ke'L t{1c lh,Ing lr'n v(1t gf1:. 111:n k(,.t
!-i(_Jl

le\ <lp ltjc. i\p ltjc v:l hiln lu"t b6n k8't tu/in t}J('O t10n dl; 1

\'U:1

LJ11b h(_JC.

C:ir1chUy18. chiCu cUa phri11 li,tc h6n kCt ngTi!)c v{Ji chi6u di chu_\l<n
bi c;\n Lrd. Tro11g thl_ic tC h8u hCt c{u: vc}t r<;tn cteu 6 tr:,1ng th:'i1
kh6ng ti)'. do. Vi v(rv v1c

x{lC

d\nh c:'1.c phcln lt.ic l1P11 kc'L li1 b;\1

t(l{1n

q11a11 trr.ll1g tro11g Linh hqc Ta o0e k11<:lo ,,;;\t ph{1n ltjc cua 1n(1t o0<\ li\11

kCt ~;iu dft;. vli1 gicl th18L viH v;)L 1~1 \:ll rc1n vc\ nh{111 tu;.()L dtl1

1.5.2. MQT s6 LIEN KET TH UONG GAP vA PHAN LUC LIEN KET

l\.h1 v(1t ll_ia lCn n1~1t m(1L v(ll khi\c, cl1uY[~n d(ing clu1 v:)t ll11 Ln tan

trd theo phu'dng philp tuyCn. 1)11<:1.n ltjc btfbng thPo phtlring ph{q1
t11y8n cl1ung giUa l1ai mc'.it ti8p xUc v8. dQ,t L<:ll t1Cp dicni K) h1Qu J.\1
1

(hinli l l 3a).

'l'11i(Jr1g h\1p n1i)t t1ong hu1 n1<~t t1[~,Jl xUc

];'1

n1Ql di8111 thi ph<.l11 l~H

l1u'6ng ll1eo pl1{1p tuye'n c:Ua n11~l cOn 11.ri (l1lnl1 1.1:3b)

G6'i l~ia di d(ing cilng 18. d0ng liCn kift ti,i:a (hi11h 1. 1 :)c)

22

CO HQC LY THUYt"T - TAP I PHAN TiNH HQC, 06NG HOC

b)

Hinh 1.13

bJ Lien kct f/flJ' 111e/11

Day 1n1n kh6ng gi..n

bi

kCo c::lng.

Phan h..tc lien ke't day g9i la slic.

cang cUa day c6 phlidng d9c theo

d.y, chiu di ra kh6i v$.t b! lin kt.

Ky hiu
cJ Lie11 kc;(

T (hinh 1.14).

b:in Je' tru

Ie tr1,1 g6m mQt 15i trv tr6n cOn

g9i Ia trl.,lC biin 1e va mQt v6 trv bao
B3.n

ngoB.1 JOi tr-1,1 3.y (hinh 1 15a). Hai

Hinh 1.14

v$.t r:in dU:Q'c n6'i v6i nhau b:lng btl.n

1 tr\l. Chuy~n dQng cUa v$_t bi lien k.e't kh6ng b~ ngar1 c:in <l(}l' theu
trl,lC

b::\.n Je, do d6 ph3n }l}'c theo phlidng 113.y b:ing kh6ng. (:110 n0ll

phB.n l\]'c cl1i n8m trong m~t ph~ng vu6ng g6c vdi tr\lc b8.n 16, c6

ky

hi~u

-R.

Ta phAn tich vcctd R tl1<'i.nh ha1

th8.nh philn theo hai try.c t9a dQ trong m1)t hRng fly (h'inl1 1 15bl
G6i tl)a cO dinh cling la d:::i.ng cU.a biin 18 tr9 (hlnh 1.15c).
phlidng ba't k:Y va

JJ/J;111 11101.

TINH HQC

23

y
y

a)

v.

R,

b)

x:

Hinh 1.15

rf) Lien kti b:l11 /1/ c;fu

\'(1t bj liCn ke't du\Jc nfli v(Ji n1Qt qu<i cflu A xoay du\ic t1ong in(it h6,l'

hinh cflu. Pl13.n l\]c

R d1 qua t3.1n qui-l c:i.u A

c6 phtic1ng, chiCu L:il

k.Y tro11g kh6ng gian. 1'a xllc dinh du'Qc R qua ba th8.nh phf\n clta
n6 theo ba tr\}c t9a dQ (11inh 1 lfia).

z'I
z

a)

b)

z:-

I
I

R,

11

v.

x:

Hinh 1.16

LiCn ke't cOi cling thut)c d<_tng b::in ie cfiu, phiin hfc
c6 phu'dng bit ky
v1) dtiQc ph3.r1 l:11n ba th8.nh ph.3.11 thco ba tr\lc t9a t.h) (hinl1 1.16b)
l')

1,ie11kei1/1;11111

Hai v(tt. dliQc 110i vdi nhHu li;\ng thar1h cU:ng (c6 th~ lhtlng ha\
cong) khrlng c6 li.;ic t3.c dl,lng len thanl1 (tr911g lu:q11g clla th;1nl1

Cd HOC L'? THUYtT - Tfl,,P I: PHAN TTNH HOC, fJQNG HOC

24

khG11g <l<:'tng k:e'.)

hai d:1u thanh c6 lien kCt b8.n

ie

(l1ir1h 1 17)

Pl1i:l.n lVc c6 dtidng tac d1,1ng di qua hai d<'iu thanh. Ta c6 t11e'. chltng

1ninh ke't lu$.n n.3._y theo tien de 1. Ne'u thanh chiu keo thi pl1iin h;tc
hu'dr1g ra kh/ii vf).t kh8-o sit, cOn ph8-11 ltjc di vao v$,t kh3o s{1t tl1i

thanh chju nen.

I
I
I

Hinh 1.17

Hinh 1.18

fJ LiC11 kel ng8111

Kh1 v~t b1 li6n ke't vii v~t g3.y lien kCt du:qc g~n cUng vdi nhnu thl
d6 la lien ke't ngam (chii.ng h~n, dinh d6ng c6:11g vao tuhng) l}l1c'1n
11.ic l1t'..n ke't gb1n rnQt 11,l'c RA va mQt ngt'iu 11.}c c6 vceld 1nrln1cn M"
(hlnl1 1.18). Nif11 18. ng8-m tl'ong kh6ng g1an Ll1i RA dUQc Xflc Uinh
bd1 ba thS.nh ph:in XA,YA,ZA theo bR try_c l9a dQ. Cbn vr'cld

MA cling dUQC x3.c djnh bdi MAX, MAY, M Az th co ba trvc t9a dQ d6.
Ne'u ng8.m trong ini}.t ph~ng thi RA du'<;lc xac di11h bd1 ha1 tbi'u1h
ph<i"n X.A.YA theo hai try.c t9a dQ trong 1n?t h~\ng. ('dn M_ 1 du'r_i("

1.5.3. TIEN

DE 6 (Ve gioi phong lien ket>

:Lvl(it v~t riin kh6ng tlj do cfin bftng c6 thG coi Ia v~t r:i.n tlj do c-(111 lio'ing
ne'u ta tl10.y tl18 c8.c lien ke't b3ng c8.c pt1an Jue liCn ke't tlidng Ung
'l'rong trti0ng hc;lp n8.y 11~ li;i'.c t:ic dy.ng 1811 v<}l r~n c8.n Lang liau
g61n col lt;tc chll dQng va ph311 h;tc liCn ke't.
Tien U nay giU.p ta giii.i bUi torin can bing d6i vOi c8.c v?t rf1n
kh611g Llf do, Lile la v?t r<'in chju lien ke't.

ClnroNG 2
,.

HAI BAI TOAN CO BAN CUA TINH HOC

2. l. BAI TOAN THU GQN H~ Ll,IC

2.1.1. Eli NH l Y001 Ll!C SONG SONG
Di11/1 ~'': Khi ddi song song m(Jt lljc F tit diiJ/n A fli[n (lii'ln B tric

di:i1ig ciia. life Zen vt rdn kh6ng d6'i n.CU ta them vdo m.Qt ngGu lite
c6 nirJrnen bdng m6rnen cUa li,tc

F d(i,t tr;ii die''m A d6i vdi di&ln

B.

Chlt11g 1ninli: Cho 1nQt lvc F lie d1,111g lPn v~1L rii.n d;~L t<,1i dil;n1 A

cfln d(ii h;ic F de'n di~1n B thi

bllng F' va F'' sao cho F

t<:_l1

R ta tht~1n vD.o

l1a1

lL_lc cftn

:::: F' ;:::: - F''. 'l'heo L1r1 dC ~ tl1i

F - ( F'. F", F) (hinh 2.1 a).

p
a)

b)

p
vc~y

- - ( F'. F". F)

Hinh 2.1

18. n1Qt 11~ gon1 111()t lVc F' vcl. n1Ql ngiiu l\]e
-(F".F). Ngliu 11,lc nRy c6 n161ncn m-= m 8 (FA). Dj11h l.Y dLf<)c
Nl1li

chUr1g rninh (hir1h 2.lb).

ca HOC LY THUYt:T - TAP I: PHAN TTNH HOC, DONG HOC

26

2.1.2. THU GQN H~ LVC KHONG GIAN VE MQT TAM - VECTO CH1NH VA
VECTO MOMEN CH1NH CUA H~ LVC
JJi11/1 11g/1ia: Hi$ l\fc kh6ng gian 18. inQt 11~ lijc in:l dtidng t8.c di.,1ng

cUa c6.c 11,ic n3.m bf:lt k,Y trong kh6ng gian.

a) P/1uu11g ph;ip tl1u g(}11

Cho inr}t h~ lt,ic kl1Cn1g g1an (F1. F~ .... F,,). Ta la'y 0 l:i1n tfun thu
gqn. 'rhtt gqn h(: li.;lc n<'i.:v vC tfam 0. Ap dvr1g d.1nl1 lY dOi lu:c c;ong

va 1n61nen
m, "' ~ (F
Ddi song song l\fc Fz vC 0, ta dU:Qc F~' = F:: vi\
m61nen ;c == ;(<F~). 'l'Udng ty: ddi 11.)'c Ji',, vC 0, ta dUQc F'n' = }',,
vtl. 1n61ner1 ; .,
(F,,) . Sat1 khi dd1 song song h& (1'~ 1 , F~ . .. , F,,. )

song ta ddi song song 11,lc F 1 vC 0, ta dU:<;Jc F 1' = F 1

1) .

:= ; ; : ,

ve 0 Lhi ta dtfQe n1Qt h~ lVc dOng quy (Ji'1 'F~ ', ... ,FIJ ') va hQ ngAu
li;tcc6c8-cvectdm6men m,,m,..... ,m,, (hinh2.2a).

a)

b)

m,

m,

x
Hinh 2.2

Tl1eo LiC11 dB 3 thay h~ llJ'.c d$.t t~i 0 (F' ,F' ... .,1''.) bi'ing inQt l\J'.c
1

R:. =I 1'' =I Fh
1

11

"-1

"

"

\"-1 I

l'//;111 11101.

27

TTNH HQC

T11eo pl18p hcJp ngf1u 11.jc (1.6) t11ay h~ 11g?iu 11.jc b3.ng mQL 11gliu 11.j('
tOng 11!)p c6 vectcl rn6men M

(hinh 2.2b)

-M,, L:m,
"L:m .

-~

(F,)

k~l

b) Vcc/O" chfnh v:l vectu m61ncn c/1f11h ctia h /l;fc

R:. =L.F

11

lvl.,

l3.vectdchi11l1cliah~h,tc (F1 ,F~,..,Fn)

2,~(F1,) 18. vccLd rn61nen cl1inb clla h9 l1Jc dr\i v61 Lc'in1 0

Chujc

R' kl16ng ph\1 thuQc v8.o L.m thu gqn 0 (vi b3.ng t0'11g 11inh hQt'
cUa cric li;ic dil cho). R~ 18. hQp liJc clia h~ l\fc (F,, F~, . ., F,:) d1:1L
l01 0 cl1U k116ng ph3.i 18. hr,Jp ll)'.c clia hf l\fc (Ji'1.F~ ,... F,,) (g1c-'u
tl1ich theo dinh nghla hc.Jp l\fc).

M,. n6i chung phv tl1uQc v8.o t8.1n thu gq11 0 (c6 ll1e' chling in1nl1
tl1eo mc 1.2.2).

c)

A.t;i c111:.i t/1u g(Jn

JJi11/1 ~1;: Khi thu gqn hij life kh6n;i gian tHi m.Qt ttlni, ta dUUc 1nr)l life

va mQt ngdu life. Llfc O:y dur:;c bie"u dien b&ng vectu clii'nh c1Ja li [Uc
dii cha, cOn ngdu [lfc c6 m6men bdng m6men chinh. cila h life d6/.
vdi tfini thu g9n.

2.1.3.

xAc !Ji NH VECTO CHiNH VA VECTO MOM EN CHiNH CUA H~ L\IC

aJ ...\'Lie d/11!1 R',, va M

Theo di11h nghia R~

b:111g ph11011g ph.ip gi;Ji tfc/1

=

LF

1,

ta c6:

Cd HQC LY THUYET - TAP I PHAN TlNH HOC, DONG HOC

28

L_F1c, ~ L_Y1
R' ~ L_F1, "LZ

1,

Ta

18. hlnh r:l11e'l1 cUa R

c{i

(;9i a.)1,-y Ia g6c ma vectd R,,' t0o vd1 cii.c tr1,1c (Jx, Oy, Oz thl cus1n
clia c[1c g6c nay ctu'cjc x<ic dinh nhu' sau

R'

R'
-'-'.' ' c:os-1

COS Cl-=-:- : COtir) =

'

=-

R..
R

____!_::___

SU <l\]ng djnh IY li8n hQ giUa 1n61nen clla n1Qt lijc dOi vdi n1lil d1c'111
v;\ rillnnen clla 1n(1t li;ic dOi vOi 1nQt tri.;ic, ta se x:l.c dir1l1 dtiQc M,,

Ilm,,(F ,)L L,m, (F

M,,, Ilm (F )~ ~ L,m, (F
M,,, ~ Ilm,,(F,,JJ, ~ "L,m,(F
M,,, ~

1,)

1)

1,)

(;l.11

1J,.11 1 .y 1 18 g6c

111:'1 vPctd

A1"

tc.1u

vdi cC1c

ll't;LC

Ox, O)', ();: tl11

cosi11 clla cac g6c nay dur;c xfrc d\1111 r1l1u sat1:

Mf!X
cosct, = - - :

"

(2.fi)

M,,

l'h<in nuit. TTNH HOC

29

/1) .\";ic tli11/1 Ff"' h.i11J.[ p/111011/.{ p/1;ip /1i11/1 /1ue (<ltl11g rfa gi;ic fuL)

Xet

lH~

c6 -1 h;ic (F1 .Fz.F; 1 ,F~) (hinh 2.:3a).1'U 1nQt d1&1nA bf{t k).

ta lfln ltiQt vC nfli t1Cp rf1c vectd ttillng Ung song song rling ch1l;u
c{tc

VPCLO

F 1 .F~,/t'. 1 .F 1 c6 dQ cb'i1 chinh bt'ing U6 <lf11 c{tc

t)t!dnf~- gii.:,-'

11,ic

Ltc1

khUc .i\l-3CDE,i\ du'Q'c

('ho (11inl1

Vectd AE g91

Ia

L:,lO

thitnh go1

];'1

da

g1{1e

Vt'('td

lLic

('Uil

v{J1

;'(y
h(

:_)b)

\'a ];\

c<?.nh d6ng ki11 da gi<'i.c hjc

clta h0 lt;ic da cho ~Cu h

c{1c

vecto chinh R'

11.:lc n~1n trong khUr1g ginn Lili dn g1~\c

li,ic l~t dn g1<1c gh6nh NCu h~ c~lc li,ir n;'un t1ong 111(1.l ph;')ng till d:1
gi:J.c lt;i(' c;C lb. da gi<'1c phitng
J6'i vd1 h~ c:6 n lt;ic n18. n > 4 thl la vC ttfdng lt;i nl1ti h(o b6'11 lt.ll' l'ho
de'n lt;ic F,.

a)

b)

( '\
I

'

F,
~

F:
B

R'

F:

F.

c
D

F:

Hinh 2.3

2.1.4. CAC D,O.NG CHUAN KHI THU GQN H~ LVC KHONG GIAN
'rhtt h6 Ji,ic kh6ng gian ve 1nQl t.1n la dtie)C n1Qt 11,J't' V;{ tnQL l\!.;c\t1

lt;ic. l.\]'c va 11g8.u hjc n3.y dUQc b16u dien qua vectd chinh vi':t n16n1en
cf1i11h cUa 11 dOi vd1 t5.1n thu gqn. D6 hi@u r6 hdn Lht.ic cbflL l{tl'

CO HOC LYTHUYtT TA,P I: PHAN TTNH HQC, DONG HOC

30

d11g cUa 11~ li,i:c kh6ng gia.n. t'"- xi2t d~ng chutln clia 116 ql1a cic
trlihng hQp c6 th~ g$. ci.la v8ctcJ chir1l1 V~l m6mc11 cl1ir1h clia h luc
a) H~ ltjc ciin bling: ne'u h~ ll)c dii cho c6 R,', = 0

= 0 v:J.

b) H thu vC ng&u h,tc ne'u R~

va

M"

= 0.

* o. LUc nay

kh6ng

pl1\1 thuQc tarn tl1u gt;Jn 0.

c) H~, thu v8 hqp li,tc l\:h1 th6a iniir1 1nQt lrong hai tru:dng l1qp sa11 d8.y:

R,',

-:t=

= 0: b~ thu ve rnQt ltjc

0 v3. M 0

R;,. vi th@ R;, cl1ir1h 18.

l1Qp ]'tfc cUa h~ di qua 0.

R,',

-t-

* 0 va

0 v3. M,,

M,,

_l_

R,', : nghla 18. R,', . M"

= 0.

hQ sf~

th1..1 v8 1nQL l\fc khGng d1 qua 0 in~t d1 qua 0'. 'Ta cU the' cl1U11g

1n1nh diCu nily vii xac djnl1 0' nhu' dau.

Vectd M 0 dUQC b1~u di~n b(h ng~u l\l'C (R 1 ,R~) cling n:l1n tro11g
lll(lt

R;,

phi1ng vOi

sao cho

R -R, =-R:..

"
.\Jl11i vf).y c8-r1h tay

00'

(R;,, R1 , R 2 )
IU;_)t

ph~ng

M,,

R;,

cUng

va

M,

dOn se lll
H~

trong

h;tc
mQt

c6 (R,,, R~) - 0

n(~n ta c6 t11(~ b{Jt di h~ h;tc cfin

O'

b:ilng (R;,, R~) nay. Ltic d6 h~

Hinh 2.4

chi c011 l<:>i mQt h;tc R 1 di qua

o (hir1]1 2.4).

d) HC lUc thu v~ h xo&n: ne'u R;,

n1(1t

trong l1a1 ltLfd11g l1qp

M., II R0
g(ic

vd1

~au

* 0 v8.

M"

*0

thi c6 th6 x!'iY ra

dfiy:

ng.iu h,.tc c6 vectd M 0 nkim trong m$.t ph~ng Vll6ng

R;,. 1'i\p hyp gOm h;tc R;,

va r1g.iu li;tc (R 1 , R~) g91 111 he

l~h;in n1Ut.

31

TiNH HQC

xo8.n (hinh 2.5b) Nhu' v~y kh1 M" II R;, thl h~ hjc thu v6 n1Ql

h6 xo~~11 Do0-n lh~ng di qu<J 0

1na11g

l1a1 veclcJ M 0 \'~1 R,,

g(_ll

1;1

true xofl.n (hinh 2.5a)

R'o

M,
b)

a)
R~

R,

R;
0

Hinh 2.5

Tac d1,1ng clla hQ l1jc nay

li'-un cha v~t rAn vlia quay

vlia t!nh t1Cn then trl:J.C xoiin
(c(in g9i 18. chuy@n CTQ11g
xo:i11 Oc).

M,, va Ro Llj.O v01 nhau 1nQt

g6c a nao d6. khi d6 ta ph8.11

~LZJ~
QI~

R,

R~

M,

tich M,, ra ha1 thUnh ph<'.l.n:

lvi 1

_l_

R;, v:l M~ II R,',.

Hinh 2.6

---

(R,,,R,, R,)

= 00'

qua O'.

R,
LU.c 118.y h~ tl1u ve h9 xo~n c6 tri;i.c X(Jilll J1

Cd HOC LYTHUY~T - TAP I. PHAN T[NH HOC, DONG HOC

32

I\'hti v(\Y cOn M:! song song v{ji R 1 vii. he tl1u vC 11~ xo.A.n trl t1u(
xoc-l.11 kl1611g cti qun 0 inU d1

qt1i:1

O' (l1l11h ~.6).

2.1.5. D!NH LY VARINHONG

NC/1 h l{tc cO hqp [Uc thi 1.;ectfJ rn6111en cUa hdp lljc dr!i vrJi rn(Jt ct1Cl11

niro il6 b&1ig t6~ig h.r'nh lioc cdc t:ectd m6nien ceic lLtc cila 11 ctOi vd1
dii/m ci}i.
(::'../)

ChU11g minh: (;ui sli h~ lt,ic (F1 ,F~'" .F11

1'."ghi:-1 le\ (F1 .F!, ... Fn) -

R.

k)' liln1 tfl1t1 tht1 gr:n tac6 M"

Lh1C'n 111t"HllPl1

t:6 f1Qp llfc R dc:it t:c.11 A.

K111 d6 M ..,(RJ=O. Lily L1if;1n 0 bflt

=

L,m"(Fh). 'l'l1co djnh

ly v6

:-;~i lnf,n

cl1a l\iC

i.\1,, - A1A

-=

lvl"(R)

----t

l.,J~

--0-

2.: ;;;: (F,,)

Ch1eu d~ng thllc (2.8) Jen trvc z ta c6 M,(:R)

=
=

~1\1,, cRJ

c~ 8)

Lm,(Fh)

Djnh 1.Y du\lc chUng ininh

2.1.6. THU GQN H~

a)

cAc l\IC Di\C Bl~T

He lire plvi11g
l-[6 l~ic pl1~ng 18. 111) b.,tc c6 dtidng tb.c dvng clia c:ic 11.jc cU.ng
trong n1Qt m(lt ph;ing.

Ito 1-iu1g tbfly r;\ng

crln AI

R,',

=-

LF1-

nlim trong

11;1.111

inc~l ph~lng chlia t'<IC lv~

vu6ng g6c vOi 1nQ.t pl1A11g c11U:a c8-L h,ic. l)o tll1 k111 lhu gq11

h~ 11.jc phd.ng chi c6 th@ xiy ra 1n(it tro11g c8.c trtidng h(j]J sau dt1v.

1(, -- (). M,, -t- () \1~ lhu v? ng<lu ll;ft: t(i ;\1,, kh(i11g pbu t l1u\1l V<l11
LCtn1 thu gQn 0.

R;,
M

* 0,

* 0,
mQt dor;tn

M" : : : 0 h thu v6 hQp h;i:c d0L L0-i 0, cOn ne'u R,,

* 0 (hinh 2.7a) h9 thu vC l1Qp l\lc ct?t tt?-i 0' c8.ch 0

d = oo = M . (hinh 2.7b).
0

R,

M,

M,

a)

b)

7Z'

d
O'

7Z

Ff
Hinh 2.7

b) ff ff!~ d6/1g l/ll.V

H lt.tc dOng quy Ia 11~ 11:1'.c c6 dudng tclc d"1ng clla c..c 11:1'.c d1

(lllU

cling n1Qt di&'1n. Khi tl1u gqn 11~ h;i:c dOng quy vC d161n d6ng qu.v 0
ta d1..it,Jc n1Qt li.jc R,, d1 qua 0 {l1ir1h 2.8). 'l'a c6:
(2.9)
:t\~eu

n;, ; :; 0. ta c6 h~ h;i:c c:1n b:lng;

Hinh 2.8

CO HOC L1 THUYtT - TAP L PHAN Ti NH HQC. DONG HOC

34

2.1.7.

vi DV UNH TOAN
Vi dv 1: T1i cac dlnh ci.la hinh l<;tp pl1u'dng c6 c0nh lil. a. c6
tac di.J.ng nhli hlnh 2.9. Cudng dQ c:lc life cho nhu' sau:

c~tc

ltjc

F 1 :::J?~=Fj:::F
F.1 =F., = 2F
1'hlt gyr1 h$ ltjc ll(ly ve Lf1n1 0.

Bai gidi: Tl1u gQn

h~ ltjc ve t<i1n 0 la ti1n vcctd chlnl1 va m61ncn

chinh cUa h$ deli v6i tam 0.

Hinh 2.9

R"'=

Lxh =F -F~ =0
1

Ry'=L:Yk=O
R" =

Izk

F,, - F 1 - F~l

-1,,

1~11,111 nuJt.

TTNH HQC

35

Lm~(Fk)

M 0y

M",

= "Em,(F,) = 0

aF 1 - a}?!= aF

:-.Jhli v~y khi thu g9n l1$ lt,tc

d tren v@ 0 ta dti<;Jc m9t l1fc R"' song

so11g va ngu:qc ch18u vd1 trvc z, mQt ng.u ly'c c6 M" o;ong songcllng cl1i8u vOi trvc y

R"'f--::f';

Vi M,,

J_

,_I

iM"

-=aF

R' n&n h~ thu du:qc vi5 lHjp ltjc di qt1a O'.

Vi dl;l 2 (h~ ly'c ph~ng): Cho d.3.n chiu ly'c nhu: d l1inh 2.10. Tfl c6:
V01 F 1 = 2F: F 2 = F:J = F.

Thu gQn h$ l1fc vC d?ng tOi gi:l.n.

Hinh 2.10

BCrigid.i: Ch9n

11~

trvc nhu d hinh 2.10.

R =F = 2F
'
'
R = -F, - F, = -2F

R=)(R,)'+(R,)' =2J2F

Cd HOC LY' THUYt:T - TAP I: PHAN T1NH HOC, JONG HOC

36
;'\Cu g\n (L.[3 1~1 g6l' giUa

R t<.HJ v(Ji c:ic lr\_lc

():r,

(Jy Lhl

l'OS111 t'U;t

t,'tc

g-1'H ll<'i_\ du\lc x:\t dinh 11hu ,:;au

l~

i;

" = " L.. . cos 1-1 = cos a=- - -

H~' l\ic phi'ing cfi R

t:-

- ()

'-

- -= - - -

0 i1f>n thu dliQc viS hl)p li.;ic r\p di.,1ng di11h l)

\ 1arinhting ta c6 lh~ t'i1n dti(_Jc dtidng l:lc dy_ng cUa h(_Jp lt.ll"

Lh:\v

f?

1';1

cli'.i cl:\ng.
Jr! A

cR) =- L nt

A (

F,, ) -= -a r,,

- '2.a1''_,_ - /j aF,j

\10.t kh<'1c i18L1 gqi d 18. t:8.nh lay dOn cUa

R dlli vd1 A,

_-

-'cj(l }t'

l;-t ('6

(bl

l<e't h<;Jp (a) vfl (b) la c6 <lu:dng t<'tc d9ng clla R c<:l.cl1 A n1(it l<J101'u1g d
.\l61nc11 ci.la

R dOi vOi A c6 dilu (-).

2.2. BAI TOAN CAN BANG CUA H~ Ll,fC

2.2:1. ll\EU K!fN CAN BANG CUA H~ L\IC KHONG GIAN
:1J JJ1i1/1 ~f' I: EJi1fu kin crJn vii du di/ ltiJ lite hh.Ung g1an c6Jt hfing lit

uectu chinh vd vectd m6men chinh cUr1 h~ life d<Ji v(ii 1riQt
bC{t kY nao d6 bdng 0:
R' == O
"
Ch Ung niLnh:

va

"

D1elt k1Gr1 c~'ln:

c;1:1 Lh1e't (F1,F:1. .. .. Fn)-0

(tieln 0

J~hun u101. TfNH HQC

37

Ta chUr1g 1ninh diu ki~n cAn d\ia v<lo c{u: d:;i.11g churln kl11 Lhu
gQll h~ h,ic kh6r1g gian Thi;ic vf!_y. ne'u diu k1~n tr&n h:hflng Lh\)a
1ni1n thi hQ 11,ic kh6ng g1an se tu"d11g dVrJng

\{Ji

tn()L ngc\li 1\1('. bop

lti(" lio(ic h~~ xofl11. nghla Jii khilng thOa n1i'in tiC'n dl; 1 \.\1.\

I{,

U vi) M" - 0 hav h cfi.11 Ll'l11g

D18u k1~n dll:

c;1:.i

th18t R',, =

LF,., =0 vi\ M" = Ln1"(F'1,.)= 0

f)16u k1$n dU 18. h1c'n r1h10n vi vectd chinli cil<l l1i) l\lc li<"Lng
kh611g, khi thu g9r1 h li;ic

ve inQt die'1n b:.1t kY ta du\Jc 1n(it ngliu

Jvl tht1 g9n c6 1n6n1Pn bAng 1n61ne11 chfnh cUa h(~ h,.te dr"l'i vr'J1
cl1e'111 0 (dinh l.Y b18n thii1.n 1n61nen) tU:c i<l b~111g 0. ])o db ngitu

l\it" thlt g(_lll J;\ ha1 11.fc c{u1 bc'ing theo til'n dC I. \'(1,Y 11(~ ]ll1 d~-1 1hr>
ciitl o;-1ng.
/J)

l':ic p/111011g trin/1 c;i11 /J1/11g c1/a /1

kh011g gi<111

/lj"C

D/11/1 (i' 2: EJuiu krn ccln vii lfU ([1:/ Ii l{lc kh6ntd g1an cdn bdn1-; li1

tO'ng hin!i chifiU er.I.a t{{t ed. ccic {l(c ud t{/n.g 1n6nien c1la chun!}, dr!i
1.H)i

ba tru.c t9a ({6 cto'1ig tliUi bciny 0:

:z=x, =O

L;m, (F1 l=0

L;Y, =0
:z=z, = o
C'l11?11,~ l/Il.IIh:

Tl! (:2 3)

L,:niy(F11 )=--0

L;m,(F ,)o0
1

va (:2 GJ

~--

la c6:
---- ---1

R'=v(L:X,,)1 +(LY") +(LZ 1,J =0

M" =

~(L:mF, )) 1 "(L m,(F1. )) 1 + (L m, (F1, 1) 1

II

Cd HOC LY THUYtT - TAP I PHAN TiNH HQC, DONG HOC

38

:t\Thu: v$.y 1nu6n R' = 0 va M"

0 t11i cac ~o 11<.'lng trong c!ln hcii

d611g th(Jl bilng 0.

Ba phu'dng trinh diiu cUa (2.10) b8.o diim d~ vQ.t r.in duOi t<ic dl,lng

clla h~ l\1c trCn kh6ng chuy~n ddi d9c theo cac tr\).c t9a dQ v8. ba
phu'dng lrinh sau b8-o d8.1n d~ v<itt r.in kh6ng quay quar1h c5.c try_c
t9a dQ :'.'Jghla IR v$.t r.ir1 can b8.ng

C'hU :Y: Ne'u ngoHi h~ ll,l'c (F1. F'" .... Fn ) cOn c6 11 ,<.:. r1gfiu ll;Ic vllt cic
vectd m6men (m 1,m 2 , ... ,;;:;:) tac d\lng IC11 v(1t riin thi khi thiCt lijtp
phUdng trinh can bilng ta cfrn lu'u )t:

Cftc phu'o'ng trinh hinh chie'l1 Jen c8.c tr\).C t9a d(l viin gill r1guyCn.

Trang cac phlidng trir1h m6n1c11 dOi v01 c1J.c tr1,1c t9a dQ ta ph<i1
cQng d~i sO thC1n hlnh chie'u cUa cac vcctd 1n61nen Jen c;'tc trye
t9a dQ.

L;m,<F,)+ L;m,,

=0

L;m,(F,)+ L;m,,

=0

L;m,(F,)+ L;m"

=0

trong d6 m,v m,Y, miz la hinh chie'u cUa vectd ~ lE'n c<ic

2.2.2. 01Eu

(2 11)

lrl,lC

t9a dQ.

Kl~N cAN BANG cuA cAc H~ L\IC KHAc

a) H Jue p/1:~'ng

'Ta ch9n m:).t phing chUa cac li,tc 18.m m<)t ph~ng Oxy va tr\lC Oz
vu6ng g6c vdi m<';it ph~ng chUa c8.c l\}'c. TU (2.10) r6 r<'tng 18.:
L,Zi;. =0; Lnix(Fk)=O; L,1n.Y(Fk)=O lu6nt\]'th6a1niln.

l<.111 d6 dieu ki11 c:in b8.ng clia h~ h,tc p11ing cOn l::_i.i

Do d6 d~nh 1.Y <lLiQc pl18.t bi@u nhLt sau:

39

Ph1i11 nuJt. TINH HQC

Dng can bring thU nlidl:

Di11J1 ~(: fJi1:iu kii!n cdn va (t1l rJe' h l~tc pli!inf!: can bd11g la t6 nJl: hr:nli
1

cci ccic l1!c ten hai true ton d~) vii tO'ng ni6men cUa eJiUng
r16i vdi nii)t dii/m bd't kji trong m(tt ph&ng tcic dun{.; cUa h ll/c
bd1ig 0:
clirt'u

ta't

( :2 1'.2 )

Dr; ng cd11 bdng tliU hai:

lJ/11/1 ~V: fJiju kin can ua d1l de' h ll/c ph&ng can bdng ld tr5'1ig

m6men cUa ccic Ive dr5l v{Ji hai diC'm A, B blft kjt ud. t6'ng hin.h. chir!lt
cUa ccic life len trlj.c Ox khtJng vu6ng g6c vdi AB bdng 0:
('.2. 1 ;l)

CJ1U'11<; rninh:
D1eu ki~n c:in: ChUng 1n1nl1 nhti d~J.ng t6ng qu3t.

D18u ki~n dU: NCu hai pl1u'dng trinh d:lu clla (2.13) tl10a rn~u1 Ll:1i

ca

h9 c6 th~ thu ve hcjp ltfc

d1 qua
hai di~tn A, B. 1'r~ll' ()x
kh6ng vu6ng g6c vOiAB thl phtidng Lrinh thU 3 thOa 1n~111 kln v;"1
chi k:l11 chinh b;\n Lh;'.in vectu R ::::: 0 >Th Li

V[~~

he ::oe ctu1 IJ<tng

Dr;rng can bdng tliU ba:

D/11/1 ~V: FJiu kin cdn vii dU de., h ll/c phdng cdn bdng lcl t6'ng

ni6nien td't cd ccic ll/c d6i vdi ba die"'m A, B, C kh6ng th&11g }1(1ng
d6ng thiJi being 0:

IniA(F,.)=0: I1nH(F11 )-0, L_n1c(F11 )-=--0

Ch.Ung minh: Ttit1ng tl,i d<;tng lhU hai.
/J) flt' Ill~' k/10ng gia11 SOllJ: SOJJJ[
H~

hjc kh6ng gian song song 18.

11~

ltfc c6 c3c lvc song song tron,!.:-

kh6ng ginn.

Ch911 h9 trvc Oxyz c6 tr1,1c ()z song sor1g v61 cac ltfc. Kln d6 tU
(2.10) la c6 c3c phlidng trinh sau tl,i nghi~1n:

Cd HOC L'( THUYtT - T,ii.P I: PHAN Tl NH HQC, DONG HOC

40

Do dO dieu ki~n d~ h~ lt;ic khbng giH.11 song song can bing se 18:

Df11h {V: Die'u ki~n c&n vii dU de' h? lT,tc kh6ng gian song sotig crin
bdng
tbng hinh chii[u ccic lljc len tr\tc song song vUi chung vd
t6.'ng rn6men ccic life r16i vdi hai lr!:fc cbn l(l,i bdng 0:

za

(~

15)

(ne'u tr\].C Oz song song vdi cite li;ic)

cJ He l-c kh011g gi:111 d0/1g quJ'
H~ ll;ic h:h6ng g1an dOng quy lt;ti 0. Kl11 d6 13y 0 li't1n til.111 rn6n1e11

va lii gOc cUa h(! tya d9 Oxyz thi ba phlid11g trinl1 in61ncn cUa (2 lUl
tl;i thOa m8.n. Ta c6 d1nh l:Y sau:

D/nh {V: fJiCu ki?n cdn vd dU de' h l!ic kh6ng gian d6ng qu.y can
bdng la ti/ng hinh chieU t(t cd ccic llfc Len ba trl!c t9a d() dCu
bdng 0:

2.2.3. TRiNH T\f GIAI BAI TOAN Ti NH HQC v AcAc vi D\f

~1Qt vr;tt r8.n se can bktng khi 116 chiu t.c dvng cU.a 11$ ltfc can b;\11g

ve

Gii:li bai toan

sV can b.ng cU.a h$ ltfc 18 ta tl1n cRc phAn lt1c hc~n
ke't t1011g cac phttdng trinh c8.n bhng clla hQ ivc.
Cac budc cfrn thie't d@ gi8.i b8.1 toRn tlr1h h9c:

1)

Ch9n v~t x8t cfin bilng.

2)

Tl1a.v ta't c8. c<:'l.c lien ke't bi'ir1g ph8.11Ive11Cn ke't tlid11g U11g. l,l1c
d6 v~t x6t cfin bRng sC cl1itt t:lc clt,Lng cUa c:lc ]Ve cla lne't v:1
ph;ln lt,l'c lien ke't .

.'3)

Th18t l~p ciic phlidng trinh ciin b.ilng cUa

h$ lt.ic t.c dl}.ng Jen v:).L.

41

l'lnu1 1111H. TTNH HOC

4)

Gi8.i cftc phtidng trlnh d~ xac cljnh cac di~i lu'<;Jng cA11 t.\1n vii
k1c'1n rra \;~1 ke't qu<i..

Vi d\l 1 (dfli vdi 11~ li;ic kl1611g g1a11). :'v1Qt ti1n n16ng d6r1g ch:"lL hinh
C'hli nht1t n(1ng :ZDON li&n ke'l v61 tU:dng th~l11g dUng h:lng ban JC; ctiu
A, biin IC tr1,1 B v:J. dtiQc glli n1'in1 i1gang nhi'J s9i <l:ty CE: A vc't E
cling n~m tr8n rnQt dudng th~ng dUng. (~ho bie't g6c ECA v<'1 BAC
d~u b6.ng 30". Cho AB = CD= a; AD = RC= b. Tln1 ph/1n 1-i;ic t1.1i A,
B va sill'. cang T cUa d<iy CE (hinh 2.11)
Bili girii: Kh:-lo

lfl1n 1nOng .'\8(:1)

s{1t

c{u1

h:lng.

(;18.1 ph6r1g 11Cr1 kCt v8. d(<t c:':tf' ph(in li;ic Jii>n kl;L tu'dng lt11g.
H 1-i;ic tac d\ing Jen t81n ABCD:

(P. T. XA. YA ,ZA ,X 8 . Y8 )- 0.

HQ t9a c\Q dU:Qc ch9n Ilhu' d hinh 2.11

nhu' i'J h'inh 2.11. I)hfin ticl1

1'

=-=

rr ];)

li;ic c6 phtidng. ch1Cu

T ra ba th.'lnb phtin:

1' cot; 30 co" 60

-~-~ --T

L$,p cc'i.c pl1tidng t1inh can h:lng clia 11 lijc:

Ix,,.

:-:-X.4 +X 8 -Ty =0

I Yn_ YA - Tv
I.zA -ZA +Z
=

=
8 -

11 -+ T, --=-O
(<IJ

b
L,m,(F,,l~:zP-bT, ~o
L.1n_,(F1,.)=-aX 13 ---'O

ca HOC LY THUYt"T - TAP 1- PHAN T[NH HOC, DONG HOC

42

z
E

z.
v.

30

z;

''
'

x:

'

r:

x,

---

T.

h,

/
/

r:

Hinh 2.11

G1il.i h~ pl1U:dng Lrir1l1 (a). ta tir1h ra dUQ'c:

T=200N; X

=ZB =0: XA =86,5N;YA =150N: ZA

00

100.i\r

C'hU j: Khi la'y 1n61nen clla 1n9t h;tc dOi v61 1nQt tr\.IC ph8.i ct6 Y d6n
lrU:dr1g hQp kh1 1n6rnc11 clia h._Ic dOi v6i tr\J_C b1\ng 0.
Vi d\l 2 (h~ l\]'c ph~ng): Cho d:l.n cl1iu 11,ic vi'I. c6 lien ke't nhu' 6 hinh
2.12. c:udng d9 C<i.c h;tc Fl = !"~ = /<~"j = ]? . X<'tc dinh pl18.r1 lt.iC t<:).l A
v8. B.

Bai 1?"1di: Kh3.o sat diin c.n bting.

1~11.111

1111it.

43

TTNH HQC

L~p ba phu'dr1g trinh c.11 bil.11g:

l:mA(F,)=3aY8 -aF, -2aF, -aF, =0

2,mn(Fk) = -3aYA + 2aF1

Lxh

x.4

+F.;

-r

aF~ -aF:J = 0

(b)

x
A

a
B

Hinh 2.12

Giil.i

h~

phtidng trinh (b) ta r1l1$,n dtiQc:

2

'1

X, =-F: YA =-F: Y 8 =-F

'
:1
3
Nh(in xrit: Kt qua XA mang ctiu (-), rhUng t6 chi8u thtfc t8 cl1a
X A r1gticjc vOi chiCu ta gi8- thie't.

Vi d\l 3 (h$ ltfc song song): M()t cftn trvc c6 tr911g lti(_l11g Q = 50k>.'"
vil tr9ng t{i.1n d C nl1u' 6 l1lnh 2.13: t<:'1i trr.i11g P
dinl1 pl18.11 ltfc t~11 A vfl B.

= 10k.t\

llii.\' xi1c

Bili gldi: Kh8.o s8t c<in tri.;ic can bing.

----8 )
cac ltfc tic di.;ing (P.Q,RA.R

cac phttdng trir1h can b~r1g:

(d.y 18- 11~ li;ic phing so11g song).

44

Cd HOC LY THUYtT - TAP I: PHAN TINH HOC, BONG HOC

In1A(F1.)=2RH -lQ-;JP'--0

}
(c)

L_mn(F1,)=-2RA +lQ-:lP=O
(]1<:i1 h(~ pl1Lidng lrinh (c) t.a tln1 du'Qc R 11 = lOkN: Rn = RO!?N

4m

Hinh 2.13

l'lh(ln :i:dt: '.'JCu gill nguyPn Q

1n1't

tang t.8.i trqng P ](~11 tbi sUc n<~ng

dOn vC B, pl1<:1.n h,tc R 8 t{ing 1811. cOn RA gi,l1n cho dCn ll1c R_ 1

= ()

v8. khi d(i ctin lr\J-c c6 l;;:h:l n<\11g qua:" quanh B.

l11li tuCu1 cfin g1<:l1 quy8t 18. ctin Lrl)C ph1i.1 c5r1 b1\11g. De' g1a1 qu~Ct
van de r18.y, ta can xet de'n b8.i toiin dOr1 va V<itl l(lt.

CluldNG}
...

I'

""'

"

BAI TOAN DAC

. BIET
. CUA TINH HOC
.

3.1. BAI TOAN VE 51,1 CAN BANG

CUA DON v Av AT LAT
3.1.1. 51,1 CAN BANG CUA !JON
i)On 18. v(1t r&n c6 Ll1~ qt1ay du\lc q11a11h 1nQt ll"l}-C ci'l dt11li_ chiu t{1c
dl}-ng cl1a 11~ ll_ic phAng" vud11g g()C v61 trl}-C quay (l1inh ,'l. l)
Kh1 h9 h,J'c tac d1,1ng 10n dC1n
thl i'1 6 trvc 0 c6 ph:in l1,ic hen
kCt R,, cling n&1n trong mf)l

ph;\ng vOi h~ h,tc Difiu k1~n

(t& cho ltr'H1 c<-'1.n b:\ng 1,1
(F1 .F._,_ . .. ,F".R.,)
v~.Y

0 . .:\hti'

11 lljc (F 1 , F~, . ., 1'~,,) c6

hr}p l\]c

h.;tc

Q can bilng vOi

R" .

Theo

pl1~l.n

di11h

\lar1nl16ng tu c{J:

lvl:l

m,,(R,,)=0.

lY

Hinh 3.1

CO HQC LYTHUY~T - TAP I PHAN T1NH HOC, DQNG HOC

46

(}l,11

Oz la trvc quav, thl.

cdn b&ng la t6'ng m6nien

cUa cdc lf/c tdc dvng len n6 d6l udi trvc quay bdrig khbng.

Ta c6 dinh l:Y: DiC'u kin cdn vd dU

3.1.2. S\I CAN BANG

cte'' d6n

cuA v,A.T L,A.T

V$.t l~t 18. vi)t chju t8.c d\lng clia h~ lt;ic (F1 ,Fl, .. ,1',11 ) v3. liCn k8t

v6i 1n{tt cf) dinh t1i mQt sO v~ lri n8.o d6.

TR x8t. trudr1g hQp v,~l chit1 liCn k8t (hinh 3.2) v6i 1n(1l cO dinh t~1i

ha1 U16rn A, B.

Ii

(
I

R,

ff
R"

!!:

Hinh 3.2

T:;i.1 A, B se c6 c:ic phitn 11.J'.c l1er1 ke't RA ,RB

Digu ki$n def v;;i_t can b8.ng 13: (Fl, F2 '"""' F,,, RA ,RH) - 0.

l)o :>\l'. Lhay dti'i clia 11 h,tc 11Cu tr61\ c6 the' x3-y ra s\l 1na't liCn k8t
t0i A ho(lc B, nghla la RA ::: 0 ho$.c Rn ::: 0 va vl).l c6 the' quay duqc

l'lui111111it. TiNH HQC

47

qt1anl1 B ho(i_c A. D1eu ki~n de' v1}t cftn b8.I1g (nghla 13 v,$.t k116r1g
tl1i; quay du"c_Jc rtunnh A ho~c quanl1 B) 13 t011g 1n6mer1 clia c:'ic 11,ic
dfli vlJi A ho(ic B d6u hling kh6ng.

L 1nA (Fi..)= 0: dP. . v1)t kh6ng 18.t quanl1 A}

L 1n 8 (Fk) 0: de v$.t kh6ng l{lt quar1h B

(:3 I ]

.\Je\1 pl1<.1.11 tich cii.c 11,lc t{lc dvng ](,11 v~t ra ha1 lo;;i.1: 11)'.c l?t va 11,ic gill
dOi v61 tUng die'n1 va g9i to'ng 1n61nc11 cUa c::'tc 11)'.c l<~t dfli vl11 tUng

ctid1n 1~1 1n6n1cn 1$.t: cUa cac liJc gill 13. n1G1nt"n gill lhl ltieu kiCn can
b.ing clla v<).t l<).t dOi vdi LU'ng di1n 11):

(:3.2)
l)flu b8.ng tu'Ong dtidng v6i tru'O-ng 11Qp c3.r1 bli.ng gi{J1 h1.1n. Trong
Lrtidng hc}Il v:}l

c(i

kl1!i n<l.ng l1~t quRnh nl116u d1&1n khc'i.c nhau thi

(3.2) phU1 th6a tnftn d6.i v61 tilt c~i c:'tc di&n1.

Vi d9: MQt can trvc du'<jc b~l cl1~l tren xe 6t6 V,$.Il t3.i. 1'r911g luqng
ci.la d6i tr9ng

B 13

P~

::: 20kN. Tr9ng lu'Qr1g

cUa 6t6 v:l ctln trvc

kh611g k~ d6i tr9r1g 18. P 1 ::: 30kN d~l t<.1-1 d1@1n C.

X{1c dj11h kho8.ng c<:l.ch ngAn nhflt g1Ua l1a1 trvc b:'.i.nh xe D, E \'~\ g1{1

tri !(Jn n11a't clla tH1 lrqng P_, 1ni'l. ctin trt}c c6 the' 118.ng dtil.Jc df; <lL(i

kh6ng bi IQ.t khi c6 t8.i trQilg cG.r1g 11hu: kl1i kh6ng

c(i

l<ii tr9ng P 1

Kicl1 Ll1u'Oc cho tren hi11l1 :1.:3

Bai gidi

XeL lrti(Jng hyp c(i v;~l nfrng P : cfin true bi l~t quanh D:

M 1 ::: 4P i:

M~:::

(2 + x)P~ + l,;"":iP 1 ::: ,10 + 20x + 4G::: 85 + 20x

l\1u6n kh6ng l<).t quanh D thl

Mi: :::: M 1

85 + 20x:::: 4P3

Xet trudng hQp kh6ng c6 vi).t ni\11g P.;; ccin

M1 ::: 2P 2 ::: 40. Mg=

(x - l.5)P 1

:::

trvc bi 1$.t quar1h

30x - -15

/!,':

Cd HOC LY fHUYET TfiP I. PHAN Tl NH HOC, DONG HOC_

48

if
if

if

'--

I
I
I

1,5m

4m

_2m___J

Hinh 3.3

'.\lt1ti'n k:h611g l:~t quar1h E thl Mg 2 M 1 -+ 30x - 45 2 10

'rhay vao (*)ta c6 85 + 20

86
2 4P.i -> P. 1
;30
.
.

:<:::

425
== 35,4kN
12

/'lnifl 111Ut. TfNH HQC

49

3.2. BAI TOAN VE Ll,IC TAP TRUNG

vA Ll,IC PHAN BO
L\)'.c tac dl)ng len v$_t c6 th@ d(lt t:;i.i mQt di@1n cling c6 th& ph<:in bf)
tr6n 1nQt do:;i.n dD.1 ho(lc tr11 in.Qt di$n tich .. D<i h16u rO va b1fiu
di~n c{ic !091 l\)'.c iy ngudi ta dtta ra kh3i n1$1n ltic tQ.p trung v;1 li..:ic

phan bO.
L. \)'.c t$.p trung 18. l\)'.c d$-t t<;ti mQt di~n1 1180 d6 cU.a v?t r.in.
T_..\)'.c ph8.r1 b6 la l\)'.c d?t tr6n inQt ph<1n 1180 d6 clla v?t nhu' trr1 1nQt
phfin be 1n~t. 1nQt d00-11 th~ng nao d6 clla c6ng trlnh.
L\)'.c phfir1 bf) duQc d(lc tru'ng b!lng clid11g dQ clia n6. 18- sO lut;ing h.jc
d?t trn mQt don vj chiu dD.1 c6 cudng dQ q (N/1n) 11ay s6 luqng 11.jc
d:;i.t trn mQt ddn vt di~n tfch c6 cudng d9 q (:-J/m 2) ...
D6 ti$n tir1h toan c3c ph3n 11.jc, ngudi ta thay ti\ 11.jc ph8.n b6 b~11g
h.jc t.$.p trung. 'l'a h5.y xet mQt v8.i trudng hQp 11.jc ph.n b6 ddn g18-n.
1. l.1jc ph8-n bO du trCn dol}.n tl1ingAB =a v6i cu'dng d9 q

= co11.st

(!\Im) (hinh 34).

HQ 11.jc phfin b6 du dVQc thay th bJng 11,ic

Q d?t tf}.i di&m giUa

cUa AB c6 cu'dng de) Q = aq.

ve j

nghla: CuCJng d9 Q chinh la di$n tfcl1 hi11h chU nh$t c6 cac

C~lllll 18. a vb_ q.

Hinh 3.4

Hinh 3.5

50

Cd HQC LY THUY:T - T,/>.P I_ PHAN T\NH HOC, 8QNG HOC

2 Ly:c ph&n b6 tarn gi8.c tren do9-n AB (phfin bO tuye'r1 tinh). Ctt011g
dQ q (N/1n) cUa l\fc phiin b6 b1e'n d6i tU 0 dCn g16 trj cy:c d01 q""''
(hi11h :-3.5).

1-{$ ltjc n8-y du:Qc thay the' lnlng ltjC Q d$.t l9-l lrQng tf11n clia

1
.. ABC . Cu'dng
'
d'9 Q ::: 2
aq max (Q chinh 13 di$n tich tam
ta1n giac
g18.c ABC).

3.3. BAI TOAN MA SAT

1.'rong Lhy:c

te' k.Y lhu(l.L ina s;\t 13.

n1i)t hi$n lu'Qng ra'l quan Ll\>11g.

Bai tottn ma s8.t ra't pl1Uc tsip va n6i chung ngu'di ta nghi811 cUu cl1l1
ye'u bling thtjc nghim. Lt;ic ma sat 18- phiin lt;ic 11811 ke't xutlt hi$n
khi n1Qt v?t c6 xu hu'Ong chuy@n dQng 11ay cl1uy@11 dQng tren in;'.i.t
mQt vzlt kh<ic. Trong m\lc n8.y. c hling ta chl d@ c.;lp de'n mQt sO vi'tn
d6 cd bi\.n nha't ve ma sat da du9c nghien cUu ky b&ng tl1y\: nghi1n

3.3.1. MA SAT TRUQT

a) Thi 11ghi1n

D~t vf!-t A tr9ng luqng P len tn:;J.t phJng niln1 ngang. Lt,Ic t;:lc dl,lng

Jen

v<~tA

--

--

18. P,N (h1nh ::3.6). >l"hu v:'.).y P,N -0. HuQc

V~l.lA

v8.o

1'Ql

day v.it qua rOng r9c va d8.u kia cUa d8.y buQc vao cfia cfir1. Kl1i d(lt

Q, v:'.).t A c6 XU hU'Ong bi keo sang

ma .,at b6 qua thi sUc c<l.ng clla day

v8.o ma, qua can c6 tr9ng lu\lng

ph8-1. Ne'u d

6 trl,lc

bftng cudng dQ lt,tc

hjc

Q khti

rOng r9c 0

Q.

Tuy nhien th-i;i:c ngl1i~m cho th3y r8.ng: nifu

nh6 thi v:'.).tA dU11g yCn Tt1r1g Q dCr1 gt<i. trj Q* lhi v$t A

bit d3.u trliQ't. Nhli vf}y khi Q nl16 ho11 Q* tl1i v4J-t A can b&ng. Diu

d6 cho pl1Cp ta kCt lu(l.n rftng pl1lli c6 l\(c t<'tc dl,lng theo pl1lidng

I'hun 1111it. TTNH HOC

51

ngang ct@ can bilng vOi 11-;tc Q. Lvc d6 du'Qc g9i 18_ 11-;tc ma sat tru'Qt.
Lt;i:c 1na sat trliQt pl1y. thuQc dQ g6 ghEi c-Ua 1n<}t trliQt. Nhlt v(1y
nguyen nhB.n xuat hi~n ma sat truqt Ia s\f gO ghEi giua cac 1n<:tt
ti8p xllc
A

Hinh 3.6

b) Clic qu.r Ju:jt clla n111 s:it trll<Jf

Ltjc ina sat trltc/t nfim tro11g 1n?t ph:ing tie'p xtic chung giUa mc'j.t
tt;i:a v8. v:.tt kh8.o sat, c6 hu'Ong ngu'Qc vOi ch1eu chuy@n dQng hay
Xll hliOng chuy6n dQng c-Ua v;)t. Lt;Ic 1na sat trliQt F""'' nl1~n cac
giii trj tU 0 dCr1 g18. tri giOi hl}.n g91 18. l\fc ma slit giOi hq.n Fg 11

(3.3)

Cudng dQ c-Ua lt;i:c ma sat giOi hq.n t.Y I~ vOi ph<in lt;i:c phap
tuyC11

N:
(3.4)

trong d6:
nghi~m

f - h~

sO ma sat truqt tlnh, duqc x3c d!nh bfing thl;tc

va kh6ng c6 thU nguyen, phv thuQc v8.o

v~t li~u

v8. tinh

chat v~t l.Y c-Ua bi2 ml'.lt tie'p xlic chU kh6ng ph\J. thuQc vao di~n
tich tie'p xtic.

ca HQC L1 THUY~T - TAP 1- PHAN T[NH HOC, BQNG HOC

52

Kh1 v3.L
. c(n1 c:i11 b:ing t11i F . ~ F,, 11 ~ /N.
1

Khi F"'"

o:::

,"

Fg!t == fN thl vfyl biit d3u chttyE1n dQng vil f 1.1 hQ s6'

1na sat tru'Qt t111h. Kl1i v~t {:l111y611 dQng vd1 v(i.n tOc c3ng t{u1g,
11f: sO ina s8.L n61 chung gi8.1n de'n 1nQt g1{i. tr~ 011 dj11h. l-1~ s(r /'ltie
\'~IL da11g chuydn dQ11g gqi l<l. 11~ sO 1nu s{1L tru\1t dQng.
c) P/1:i11 !1;tc to1i11

phdn - (,'6c 111a sdt

'frong mQL sf) tru'dng hQp dUng phu'dng phcip hinh hoc dE1 gic-\.1 b:li
tu8.n ma s.l se ti~rt lqi hdJl. Vl v<).y La can bie't kh{11 t1i1n vii g(Jc 1111)

s;lt. cl'rPn l1inl1 :1.7 rtifu

g91

=-

Fn" + /ll lii h9p

lVc cUa hil.n lt;ic pl18.p

g6c vOi

f\1 . 'l'by:c chfit

I
I

ph::in 1y:e R 18. ph::in h,tc

LoA11 1)11111 clia liC11 k8t

tt;ia.

~l1U

vf:.y R nghier1g

vdi ph8.1) tuye'n 1n9t g6c <p

mil t gl,-N.
0- '""' Kl1i

F,,,,

Hinh 3.7

b1&n Ll1ien llt 0 de'n Fyh

Lhi g6c tp giUa

R vcl. N bie'n tl11Cn

tU 0 U.Cn

,,.

G18. Lr\ lp,, lOn 11hdt

1n3. pl18.n h.jc toan ph3.n R L?O vOi ph8.p tu)'e'11 dtic gQi 13 g6r 1na
s8.L va khi d6 tgtr,, = ; ' =

~ = f.

Kl1i v$.t c3.n b3.ng Lhi phi.in l\)'c

R d Lrong g6c 1na sat, cOn khi v(ll d lr[_lng Lh{ri can b3.ng gi61 h<.lll
tl1i R t1.10 v61 1'.r g6c lp,,.
V?,l A c6 xu hl.idng trtiQL tl1eo c6.c htidng kl1:ic nl1au trC11 n1<:~t
11gang. NCu h~ sO 1na sat trUQt ftheo c<:l.c 111.i{Jng dGu b3.11g nhau thi
ph8.n lt;ic toUn pl1611 R ti;lo th8.nh mQt 1n(1t n6n tr(n1 xoay g91 18.

hinh n6n ma sat.

53

/'hii111111it. TiNH HQC

rl) B;li to;i11 c;i11 /J;jng khi er) 111<1 s:.it tr1lot

\T$_l r{tn 1nuOn c5.r1 b5-r1g th\ hi) ly'c t{i.c dy_ng Jen n6, k~ c:'1 h,ic 111a s{1l

trli<jt hfii th6a 1n3.n d1eu ki~n ciin b811g nhti c5 Cinl1 h9c. Ngo;\1 ra
]i_;lc ITI<l. sat cOn phii.1 t116a 1nan ctiCu kiCn.
O::; F,,,,,::;

fN

.\Je,t1 xet pl1/1n lt.ic to:'i.11 ph:in R thi n6 ph:.11 n:l1n trong g6c 111a ...;c'it
Kh1 F, = fN thi v:)t vdn cOn d tr0ng tl1:11 cf1r1 b:ing nh1ing d6 1:\ v1
1

,,,

tri cfan Ll1ng gilii l1<.ln.

V61 c{1c giil lri F,,.,, tl10a tni'i.11 0 :S: Fm, ::; fN tl1i vQ_t vb.n cOn c{1n
blir1g. Nhu vQ.y trong ba1 to8.n kh1 c6 k:(~ dC11 n1n silt thi ta li111 dtf0('

nhieu vj tri cfin bl1ng gqi la n118n cftn b:lug. De' X<:'ic djnh d1i<;i(' 1n1C11

cJ.n bD.11g n:ly ta cl1i c<'in xUc dinh dtir)c vj lii ct1n b~u1g g1Ui ban, Lill'
1.8. kh1 F,,,,. = fN va Ung vOi c{>c v1 tri c5.n b[1ng kh<'ic 1:\ }'11 "' < flv'.

MuOn gii\.1n fN thi ta gi8.m he sO f.

Vi dv: !\.t[Qt v(lt c6 tr9ng lu'cjng P:: 100.\J n!ltn tr6n 1n(lt ph:ing 11.'11n
i1ga11g. Tiln \"y'c Q ngl1i11g g6c c1.:: :10" vdi phtid11g ngang t<:'iL d1,1ngl8n v(lt v8. l8.1n v?t chuyc'n d(lng. H~ sO tna s{1t L1tf(_Jt Linh 18. /;,:: 0.6
(hinh 38).

Bai gidi: XCt v~t 6 vj tri can bi\ng giOi h:.1n.

C8.c 11,tc tac d1,1ng len v.$-t (P,Q.N.F,,,,.) - 0.
Dti.y l~l h(: ly>c dOng quy phl1ng nen L<l l~qi hcii pl1ttcJng trinh cfir1 b~ng

LXk

Qcosa-F',,,, ::: 0

(o)
(b)

TU (b) ta c6 N = P, Qsina

'I'll

(a) ta

c6 F,,,, = (,!ct1::.11

_o }',,,,,,

Qcosa:;;; f'(P -Qsin a)

Q(coso: + fsi11a)::;

fP

/~V

s~~~~~~~~~~~-C~O~H~O~C~L~1_TH~U~Y~~T~--T~A~P~l~PH~A_N_T_~~H~H~OC~,~"~Q~NG~HO~_c

fP

--> Q <o -

(cosa+fs1na)

~ 52N

V$.y 1n91 gi8. trt Q ::;: 52N thi vi'.tt c8.n bfi.ng, vdi Q > 52N v$_t sC
chuy@n dQng.

L____:
Q

F:.

p
Hinh 3.8

3.3.2. MA SAT LAN

a J Thi 11g/1i111
Con Li11 hinh tr\,l tr9ng lUc;Jng P, bcin kl11h R n8.1n tr8n 1n.;it phi\.ng
ngang g6 ghe. D?t v8o trl.,lc C clia con liin m(lt h,tc

Q nh6 ho11

Fi!.,,

'f<:i.i A xua't hi~n l\]'.c ma sat Fms c6 cudng dQ b8.11g Q c8.n tr6' sl;l'
chuy~n dQng clla con lan tren mi;l.t phdng ngang. NCu xe1n ph8.11 11.}'r:

N cling d$.t t<:i-i A thi N se can b8.ng v61 P COr1 Q v;l F,""
th8-nh 1nQt ng8.u h;i:c g.y chuy~n dQng cho con Ian, vdi

t<:)O

Q dll ra't nhr)

(hinh 3.9a).
Trang tl1y'c te', cac v$.t kh6ng rin tuy~t dOi nen se hi bie'n d~1ng- vi'!.
t1e'p x-Uc vdi nhau kh6ng ph3.1 ti:i-i n1Qt di61n 1n8.
1nQt n1in .t\I3.
VOi si.;i tang d.11 cUa Q, ip lvc clla con liin 1611 nB'n 11gang se g1:i1n

ca

din 6 A va ting lCn 6 B, ket qu8. 18. N se chuy~n dd1 v8 pl1ia tfic
dvng cUa lt,tc Q. Neu Q tang, dQ chuy~n ddi se ting cha de'n gii tri

P/JJ11 111Ut. TfNH HQC

55

g16i hQ,n k.
con ].'.in.

~hu" V$.?

avi Lri g16i h'!-11 se c6 11a1 ng.3.u Ive tac <l\1ng ICn

Ng.3.u lVc (N.P) c61n61nen kN.

a)

b)

F::.

F:,
A

Hinh 3.9

Hai ngliu I-vc nay can bftng nhau (hinh 3.9b):

k
Q15 ,,R -;,-kN----+ Q.,i. - -N.
R
0

Do d6 ne'u Q < Qgh thi con Ian c.11 bAng. Khi Q :o: Qgh con Ian d vt tri
can bAng gidi h<_1n (hay gQi con !Un b~t d:iu chuy~n d9ng). k gQi l<'i.
h~ sO ina sat Ian, c6 ddn vi cUa d(i cta1 va du"Qc x8.c dinh hbng th~tc
nghi~1n

b) LJic

lftl}'

lu:jt cU:1111:1 s~1t /ii11

Trong tru"dng h~p c6 1na sat Ian, L?i li8r1 kCt xua'L hi~n m9t ngliu
Ive 1na sat 15.n, c8.n trd sv Ian cUa con Ian.

:Vlfnnen M cUa ngftu Ive nh$.n c8.c giit trj LU 0 d8n Mg 11 :

Mg1i

t.Y

l~ vOi N:

Mg,,= kN

(3.6)

Cd HQC l Y THUYf:T - TA,P I: PHAN TINH HQC, flQNG HQC

56

Thvc

nghi~m

da cho thl\'y,

t:Y

s6

rat nhO so vOi

f nen r1gu'di

ta

thudng thay the' chuy~n dQng tru'{jt cUa v$.t b:1ng chuy~n dQ11g 1:111
clia n6.
c} Biii to;in ca11 bti11g khi kt/ de/1 n1a slit Jan

Khi t8.c d\lng mQt l\}'c Ien con Ian thl xuflt hin hin tu\:lng lan. :t\'hu'
v$.y ngoa1 xu hu'Ong Ian, v(3,t cOn c6 xu hu'Ong tru\lt. do d6, t<:-i li8n
kCt c6 l)hiln lt;i:c ph8-p tuye'n N, Ive 1na s8.t tru\lt F"''

va

ng~u ll;ic

ma sat Ian c6 m61nen M.

Dieu ki~n d cha v$.t can bing la h 11,l'c tac dt,Ing Ien v$.t (k cfi ma

sat tru\lt va ma sat Ian) can bdng, dOng thdi Fm" va m6men clia
ng~u h.,ic ma ~3.t 18.n ph8.i th6a m.n:

F~F,,, ~fN }
M:;:;Mjjh ""kN

(3.7)

Ne'u mQt trong ha1 dieu kin tren kh6ng th6a man thi se c6 chuy@n
dQng tU:dng Urig. Ne'u c8. hai dieu ki~n l<h6ng th6a miin tl1i v~t se

vUa Ian vUa trUQt.

Vi dv: Con lan trqng 1119ng P:::: fiOON, b[1n kinh R:::: 40c1n dliQc d~l
tren 1n?t ph~ng nghieng vd1 phUdng ngang m9t g6c a:::: 30". H~ s6
ma sat lan giUa con 1.3.n va m~t ph~ng nghieng k :::: 0,02cm. XB.c
dinh lt;tc Q d@ gill cho con lan can b&ng (hinh 3.lOa).

Bai gidi: Vi l\fc

1. L\fc

Q nhO:

Q chua bie't nen c6 th~ x8t hai tru:dng hQp:

(~on 18.n c6 xu hu:Ong 18.11 xuOng du:Oi. Tl_l.1 diC1n Lie'p

xUc I xu3t hin 11.}'c ma sUt trU:Qt F,,,s vii ng.u 11.}'c ma sat 18.n M 1
1,1.}'c tac dvng len con Jan 18. P,N,F,,,_, ,Q, M 1 . Ta c6:

LX = Q + Fms -Psina
LY=N--Pcosa=O

( 1)
(2)

l'h:i11 111rit. TTNH HOC

57

I,m,(F) = PRs1na-2RQ-M 1 = 0
M1

=PRs1na-2RQ~Mgh

(:J)

=kxN=kPcosa

Q 1 2_!-(Rsina-kcosa..)=124,9.i\r
2R

b)

a)

(
y

Hinh 3.10

2 Li.;ic Q lOn: Con 18.n c6 xu hu:Ong chu;..rdn dQng len. l~Uc n<'t:V' F,.,"

v3 ngti.L1 h;Ic ina s.t 18.n c6 chieu llgliqc l<:ti v0i lrL!dng hqp lt;ic

nhO. 'l'Udng ti.;i nhli tren ta x6L con Ian. TU phli(Jllg trinh cl11Cu

len tr1,1C y ta c6 N ::; Pcosa.

di~1n I (hinh 3. lOb):

I.m
M1

1 (F)

= M1

L~p

pl1Udng trinh m6men d6l vOi

+ PRsina-2RQ = 0

-PRs111a + 2RQ

-PRsina+2RQ

'.O:

Mui, -:-; k x N = kPcosa

kPcosa

P(Rsina + kcosa)::::: 2RQ

Q'd.

~_._(Rsina+kcosa..)=125.lN
2R

ca HOC LY THUYt"T - TAP I: PHAN TTNH HOC, EJQNG HOC

58

KCt hop c:i. l1a1 lrLidng hQp la c6:

---,;. Q1

Qs

.;;

Q~ ---7-

124,9N::; Q s 125,lN

t11i con lan can bang tren m(lt ph~ng ngl1i8ng.

~,.

~?

--

3.4. BAI TOAN VE SI! CAN BANG CUA H~ V/>,.T

H~ v~1t \f1 t(i_p l19p ct'ia r1hi6u v~1L dlir}c nOi vdi r1hau bllng ciic lien ket

Vi dl).: Hai thanl1 AB

va

CD dttQc nf)i vdi nhau b8.ng lien kt Ll,ia

t0-i D va chllng nfli vdi tudng thiing dUng b8.ng biln
A, ng8.m C.

ie

T$.p l19p nay la m0t h~ v?t {hir1h :3.11).

Hinh 3.11

3.4.2. PHAN LOAI Ll,fC TAC Dl,fNG LEN H~ VAT

Ngo~i

lljc 18. 11.}'.c do cite v$.t ngoi'l.i

hi;'. Ky

h1~u

F0

h~

NC?i ly'c 13. h.tc do cite v$.t trong cling

hi~u

F, .

tac d1,1ng lCn c<ic v(l.t thu(ic

h~

tac d1:1ng lCn nhau. KY

59

l'Juin 1111)!. TlNH HQC

cac nQ1 l\}c tuan ll1co tien

de 4, chting c6 tling d6i inc)t cling dlihng

t<:'1.c dvng. cling Clih11g dQ v8. ngur.Jc chiCu nhal1.. ~(n hjc c6 li11l1 cl1[{t
quan tr911g sau d8.v: 1'6.,ng hinh h9c cila ccic n(!i fU:c vd t6"ng 1n6men

cUa ch Ung d6'i vdi mQt die'm hay mQt tr1;tc niio cl6 di!'u bdng khUng:

3.4.3. cAc cACH GIAI BAI TOAN H~ VAT

1'U tien

ue 5 ta c6 th~ 1Ut ra kCt lufi.n

. cho sti. c:ln b~ng ci.la h0 vat.
.
'

Khi Ii vQ,t ctin b&ng thi ceic v(it thuc hij

se

cdn bdng. (:6 ha1

phtid11g ph8.p gi8.i bai toan 11~ v1t

TS.ch ra xet c.11 b&ng tUng vQ.t tnQt. Ltic 118.y n10i v0t chju titc dl,lng

clla ngoi:ti l\fc va nQi li,tc. Vi c.c h;tc tac dt;tng len m(n vf!.l 13 hC 1-i;i:c
ph~ng. Do d6 1n6i vf!.l ta l~p ;3 phtidng trlnl1

c[u1

hf1ng. ~C11 110 c6 n

v:jt ta c6 :in phtidng trinh can b.ing.

b) Pl1uu117 ph;fp 116;1 rd11

Dfiu t1en ta coi to3.n h~ 18. mQL v~t r~n, h.ic nii.J' 11~ chi chju t8.c dl,lng
cUa ngo;::.1 h;ic va ta l~p dtiQc 3 phUdng lrinh cfrn b8.11g. VlJi bai to{1r1
h~ v$.t, s6 '.n s610n hon 3 cho nen ta ph8.1 t;ich ra xet can bhng 1nQt

::oO vi'.J.t nlia. :t\"e'u

h~ c6

ri

v~l Lill ::oau kl1i l16a r<in la s8 t{1cl1 ia xCL

c~ln b{1ng L6i da (n - 1) v$.t vii La c6 ~~(n - 1) p11Udng tri11h, cling vd1

3 phticJng lrinh ban d3.u ta c6 :311 phuong trinh can b~ng cha la xac
d~nh dticjc 311

in sO.

Khi g18.1 b8.i to.n h~ v$.t, nC11 s6' a'11 s6' lt hd11 hay b.l11g s6' phu'dr1g
trinh c<ln b:"ing thi d6 lil. b8.1 lofl.n llnh djnl1. .t'\e'u .srl fin sO nhi6u lion
s6' phtidng trir1h can bti.ng d1t9c gQi 18. b:J.1 to;in sieu tlnh.
Trang Cd hi:;;c

lY thuye't ta chi' xet gi8.i b8.i to8.n finl1 djnh.

ca HQC L1 THUYtT - TAP I_ PHAN TTNH HOC, OQNG HOC

60
c) ~'f d11111in/1

hoa

Vi dl,1 1: I'v1Qt dl1n c6 lien kf;t v1l chit1 h,tc tac dy:ng nhti

B1et M = 18k!\rn. a = :-3111.

(f

('J

hinh :) 12

= 1.5kN/1n Xftc dinh pl18-n \y:\ t:;u A

vilB.

y
M

"

Y:

y;

)(,

'

"'

, );, B x
a

'

'

'

Q
Hinh 3.12

Biil gicii: Vf).t kb Ho

~at

18. d.m AB.

(Q,XA,YA,Yn,M! -0.
Q

= 2aq = 9kN

Iii} ltjc t8.c dy.ng 18n d.111 la 116 ltjc ph~ng. Tn l(tp 3
can b:lng:

2:mA

(F,,): M - 2aq +:la YB:

G1il1 ht; phticJ11g L1inh (a) la c6:

XA =0; YA ::..:5kN; YB =4kN

t1ir1h

ol

L,mB(F,,)-M+aQ-3aYA -0

Ix, ~xA ~o

p}1U:dng

(a)

l'lnin 1111Jt. TTNH

HQC

61

Vi dl). 2 (b8.1 to8.11 118 v~t): l\.16t h~ v(:it c6 hCn kCt va cl1iu lijc nhu

hinh .'3. 13.

(_~ho

= 5kN, M = 3UkN1n, q = 0,9kN/1n.

Tim pl1Ur1 Ive

tsi-i A, B, C.
l\..e't quii bai to:l11

se

thay do'i 11l1u' the' nUo khi tl1ay dbi vi tri clla

ngf1t1 l\]'c c6 m61nen M trCn cu 11~

Jj --1-----1
1----tY.
f - - - - L M,

x.

Hinh 3.13

Bai gidi: Kh8.o sat h~ g6m hai t11anh AB va BC.

T:lch v.$,t BC (l1ir1l1 3.14). VJ BC= 2CE 11811 a= :30".

L\]'ct8-cdvng18nBC: (P.M,Yc,X 8 ,YB) -0.

Tinh BE ~ 4J3m .

Cd HQC L1 THUY~T TAP I. PHAN TINH HOC, DONG HQC

62

C.{1c p11Udng lrir1l1 cftn b8.ng

LX"'
LYk

Lm
Gi8.i

h~

o=:

::::=

XB + Ps11130

Y 8 +Ye -Pcos30 :::=O

(1'/,) =

-M -1P + BEYc

(b)
=-'

phtidng tr'inh (b) 'ta thu du:9c.

8 =

-2,5kN: Ye=

:'8

25

kN; Y 1i = -

~ kN

Hinh 3.14

TD.ch thanh AB (hinh 3.15). C8.c li;i:c t6.c d\lng

111

ChU j: X'B, Y' B c6 chieu ngu\lc vOi cl118u cUa

AB:

xB

va YB va

v6

cUdng d9 thi::

XH ~ Xn; Y'n = 11.

Cac phlidng Lrinh can b8.ng:

L}(h=XA-r-Q-X'13=0
(c)

Ph;i.11 111rit. TTNH HOC

63

x:

";
Q

y;
M,
A

x:

Hinh3.15

Giii h~ phUdng trinh (c) ta thlt du9c:

5J3

XA =-?kN; YA =--kN; MA =23,75kNm.

3

CltllONG 4

TINHDO DAN
'l'rong chl1011g 2 ta gii:ii b.3.1 to8.n h~ h.;lc ph~ng b;ing phlidng ph.p
giiii tlch. Chuong nay ta dUng phU:dng phB.p ve, dii gi8i b3-1 to8.n h~
l\fc ph.ng. Phu'dng ph8.p nay g9i 13 phu'dng ph<ip tinh dO. Phuong
phap tlnh dO c6 uu di@m: tin 191, nhanh ch6ng va d~ nhin nh.$.n
dLiQc ke't qua nhling c6 nhliQc di@m 18. ke't qu8. ba1 toan l~i ph\l
thuQc v8.o each ve clla ta c6 chinh xac l1ay kh6ng.

4. 1. DA GIAC Ll!C VA DA GIAC DAY

4.1.1. DA GIAC Ll/C
D@ don g1an ta ve da gi<'i.c h,tc ci.la h~ lt,tc phfing gOm ba lt;tc. DB.nh
dtiu ccl.c h;tc i,2,3 (hinh 4.la). Ch9n m()t di@m A tUy y, tU A ta ve
du:dng giy khU.c ABCD tt;to bdi c8.c h;ic

i,2,3

ta c6 da gi3.c ltfc clla h~

(XCffi ccich ve (j ITI\J.C 2.1) (hin}l 4.lb).

4.1.2. DA GIAC DAY

Ch9n di~m 0 tlly y 18.m cljc. ::-.J'Oi 0 vOi c8.c dinh A, B, C v8. D cUa da
gicic life. G9i tia OA 18. tia a; tia OB Ia tia 1-2; tia OC la l1a
2-0 v~t t1a OD la l1a ~

Cd HOC LYTHUYtT TAP I PHAN T\NH HOC, DONG HOC

66
---------------

~ CD.ell vC d1l giii.c d:ly: 'l'r1 cl1911 clibm :'v1. TU l\1 vC du'dng song song

vdi Lia a c&t dtil'-Jng tftc d1,111g c:Ua 11,ic

lc_ri a. TU a vC du'dng so11g

song v{i1 Lia l - '.2. vb. ct\t dltc\ng rile <lt}.11g life

2 /1

b. TU b vC Utfdng
3 tn1 c_ 'l'U c ve
dLi(Jng .-;011g so11g vf11 t1a f1 'l'l'~Jl J1_id11g nLl:-' ta lf\y n1Qt d-i&-rn bill k}'
~' i)1_i(JJ1g gii\' l{hl1c .'\laliL:\" g()l 121 da gi:S.c df1y c<i ci1c cc_1nh a, 1-'J

so11g song v{Ji 2 - 3 va cit LlLtrJng t{1c dung c1l::i ltjc

23, 13 (11inl1 4.la).

a)
M

b)

1-

b 2-

fl

c
0

3
2

c
D

Hinh 4.1

4.2. THU GQN H~ Li,JC

.:..
VA DIEU Kl~N CAN BANG CUA H~ Li,JC

Trang pbrin th11 gq11 he 11,ic. ta dii b1Ct b~ ltic phb.ng c6 the' c:ln bilng

11oii\.c c6 th~ tl1u vEi hQp li,ic hay ngftu 11,r"c tli)'' theo R;, vh_ M". H:ing
phlidng phrip ve da gi3-c 11,ic: vi\ da gifrc d8.y ta c6 th& rUt rfl k&t quil
lu'dug t\]'.

67

l'l11i'11 11Hif. TINH HQC

- -

4.2. l. H~ L\IC THU VE MQT HQP l\IC

HQ lVc thu

ve rnQt hQp lt,ic 11e't1 da giilc h;tc hd.

Hr.Jp ltjc (1tiQc x{1c

dinb hr'li C9-lll1 d6ng kin da g1{1c lt,ic va c6 dtidng t{u: d\].ng cti qua K

la

giao dit:\m cUa l1ai C9-nh ngoCu cling cUa eta gi5.c d~lv v:'.1 ::;ong so11g

vOi R cUn da g15.c ll;ic (hlnh ,-1 2)

N

fl

'

1'

}'

12

- - -

,
,

,2
'

'

,
,, ,

_K

,
,

R'
2

fl
D

Hinh 4.2

Th;}t V<:~y. trliljt cac li.;fc da cho ve' c:ic cli'nll cU.a da gi:ic clay vl ph&n

tich 1110i l1J'.c tb8.11h ha1 tl1Unl1 phfin tl1eo 11a1 c;,111!1 cUa da g16.c dft:>'
L1J'.c

thi\nh h.jc

1' va l".

tam gi8.c. ta c6 J\abc::: MBO, do d6

v01 lt;lc

2 va

l\(c

ly ve st.t b1ng nhau cUa ha1

i'= AO va f"= OB. 'l\tdng ti.;t
2"= oc: 3= co va 3"= OD

'fl1co d1nh

ta c6 ~=BO V<l

Cd HOC LYTHUY~T TAP I PHAN TlNH HQC, BONG HOC

68

'I'll hQ ;~

1.2,3

il.iC

li-1 C6 ]1~

]~il'

(j

l. ]", 2'.

~".

3 8
1

(;5.c

11

]\IC

i" V~I

:2'. ~" V8. triQl ti8U nllaU liltlg d61 ll1l)L (lllCO lt8Il d8 1). I'<illi V;~y

cOn 1~1 hai h;ic

l1l.Jp lqc

1' va 3".

Ha1 h;i:c nay d6ng quy

t:;i.1

K nen cln:ing c<i

R dl)l t;;i.i K. K chi11h lil. g1ao di1n clla ha1 c<:1nh a va p cUn

eta g18c cl<iy vdi R =AD (hir1h ,1.2a).

Vecld .4..D 18. veetd d6r1g kin cUa da g1[1c l\fc dtiQc x:'.i.c dj11l1 lH)1 hai

l~ic

i'

v8.

3".

d6ng th0i n6 cil11g cbi11l1 18. C<;tn11 d6ng kin cila da gl{'lc

llfc bidu diCn h~ hjc 1.

2, 3 (hinh 4.2b)

4.2.2. H~ L\IC THU VE MQT NGAU L\IC

HC l\fc L11u v8 1nQl ngbu lljc

da gifrc lt.;lc l\i d6ng kin vii da gi:ic

n(ft1

d:ly h6. Cac h;tc cUa r1g~t1 IV:c 115m tr8n cS.c c0nh a va

p.

ChU11g

dUQc xac d!nh bli11g tia a - (3 (hlnh 1.3a).

A:D

b)

a)

fl

;
;

2-3

;
;

--

;
;

/d

;
;

-- ,_
;

Hinh 4.3

Theo each 18.m i1hu' tren thi.

3" =OD.

(i ,

'}

"

3)

(1'. J")

va

l'=AO.

Khi da gi.c lt;ic d6ng ki11 thi d1~1n D trUng v6i A, do d6

OD= OA =-AO. nghfa

la 3"= -f

(hinh 4.:Jb).

69

l'J11in 111Ut. TiNH HOC

Hai h.jc I18.y t90 th:'i.nh m9L ngiiu ltjc, ch-Ung dtiQC xac ctjnh bilng t1a
a - r:1. Kho~:\.11g cilch d gilla ha1 CQ-nh (J. v:l j3 Clla eta gi.3.c d3v ]~1 c{u1h
tay d6r1 clla ngfi.u h,tc.

4.2.3. H~ Ll,fC CAN BANG

Dielt kl~n c..n va dU d~ h~ li.jc can bhng la da gi:lc li.jc d611g kfn va
da gi{i.c day cling d6r1g kin
'.'ihu 0 tr6n da trinh b8.y, ne'u da giH.c lt.fc d6ng kfI1 1n8. da g13.c d<ly
hd thi h~ thu vfi mQt ng:iu h;tc. Nhu v<}y nCu da gi.3.c day cling k:fn
(nghla lt) hai c9nh a va ~ trUng nhau), thi l1ai ]1.jc clla ngliu lljc
cling nam tren mQt dudng th5.ng, nen chllng trit t1eu. Do d6 h$ 11.jc
can b;}ng.
Vi d\l: Cho d.3.11 ch!u li.jc r1l1u d hir1h 4.4a. H5.y xac dinh pl1c1.n li.jc
t9-i A v<l B.

Biii giiii: cac 1-.;ic tac d\1ng lf,Il dan:

F1,F~,YB,RA. Lljc

YB hudng

ten tren, cOn RA cl1ua bie't phtidng. chi6u. Vi xEit d.3.n can b~ng i1n
(1'"\,F~,YB,RA)

- 0. Nhu v<)y ca da giUc ltjc V<i da gi.3.c day ct'ia h$

cteu d6ng kin.

Tadiinhs6LinltiQtc8.ch;tc F 1

=i,

F2

=2,

Y8

=;3

Ve da gi<ic ltjc: Ltiy di~m G ba't k)r ve F1 =

]f'~

2 =HI.

va R;..
=

GH . 1.'U H ve

TU d1~m I kC dttiing lz sor1g song v01 YB

di~n1 r1g9n cUa

chua x8.c dinh

3 = Y 8 v.3. di~1n go'c

YB = 3 va R,1 = 4.

clla h;tc

1 =RA

=4.

.3

:t\Thting

chtia b16't nPr1

Vi h$ 11.jc can bhng n6n da g18.c lt;ic Llj d6I1g kin, ngh1a 18. di&n1 r1g9n
cUa

4 = RA

trUng vdi Ui~m gOc ell a lt;tc F 1

= i.

Veda gi.c dfiy: La'y d1~m 0 bi1n cljc. J\'fli 0 v01 c8.c Uinh cU.a cL1 gi[1c.
ta c6 c8.c tia 1 - 2, 2 - 3, 4 - 1. Vi di@m K chtia b18t nen khfing x:ic
d!nh dtiQc tia 3 - 4. Ta cfrn x8.c d!nh tia 3 - '1. :Lviu611 v?j.y, tU di@1n A

ca HQC LY THUYtT - TAP I. PHAN TINH HQC, ElONG HOC

70

18- go'c elia RA

4 k8

dudng song song vOi 4 - 1 ciit ly\' F 1 -=

r01 til a k8 tiu'c'lng sor1g song v61 1 - 2 ciiL F~

dtitlng song song vd1 :2 - :1

cAt dt\(Jng

o.::

2 db.

l!\c du11g clia YR

l:;u a

TU b ta la1 kC
=

l~11 c. ~f)i

c \'c'J1 A La d1._1~1c :; - '1. 'flt 0 k8 du:dng song so11g vdi :3 - 4 v8. ci1t 1z
tf_l.i K. LUc nay IK =Ya

o:.o

va KG= RA:=

1.

Nhu: V~ly

l'.8.C'

phAn

11.)'.c Yn va RA dtiQC xac dinh.

----r-<o::::-'F,_ - - - - - - - - -

Y,
1

Hinh 4.4

Li,ic c111ta biCt 1108.n to8.n d.nh sO cuOi cling.

l)a giic d..y xu;lt pl18.t tU di~m d:;i_t cUa ltjc cl1u:a bie't ho:ln t.oan.

4.3. DAN
4.3. l. E>jNH NGHiA DAN

D8.n !fl tnQt lo0i kC't ciu cling g01n c3c thanh tl1~11g (kl16ng tr9ng
lu'Qng) du\Jc 11fli v01 nha11 b[u1g b~'tr1 1e 6 dtit1 tl1anlt. (_~[le h;i.11 ie d11qc

g91 18. nUt hay 1nAt dan.

l'lu1111111it. TiNH HQC

71

Khi ngl1ien cllt1 dH.n ngttc'll la bO qua trqng lttr_!ng c{lc thanh, n1a s{1t
d btin

1e v:) 11,ic tac dvng Jen dan chi d(lt t0-i c{i.c i1Ut.

'!'a chi khiio sfrt clan phAng (ciic thar1h cUng nlim tror1g n1(ll n1:)L
phAng) va dil.n au thanli_ tile ]~1 d8.n lntl. ][{y di b~{t k)' thanh Y1~l0 thi
11{1

kl1t'lng crln bl kl{L cciu ('Ung

:t\gUC11 ta x:iy dVng dftr1 di.'1 thanl1 b:hng c{u:h l(1p 1n(1L Lain gitic co s(i_
sau d6 ghep din l1ai Lhanl1 k:h(1c dt1 c6 1nQt ta1n g18c mOi_ DOi v01

d:ln 118-~ oe'u c6 m thanl1

v1) n

nllt thi s~i l16n hC g1Ua 06' thanb v:\ s()

nllt Iii:

ni

= '2.n -

l'vlr)i thanh c-Ua dUn chi chiu t{1c d\111g c-Ua c:'ic Ive d~lt (J d<i.u n1Ut vc\
can bUog ner1 chllng cl1l cl1iu ivc keo hay n6n.
)JQ1 dung cl1inh cUa b<l.1 to{ln dUn 18. ti1n ltjc k:Co l1ay n6n_ Do tinh

chf\t cclu tQ.o, kl1i g1:ii ba1 to{111 d:ln ta coi nhtt d:l Lim dtl(ic pl1<ln li.:ic

d cii.c

gi'li tlia

ChU j: De' tim li;ic keo hay nen t:'ic <lvng lPn thanh la tl1n Ung Ive

S c-Ua tl1anh (Lile 13. philn lijc cUa thanh c\Q_t Jen c8.c ntit). Ui1g h;ic

S d1

ra kh6i ntit k:h1 thanh cl1iu k8o v8- rti v;\o nUt khi thanh chju 11<'.>t1.

4.3.2. cAc PHUONG PHAP GIAI BAI TOAN DAN

a) Ph11~111g p!1ilp tilc/1111it

:t\gu>'C'11 tfrc clla phlfdr1g ph<:'qi n<'i.Y lH xeL cfln libng c;lc nUt. l\TOi nl1t
chiu tic dvng cUa h~ li;ic phi1ng d6ng quy, ta c6 dti(ic l1a1 hlidng
Lrinl1 e{111 bU11g. 11611 ta cl1i ti1n dlll.Jc hni t{n sO t<.li 1n01 nUt. ])o d6

d:'iu t1{n ta xet ntil clri c6 :2 tln :;;{)_

/1) P/1uo11g philp 111;Jt ciit

Ta tv6r1g tliejng c{1L dUn

11)1n

hai phd.11 bdi n1Qt 1n~t c~t d1 qua ba

tha11h c5.n tim Ung li;ic va xet cfi.n b&ng cl1a n1Qt trong ha1 phfir1 :Yv

Cd HQC LY THUYt"T - TAP I: PHAN TTNH HQC, ElQNG HOC

72

Vi c8c Ung 1-i;ic cl1u'a biCt chieu n811 ta g18. th1e't ch1Eiu cU.a Ung 1y:c:
l1vOng ra kh6i v?t khio sat (co1 nhu cac thanh du chiu k6o).
L$.p c8.c phlidng trinh can b&ng va gi3i d~ ti1n Ung ly'c. B&ng cac

m(it c~t kh:ic nhau ta se tim du\IC Ung lt;ic trong t:lt
cUa dan.

ca ccic thanh

C.in llfu y r~ng vi h~ lt;i:c ph:i11g chl c6 ;3 phu'dng tri11h c:ln b'1.11g nen
mf)_t cftt kh6ng dttQc chUa qu:i 3 tl1anh ph8.i ti1n Ung 11.}'c (qu8. 3
,'
an

SO).

Vi d9: Cho dan c6 lien ke't va chiu l\]'c nhu' d hinh 4.5a. Ti1n Ung
lt,tc trong cac tha11h 1, 2, 3.

a) y

v.

v.

b)

2P

B x

v.
A

Hinh 4.5

Bai gidi: cac lt;ic tac d\lng Jen dan (ngO?l lt.jc):
(P,2P,Y8 ,XA,YA) - 0.
1'ru0c he't tim phB.n li.;tc t?i A va B.

L;x,~xA~o
LY, ~YA + Y8
Im A (Fk)

}
-

P - 2P ~ 0

-aP - (a + acotg30)2P + (2a + acotg30)YB

u)
=0

73

Gi1ii h~ phu'dng tri11h (a) ta c6:

XA o=O; YA o=1,27P; y[l =-l,7:3P.

C<'it dan bling m~t cftt d1 qua ba thanh 1, 2, 3. XCt ph~n ben tr3-i.
GiU thiCt c8.c thanh d~u ch~u keo. C6 cac l\fc tac d\lng:

Li)tp h8 phttdng trlnl1 can b8.r1g:

L:mc(F,)=-aYA -aS, =0

Lm

~F,) =aS, + acotg3 0~ - (a + acotg30)Y A =0

2=.Yk-YA-P+S,,,~in.30 -0

Gi8-1 h~ phUdng lrlnh (b) ta thu dliQc:

s, = -1,27 p; s, = -0,54?: s, = 1,73?.

~hu'

vQ..y cac thanh 1, 2 b! nen; lhanh 3 chiu keo.

l
(b)

CkuoNG :i
'

HE LUC
SONG SONG

VA. TRONG
TA.M ClJA. VA.T
RA.N

1'rong th1;ic tC, ta tl1u'dng g~p 110 h,tc song song. _;'vl91 v?t ll1c' trong

lrtidng tr9ng l\fc c1u\1c xe1n nhti cl1iu t:ic dl,lr1g clla tnl)t h~ hjc :0011g
song 18. 11,ic hUt clia 'J'r8.i t)flt (vi tfi.1n 'J'r{11 l1fll d r[lt xa). '!'rung
chtldng

118.y.

ta

ti1n e{1cl1

thu

g(_lll h~ lt.fC'

,;ong song vb. Ung dung

11(1

cl&' ti1n tr9ng tii.rn cUa v(1l rAn.

5. 1. THU GQN H~ L\IC SONG SONG

5.1. l. THU GQN HAI L\IC SONG SONG CUNG CHIEU
t>i11/1

~(:Thu

g(Jll

hai life sung song citng clriilu., ta duqc m(il hUJJ Lile

ciing .~Oil!:/ song vd cUng chrJu, c1) cu'iJng (fl) blfng t{/ng c1tci1ig <1(! cUa
hai l~tc vcl c!cit tc1i dii~ln chra trung cloan th6nt; 1uil hai cli(''ni <1t
t}idnli ctor;rn t); l~' ng'li_icli uUi crtiJng d(5 liar ltic r!o.

Ch.Ung mink: Ch.a ha1 h.;i:c F1 Ji'., song song. cU11g ch16u d,flt l<.1i A. B
11hLi (J l1inl1 Fi. l. DAu tif~n ta phH.i chU11g 1n111h r?tng l1ni h,tc 1<'1 F"

Cd HQC LY THUYt:T - TAP I: PHAN TlNH HQC, DONG HOC

76

c6 hqp 11.fc. Theo tiPn ct(-i 2 t<.i A, B <lQ.t thC1n hai llJ'.c T 1 T~ d9c thco

AB v8. c8.n b8.ng nhau. HQp c5.c lt,tc, ta dU:Qc Q1 18. hQp h;ic clla F 1

(F,,F,J - (Q,,Q,J
Q 1, Q~ d6ng guy ne11 c6 l:1Qp h;tc, do d6 F 1 , F~ cling c6 hQp li;c.

r;

r;
'
,_
'

0
F'

_,

0, ---;

T.

A'

'

''

''

'

''

'
;'

''

'' B

T,
'
'b'

--a;
F,

''

F:

'

a'

''

Hinh 5.1

Crich t1:tn hr/fJ life: Tru:Qt h,tc Q1 ,Q~ v diJ1n dOng quy Ova phan
m6i 11,l'c ra hai Lhil.nh phfin nhu: ell.

lla1 l"ic 7" 1 , T' ~

c(111

b:\ng n{'-n L1iL

l1('u

nhau >Thu vf}.y hQp lt,tc cUa

Q 1 ,Q~ ciing chinh ld h<jp 11,ic clia hai ll_1c ~.F'~. HQp ltjc R d:;i.t
t?i 0

va

R = F'1 + F'~,

vi

nhU:ng

F'1 = F 1

F'~ = F~

nen

R=F1 +F~.

TrliQt lt;ic
dJ 116 c6 diJm d(it tf,li
11~1n trCn AB. xac dir1h vi tri
d1~n1 C trCn AB. 'I'am g13.c OAC <l011g d1.1ng v6i tam gi:ic Aa'a nfin
ta c6:

CA

CO

T,

F,

(1)

77

l'h:Jn 111111. TTNH HQC

(2)

Chia (1) cho (2) (chU

Y T1

= T~)

ta c6:

"'.'Jhu v(ty C lb. d1~1n ch1a lrong do<~n tl1Ang AB th8.nh l1ai do~111

t:Y 1

nghicl1 v6i ctidng di? cUn hai ltjc.

ChU j: V~ tri clia C tren AB kh6ng phl,l thuQc v8.o phtidng clla }'1
va'

"'

Ne'u quay

r~

F1 ,F~

quanl1 A, B thi theo c<ich 18.m nl1U: tt-Pn.

y
I

,_

I F,

rF.,
I

0
Hinh 5.2

C6 tht:" xeic d_inh C bling gid i tich \T] C 18. d1e'1n vl1ia trong c:Ua do<:~n
,
F, rten
, t 1lCO h'lrl h ;J.:2
, 1).
AB t 1\CO ty'1'e A=-----"--,
F,

Ti11l1 ra. ta nh$.n dU:Qc:

_xAF1 +x 8 F~

Xe -

F1 +Fi

78

CO HOC LY THUYt:T TAP I PHAN TlNH HQC, JONG HQC

Ttir1ng tlj ta c(J:

Y, F + YnF~
Ye -= - 1 1
--
F 1 + F~
2Aft'1 t-zHF!.

5.1.2. THU GQN HAI LUC SONG SONG NGUQC CHIEU NHAU
D_1i1/1 ~(:Thu g"Qn hai lLtc song song ngLtdc chidu L'iI klui.c cliiinf!- ct<),
(fli1Jc ln(;t 119 l1_!c c6 cUng plilidng, chuiu v<Ji lite l1!ii h.un c6 citring cl(!

bdn.g hiu ccic cliifng dQ ua dt t(li die'rn chia ngoCti do<;i11 th.iing n6l
ccic di1lm dij,t cUa ccic lt,lc thitnh nhilng cloan tj l ngh!ch i:Ji Cltdnfl
d(J cdc lite.
Cluln1;; minh (l1inh R.3): F 1. F~ so11g song, ngu'Qc ch1Cu, d.i)tt t?l A, R.
('ho F 1 > }?~- Tc.11 B d<;i.t thf.111 F'c. -=-F~ 'l'l1co rnt.1c fi 1.1. c6 th{~
tim duqc 1nQt l\fc R sao cho F'1 L:'l. h9p h,ic cua R vii
F, - (R.F 2 ).

p,

Hinh 5.3

F'~.

tile 18

f'/J;1111111it.

TTNH HOC

79

1-1~ lljc dii. cho lhtl

ve lll(ll hqp 11.,iL'

Vi F 1 l!l hcjp ll,lc clia R

va

R (hlnb i'i.3)

F' ~ nen la c6:

:G111 ttC)i tiCp ta c6:

AC

F'~

AB+ AC

R+ F',

----Vi

F'~ = F~

cOn AB+ AC= CH 11Cn

Di~n1 C r1:im i1go8.i do~'ln AB.

Ttidng tlj nhti trfir1. la x8.c dinl1 dtic;Jc

vi

tr{ cUa (' (chU

F.. lb.
F

'

(5.'.!)

ChU

Y:

~Cu hai lt_ic so11g song, ngtiqc cl1ieu vii. crl ctil'.l11g d(} l1~r1f.(

nl1at1 Ll1i l:;to tb;\11h n1(il ng[1u 11.,ic:. 1n;l ngfiu ltjc tlti k\10ng c6
11Qp li.jc

5.1.3. THU GQN NHIEU L\IC SONG SONG

Ta c6

hl~ ltjc (F1. F~

. .., /<'11 ) song so11g, ctlng cl116u trong kl16ng g1an.

'l'tidng llj n\11.f d6i v61 l1ai 1\IC. ta c6 ket lu<:~n: 11~ li.jc song song ('Ung
chiE!u c6 hQp li.jc song song, cling cl1i8u vd1 c(1c li.,i:c. d;'.it t;;i.i L<."un c1.i.11
h$ l\l'c vii c6 cu'dng LtQ bf'i.ng to'ng cu:dng dQ c3.c li.jc (11inh 5.4).

ca HOC LY THUYtT - TAP I. PHAN TINH HOC, DONG HQC

80

',JF;

''

'

'

F,

'
- '_, -

z,

'

F,

'
'

- -

'

'

'

'

c
F;

A,

'
'

A,
Xc I

'
I '

y
.(

' ''
A,

'

_y

x
Hinh 5.4

(5 3)

Chuj:
Di~m d$.t C clia hqp l\]'.c R kh6ng ph\J. thuQc vilo phu'dng cUa h~
lljc song song.

1~111in 1110t. TINH HQC

81

Nl;tl 118 11.jc song sor1g, c6 ch16t1 Lit kY thi se c6 11c;1 l\il' khi
I/<~, -t:- 0 '1'9a

tt0 C cil11g dtiQc x:1c dinh tl1eo (S_:-l) nllting Lt;11g l~i

to'ng da1 sO.

NCu diiim df}t c-Ua cac lljc cling 6 tren mQt 1118-l ph~ng thi t.1n C
cilng n~m tren 1n<?.t ph&ng 3y.

5.2. TRQNG TAM CUA

V~T

RAN

5.2.1. D!NH NGHlA vl>. c6NG TH Uc TONG QUAT DE xAc D!NH TRQNG
TAM CUA VAT RAN
'fr9ng lfrr:n v(ll ritn li\ d1f!rn d<}l C clla lr911g ltiQng 1:' c-Ua v$.t. 'l'qa

dQ C dU:Qc xiic dir1h:

(s i\)
})iu nb.y c6 tl1C; g1:i1 thicl1 11l1U: (fi :-\) '.'v10i pl16.11 tU c-Ua v$.t riir1 d611
bj 1'rU1 Dflt l1Ut ve t<11n bf1ng tr9ng 1U:Q11g clla ph6.n tU: a_""y Pi,

Thu

11G c3.c 11.jc Pk song song cling chiu ta dUQc l1Qp 11.jc (-~ cling sor1g
song. cling chie'u va c6 cttdr1g dQ:

HQp hjt (.,; khfing phl.). tl1uQc vi'to vi tri v$,t. du:qc d(lt tc:1 l:ln1 (,' cUa
h~ lljc. Vi v(ly v~t riin chit1 h,tc hi.it cUa Tr3.i Dit bUng 1nQt h,tc duy
r1htit 18. tr9ng ]U:Qng c-Ua v$.t vi lu6n lu6n d?t t0i C.

5.2.2. TRQNG rAM CUA cAc VAT DONG CHAT

a) A"/16i (/6ng c/1;ft

Tr9ng lu:qng c-Ua in Ch phan tU Pk = yVk, do d6:

Cd HQC LY THUYtT TAP 1 PHAN TTNH HQC, DONG HOC

82

q
lro11g d6:

~yV

y - trqng ltii;Jng r1C'ng cUa e11tlt t:.10 tl1hnh vQ_t.

V:.- th(~ Lich cUa ph<1n

tli' h;

V - the' lich clla c1i vQ.t.

Dua c:'i.c gi1\ trj v<'to (5.4). ta c6:

2.:x"'VJ..
v

.Ye

(5.6)
t1ong d(i. S 1:- - di~n Lich clla pl1tln t.Li h;

S - di~11 tich cl1a c1l tn5.t.

in:)

ta kh:'10 s{il.

c) Do~111 diJ/1g c/1;ft

(5.7)

'J'l1udng c6.c vfi, ph1l.i dtiQc tir1h bi'i.11g tich phtu1.

5.2.3. cAc PHUONG PHAP xAc !JjNH TRQNG TAM CUA VAT RAN
!JONG CHAT
;1 J Pl111011g pluip ddi _t1i11g

~eu v(il dOng cl1a't c6 1nQt d1t'im, mQt tr\IC 11ay n1Qt inf:tt dOi xUr1g lhi

lr9ng tam ci.la vi).l d t~i dii?'1n hay tren lrlJ.c. lr011 1n:~t d6'i xUng :iy.

Chii:ng lninh: ('oi (re) 18_ n1sil pl1Ang dOi xUng clia v:}t. Chia v(1l
th1J.nh nh.Ung c<~P ph8.n

tU' d6i xUng qua

(n). Hcjp trqng lUc_Jng tU11g

c$_p cki ta citirfc rn~il b0 li,tc n11\ dic'n1 d(tl e1'1:1 chl111.t; i181n tr(:n tn(lt

p11~ng (TI). HQp h;ie cUn 11~ ]ljc 11:ly

]ii_

tr9ng Ju:qng(/ ct'.1:1 vQ_t, cling e(i

die'm d$t ntln1 tren 1n:(lt phiu1g (TI). Tr1fdng 1H)p vz1t c6 tr-c dOi xUng

1'111111 1111if.

TfNH HQC

83

ta cling chUr1g m1nh tlidng tlj. 'l'a nh$.n xet r8.ng hinh chU nl1~t,
hir1h clip. hinh trOn ... c6 hai lr1,1.c dOi xl:ing (hinh 5.5) Tr9r1g t:lm
clla cc'i.c hinh n8.y sC 13. giao d1~1n clla hai trvc aoi xU11g. Vi dl.,l tr9ng
td1n cUa hir111 trOn 6" t8.1n 0.

a)

c)

b)

Hinh 5.5

bJ P/1110111{ p/1;Jp p/1:i11 chia

C6 inQt hinh phing. Pl1:1n chia hinh th8.nh nh1gu hinh nh6 c6 tr9ng
llic;Jng ta aa b1e't, nhli vf;ly:
(5.8)

tror1g d6: xk, Ym Su - t9a dQ trqng l<11n vii d1Qr1 ticl1 cU.a hinh ph~ng
thu k.
DOi vd1 hinh kl1uye't ta
c6 th6' xem 18. dVQc
ghEip bOi hinh nguyCr1
VQn v:J. 1n8.11h bQ di df!
ip dy.ng cite c6ng th(tc
da bie't (l1inh 5.6). V6'i

c,
S,

1n3.11h b6 di, ta coi nhu

di~r1 ticl1 clla n6 c6 gi[~

t1) :11n.

Hinh 5.6

Cd HOC LY THUYET - T.~P I: PH.A.N TlNH HOC, 86NG HOC

84
,\p J.v11g (5 8)

(te tin11 t9a de)

L19ng t8.1n cLta l1inl1.

x 1 ,.'; 1 + X~(-8~)

(5 9)

xc =-s1 +(-5'_,)
troll;! d6: .x:. .'3 1- LQa dQ tr9ng tfun v8. di(n tich hinh ng-uy6n:

:r_,. S"- t9a dQ lr9ng Lfin1 vi\ di1t ticl1 hlnl1 b6 di.
(~Qi Xe.

S la LQ::t d(l tr911g t8.1n v:l. d10n Lich hinh kbuyt, ta c6:

x 1 8 1 - x~S~
8 1 -S.,

(5.10)

s6 VAT THUONG GAP

s.2.4. TRQNG TAM MQT

.a) 1a111 gi<ic

Chia Lain giac (hir1l1 5.7)

r1hi8u bi'lr1g sor1g
song vdi C[_lnh BD. Tr911g
tfin1 cUn rnOi b~u1g 11K1n
l;"11n

trCn

di6n1 clia 116,

tile 13. trer1 trung tuyr1
AM. VQ..y Lr9ng t8.1n cUa
Lru11g

c8. ta1n gi8.c sfi n.11n Lr811

dudng AM. TUdng t\1 nu
Hinh 5.7
ta chin ta1n gi<ic th:111h
11l1Ung b:ing song so11g vOi AD. thi tr9ng t;'in1 cUrt tan1 g15.c se 118.111
trCn LrL111g tuyCn BN. Nhu: vQ..y tr9ng t;in1 cl1a ta1n gi<'tc se l:l giao
did1n cUa cac dudng trung tuyCn. Theo hi11l1 hvc ta tin11 dUQc:

CM

-AM
.3

\o. ll)

l'hiin

1111jt,

TfNH HQC

85

/1) Hi11/1 chrip

('Ung bhng pl1ltdng jJl1(1p lllong t~t d()i vi'i1 11i11h cb6p. c(i L1f.n1g l<ln1
i1ii1n lrCn dlidng s::vl 11tli cli'11l1 \'<1 trqng l:1n1 cUa d;\.;,. (11in h il 8):

CM

~-SM

(G 1:2)

c
M

Hinh 5.8

c) C11ng t1i;n

Cung trOn t~l1n 0, b8.n kf11h

R c(J dQ d81 eung AB ::: L v;l g6c (1 L{un

:20:. 'l'r1,1c x Vl16ng g6c vai df1:-- cungAB (l1lnh .S.9). >Jhli v(1y ll'l)C x
lrl)C UUi xUng nC.n lrqng t[un C pl1;i1 ni11n t it~n tr1}c x.
~

1~1

Pl18.n AB Ll18.11l1 nhUng cung nl16 ah.

C.~qi ~l 13- d0 d8.i cUa cu11g

ab. 'l'hco c6ng th Uc tr9ng t&m clla dudng

d6ng cl1rlt. ta c6:

Xe
lro11g d6:

L::: '2Ru., x - l9a dQ trq11g t:J.1n clla Cl1ng !JJ: r-x

o=

Rcos~CJ; ~!""R.\tp

vUi L\(p lii.g6clfi1ncUaah.

ca HQC LYTHUYt"T - Ti\.P 1 PHAN TTNH HQC, ElQNG HOC

86

Thay gii trj vao (5.13) ta dttQc:

Xe =

L:R' cos~'1q
2Ra

= -

:2a.

L cos <rc'>.rp

VOi ab nh6 thi Xe dLiQc tinl1 bang ticl1 ph<ln:

~

R
2a

Xe=-

Ne'u a

"ICOslj)dqi=--R.sina

(5.HJ

-"

~. tile 13. AB b.ng nUa dtidng trOn t11i

2

2R

Xe=IT

B
di
a

c
x

A
Hinh 5.9
d) Hi11/1 (jl/Bf

Chia hinh qu<!t ra th8.nh 11hUng hl11h qu<:i-t r1h6 va c6 tl1f! xem d6 18.
nhU:ng tam gi8.c ma tr9ng t8.1n cUa ch ting ph<:111 bO tren cung 1\'13' c6

bfinkinh

R'=~R

(hi11h5.10).

Ap dl,lng c611g th Uc (5.14) cUa cung trOn ta c6:

(f>. );j)

87

NCu

a= -

th'i

Xe

4R
:-lrc
B

Hinh 5, 10

,....

?,....

,....

,.......

CAU HOI ON TAP

PHAN TINH HOC

1.

Trinh b:l.y kl1{>i 11161n l\iC (ctinb ngl1ia, enc .vCu l() x{:ic di11l1 v;\ cc'i.ch
bie'u di~n h,tc).
ChUng t6 ril.ng lVc tac dy.ng 1,n v~t r;lr1 dUrfc bi6u diC11 b<'t11g VPCtd
triJ(jl

2.

Dinh nghla h llic tUdng dtldng. 110 lt_Jr c&n bAng. h(_jp l\ir~ cua

11Q ll,lc.
3.

Trinh b8.y ti&n d6 1 (VC h$ l1ai ll,lc cfln b8-ng) va tien d6 4 (V6 h;1c
tac d\lllg vil ph3.n tac dvng).

de

;_i

'l'rlnh UUy LiC11 dti ;3 {(iu:.- t{1c hiub lii11h h:'inh) J>h[tt bil;u til~11 JC

(-j

Pl1cl.l biE!u ti&n d6 2

0/6 sv lL1dng dUdng cUa

11~ 11.,ic) v1 t1C11

(Nguyrf'n 1.Y h6a r~n).

4.

(Ve g1,li h611g liCn ke't).

5.

Dinl1 nghla vQ.t l\l do, v:Rt k:hcing t\l' do, hbn kC't vii phf\.n ly:c li611 kCt.

6.

Dinh nghia n1tnnen llla li.;ic d6i

\'{Ji 1nr)l

l:ln1 vi'1 in6n1e11 ctla l Uc dfli

v61 1nQt lrl,1-C. Vie't c6ng tl1Uc bic'u 1!11 m"(J<') v~\ m,{F). 'l'iinh lib}'

c:ic tinh cha'l cUa chting.

7.

Vie't c611g thUc

gi~-i.1 tich x8.c <lir1h 1n6n1cn cUa lVc cl6i vdi 1n(1t tfun

l'h:it b1e'.u vii. cl1Ung minl1 d~nh lj liCn 11~ gi1:a 1n61ncn clla l\:i\' d6i
vd1 n1r)t t<i1n va n161nen cUn li;ic df)i vdi n1(it tr\lt di qua ttin1 dCi.
C611g th Uc x:ic di11h rnti1ner1 cll;1 1\iC d61 v(J1 ("{Jc tr\lt tya d{i.

_9_0________________C_O_HOC LY THUY~T - T.,;P I. PHAN T[NH HQC, 06NG HOC

8.

Di11l1 nghla ng5.t1 li.;i:c va c:ic yCu tO ci.la 11g~u lt.ic. Ngi'tu lt.ic c6 pl1<:l.1

l:l h6 li;lc c:in b3ng khfing'? ('6 11Qp l\]'c kl16ng?

9.

'l'rinh b~t~.r khi'.11 11i1n vectd n16n1en ng[111 l~ic. 'Phil.n bi0l v(Ji VL'ClLl
\J16'11 d1Cn ltjc. Dinh i1gl1la c-:1.f tLid11g duung cl1'1 ng[1u lijc. ~0L1 c[1('

tfnh chtlt
10.

Pl18.t b1~u va cbllng n11nl1 dir1l1 lY hr/ l1Q ngftu l\}c. Ph.it bidu V<:\
chU11g 1i--1111l1 ciinh lY ddi ll}'c song song.

11.

'l'rinh bft:-' vect(J chinh vi'l 1n61nen chinh cl1a h6 ]ijc lzl1flng gian lzl11
tl1L1 g\)n v6 1nc}l tfrn1.

13.

Trinh bft~y c&c tru'dng hQp xiiy ra kl1i tb11 gl)11 h(j lt;tc kl16ng g1an vi2.
d<:~11g t(i"1 g1'111.

14.

l'l1(1t li16'11 vi't cl1U11g rn111h d\nh 1) d1Cu kiQn c::111 b:\ng cUa h( h,IL'
1

kl16ng gia11. ViCl c[1c pl1u\i11g t.rl11h cC1n b:111g cUa 111$ lt,ic l.;:l1611g g1an
'l'U d6 suy ra c:ic phlfdng L1l11h c5.n bftng cl1::i. 11 li.;tc kl16ng gian

song ,.;011g: l1f; li.;tc kh6ng gian d.611g quy, h~ llfc pl1dng, 11~ li.;tc ph..ing

,.;011g song.

16.

1'cu hon phuong pln\p g1;'u \n\1 toirn he vi<L. Trinh uity b1h 101\n b<eu

ti11h va tinh dinl1

17.

Ph:it bi@u dinh lu0.t 1na s1t tr1iQt vl1 1na sUt l1ln. C1ch gii'ii b:\1 tobn
cfln L8.ng khi c6 1na L->ri.t trlfqt. 1na s1l.t 1trl.

18.

f)jnl1 ngl11a trqng tC1n1 cUa v(1l

Vi Dl) TiNH TOAN, BAI T ~p

,

;::

'

"'

VA HU'dNG DAN GIAI BAI TAP

PHAN TiNH HOC

I. Vi Dl) TiNH TOAN

'

__,

--+

>

Vi d9 1.1: e_:110 h$ g01n c3.c lt.Ic P1. Pc. P.1. P-1 t{~c dy.ng 1611 hinh l:)p
pl1U:dr1g c6 c1.~nl1 Ll a nhLi
P:i

6 h'inl1 l.l, b1Ct P 1 = 10 kN.

P~

= 4 kN; P = 11 k:.J vdi a= 30 c1n = 0,.'3 n1.

4

1 Thu g9n

h~

lt;tc tr&n vC 0.

2. H$ ltjc nay thu ve dLiQC' l1Qp Ive ha:v hQ xo5n?

/Jiii gi;ii:

1.

~
'
'l'a tinh R' va M"

R'x = LXk =Pi+ P. 1 cos'15"

R,. =

L;Y1,

R',=

L;Z,

~ 111; =

11.76 k\"

= P, = 10 k'.'J

R',, = ~(11,76)~ + 10~

R',

= 19,4 k'.\I.

= -11.76 kt\
+

(11,76)~

= '1 kN;

92

Cd HQC LY THUYtT - Tii,P 1 PHAN TlNH HOC, 80NG HOC

i'vl"-'

1\1""

i -

'

'

Lnix[ F1.:

=-al>~= -0.3.4 = -1,2 kX1n

.,I -

=Lin,. rF1,
\

aP~

12

aP 1 ~

--r-

'----

J21

0 ..3 P~ +P I 2'
\

2 ' -- 'JC-/]:-.
~~'- lT\
0 '-3 4 -t- 11.,;
1

02

,,)_

)'

)
~

Lmz(Fk J

-aPl = -0,3.4

-1,2kN1n

M 11=-y"-'
!'VI' + M' + M,"_-. ~ )(-1.21; -- (3.521'
'"'
''
iW,.

(-1.2)"

= :3,9 k:'--1111.
z

,_ I
1

'

P, I

y
/

P,

x
Hinh 1.1
4

2.

'!'<1 t:i11h R'" . M.,

=R' .1'1,1.,, + R'_,.lvf,," + R',IV!,,,

= 11. 7 6. ( - 1 .2) + 10 :L 0:2

l\"hu' v;;t!' t::t th:ly R'"* 0: M,,

+ ( 1 l. 7 G). (- 1,2)
___,

:F-

0 tn:1 R',,.L'1o

n6u Lrf'n kl16r1g Lhtl dtiQC vfi lHjp ly:c n18_

tllll

= 3 ;J. 2 -t U

-)

du'Qc

0, n&n h h,tc

ve h$ xo~l1L

Vi dv I.2: .\1Qt ti'lm hlnh v1ul11g ABCD dOng ch<'.ll n<;tng Q (N) du\Jc gill
c.fir1 bi'tng (1 vi tr{ nAm 11gang nh(J sllu thanh cl1011g.

BAI T,o?.P, Vf DV VA Hlfc'.lNG DAN GIAI PHAN TTNH HQC

93

X::'lc dtr1h U11g h,tc lrong c;\c thanll do tr9ng lliQng tfl1n gf\y r:L

t1C'u cc'l.c d.iu thanh dttl)c gdn vfto t:l1n vii v61 nEin df.\t nb(i c:lc
b8.n 16 (hinh 1.2).

1==

-=:!=:=:

--1

s,

s;

a
1

s;

, ,

a
Hinh 1.2

B:.li f.{idi: X6t c:3.11 b..ng tf:l1n hinh vufing ABCD.

->

__,

>

>

.....

'l'l1a_y c<'tc lin ke't lhanl1 b8.r1g c8.c Ung 11,lc S 1. S". S:J. S 1, 8,-,. S1>.

[Q. 81, S~. S:s, 8.1, S,,, Sc J ~ 0

C8.c lt,tc tH.c dy.ngln tU1n

Ch9r1 h$ t9a dQ i\.Yyz.

C3.c phtidng trinh cfi.11 b311g:

xk ::: S,,cos15 - s 1COs4;)"::: 0

2.:Yk::: SJsi114G 0

:::

(1)

(2)

- -aQ
+
2

-Q=O
2

C<

.
AC:"
.) sin c1Q = 0

ac)

(.1)

(51

Cd HQC LYTHUY~T - T/:..P I: PHAN TTNH HOC, BONG HOC

94

( fi)
1'U (l-i) ta c:6 S~.::::: 0

va tU (2) t(l dlfrjc S. 1 ::::: 0

Thay 8,,::::: 0 vao (1) ta du'<jC 81::: 0.

TU (5) ta du'dc S,,

=-=

Q
2 .

'l'ha.v c8.c g1:i lr~ tln1 dtf(jC vUo (4) ta c{J 8 1 ::::: 0. 1 -U (3) ta tinl du'Q'C
1

S l -Q'2
I

Vi d\l 1.3: .~vIQt hinh chU 11b(ll ctOng cl1a"t n(tr1g 20 N' gin v8.o LU:dng
11hd bki.n

1e c:ftu

l~1 A vii bil11

18 try. tai B v8. du'Qc g1U {'1

vi

tri

11a1n r1gang nl1d dfiy CE buQc tU di6111 C clia k:l111ng dCn di~1n

E d6ng vao tttdng lrCn d.11dng th:ing dlrng qua A. lrong cl6
EC:A::: BAC ::::: 30. Hfiy x3.c dinl1 ;:;Uc c8.ng cUa d;ly (,'E v:l phG.n
~

lu'c 6 Ava B (l1inl1 I.3)

zr--~-

z,

x:--~

2b

30'

'

'

'

,
, ,

, ,

'

'1'
p

'

2a

T,

T;

Hinh 1.3

B:.'1ighli:V(1l x6l ctln bang 18. k11ung chU 11l1~t ABCD.

>

Cite hjc t1c dlf11g Jf,n v(lt g01n: tr9ng lu:Qng khung P, sue cang cUa
-

dfi.y T, ph8-n lt;ic t?i A 18-

->--+--+

x A, y A, z A

va phiin h.;ic t0.i B la

__,

H,

BAI Tf\P,

vr Dl) VA HlfONG DAN GIA! PHAN TfNH HOC

~

95

Zn DUi vOi l\}c x-ien T ta phrin tlch thAnh ba l\fc th8.nh pl1f1n tl1co
b3 tl'\}C tqa

Ile c;ic

]lfC

---

d9 18. T,., Tv, T" .

tac d1,111g lE>n v(1t can bii'ing:

(P ..'\A, YA, ZA, X13. T)~ ()

C1lc TlhU:cJn.g tri11l1 cft11 bi'tng:

LX1-.

::::X/I +Xn - T,::::X_\

+ x,l -Tcos:_)Q''.s1n30"::;;

LYk ::: Y;1 - T\. = Y_\ - 7'l'0:':3U".cos:~o::: 0

LZH : : z/I

+Zn -- p + T~ + ZA + Z11

-P --I 7'si11:30'':::: ()

Lm, (Fh) = 2aT, + :2aZ, aP::: 2riTs1n:)0 + 2aZH -AP::: 0

Im)F,J = b?- 2bT: = bP- 2b7';in~l0" = 0
I nr (Fk) : : --'.!.uX 0
1

1J::::

(1)

(2)
(.'3)
(1)

(5)
(o)

TU (6) ta c6X1i = 0.1'U (5) c6 T::: P:::: 20 I\

Tlt (4)

tR

Z,
.

dtfQc Z 11 = 0. T11av vb.o (:_5) ta c:6:

o

lON

'l'U (2) ta c6 YA :::: Tcos:.>30''::: 20 ~

1
. 'J(l"
1"U: (1) : X,1 ::: T COS,'JO' .Slll,

Vi <lv 1.4:

''0
::::::,

15 ]';"

1
J3-.2::--o<J"'""
r;; ,.

C~l10 ha1

tbanh AC va DD c6 tl\ll1f-': ]tiQng P 1 vii P.!_ dti\1C nOi vd1

r1bat1 b:\11g bi11 Je 6 D. Cl1Ung dtlQc lien ke't vOi ttid11g bii'ing b8n
~

lC t~li Ava B. T:,i..i C tac dvng rni)L l\J'.c Q ngh1811g vOi trvc dri.1n
AC 1nt)t g6c 45" vOi P 1

=P~ = 40 kN va Q:::: 100 ltK (hinl1 I.4a).

H5y xic d1nh ph311 ly:c t01 c:1l.c b1ir1

tl1nnh AC:::: BD

= 2a.

111 A, B va D. NCt1 d() dil1

Cd HQC LY THUYtT - TAP I: PHAN TTNH HOC, EJQNG HOC

96

b)

a)

v:

Y,

Hinh 1.4

Bili ghii:

D<ly la bUi to{i.n 11~ v~t nf:n c6 th

{lp

d1,1ng mQt trong hai

pl1u'dng ph{tp gi3-i. NCc1 {ip d1.,lng phu'd11g ph8.p h6a r1'in d gi:l1
tl1i coi lo;\n 11 11l1U 1nQt v~l 1itr1 v;\ tl1ay c{1c lien ke't biln 1'2 A

va B b;\ng cac phUn lijc l1f>r1 kCt XA, YA, XH, YB. Kl1i d6 c:ic
l\lc tac <lvng 1e11 ht; gOn1 (P1 ,

P~. Q. XA. YA, X 11 . 3 )-

(_~ilc phtldr1g trl11h eii.n btlng:

:z=x,. : : X, + X
1

LYk

1j

+ Qcos-15"::: O

(1)

(2)

=Y11 +Yn-Qs1n45"-P 1 -P!_=O

LmA (Fk)::: aXn - aP,si1160 - aP 1 - 2aQs11145::: 0

ddv c6 ba phu'dng trinh cl1Ua bfln :'in sO

11811

(:))

ta pl1i\.i l~p thi2rn

pl1uong lrinh cfin b1\ng.

'fa xCt c['tn L<'ing BD. C<ic h;tc titc dy.ng (hinl1 l 4b)

(P~,

X 11 , YB, Xn, Yn)- 0

C:ic pl1Udng trir1l1 cci.n b~ng:

:z=xh

11

:::X -Xf);;;;O

( 4)

BAI TAP, Vf Dl,J VA HlldNG DAN GIAI PHAN TfNH HQC

97

LYu =Y/J+Y/)-P~:::::o

mD

(Fk)::::: P.,asin60 -

(5)

Yn2asi1160 + XH2acos60"::::: 0

(6)

GiB.i cac phltdng trlnh nay.

'I'll (a) ta c6:

Xn::: P 1 + P~sir160" + 2Qs1n46"

X,.=40+40J3 +2.100J2 =216kN

Thay X 1, vao (1) ta c6:

X 11

= -Qcos45" -

XA

= -286.7 kN.

X 13 = - 100

J2 2

216

Thay X 8 vao (6) ta c6:

P~

X 8 cos60"

sin 60"

Y 8 =-+

=144,7kN

TU (2) la c6 YA= Qsin15" + P 1 + P~ - Y/J::::: 6 kN

Tu (4)

Xu

X,.

= 246 kN

Tu (5)

Y/J

= P~ -

Yu= 40 - 114,7

=-104,71<::.J

Vi d\l I.5: Cho hai thanh AB va BC lien ke't vOi nhau va vai tu:Clng b~ng
blin 1e t;;ti A, B va C. T<,1.i B tac dl,lng tai tr9ng Q : : : 10 kN
(hinh 1.5).
Xric dinh Ung l\fc trong cite thanh, ne'u b6 qua tr9ng lu:9ng cUc

lhanl:1, b1t a= 60" va ~::: 30".

Bili gifii:

Vi b6 qua tr9ng lU:Qng c8.c thanh va d8.u thanh la c8.c biin le

n@n Ung l\]'.c hu:Ong d9c theo trl,lc tl1anl1. Xet can b~ng nUt B
ta c6:

98

CO HQC LY THUYtT - TAP I: PHAN TiNH HOC, ElQNG HOC

C{i.c

phlidng trinh cdn b&ng:

Snc -SA}jcos60"::: 0

( 1)

LYi, = - Q -S~nsinGO" = 0

(21

xk:::

G1;ii c{1c pl1Lidr1g trinh (1) vb. (2) ta c6

~

'flt (2) j_ SA/!=

---Q = -10 kN, S,1/J = -

2
. ( 1) la
T ti

CO

iJC

AIJCOS

6()"

)"

'.__,() kN
.f3

- 20

::: - -

..fi

/!

Hinh 1.5

Cac Ung lt;tc c6 da"u (-)ch-Ung t6 chifiu c-Ua Ung lt;tc phiii lfiy ngUQc
lf_i.i. T11co quan didn1 x6t keo nen tl1l nCtt ta qt1y u6c thanh chiu n6n
tl1i Ung

Vi tlv 1.6:

l~c

c6 diu (-), c011 lhanh cl1iu k6u thi Ung lt;tc lily tla"u (+).

(~ho h~ sau thanh

~

dttqc n6i vOi nhatt b~ng b3n IEi 6 d6.u cac

than11. Cac 11,lc P, F duc;ic d?t t:;i.i cac 11-UtA va B.

BAI TAP.

vr Dl,l VA HVONG DAN GIAI PHAN TTNH HQC

Hay xH.c df11h Ung

l~c

99

trong cii.c tl1a11h ne"u ta b6 qua tiqng

]u'Qng cac thanh va kicl1 tl1tl0c cho d lr&11 hinh 1.6.

/J;}j phli:

'),

1. Xet c8.n bilng nUt A:

cac

(P. SAB' SAD, SAG) -

llf'.c t.c dvng lCn nUt A

0 Chqn h$

lrt.lC' nhli d hinh 1.6 va l~p cac phtldng trlnh can bilng:

L xk = SAi! + SAucosa.s1np = 0

( 1)

LYN =S ucosa.cos(3 =0

(2)

11

L zh

= s_.\ll - p - S,\]jsina = 0
(3)
Tlt (:2) ta c6 8 11 = 0 thay vao (1) la c6 S111l = 0. TU (3) ta c6 S,\IJ = P.
1..

,,

- -

,a
I

- -

'-

- -

-,)-y

Hinh 1.6

2. Xet c8.n b.3.ng 11Ut B.

C.c

l~c

tii.c dv.ng l&n ntil B:

(F. SiJc, SB!J' SBE S'BA)- 0

ma S'11A = SAil

C:hqn h~ trv.c nhU hinh 1.11.6 v3 1$.p cite phUdng trinh c.n b<-lng
( 4)

ca HQC LYTHUY~T

100

1\i (4) ta c6 s/J/)cosy

Ti\.P I: PHAN T]NH HOC, DONG HOC

= -S'Ail = SAil = 0. sill)= 0

'l'ha:-- vb.o (6) Snc = 0.

1

'l'lt (:"5) ta c6 Sn 1.; = F.

Vi dl). I.7: X{lc djnh c8c ph8.n lt,tc clla gOi tl,l'a v:l Ung ll,l'c trong cite thanh
1. 2. ;) va 4
B:.li ghii:

cU.a

d:in ne'u F

= -1Nv8.P=1

.\J (11inl1 l.7a).

TruOc ti6n ta x3c dir1l1 118.n l\fc (j ccl.c gOi tlja. Ta xCt cftn b8.I1g

cUa toUn bQ d8.n. va thay c8.c 11&11 ke't t:~1 c;l.c gOi tlja A v;l. B
b:\11g c8.c pluin h;ic lien ke't.
H~

cUc ltjc tac d\l11g l6n dll11

(xA, YA.

YB,

F. P)~ o

Cl19n h6 trl.,l.C nhli hinh I.7a v:l l~p c8.c phlicing lrinh c<1n b{lng:

Lxk =XA+P=o
LYk =YA+ Yu -F= O

Im

(Fk) = 3aYH + aP -aF= 0

(1)

(21

(3)

'I'll (1) ta c6X:1 = -P = -1 N.

1'U (3) ta c6 Yu= 2_(1'' - P) = 1 N.

'l'hay Y/J v8.o (2) ta c6 Y 11

= 4 - 1 = :3N.

l\11H"ln xUc djnh Ung ltjc tror1g c8.c thanh 1 vii 2 ta xet c.n bc'ing nlil
H khi cl1jt1 t:lc d1.J.r1g clla Y 13 \'<l c1\c (fng It.fl' troI1g c8.c tl1anh 1 v:l 2

Ia S 1 vii. S'"l.. l{hi d6 ta c6:

(ylJ. S\, S~) ~ 0.

Ch9n h tr1,l.C nhli hinh I. 7b ta c6:

( 4)

BAI TAP.

vf DU VA Hlfd'NG DAN GIAI PHAN TfNH HQC

'l'U (5) La c6 YB =

s~

101

-. /2 __,
~

Thav
" S.,.. vii.o (4) ta du'dc
. S1

;;::

-S.)- J2
2 '""'-1 .l\'

D~ Linh c1u'Qc Ung l\fc trong c{1c tha11h ;; vii. '1 Ln xCt cfir1 bi1ng ta1
nUt.D.

(s ~, s:J' s.1) - 0.

cac l\fc t8.c dy.ng

a)

v:

r
a

x.

a
4
D
c)

b)

~
B

s:-

s,

Hinh 1.7

C_~hiCu l0r1

cac try.c t9a dQ da chqn (hir1h I.le).

LX

::: S'~sin40" - S 1 ::: 0

(6)

,LY ;;:: S:i + S' 2cos45";;:: 0

(7)

CO HQC L1 THUYtT - T}i,,P I: PHAN TiNH HQC, DONG HQC

102

TU (6) La c6 S~

~ S',

..fi
2

..fi ..fi
2 '

= 1 N vi S, = S', = ..fi

Thay vi'lo (7) ta dttqc 8 3 = -S ' ~ -..fi = -1 N.

2

Vi d9 1.8: M9t thanh thing AB chieu

d8.1 l tr9ng luqng P. Ditti A

ttja len in$-t ph~11g nhn1

ngang, cOn die'm C L1,ia l&n

bUc tu'dng thfrng dling c6

chieu cao a::::

!_

(hinh I.8).

Tim gia tr~ nh6 nh3t cUa h~

sO 1na sat trlidt giUa thanh
AB va m"1t phfrng ngang
khi can b~ng, neu g6c
nghi&ng giUa thanh va m~t
ph~ng ngang 18 a :::: 60.

a
x

A
Hinh f.8

BAi gidi:

- Xet can b~ng ci'.ta thanh AB.

- cac lt,tc tac dl,lng:

~

Lt;Cc dil. bie't: tr9ng lu'qng P cila thanh.

Cac ph6-n luc: t9-1C1:1 Re c6 pbtiling vuting g6c vOi AD va ph<in ltjc

NA , llfc n1ci. :0{1.L L1.i.1 A 18. F,,7, . Khi d6 ta c6

phftp tuye'n

(P,

NA , F"~', Re) - 0.

cac pl1lfdng trinh can bftng:

Ch911

h~

tr1,1c t9a dQ nhv d hi11h I.8.

LXk

Fn~, - Rcsina::::: 0

(1)

BAI T,A.P. Vf DU VA HLfO'NG DAN GIAI PHAN TiNH HQC

103

(2)

<

F"'~~

"'"-

1110

fN A

Dori:(J F"'
=R.s1nu<
1H.>
(
-

Fm.ox
/IL'

=fN. . ~{(P-R,.cosa)
c

'

1
I
'I'll (3) ta c6 Re - P-cosa
AC
2

ma

AC~

810

R(.sina

:<:;;

I
nf>n Re
2sina

Pl cos a
2.

2s1n u

f(P -Rccosa)

[Jcosu.sin(1 s1nu::; (P .,--Pcost1.sina.cosr1)f

Pcosa.s1n~a

::;{P(l - cos~a.::01r1a)

cos a.sin~ u
~---~,--1 - cos a.sin a

Kh1 tl1ay a= 60" thi {?. 0.48.

Vi d1:1 I.9: 'l'irn g6e nghi811g u giUa 1nQ.t phi1ng- ngl116ng k:h6ng nhf111 vdi
phtidng 11gang d.~ khf)i tl'\1 lr9ng lU:Qng P b(tn kinh R kh6ng Lin

xttOng dU:di (hlnh 1.9). Cho 11~ sO ina s{tt 1<111 bang k.

XCt \'(111 his.ng kl1tli tru

C'l19n h~ tr\lC 0 1xy nhu hinh I.0.

Cac phUdng trinh cfi.n bAng:

IX

= Ps1nu - F""

=0

( 1I

CO HQC LY THUYi::T TAP 1. PHAN TlNH HOC, 86NG HOC

104

LYk

:::N -Pcosa::: 0

LmA(F

1,)

(2)

:::Af 1 -R.Psina::: 0

(3)

Di&u ki&n can bftng khi c6 ma sat Ian:

(*)
TU (2) ta c6 N = P.cosa. TU (3) ta c6:

M 1 ::: R.Psina::::; Ml"'"' ::: kN::: kPc:osa,

nghla 18. R.Psina::::; kPcosa hH.Y tga ::::; _k,_.

a
x

Hinh 1.9

Vi d\l I.IO: Trl,lc van ch1u tac dvng clla ngllu hjc c6 1n6Inen M::: 100 t-:in
Ngudi ta Iiip b8nh ham ban kinh r::: 25 cm vao tr\l-C. Hii.y ti1n
xc1n 1n8. phanh ctln ph<ii ep 1611 bbnh han1 1nQt l\fc CJ 0111111 1.10)
b.?ing bao 11hieu d@ n6 n..m yen. b18t rlir1g h~ ::;0 1na sat tlr1h /'
grCta

ma

phar1!1

va

bB.nh

ham

bAng 0.25.

B/Ji giili: Xet can b..ng bilnh ham.

Vi d6i xllng nen li.,ic ma sat d ma phanh hai ben b~ng nhau

F,,,, =fN, maN = Q.

105

BA\ TAP. Vf DU VA HlJdNG DAN GIA! PHAN TiNH HQC

0-

Hinh /.10

cac h.jc ma sat tc:.o th8.nh ng.u h,tc.

De'b(11111 l1<1.n1 n{ln1 yf:n lhi:

Lm,, ::::2r.F,.,, -M::::O

hay 2rfQ = M

Q = M = _ _1_00_ _ =SOON.
2rf
Q

2.0,25.0,25

800 N.

11.

>E BAI T~P

H~ Ll!C KHONG GIAN

Thu g9n

h~

h,Jc kh6ng gian

Bai 11.1: T:;i.i c8.c dinh cUa hil1h lQ.p phUdng ta c8.c dc~t cac 11,.ic tl1eo hti(Jng
c:Ua c8.c c:;i.nh d nhu hinh Ill. Cite li;tc

Fi. F~.

F:1, F.1.

ph3.1 th6a m8.n diCi.1 ki$n r13.o dC; chU11g c.11 b1r1g.

F.-,, Fn

ca HQC LYTHUYtT - TAP 1 PHAN TlNH HOC, DONG HOC

106

F:"

F:"
)- -

- -

--

/
/

F; /
F F;

a
Hinh 11.1

Bai II.2: Tl1eo ba c;;inh kh6ng c~t nhau va k116ng song song v{Ji i1l1au
~

cUa mQt hlnh hi)p chU nh?t t{lc d\lng ba h;Ic P b8-ng nhau
(hinh II.2). Ph3i c6 11~ tl1Uc 118.0 g1Ua c1ic c:;i.nh a. b, c d~ h~ lhu
v6 hQp lt;ic

zp

p
~~~---,b~~~~-Y

Hinh 1/,2
~

Bai Il.3; Ba 11,l'c P1, P2, P~ nam trong c8-c m~t phb\ng t9a di? v1l. song
song vtJi cac tr\lc t9a dQ. nhting c6 th& huOng thco phiu n<'1y

107

BAI TAP, Vi Dt) VA Hl10NG DAN GIAI PHAN TiNH HOC

ha:-' pl1ia kia. NhUng cti61n d?t l\fc A, B va C n?tin r{1ch gbc tqa

dQ ril1U11g kho;:\ng cho tr1..t(Jc a. b v1't c (hlnh 11.J).

C~ia tri clla c5.c l\fc nay phci.1 tl16a inan d161..1 ki~n gi de' cl1Ung

thu vC l1Qp lijc? Cite gi8 trl clla lijc phcl.i thOa 1nan Oieu ki$n gi
Lt~ t6n t:;ii tr-i;i.c xoiin di qua gOc t9a dQ.

c
b

x
Hinh 11.3

-->

-->

-->

B3.i 11.4: Cho c<ic 11.)'c Pi, P~, P:i. Pi t8.c d-i;i.ng len cac c:;i.11h clla mQt
hinh h(lp chU nh~t c6 c8.c cc.1nh bking 31n. Gm. va 2111 (hir1h
II.4). I3iCt P 1 = 2 kN, P~ = 3 kN. P. 1 = :J l<::'.'J: P. 1 = 5 k:t\. Hiiy Ll1u
g9n h$ lijc nay ve t8.1n 0.
H$ li.,ic nay c6 thu duqc vC h~ Xoiin hay kh6ng?

p;
2m

y
3m

6m
Hinh 11.4

Cd HQC LY THUYtT - T,ii,P I: PHtiN TiNH HOC, ElONG HOC

108

Bili 11.5: Tf!.1 bo'n dlnh A. H, B v8. D clia. 1nQt 11inh lQ.p phU011g ta d0t b611

hie b811g nl1au P 1 = P~ = P,, = P 1 =P trong d6 hjc P 1 hliOng thco

AC. P~ htidng theo HF_ fJ: then BE \'i'i P thco DG (11inb TT ;J)
Hl1y rUL gl_Jn 11~ ltfc d{i v[: d~tng don g1dn.
1

'-

p:-

P,

P,

P.
/

/
/

' '

', ~-'

'

P.

p;

)i:-

'

p;

p;

Hinh 11.5

Hinh lf.6

Bili II.6: T:;u c[~c dlr1h cUa 11i11h l(1p phu'011g c6 cq11h a= 5c1n La d~i.t 0 l\tc
bhng r1h8.u nhu: Lr&n hinh Il.6. 1nOi ltjc bc\ng 2 k:t\T. Hi'i_v thu

gQn h ltjc nay vC <l?ng do11 gi:J.n.

Can b&ng cua h~ h,rc khang gian

~

Bai II.7:

(;J10 hai 11.;lc F

v?i. Q

L[1c dl).ng l&n ha1 nUt

A va B clia h khung
c6 kich thlidc va lien

kCt nlru' 6 hinh II.7.

A'k--~~+-~~~---;(D
C:fi.c nU.tA, B. C, D vfl.
E d8u JU b:in 1e. flay F 45
xclc d!nh Ung li.jc
E
trong cac thanh ne'tt
a,
h6 qua tr9ng lliQng
;
clia thanh.
;
] _ _ _ _

Hinh II. 7

'a
I

BAI Tft:,P, V[ DU VA HUONG DAN GIAI PHAN TTNH HOC

109

Bai 11.8: l'vlQt c&11 trl,IC d(i.t tren_ xc tlJi :3 b8-r1h A. B. C. Cho AD = DB =
CM= lm: CD= l,51n. KL= l\1n. C8.n true du:oc gill cfln bi'tng
nh(J dOi ttiQng F. Trqr1g lti\)ng cfln tr1,1c cling dOi trQng L1ng 10
kN dl)t t~i.i di6n1 G tru11g 1niit phdi.11g LMl\fF c6.c11 Lrvc MN 1nQt
kl1u;l11g GH = U.Gn1 \/fit. nC111g Q n;)11g '.1 kI\ (hl11h 11.8).
Hi'i.y x8c dir1h :ip lt;(c cUu c8.c b(111h xe 16n du:dng ray trong

trU:dng l1qp 1n~t ph~11g LMN clla c<in tr9c sor1g song v{J1 AB.

Hinh 1/.8

B<.li 11.9: 'l'l1a11l1 ngar1g OC c6 tr\ing ltiQng JJ

dl).ng cU.a ngftu lt;i:c (

QQj

= 100

nUn1 trong 1nQ.t

!\, <l8.1 21n, cl1iu tH.c

ph~ng

nU1n 11gang.

Lijc Q = 100 N, c3.nh tay dcln EF = 20 c1n. Thanh dU:Qc giU 6 vi

tri n.8-1n ngang nhlJ bftn ! ctiu t;;ti 0 vdi ha1 d8.y AB va CD. BiCt
OB = 0.5111. Hay x8.c Uinh pl13n lt;i:c tf,li 0 vi-l sUc cang cUa cH.c
dl:t_v khi thanl1 can bU11g (hinl1 11.9).

Bai 11.10: MOt tffm ph~ng hinl1 chU nhf!.l dOng chit lrqng lu:911g Q dU:Qc
g1U c.n b.ng trong m$.t philng nlim ngang nhd hai b3.n lC trl,l
A, B va dfty treo CD (hinl1 ll.10).

Xric dinh phiin lt;i:c tf}i A. B va slic cAng c\{t_y CD, n8u a= 60 c1n.
b = 40 ClTL c: = 50 cn1: o: = :30" v<'t Q = 1 l;;:N.

CO HQC LY'THUY~T - TAP I: PHAN TTNH HQC, DONG HOC

110

z
D

B
E
A

Hinh 11.9

Hinh 11.10

111

BAI Tl\P, Vi DU VA HVONG DAN GIA! PHAN TTNH HQC

Bili II.11: XClc dir1l1 U11g li.;ic trong 6 thnnh

ct(]

tf{n1 b?111g hl11h vufing

ABCD kh1 ti:tc d\}ng li.;ic P n.'i1n ngang tl1co cc.1nh AD Klch
thUOc cho trE-n hinh Il.11. BO qua trq11g l11q11g L{i1n.

, 'a

Hinh //.11

Bai 11.12: 'f1e11 l1\lc AB n~m ngang ngu:d1 La g~1n v3.o h!tnl1 r:ing C b{1n
]-;:lnl1 R ; : :- 11n v::.\ L:S.nl1 r{lng nhl} D L<:'tn kinh r ; : :- 10 c1n. (':[1c kich
tl1uOc kh<ic cho tren hinh 11.12.

Hinh//.12

ca HQC Ll'THUYtT - TAP I: PHAN TINH HQC, lNG HOC

112

Theo chieu tie'p tuyCn cU::i. b3nh r8r1g C ta d(lt \tjc nli1n ngang
P::: lOkI\'~ c6n L<_tl ll8.nh r[1ng D cil11g thco cl11u ti8p tuy811 ta
d(lt h;ic lh~11g dl:ing Q. Xii.c <linh il,lC Q va ph8.n lt;iC t17-i cac

6 da

Ava B khi 11~ can b:'i.ng.

Bili II.13: :t\ gu(ji c611g nh8.n ni111g d8u tii.1 troug Q ::: 80 kN r1l1d 1nQt c{1i
tdi nhLr trf'n hinh IT 13.
l33n kiI1h clla tay quay R ::: 5 cn1: dQ d:i1 tay quay AK ::: 40 c1n,

AC

= CB ::: 50 c1n.

Xac d1nh lip lt;rc P ten tay quay va 8.p 1-i;ic ell.a trvc gia IC.n gOi

t-i;ia A v.3. B trong tru'dng hqp tay quay AK nlim ngang, ly'c P
thiing dling.

Hinh 11.13

Bili II.14. YI{lt ta'm phlng dOng cha't ABCD tr9ng lttqng P(N) c6 d~ng
!1lnh l~p phttClng g~n c!1{,ll xuOng dit nhd 6 thanh (hinh II.14).
X1c dinh Ung ltjc trong c8.c thanh gci.y ra bdi trc;n1g lu\ing cU.a

tri1n neu ci.c d<iu thanh gAn vao tfi.'n1 va vao cflc cQt b1en cO
dinl1 nhd khdp c5.u.

BAI TAP, Vf Dl) VA HUONG DAN GIAI PH.AN TTNH HQC

113

_t.==

A
a

- -

;
;

' a

- Hinh 11.14

Bai 11.15: Ngudi ta qua'n sQi day gill t8.i tr9ng Q v:lo trvc AB cUa mQt c:ii
gi8.. BS.n kinh clla b8.nh xe C g~n vao trvc 16'n ga'.p 6 l&n b<in
kinh clla trvc. Cite kich tl1U6'c kh{~c nCu d hinh II.15. I'v1Qt s91
d.y kh.c qua'n quanh vOng trOn b8.11h xe keo c8.ng bdi t8i tr9ng
P ::: 6 kN va ddi kh6i b.nh xe theo tie'p tuye'n nghi8ng v6'1
phlidng ngang mQt g6c a.. ::: 30.
X8.c d}nh tr9ng lUQng Q va ph8n lt,Ic d 6 trvc Ava B khi giri c8.n
bbng. BO qua tr9ng llic;Jng cUa trvc va ma silt d rOng r9c D.

Hinh 11.15

CO HOC L'i'THUY~T - TAP I PHAN TiNH HOC. DONG HOC

114

H~ L\IC PHANG BAT KY

Can b/ing cua mqt VQI
Bai 11.16: D8.m n5.1n ngang clia 1nQt c3-n c~u c6 dQ d8.1 l du:qc gb.n khdp 6
1n0t diiu A, cOn d8.u B <lU:cjc treo v8.o tu:dng nhd dily BC. (~6c
r1ghi811g gilla d8.y EC v:l d6-1n le\ u.. 'J'il.1 tr911g P c6 th6 di
chuy'in theo ddm, vi tri clltl 116 du:qc xac djnh b~ng kho8-ng
c8ch bie'n thiCn, tU n6 de'n khOp A (h'inh 1116)
'rirn sU:c ciing ci.ia diiy BC phv t11uQc v8.o vi tri ci.la tili trqng.
BO qua tr9ng lu'Q11g cUa dii1n.
y

,__ _x~---jp
Hinh 11.16

B:ii 11.17: Ngil.u h;tc

(P. P')

t.c d1,ltlg 18n d[11n c6ngxon hai dfil1 n&n1

ngang. T8.i tr9ng phiin bO d6u 18n diiu c611gxon bCn tr.i va t<li

tr9ng thftng dUng

Q tac

dvng l?i

di~m D

cUa milt thUa ben

phili cU.a d<'.i.1n (hinh 11.17). Hay x3c dinh ph8.n h;tc t?i c[1c gCJ'i
tlja A va B, nCu p::::: lkN: Q = 2 kN: q = 2 kN/m va a = 0, 8 Ill.

Hinh 11.17

BAI TAP, vr ot,1 vA HVONG oAN G1A1 PHAN TiNH HQC

115

Bai II.18: DdmAB g~n b<in ie t?i go'i tlfa Ava d$.t tren con Hin t?i dfiu B. T?1
di~1n giUa clia d.m t8-c d\lng 11)'.c P : : : 2 kN nghieng 45 vOi try.c
d.m. Tim phiin h.jc 6 c.ic g6i tl)'.a trong c.ic trtidng h<;Jp (a) va (b).
C8-c kich thUOc cho tren hinh II.18. B6 qua tr9ng lU<;Jng di'im.

45

AF=========="'=='=======i,,B
2m

2m

45

A'i;===================~
2m

2m

Hinh 11.18

B<'.ti 11.19: MQt d.m c6ngxon ch!u t.ic d\lng clia life P 1 ng.u 11)'.c c6
m61nen M va tiii tr9ng philn b6 tuye'n t{11h vdi ctidng dQ Clfc d?i
la q (hinh 11.19). Hay x8.c dinh phiin life clla ng8.m A, nu
0

a= 1 m;

P =8

~I:

= 16 ~m; q" = 2 K/m; a= 60".

q,
B

x
2a

2a

3a

Hinh 11.19

Bili 11.20: Hai t3-i tr9ng th~ng dUng nhu nhau P = 100 kN di}.t t~i c.ic
nlit C va D clia d8.n cfiu nhu tren hinh II.20. C.ic thanh

ca HQC Ly THUYE:T - Ti\.P I: PHAN Ti NH HOC, DONG HOC

116

11gh1eng deu li).p vdi pl1u'c1ng ngang

g(ic

45. Hay ti1n l:ing iljc

trong cf1c tl1a11l1 1. 2, 3 va 4 do cac t8-1 tr9ng g.y ra

4
1

Hinh 11.20
~

B<li II.21: Ci:tc h,tc P va Q huOng th~ng dUng xuOng cltiOi t8.c dy_ng lCn
cfrc nUt C v:i E clla n1Ql cL\11 (l1ir1h 11.:21).

p
B

C
D

Hinh 11.21

X:lc dinh pl1itn l\]'c liC11 kCt tf_li A. B v8. Ung lljc trong ckic Ll1anlL
~

b6 qua tr9ng luqng cac thanh, Ne'u CAF ::: 90 va DEF ::: a:

AF=EF=a.

Can b6ng cua h~ v1

B:li 11.22: X{i.c dinh phl~n h.jc tl.l.l A, B, C v~1 D cUa h~ dti1n ch!u L:ii c6

kich thu'Oc cha trCn hinh II.22. Cho b1Ct P::: 4 kN: q::: 2 kN/m.

BAI TAf',Vf Dl,l VA HVONG DAN GIAI PHAN TINH HQC

Bm

2m

117

Sm

5m

Hinh 11.22

Bai 11.23: Hai thanh DE v8. FC nOi vOi r1hau bt1r1g b8.n ie va nOi v6i
thanh AB b3.11g b8.n

1e t0i Eva F.

Thanl1 AB c6 liCn kCt ng8.n1

t'!-i A. H~ thanh chiu t8.1 nl1u' tr8n l1inh 11.23. Hay x8.c rtinh
ph:in h;tc t:-~1 C va 1n6n1cn cUa ng1l.11 llfc t:~1 ng.9.m i\.. l'hu
q

0,SP /l,

A
Hinh 11.23

BAi 11.24: Cl10 h~ tha11l1 c6 lien ke't nhu: hinh II.24 Xii.c di11l1 ph/111 l\il'
t:~iA. B va C. ne'u P;:::; :) kN: llJ.;:::; .iO kN1n; q;:::; 0,9 kN/m.

CO HQC L1 THUYt:T - T,ii.P I: PHAN TINH HQC, DQNG HOC

118

Hinh 11.24

Bili 11.25: Cho

h~

thanh c6 lien ke't nhU: tren hinh II.25. X:lc di11h ph3.n
l\fc lien ke't t::ii A, B va C, ne'u P 1 :::: 14 kN; P 2 :::: 12 kN;
q =0,9 kN/m; M =20 kNm.
q

2m

Hinh 11.25

Bili II.26: Tr@n m~t ph~ng n~m ngang nh8.n ngudi ta di,ing mQt thang
kep g6m 2 thanh AB va BC nOi vOi nhau bling biin 1 B v3 sQi
day EF. MOi thanh c6 tr9ng lu:9ng P :::: 120 kN va ch1u d8.1
l :::: 3 m. T:;i..i di~m D c8.cl1 B 18. 0,6 m c6 mQt ngt1d1 tr9ng lliQng
Q = 720 N dung (hinh JI.26).
XB.c d}nh phiin 11,1'.c 6 A, B, C va sUc cang clia d.9.y EF, b1e't
AE= CF= 1 m.

BAI TA,P, V( Dl,J VA HlldNG DAN GIA\ PHAN TiNH HQC

119

Hinh 11.26

Bfti 11.27: MQt chie'c c3.l1 g6m hai phi~n neli vOi i1hau bi11g bil.n 16 A
Tr9ng ltiQng 1nOi ph8.n 18. P ::: 40 k"N va tr9ng t:im ci~a clu:ing 18.
D v3. E. Tr9ng t8.i dQ-L tr8n cliu la Q::: 20 kN. Kich thudc xe1n
tren hinh 11.27. X8.c dinh cac ph8.n l\lc t:;i.1A, B, C.

B
Hinh 11.27

Bili 11.28: 'I'hanh ABC vfl CD lien kCt v01 nhal1 b~ng bi\.n lC 0 C. 'f~1 A lR
lien ke't ng8.m, cOn lf.Li D 18. gOi t\ia J.i d(ing. Phan AB chiu tcii
tr9ng ph.n bO dgu c6 cudng dQ q va ng:lu 1\ic c6 m6men M. T:~i
~

'

di8m g1Ua cl.la CD c6 11.jc P t.c d\lng vu6ng g6c vdi thanh
(hinh ll.28). Xie dinh ph3.n lI;ie A v:l D, b16L P ::: 500 .'.'J:
q = 200 ~/in va M = 4UO >Jin.
q
B

M
2m

- - - - - - - Hinh 11.28

CO HQC L1 THUY~T - TAP I: PHAN TfNH HQC, D6NG HQC

120

Bili 11.29: Cho vOm 3 khOp ABC c6 lien ket va chiu tac dvng cUa cac h.jc

nhu tren hinh II.29.

X8.c d:!-nh ph8.n ltjc lien ke't t9.i A. B v8. C, bie't P :::: l~ kN,

Q = 7 kN.
B

__ I _ _
2,5m

_.__

2,Sm

Sm

Hinh 11.29

B3.i 11.30: Cho ba thanh AB, CD

nhau b~ng bi=\.11

va KE

kh6ng tr9ng luqng lien ke'L v01

le Eva thanh BD (hinh 11 30).

q

E
K
Hinh 11.30

XH.c dinh phiin h.}'c t~1 A, C va n(h Ive trong ccic lhanh BD va
EK, bie't M = 10 kNm: q :::: 2 kN/m; ED::: 1 m; AB :::: CD :: ti 1n;

AC= BD

= 2m; CEK = 30".

Bai 11.31: Thanh CD ng8.m vOi tlidng th~ng dUng t:;i.i C

va

dd thanh AB

nA1n ngang. H ch1u tac dy.ng clla cac h.;r:c va c6 kic11 thuUc r1hu

trCn hinh II.31. B6 qua tr9ng lUQng c<ic tl1anh.

BAI TAP, VI DI.) VA HUONG DAN GIA\ PHAN TTNH HQC

121

X8.c dinh ph8.n h,tc t~i A va C, biet Q ::: 8 kN; M ::: 10 kNm;
q = 2 kN/m; a = 30"; ~ = 60"; AB = CD= 4 m.
B

Hinh 11.31

Bai II.32: Thanh dOng chit AB::: 2l trqng lU:Qng P c6 thd quay quanl1 A.
Thanh n8.y t\fa len thanh d6ng ch8t CD .::: 2l tr9ng Ju:q11g P va
quay quanh tr\l_C E di qua didm giUa cUa CD. 'l';;i.i nUt D treo
v~t n$,ng c6 tr9ng lU:Qng Q ::: 2P. Dic'm A va E cling n8.1n tr8n
dudng th~ng di.Ing va AE.::: l (hinh Il.32).

Hinh 11.32

X{lc dlnh g6c <fl giUa thanh AB va AE khi can b8.ng. BO qua 1na
s8.t giUa c8.c thanh.

Bai II.33: Cho vOm 3 khdp ABC c6 lien ki'ft va chiu tac d\}.ng cUa c8.c h,ic
nhU: Lr&n hinh Il.33.
Xac dinh phan l\fc d A, B. C vii. Ung ltjc cUa EF, bi@'t P:::: 20 k:t\T:
Q= 18kN.

Cd HQC LY THUY~T - TAP 1 PHAN TTNH HOC, EJONG HOC

122

_I_ -

.Ji.

)45'
-

0
3m

6m

3m

Hinh /f.33

can bang cua don va vt 191

Bai 11.34: N<ip b:io h1?;1n A ci.la nbi hdi dU:Qc n6i v6i d011 bfry dOng chit
CD ::: 50 cm, n"1-ng 1 N va c6 ll1e' quay quanh tr\lc cO djnh C.
Dud11g k:fn11 cUa n~p d :::: 6 c1n, c;:'tnh Lay dOn BC = 7 ctn
(hinh 11.34)
B

'

/l

!IA

II

Hinh //.34

C::l.11 ph.3.i Lreo v8.o dEiu milt D clla dOn b:iy tnQt tiii trong

bilng baa nh1eu de' n~p ti.,t md ra khi l:tp ltjc trong 110i hdi b"1ng
11 at (coi 1 at::: 10

N/c1n~).

B:'ti Il.35: '.\1.Qt cl1ic d011 ABC, c6 the' quay quanl1 A du'Oi tic dy.ng clia
c[1c h,tc P 1 :::: 100 '.\l: P! = 150 N: P, = 200 N (kich thU6c xe1n
trE-11 hir1l1 Il.35).

Q ciln thie't d@ dOn c:i11 bilng v8. gi8- trj cU.a

phil.n ll;l'c t01 btl.11 le A. Bl'i qua tr9ng ltfQng dOn.

Hay xac dinh h,tc

BAI TAP, Vi Dl,J VA HVONG DAN GIAI PHAN TTNH HOC

123

y
C;+--

B!CLLS,;'L~t,,--1--~~D

P,

Fl
10

10

Hinh 11.35

Bai 11.36: Hai thanh AB va OC c6 tr9ng lttt;!ng 2p trCn mQt ddn

vi

d8.1

du'<;Jc giin ch?t vOi nhau dUOi mQL g6c vu6ng t9i di~m C. Tl1anh
OC c6 th~ quay quanl1 trvc n:'im nga11g qua 0 vOi AC : ;: ; CB : ;: ; a:
OC = b (hinh 11.36). 'f9i c8.c d1~1n Ava B treo cftc v?L n<).ng c6
tr9ng lu'<;Jng P 1 va P 2 vOi P~ > P 1

Hinh 11.36

xac dinh g6c ngh1&ng a cUa thanh AB vOi phlidng n:lm Ilgang
t9i vi trf can b:lng.

ca HQC LYTHUY~T- TAP I: PHAN TINH HQC, DONG HOC

124

B:.\i 11.37: 'l'a"m ch3.n chU nh:'.).t AB clla kCnh tU6i ruQng c6 thii quay
quar1h tr\lc 0. Khi rnt;ic nu:Oc kl16ng cao tfl1n ch8n d6ng lQ-1.
Nl1Ling kl1i 1nt;i:c nlidc d?l tOi dQ cao H thi tilm cl1:in quo.~
quanh tr\lC 0 va md kenh (hinh 11.:37). BO qua 1na f'>il.l v8. tr9r1g
ltiQng La'm chiin.
X8.c dinh dQ cao H d~ kenl1 1nc'l du:qc.
B

-A

Hinh 11.37

Bai II.38: MQt \1 da'.t t\]'a

v8.o bile tu:dng da thing
dUng AB. Gia thi8t 8.p
hie clla d:lt 18n tu'{J11g
hu6ng n~n1 ngang d$-t
tt_1.1 1/3 chie'u cao cUa n6
va b8.ng 60 kN/m (tr811
n16t
inet chi8u
d8.1
tudng).

1'r911g

lu\:ing

t1t'ng clia tu:dng da b:lng

20 kl\'/m '. 'l'im b8 d[iy

thie't cUa tudng

(hinh l!.38).
Ghr chU: CAn di,I Linh

c<lr1

ttiCJng lf.tl nh:3.o quanl1

tr1ep

AD.
Hinh 11.38

BAI TAP, Vf Dl,J VA HVONG DAN GIAI PHAN TINH HQC

125

B:\i II.39: l\.1Qt th<ip nu'Oc g6m mQt b~ chUa hinl1 trv cao 6 lll du'dr1g kinh
4 Ill giin tre11 b6n c('>t d$,t d6i xU11g va nghi6ng so vd1 phu'C1r1g
11k1ll

ngang. Dl1y bi.'; 11li1n 0 dQ cao 17 tll tr&n 1nUc c3c g6i L\fa

Tr9ng lu'Qng ctia lh:ip 18- 80 k:\r: <ip ly'c gi6 du9c ti11h tr&n

di~11

ticl1 hinh chie'u cUa m(lt b~ l&n mi).t pl1.ng vu6ng g6c vOi
hudng gi6, trong d6 8.p hJc riE!ng clia gi6 b5.11g 1,25 kN/m 1 . Hay
xac dtnh kholing c<ich c:i.n thie't AB g1Ua c<ic ch8.11 cQl.

Chi chU: Kho8-ng c{i.ch AB cfin du'Qc

d\} tinh kh1 ll18.p 1$-t 11118.0

do 8-11 ly:c gi6 theo hu'Ong nii1n ngang (l1i11h 11 39).

Hinh 11.39

Bai II.40: Tr9ng lu'<;Jng ell.a c6.n ciu di dQng, kh6ng kd d6i tr9ng 18. P 1 :::;
500 kN tac dv.11g theo hu'Ong thd.ng dUng cHch dudng ll1ling
qua ray' b@n ph8.1 A 18. 1,5 Ill. T<i.1 tr911J; cflt1 P 1 = 250 kl\' 1nAc
vao xe tdi. T6.m vu'dn tinl1 tU dudng thcing dUng qua ray ph8.1

18. 10 m. Hay x8.c djnh tr9ng lu'i;Jng nh6 nhtlt Q va khotl.ng cH.cl1
lOn nh:lt x tU tr9ng tA.m dfli tr9ng dEi11 di.t(Jng thilng d-Ung di
qua ray tr8.1 B dt4' cho c3n ca'u kh6ng bi li!-t v& 1n91 vi tri ell.a xc
Ldi kl1i dii chiu L8.1 cling nl1U: chu'a chiu t8.1 BO qua trqng ltiQr1g
r1e11g c-Ua xe td1 (hinh 11.40).

126

CO HOC LY THUYt:T - TAP I PHAN TlNH HQC, DQNG HOC

t,5m

LL+
I

7[

'
10m

Hinh 11.40

H~ h,lc phc\ng dong quy

Bai 11.41:

xa dOng chit AB dili 2 m,

n~ng

5 N, ti.fa d8-u tr8nA

vao tttdng

trdn th&ng dUng. Day BC buQc v8.o dfru dudi B cUa x8.
(hinh II.41). Ti1n xem ciin ph8.i bu(lc dily v8.o tu'd11g d kho3.11g
.,

'

each AC bang bao nhi8u de xa t~o th8.nh BAD = 45 d tr?ng

tl18-i c8.n b:lng? Tim sUc cang T cUa dft:v va ph3.n h.;tc R clla tttdng
L_1i di6n1 ,\.
A

Hinh 11.41

Hinh 11.42

'

BAI TAP, VfD\,J VA HVdNG DAN GIA.I PHAN TINH HOC

127

B:li 11.42: MQt ciin c~u gOm c6 th{1 c6 dj11hAB vil dB.11 dQng BC. Dan c6
khOp biln le' C va dui:;ic g1U bfrng diiy c8.p AB (hinh Il.42). T8.1
tr9ng P:::: 40 kN treo tr&n d.y xich v.it qua rOng r9c t:;i.i d11n B
va rang vao tdi theo du:dng th~ng BC. D(i dai AC:::: BC. BO qua
tr9ng lu:Qng d3.n v8 1na s{i.t 0 rOng r9c. Xac dir1h sUc cil.ng 7' cUa
d:'.iy c6.p ph-y. t11uQc v3.o AL'B:::: (11.
~

Bai 11.43: Cho mQt h~ gOm 3 vc'im 3 khOp. c8.c kicl1 thu:dc clia chUng cho
tr&n hinh II .43. Hay xii.c d~nh phl\.n llJc cUa c3.c g6'i t\}a A, B, C'
va D xuit h1en khi t.c dvng lVc ngang P.
H

_,_

A
a

B _ -

_,_

-'a

Hinh 11.43

Bai II.44: ~0t sqi d.y CAEBD v~t qua hai rOng r9c nhO kh6ng d3.11g k~'
A va B n~un tren mQt du:dng tl1Ang n~un ngang AB :::: l
(hinh 11.44). T<;li cac dfiu milt c va D cUa SQ! d.y c6 treo cii.c
qt.iii c:111, tr9ng lt.ic;Jng 1nOi qu8. can 18. P, t1?-i dim E treo qu~l. can
c6 tr9ng lUc;Jng Q. BO qt.1a ma sat tf_ll rOng r9c va tr9ng lt.l(,lng
dfiy'. Xac dinl1 khorl.ng c3.ch x tU di@m E d811 dud11g thAng AB
ti~I vi tri c.n b:\ng.

Hinh //.44

CO HQC L1 THUY~T - TA,P I: PHAN TINH HQC, l6NG HQC

128

Bai 11.45: C.in c~u h8.ng BAC niing vat n$.ng Q

= 2 kN

bing day xlcl1

v~t qlJa C<:l.c rCn1g rqc Ava D. RCn1g l"QC D g.in ch~t vao tUdng
~~
'
sao cho CAD :::: 30 (hinh 11.45). G6c giUa cac thanl1 clia can
, ABC:::: 60 va ACB:::: 30".
cau

--

X3.c

d~nh

----

Ung li;ic 8 1 va Sl trong c.c thanh AB va AC.

30'

c
Hinh 11.45

H~ h,Jc ph&ng song song

B3.i 11.46: MQL cElu c6ngxo11 g6m dB.n chlnh AB va hai d8.n ben AC va

BD. 1'r9ng lUQng riE'ng Ung vOi mQt met d8.i cUa dan AB b8.ng

l.5kN, cOn do'i vOi d8.nAC va BD bing 1 kN (hinh Il.46).

xac d~nh phin lc cUa g6i tt,ta t~i thdi di~m khi toan bQ nhip
ben ph3i FD chtu tUi clia doB.n tau c6 trqng lu\lng 3 kN tren
1nQt 1net d3.i, c8.c kfch thlt6c tu:ong Ung b8ng AC :::: BD = 20 m:

AE =FB

= 15 1n; EF = 501n.

BAI TAP, Vf Dl,l VA HLIONG DAN GIAI PHAN TfNH HQC

20m

15m

129

50m

Hinh fl.46

Bili II.47: Dftm AE va EB nOi vOi nhau b~ng b8.n 1e t?i E. Dftu A duqc
ng8m vao tttdng, cOn dftu B tt;la tren gOi di d9ng. Diim chiu t8.i
clia can cflu ni;ing Q ::: 5 kN mang them t8.i tr9ng P ::: 1 kN tftm
vuon MN::: 4m. Tr9ng tam cU.a can cflu n~m tren dudng thdi.ng
dU:ng EM, c8.c kich thttdc cha trCn hinh II.47. BO qua tr9ng
lu:qng cU.a dftm. Xac dinl1 c.3.c ph8.n lt;lc t?i c.3.c di@m A v8. B khi
cftn cftu ciin b~ng n~m trong cling m;}t ph~ng thng dU:ng vOi
cta1n AB.

E
1m 1m

4m

Bm
Hinh 11.47

Cd HOC L'? THUYt"T - TAP I: PHAN TTNH HQC, DONG HQC

130

Bili II.48: Dfim AB d3i 4 m, n$ng 2 kN c6 tl1@ quay quanh trvc n8.m
ngang A, va tlja d.u B l&n d.m CD d.3.i 3 m, n$ng 1,6 kN. D:11n
CD tVa l&n di~m t\ia E v8. nOi vOi tu:dng nhCI khOp b3-11
D
(h'inh II.48). 'f<;ii cac ditin1 M va N di_it cite t8.i tryng, 1nOi tft1

te

rn: ED :::

tr9ng n.$.ng 0,8 k:t\T. Kl1oitng c8-ch AM= 3

2 m; ND = 1 in.

Hay xiic dinh ph8n 11.,ic t9i cac g6i tl.ja.

3m

1m

1m

1m

1m

4m

gi

3m
Hinh 11.48

MA SAT
Bai 11.49: MQt thUng hB.ng tr9ng lu:qng P d~t tren m;j'l.t ph<'ing nam
ngang kh6ng nhAn vdi

h~

s6 ma sat f (hinh II.49). xac dinh ltjc

Q r1h6 nha't cfrn ph8.1 d:;it vao th-Ung va g6c 13 nghreng vdi
phUong hgang b8.ng bao nl11eu

d6 th Ung

d~ch chuy@n du\Jc.

,~;,,,,,J,,,,,,,,,,,i,,~~,.tL
Hinh 11.49

Bai 11.50: xac d!nh lt,ic P ct@ con Ian hinh trl,l ban kinh R = 60 cm, n?ng
3000 N Ian cteu tren m:;i.t ph:ing ngang (11inh II.50). Bi8t h~ sO
ma silt Ian k = 0,5 cm. h;tc P hqp vOi phu'clng ngang g6c a= 30".

1,31

BAI TAJ', Vi Dl,! VA HlfdNG DAN GIAI PHAN TTNH HOC

a_

Hinh 11.50

Bai 11.51: MQt khOi tr\l tr9ng luqng

P, ban kinh R n:lm tren
m$.t ph&ng nghieng gb
ghe (hinh II.51). H~ s6
ma sat truqt cU.a khOi tr\J.
vdi m~t phftng nghieng 18.
{. C:in phiii tac dvng vao
khOi trl,l ngiu l\J"c c6
m6men M b:lng baa
nhiBu va g6c nghiBng a
nhu the' nao d~ khOi tr\).
trQ.ng thai c:in b:lng. BO
qua ma sat lan.

Bai 11.52: MQt qua cfiu ban kinh R

tr9ng ltiqng Q, d$.t tr8n
mQ.t phftng n:lm ngang
(hinh II.52). H~ s6 ma sat
truqt cUa quii c:iu vdi mi.it
ph~ng b:lng , h~ sO ma
sat 18.n la k. L\l"C ngang p
tac dJJng vao tam qua cfiu
phiii thOa miin dieu k1~n
nao d~ qua cau lan cteu.

Hinh 11.51

ca HQC L'Y THUYtT - TAP I: PHAN TlNH HOC, UONG HQC

132

B:':ti 11.53: l\.1(it clii thar1g AB tr9ng lU:Qng P ll}a vao bUc tu:dng thf1ng
dUng trcin v8. tl:fa 1811 s<ln kl16ng nhi1r1 n<'l.rn ngang (hinh ll.S3)_
Li.,tc ma s:lt L~l d1~1n B khGng lOn hcJn ~L'.'J, trong d6 ~t li\ h~ sO
rna sit tinh, cOr1 N 18. ph3n li;ic pl18.p luye'11 clia s8.n. C~n hlii

d(lt thang nghi8ng m(>t g6c a vdi s3.n bing bao nhieu dfi mi)t
ngtil1i c6 lr911g lUQng Q c6 th~ treo lf>n d11 t$.n dinh tl1ang.

Hinh 11.53

Hinh 11.54

Bili 11.54: Cite d:itt n1Ut A va B cUa thanl1 dOng chit AB ::; l tr9ng ltiqng
Q c6 tl1 tru'Qt lheo vOng lrOn k-116ng 11h8.n b.n kinh a 11ll1n
trong m(lt ph~ng tl1<ing dUng (hinh 11.54). Kho3ng c8ch OC tU
tam cUa vOng trOn de'n thanh AB b&ng b. H s6 ma silt giUa
thanl1 vii v011g trOn ~L.
X:lc d~nh g6c 'P lfy..p bdi dudng tf1:ing OC vd1 dudng kinh thdng
dUng cUa vOng tr011 khi lha11h AB d vi tri cftn bli.ng.
Bili Il.55: M9t hinh tr\,! d6ng cha't d$.t giUa hai ta'm OA v:l OB n6i vOi
nhau b&ng b8.n 1e t9-i 0. Tr\lC 01 clla hinh tr\l va trl,lC b8.n le' 0
song song vOi nhau d8u n&m ngang v:l cling trong 1nQt m<~t
ph&ng th~ng dUng. DuOi tile d\lng cU.a ha1 h;i:c trt,tc dOi n:im

ngang P d$.t t<;t1 A vi'l. B \8.m hai tflm nll;" ep hinh lr1,1 l<;ti. Hinh
tr\l c6 tr9ng lu'Qng Q, b:in kfn11 R, h st) ma sftt trU:Qt giUa hinh
''
trl;l va tftm
bang. AOB:::: 2a va kho8.11g c{i.cl1AB:::: a (hinh 11.55).

BAI T,4,P, Vf DU VA HlfdNG DAN GIAI PHAN TfNH HQC

133

De) ldn clia h.jc P cfin th6a m8.n d1eu ki~n gi d8 hinh tr\l can
U~ng.

Hinh lf.55

Hinh lf.56

Bai II.56: Xe 6 t6 tr9ng lu'rjng Q-dO tr6n do0-n dudng ngl1ieng (hlnh
II . .56). Ch1eu cao clla tr9ng tam c{1ch rn<~t nghie11g 1n(lt do~tn h,
khoiing citch giUa hai t8.1n bit11h xe Ia b. H~ s6 ma sat trtiQt clla
cite bitnh xe va m1)t du'dng Ia f.
G6c nghiCng a cUa du'dng v{:li phu'ong 11gang tl1 nao d8 6L6 c6

th6 bi 1$.t, va khi nao 6t6 c6 th8 bii.t dii.u trtic;lt.

TRQNGTAM

Bili II.57. Tim t9a d(l tr9ng tam

cUa bfin l1inl1 vufing

c6 C0-nh 18. 2a bi khoCt
nU:a hinh trOn ban
kinh r ::::: 0,5a. Biiit
a::::: 3n (hinh 11.57).

rn

,,~

'1
0

rn

0
rn

0
~

Hinh fl.57

ca HQC Ll'THUY~T - TAP 1 PHANTfNH HOC, fJ0NG HOC

134

B3.i 11.58: Tim tQa dQ tr9ng t:im clia hinh tri111

c6 ban kinh
R = 40 cm, b! khoet 210 trOn b8.n kinh r = 10 cm, ne'u 0 10 = 30 cm
va 0 20 = 20 cm (hinh II.58).

Hinh 1/.58

Hinh 11.59

Bai 11.59: Tim t9a dQ trqng t8.m cU.a tam gi<ic du ABC, c6 c~nh
a= 40 cm, c6khoet10 trOn b<in kfnh r = 10 cm (hinh II.59).
Bai 11.60: Tim tr9ng tam cU.a tie't
thuiJc OA

~a; OB~

di~n

ngang hinh thudc the;! c6 kfch

b va di) day AC~ BD ~ d (hinh Jl.60).

y
D

...

d:

'

.:..'~----..-~--,<C
... ..,i: . .
. . "'j:. . -.
A x

0
Hinh 11.60

Bai 11.61: Tim tr9ng t.m clla tie't

hinh Il.61.

di~n chU

T. Kfch thttdc nhU trong

BAI TAP,

vr Dl) VA HUONG DAN GIAI PHAN TTNH HOC

135

2Cf!1

..

..

C>

x.
..

....

., .

"'

-"

"'
.. ,
2cm

Hinh 11.61

..
=
..
Ill. HUONG DAN GIAI BAI
~

H~ L\IC KHONG GIAN

Bai II.l (hinh III. l):

Dieu k1~n c..n bB.ng:

Lx,

=F, -F, =O

Ly = F,, - F, = 0
I,z,,::: F.

1-

F 1 ::: 0

I. mx (Fk) : : a]?~ - aFb ::: 0

I.m.,. (F1,.):::: aF1

aF 1 ::: 0

L m, (F,) =-aF, + aF, = 0

TU c.ic d~ng th-Uc tren ta suy ra:

F 1 ::: F~:::: F:1 ::: F 4 :::: F:,::: F,,

TA!'

CO HQC L'YTHUYtT - TAP I: PHAN TINH HQC, DONG HOC

136

Jn -

/
/

/
/

rF,
Hinh 111.1

Bai II.2 (hinh III.2):

zp

p
/

a
b

Hinh 111.2

137

BAI T"P, VI Dl) VA HL1C1NG D.!.N GlAI PHAN TTNH HQC

MuOn tl1u g9n h~ l\ic trUOc he't ta cfl.11 tinh:

L, x, = p
L,Y, = p
L,z, =P
M,=bP-cP
M = -aP
'
M,= 0

D~ thu

ve hqp lt;rc thi R M : ; ; 0 hay R~M.,. + R_.,M_, + R.,Mz::;;; 0.

Do d6 ta c6:

a = b - c.

Bai ll.3 (hinh 111.3):

Hinh 111.3

Ta hay tinh:

R 'x -- P I' R' _v -- P ~' R' , -- P 3

Cd HQC LYTHUYi::T - TAP I. PHAN TlNH HQC, JONG HQC

138

Mx = bP3: M.,
D~ thu

ve hr;!p 11.;i:c thi R'. M

cP 1; M,::: aP 2

::: 0, hay

+R'JJ.v + R',M,;::; 0

R\M.,

P,bP,i + P 2cP 1 + P.iaP~;:; 0

a
b
c
-+-+-=0.

hay:

Pi

D~ thu

ve xoftn c6

Pz
trl}.C

R'

xoftn qua gelc 0 tl1i R' II

' =

M,

P:1

R' ,.

M,

P,
P,
=
cP,
bP3

hay:

R'

'

M,
P:J

aP2

Bili II.4 (hinh lll.4):

zp
f--~------(

Ff

J------

y
3m

6m

Hinh 111.4

Ta tinh Rx= -P 1 ::: -2 kN.

R.Y =PI -P.=5-4=1kN
_,
R,=P,=3kN

2m

M, hay:

139

BAI TAP. Vf Dt,J VA HL10NG O..\N G\AI PHAN TTNH HQC

R = )R; + R; + R;
Mi::: -2P4

:::

.j(-2)' + 1' + 3'

fiA

3,74 N

-2.5::: -10 kN1n

M.v::: -'2P 1 - 3P 2 ::: -2.2 - 3.3::: -13 kNm

M,::: -3P3 + 6P~::: 6.2 - 3 ..-1::: 0

M::: JM; + M~ + M:

,,j'1_0_'_+_1_:3'~

MuOn thu du9c v h~ xo~n thi }~.Ai.,

-:tc-

16.4 kN1n

0. Ta c6:

R,M, + R,,M, + R;M, = -2.( -10) + 1.( -13) + 3.0 = 20 - 13 = 7 0

V~y thu dU<;Jc v h xo~n.

Bai II.5 (hinh Ill.5)

Hinh 111.5

D& thu gon

. he. lu'c
. tru'dc he't ta tlm:

ca HOC L"Y THUYt"T - TAP I: PHAN TINH HQC, El6NG HQC

140

R'

= 'V
L,,, Zk =
=

M,

P.) -J2
2

Lm,, (-)
Fk

aP:i

J2 = P-J"r
P 2
I

J2
2 -

aP~

J2
2

= 0

"m . (F,)= -aP, J22 - aP, J22

L,,,

'

-aPJ2

Ta c6:

R' M
H~ thu

:=;

R'., M., + R'y My + R', M, = 0, R 1- M

ve hQp llfc c6 cu'Clng d9 21) n8.m trCn dltdng I)G huOr1g tU D

de'n G.
Bili 11.6 (hinh 111.6)'

Hinh 111.6

141

BAI T,l\P, V[ DU VA Hlf0NG DAN GIAI PHAN TTNH HOC

C6 P 1 :::

P~:::

P.1 :::

P~:::

P 5 =PG::: 2 kN; a= 5 c1n.

'l'a c6:

R\= LFkx =P~-P 3 =0

R'v::: LFky =P:i -Pu= 0

R',,.

=I

Fkz =- P 4 - P 1 ::: 0

R'= 0

M., = I

m, (F,,. )= aP,1 + aP1; = 2aP

My= LmY(Fk)= -aP4

Mz:::

aP~

-11=

.JM; +M~ +M;

aP5

-'1.aP

+a:-,::: 2aP
=

...)4a~P~ +4a~P~ +4a~P 2 = 2aP/;3

2aP
1
- 2aP
cosa. ::: 2aP "'3 = IC3 : cosjJ =,vo
vv
2aP.J:l
2aP

cosy

= 2aPf3 = ff, .

CAN BANG CUA H~ L\IC KHONG GIAN

Bili II. 7 (hinl1 111. 7):

Xet can b.ing t~i nUtA:

LXi,
LY

-S'AB + SAEcos45" = O

(1)

11

S 11 n=O

(2)

Zk

S,u;cos45" - F = 0

(:J)

Xet can b&ng t~i nlit B:

IX"
I

= SAB + Ssn cos45" = O

Yk = Snc + S 80 sin15"

Lzk

= Sn 8 -Q==O

=0

(1)
(6)

(6)

CO HOC l Y THUYtT - TAP I: PHAN TTNH HOC, EJQNG HQC

142

Giili cac phu:ong trinh nay ta du'.Qc:

s,, = Q; SAD= O; s,,. = J2 F;

S'AB

= F = s/JA

Snv:::

.f2 F; Snc = F.

z
Q

'a

I
I

- 1-

a,

/-

,-+-y

--

'

.Y

Hinh 111.7

Bai !LS (hinh lll.8):

H~

li;lc t8.c d\lng:

(ivA,

Na, Ne,

P, Q)-

L:z, =NA+ N 8 +Ne - P - Q =

(1)

L:m)F,)= DBN 8 +CH.P- KL.Q -AD.NA= 0

(2)

L:m,(F,)= (P + Q)MD -

(3)

CD.Ne=

GiS.i c3.c phu'Ong trinh nay ta dUQc:

BAI TAP. Vi Dl) VA HUONG DAN GIAI PHAN TTNH HOC

143

Hinh llf.8

Bai II.9 (hinh IIl.9)

H~l\]'.c:

(x

Z,,, TAB, Ten, M,

P)~

LXk =Xu+ TABs1n30'' = 0

LYk ::::: Y

0 -

TABcos30 - Tcncos30"

Lzk =Z +Tcnsin30-P=O
0

L m_~ (Fk) = - lP + 2Tcnsin30 = 0

L;m,(F,) = 0
L m,(F,) =M- 0,5TABsin30" = 0

(1)

=0

(2)
(3)

( 4)
(5)
(6)

ca HQC L'Y THUY tr -TAP l PHAN Tl NH HQC, D()NG HQC

144

Gi8.i ciic pl11idng trinh n8.y ta duqc

T. 11i:::: 80 N:

x" ~ -40

TcD::::

1000 N.

'.'J: Y"~ 540.J:l N'

z" ~ROON.

B
T~

c y

Hinh 111.9

Bai Il,10 (hinh I!L 10):

H~ ly:c can b8.ng:

(xA, ZA,

XH, Zn,

Q,

TcD)-

LXk :::_X,.,+X8 -Tcvcos30":::0

L;Y,
_L.zk

(1)

~o

(2)

:::::ZA+Zn+Tcvsin30"-Q::::O

(3)

(-'J

_L.m_,_ Fk =aZu +(a+ b)Tcns1r130" - -a+b

-Q

L,my(Fk)=Q-C.Tcvsin30::::0

::=

(4)

(5)

BAI TAP,

vr Dl) VA HIJd'NG DAN GIAI PHAN TiNH HQC

Lm~ (Fk) =

145

(6)

(a+ b) Tc 0 sin30 - aXu::: O

TU (5) ta r.6 Trv = Q::: 4 kN.

G18.i c8.c phUdng lrinh niiy ta dUQc:

J3

Z 8 :::0;XA::: 4 - kN;
3

iof3

kNvaZA:::2kN.

XH::: - -

x~--.--.---/,

Hinh 111.10

Bai II.11 (hinh Ill.!

H~

l\fc:

{:P, S

1,

S 2 , 8 3 , S 4 , S 5 , 8 6 )- 0

L X S sin45n - S2sin45 ::: 0

L Yk ::: P + S. sin45" ::: 0
k :::

Lzk

= s~ -Si -SJ+ S~cos45 + S:ocos45" -S2cos45::: 0

(1)
(2)

(3)

ca HQC L'f THUYtT. TAP 1 PHAN TlNH HOC, 86NG HOC

146

'L,mx(Fk)::; -aP -aS

1 -

aSi -aS~s1n45":::: 0

(4)

;[m,(F,,) =aS, -aS,=O

(5)

L 1n, (Fk):::: aP + aS cos!JF.i":::: 0

(6)

Gi31 cac pl1u:ong trlnl1 nay ta clu9c

S,

= S, = -P; S, =P: S, =S, =S., = -P.fi.

'a

Hinh 111.11

Bai ll.12 (hinh III. 12)

Xet cfan bfi.ng tri.;ic AB.

Cac Ive tac d\lng (XA, ZA, XB, Z 8 ,

P, Q) - o

C.c phlfdng trinh c.n bS.ng:

Lxk :::x" +X/l+P:::: u

(JI

BA\ TAP,

vr Dl) VA Hl!ONG DAN GIAI PHAN TTNH HQC

147

L;Y, = 0

(2)

Lzk""zA+z/j+Q""o

(3)

:L;m,(F,) =lOOZ,+lOQ=O

( 4)

L;m,(F,) =R.P -r.Q =0

(5)

L m, (F,) = -90? - lOOX, = 0

(6)

G18-i cfic phUdng trinh n8y ta dtti:;lc:

XH = -9 kN; Q, = 100 kN; X, = -1 kN;

ZA

=-90 kN: z, =-10 kN.

Hinh fll.12

Bai II.13 (hlnh lll.13):

Xet can bing tr9c AB.
Ch9n 11~ tr\lc tqa dQ nhU 0 hinh III.4 7. Cac h,tc t.ic d-ng

(xA, zA, xB,

z;, P, Q)~ o.

Cd HQC LY THUYtT - TAP I: PHAN TiNH HQC, DONG HOC

148

Hinh 111.13

cac phtidng tri11h can bhng:

xk ::: XA + Xa + Q::: 0

(1)

LY,=O

(2)

LZk:::ZA+Zu-P:::o

(:l)

L;m,(F,) = 100Z = 0
L;m,(F,) =AKP -RQ = 0
L;m,(F,) = -100X 50Q = 0
8

8 -

Gi8.i c3c phlidng tri11h (6), (5), (4). (3) va (1) ta du\lc:
XH

= -40 kN;

ZA = 10 kN

= 10 kN;

ZB

vaxA::: -40 kN.

Bai II.14 (hinh lll.14):

Xet can b~ng ta'm ABCD.

= O;

( 4)
(5)

(6)

C.c h,rc t.8.c dl}.tlg:

(P, sl, 8 2, 8,.i, 8 1 , S 5 , 8(J)~ o

z

c
S,
6

D_
S,
a

5
2

4~

s:-

- - -

,,
'

'a

'

x
Hinh 111.14

Ch9n 11~ trvc nhu: d hinh 111.1'1, ta c6:

IX

1,::::

-S: 1cos45" -S:.cos45":::: O

(1)

LYk:::: 8 1cos45:::: 0

(2)

81:::: 0.

I,zh : : 8

+ S 1 -8G - 8jcos45" - 8 1cos45" - 8.,cos15"

I,m,(Fk):::: aS.

-aS 1; - aS 0sin45" - %P -aSisint15":::: 0

I;m_,.(Fk)::::aS s1n45-a8 -a8

1

%p

I,m,.(Fh):::: aS cos45 + a8 cos45":::: 0

3

-P:::: 0

::::Q

(a)
(,1)

(5)

(6)

ca HQC LYTHUYi;:T - TAP I: PHAN TiNH HQC, DQNG HOC

150

Gi8.1 c:ic phudng trinh can b~ng n8.y ta dttQc:

s,:::: s.:::: s. = s ::: 0. 89::::

0

.,

p
-2 .,

Bai II.15 (hinh IIl.15).

Xet can b.ng trvc quay AB.
Ch9n

h~

tr1,1c nhti d hinh III.15.

Hinh 111.15

cach;lctacdl,lng:

(:zA,

XA, Zn, XB,

T, Q)-o

Cac phlidng trinh can bAng:

LXk =XA +Xn + Pcosa::: 0

(1)

L;Y, ~ 0

(2)

Izk = ZA + Z

-Q -Psina::: 0

Lm_,,(Fk)::: l,5Z

+ 0,5Psina-1Q:::: O

(3)

(4)

BA\ TAP, Vf DU VA HUONG DAN GIAI PHAN TTNH HQC

151

2:mJP,)=PR-rQ=O

(5)

L mz (F h) ::: 0.5P.cosa - 1.5Xn = 0

(6)

TU (5) va vOi R

= 6r ta c6:

6r.P - rQ = 0 hay Q = 6? = :l6 kN

_ 0,5 cos 30" _
kN'
- ------1.7 3
l,5

TU (6) ta c6

Gi,:li pl1u:ong trinh (4) ta du:qc:

Z/J = 23 kN.
'rha:v Zu v3.o (2) ta ll1n dUQc Z 11

H~

= 16 kl\.

z
L\IC PHANG BAT KY
J

Con b<'ing CUC m1 VQI

Bai II.16 (hinh III.16),

Xet cfin b&ng dfim AB= l.

'rha> bl'n k8't b:\ng c~1c h<:-in l\ic lien kC't ttid11g U11g. 1'a c6:

(xA.YA?.r)-o
y

x,

t--~--->-p

Hinh 111.16

ca HQC L1 THUY~T. TAP I: PHAN TTNH HQC, DONG HQC

152

Day 18. h~ h,1c ph~ng bit k:Y:

LXk :::XA -Tcosa::: O

I
I

Yk ::: YA + Tsina - P
mA

(1)

=0

(2)

(Fk) ::: lTsino. - Px::: 0

(3)

Px
TU(3) tac6T::: - -

lsina

Bai Il.17 (hinh III17):

y

Hinh llf.17

Xet can b&ng d:im CD.

cac

tac

h.fc

d\lng:

(XA, YA, YB, Q,

F,

M) - 0, trong d6: F

= aq

va

M=aP.
L;X,=XA=O

(1)

LYh:::YA+Yn-Q-F:::O

(2)

L;mA(F,) =aP+ 2aY" -3aQ + ~aF= 0

(3)

Giiii cite phu'dng trinh nay ta dugc:

YH = 2.1 kN; YA= 1,5 kN; XA = 0.

Bai II.18 (hinh III.18):

a) Xet can b~ng dfim AB.

BAI T~P, Vf DU VA HlfdNG DAN GIAI PHAN TlNH HOC

CB.ch;tctacdvng (XA, YA,

P,

153

NB)-o.

Cac pl1lidng trinh can b.ing (hinh Ill.18fl).

:z=xk:::: XA

-Pcos45:::: O

(1)

L, Yk ;:. YA + Nn - Psin45":::: 0
L m A(Fk) : : 4NIJ - 2Psin45":::: 0
--+ NB

(21
(3)

p sin 45"

NB : : : -J2 :::: 0.71 l;:N.

2

TU (1) --+ XA = Pcos45

va tU (2) --+ YA = Psin'15 :::: ~ p si11 45"

2

1 p s1n4
. 5"
Y A:::2
I., +YA'
RA:::: 'VX;.

== "2,5 = 1.58 kN.

y
y

Y.

45'

N:

R;

45

x.
2m

Y.

x.

2m

2m

2m

Hinh 11/.18

b) Tu:dng tt;t bB..i a) ta c6 (hinh III.18b):

2..: X

k ::::

XA -Pcos45" - R 8 cos45" :::: 0

(1)

LYk =YA+ R11sin45 -Psin45:::: 0

(2)

L,mA (Fk) =4Rnsin45 - 2Psrn45" =0

(3)

CO HQC LY THUYt:T - T,6.P I: PHAN TTNH HQC, ElQNG HOC

154

G18.i

ci~c

pl1u:dng trlnh nay ta duqc:

Ru:::

lkN;RA::: ~x~ +

Y1

:::2,24kN.

Bai II.19 (hinh Ill.19)'

Q=.1.aq =3N.
2

XCt

"

c~111 bilng dfi1n:

(x ,\. YA, ).11,\. ~ P. Q) ~ O

LX,. :::X + Pcosa::: O

(1)

LYk:::: Y,\ -Psina - Q::: O

(21

L,mA(F1,)::: M,1 +M - 2aPsina- GaQ::: O

(3)

11

TU (3) ta c6:

MA = 15,86 Nm.
'rU (2) ta c6:

Y11 = Q + Psina::: 9,92

TU (1) ta Linh dtlQc:

x;\ ::: -4 N (X11 c6 chieu ngliQc lQ.i).

y

x
2a

2a

3a

Hinh 111.19

Bai II.20 (hinh !11.20),

Xet toan bQ d:\n, ta c6: {YA, YB, X H.

P, P)-

O (hinh III.20a).

BAJ TAP, Vf Dl,J VA HUONG DAN GIAI PHAN TTNH HQC

a)

y;A

155

v:-

1
3

45'

x;-

b)L

c)

y~

s;-

.x

Hinh 111.20

Ch9n
bilng:

h~

trvc t9a d9 nhu 6 hinh III.20 ta c6 c8.c phud11g trinh can

LXk=X0 =0

(1)

LY11 =YA+ Y 11 -P -P

=0

(2)

Lm 8 (Fk) =aP + 2aP- 3aY"

Tit (3) ta c6 YA= P

=O

(3)

= 100 kN.

Xet cfi.n b:ii.ng tai ntit A.

Cac lt,tc tflc dung: (YA, 8 1 ,

S~ )-

0 (hinh TJI.20b).

Cac phudng trinh can b<lng:

LXk = 8 2 + S 1sin45" =

( 4)

ca HQC L'i' THUYtT - TAP I: PHAN T[NH HOC, ElQNG HQC

156

(5)

TU (5) ta du'dc:

s, ~ - -.fi YA

~ -

s.~
.

~ 100-.fi-.fi
~ lOOkN
2

-S. -.fi
' 2

J2. JOO

~ -141 kl\

Xet can b8,ng t9-i ntit Q (hinh II1.20c).

cac ly'c can b:ing:

(s.,, s.,. s.,)- o

Cac phu'dng trinh can bang:

LXk

S,1 -S 0cos45u - 8' 1cos45"::: 0

L,:Yk::: S:1s1n45" -S' 1sin15":::; 0

(6)
(7)

TU (7) ta c6:

8:1 ::: 8' 1

:::

Tit (6) ta dttoc

-141 kN

S,

-200 kN.

Bai IL21 (hinh III.21)

Trude he't thay c8.c l18n ke't thanh BC

va

bH.n l~ A b.5.ng c8.c pl18.n

Ive li6n kt ttl'dng Ung Ssc, XA, YA. C8.c lt,tc t.c dvng Jen dan

(sBc

XA YA.

P, Q)- o (hinh IIl.2Ja)

CS.c phLidr1g trinh cfin b.ing:

LXk:::XA-Snc:::O

(1)

LY, ~ YA -P - Q ~ 0

(2)

L m (F,) ~ 2atga.S c - 2aQ ~ 0

(:J)

TU (3) ta c6 Sue:::

_SL ::: Qcotga.

tga

BAI T.&,P, vr Dt,J vA HLJONG DAN GIAI PHAN TiNH HQC

157

a)

b)

Hinh 111.21

TU (2) ta c6 YA= p + Q. Thay Snc vao (1) ta duqc:

XA

= S 8 c = Qcotga.

R,1

:::

,jX~ + Y.1

J(P + Q)~

+ Q 2 col g-~a

Muo'n tinh Tvb" va Tl'!:' ta xet ciln b.ng ntit E. Khi d6 ntit E chlu t8.c
d\).ng ciic h.fc

I
I

xk:::

(TEF, T DE,

Q) - 0. Ta c6 (hinh III.2lb):

-Ti,;v -TvEcosa::: 0

(1)

Yh ::: Tnr;sina - Q ::: 0 ---,) T vr: =

--!L-s1r1 a

V$_y:

_ Qcosa _
Tr:F = -Tvr:cosa - - .
- -Qcotga.
s1na

Da'u (-) chUng t6 Tr:F c6 cl116u ngvqc l:;i.i.

TVd11g t-.;i xCt can b~ng cUc 11tit A,

C, D vii F ta duqc

= TvF = 0 ; TAP= Tf:F = ---Qcolga ; TAc::: -(Q + P):

Tcv = Tni,; ::: --!L--.

TcF

s1na

Cd HQC l l' THUY~T - TAP I: PHAN TfNH HOC, EJ6NG HOC

158

Can bdng cua h$ v1

Bai II.22 (hinh 111.22);

a)

b)

v;-

v;

'\';'

Q,

q Q,

45'

--;: D

2m

5m

Bm

?;'

5m

Y,

Hinh 111.22

H6a r8.n va xet can b.lng toan h (hinh III.22a):

(xA,YA,P, Yn,Q 1 ,Q~,Yc)-o.

cac phu'dng trinh can b5ng:

Lx

11

:::Pcos45-XJ\::: O

(1)

LYk:::: YA+ Yn +Ye -Q'! - Q 1

Psin45"::: 0

LmA (Fk):::: lOY1J + 20Yc - 8Psin'15'' - 12,5Q'! - 17.5Q

(2)
1 ::::::

0 (:3)

Tfnh Q 1 = 5.2::: 10 kN::: Q'! .

TO.ch, xet can bli.ng ph<'.l.11 DC:

(x y
D,

D.

Ql,

yc) - 0 (hinh III.22b).

cac phu'Clng trinh can bhng:

2;X,=X,,=O

(4)

2;Y,=Yc+Yv-Q,=O

(5)

2;mv(F,) = 5Yc-2,5Q, = 0

(6)

Gi8.i cac phttong trinh nay ta tim du\l'c:

Yc=5kN;
YB = 22,26 kN ;

Yu::: 5 kN;

XD = 0;

YA= -4,4 kN;

XA

= 2.8 kN;

159

BAI T,A.P, Vf Dt) VA Hlf0NG DAN GtAI PHAN TTNH HOC

Bai Il.23 (hinh ITI.2:l)

H6n r:in va xet toan h~ ta c6 (hinh Ill.23a):

(xA. YA, MA, ?, Q)- o

(1)

"'X
L.J A =XA +Q=O

=0

(2)

L m (F,) =M., - 4/P - 2lQ = 0

(:J)

L;Y, =YA -P
A

lP
21

vai Q=4lq=4l- = 2P.

Ta.ch va xet can b1.ng thanb DE:

(xE, YE,

Re.

P)- O (hir111 IIT.23b).

LXk = Xr; + Rccos45= 0

( 4)

LYk =YE -Rcsin45 -P = 0

(5)

Lm

= 3lR,sin45" Tu (6) ta c6 R, = 1,88P.

E

(F,)

4lP

=0

(6)

Tu (3) ta duoc MA= 8Pl.

IY

b)

Hinh 111.23

Cd HOC LY THUY~T - T,6.P I: PHAN TINH HQC, JQNG HQC

160

B:\i II.24 (hinh lII.24):

Ap d9ng nguyen l,Y h6a r~n. Xet toan h~AB va BC (hinh IIT.24a).
cac ll,ic tac d\}ng:

(xA, YA, MA Q,

P,

M, Ne)- o, vOi Q = 5q::: 5.0,9::: 4,5 kN.

cac phlidng trinh can b~ng:

LXk = XA + Q +Psina= 0

(1)

LYk =YA+ Ne -Pcosa = 0

(2)

L:mA (F,) = M, - 2,5Q -M + 8Nccoso -AK.P = 0

(3)

AK= 4 + 5sina = 4 + 5sin30 = 6,5m.

T<icl1 ra, xet can b.'ing tl1anh BC (hinh 111.24b).
Cricly:ct.icdl,lng:

{X-8 , Y8 ,M, P,

b)

a)

E
~

, )K

\,-

- - - - Y,

Nc)-o.

'

- x

Hinh 111.24

BAI TAP. Vf Dl,I VA HUONG DAN GIAI PHAN TINH HQC

161

cac phuong trlnh can b~ng:

z=xk:::: Psina + Xn::: O

(4)

LYk =Ne+ Y 8 -Pcosa:::: 0

(5)

_Lm 8 (F,) = SNceosa- 4P -M = O

(6)

N_4P+M_20+30_
50
Tu:.( 6) taco
c--_
7 2 lkN
Scosa
s13 - 2.1,73
'
2
vdi a :::: 30, vi c~nh g6c vu6ng cUa tam giB.c vu6ng b~ng nU'a c~nh
huyen.
Thay Ne vao (5) ta c6 Y,,

= P 13 2

Ne

5 . .!_

= 5.

13 2

Tu (4) ta c6:

Xll

Tu (2) ta c6:

YA= Pcosa -Ne:::: -2,88 kN.

TU (1) ta c6:

XA

= -Psina :::: -

= -

7,21

= -2,88 kN.

2,5 kN .

-Q -Psina:::: -4,5 - 5. .!.

2

: : -7 kN.

Tu (3) ta duqc:

MA= M + 2,5Q- 8Nccosa + 6,5P:::: 24,5 kNm.

Bai II.25 (hinh IIl.25):

= 14 kN;
q = 0,9 kN;

Cho P,

Q =2.0,9

P,
M

= 12 kN;
= 20 kNm;

= 1.8 kN.

H~ xet can bAng gOm

ADB va BC (hl.nh III.25a).

Ap di;ing phlidng phB.p h6a rin.

cac

l~c

tac d\,lng len

h~:

(xA, YA,MA, Q, P,, P.,

M, Ne)-

CO HQC LYTHUYi;:T TAP I: PHAN TlNH HQC, DQNG HOC

162

cac phlidng trinh cfrn b<ir1g:

I. xk :::: XA -Picos45" - Nccos45= 0

(1)

I,Yk:::: YA -Q -P 2 -P 1sin45 + Ncsin45u:::: 0

(2)

L,mA (F\)::: M,, -M -

3P2 + lQ + 2P 1cos15" '

- 2Nccos45" - 5N('s1n15"::: 0

(3)

T8.ch ra, xtit can b.ng thanh BC. CB.c l\(c t.ic d\lng (hinh Ill.25b):

(xB,

t.,

P,, Ne, M)- 0

C8.c phlidng trinh can b.ng:

I, X k ::: Xil -Nccos45":::: 0

( 4)

I,Yk::: Y 8 -P2 +Ncsin45":::: 0

(5)

L m (F,) = 3.Ncsin45' 8

l.P, -M =

(6)

b)

a)

5'

2m

1m

2m

Hinh 111.25

Gi3.i cac phlidng trinh (6), (5), (4) ta dttcjc:

N,, = 15,13 kN; Y 8 = 1,34 kN: Xe= 10,66 kN.

Thay Ne vao c.c phlidng trinh (1), (2) va (3) ta ti1n duqc:

.J2

'

XA = (P, + N c ) - = (14 + 15, 13) 0, 7 = 20,4 kN

2

YA= Q + P;(P'<-Nc) sin45"

= 13,01 kN

MA= 108, 73 kf'lm.

Bai Il.26 (hinh !11.26):
Xet can bilng to8.n h~ (hinh III.26a).
Cite ll,l'c tac di.;ing

(Na, Ne, 2P, Q)- 0.

cac phlidng trinh can bilng:

2:Y,=NA+Nc-Q-P-P=O

(1)

"'L..mA
" (F) = N c 3x 2 . "- 3P sin 45 - Q( 3+0,6) s1n45
.
~1n45

-P(3 +1,5) sin45'

Tit (2) ta c6:

N,.= 552 kN

TU (1) ta c6:

NA= 408 kN

=0

(2)

Xet can bilng phlinA.B (hinh III.26b).

cac Ive tac d\lng

(NA, P, T, XB, YB)~ 0

b)

d)

v:
I

B_

x;

r
c

Hinh 111.26

cac phttdng trinh can bli.ng:

LX,=T-X8 =0

I Y, =NA+ YB -P = 0
L m (F) = SP sin2 450 + 2T sin 45" 8

(3)
(4)

3N A sin45" = 0

(5)

CO HQC l 'lTHUYt:T - TAP I: PHAN TTNH HQC, El6NG HQC

164

TU (5) ta c6:

T= 522 kN

TU (3) ta c6:

X11 ::: 522 kN

'flt (1) ta c6:

Yn:::: -288 kN

DS. N 11

:::

408 kN : Xn :::: 522 kN ; YB ::: -288 k:t\ .

Ne::: 552 kN; T:::: 522 kN.

Bai II.27 (hinh III.2n

Xet can b&ng toan he:
Cite ly:c tac dvng:

(X 8 ,Y8 ,Xc,Yc,Q,P1,.P2)-ovOiP1 =P2

==p

Y,

Bo--- - - - - - ---o

x;

Hinh /f/.27

C8-c phUdng trlnh can b8_ng:

LX

k :::

(!)

XH -Xe::: 0

'L,yk:::Y11+Yc-P1-P~-Q:::o

L:m 8

{F) = lOYc -P, - 4Q- 9P, = 0

Tu (3) ta c6:

Ye= 48 kN

'fU (2) La c6:

X8

Xet c8.n b8-ng

Cac

ph~n

= 52 kN
AEC:

l~c tac d1,1n~ (XA,

YA, Xe,,

Ye, P2 )- o.

(2)
(3)

BAI T~P.

vr Dl,J VA Hlf0NG DAN GIA\ PHAN TTNH HQC

165

Ciic phUdng trinh cfin b._ng:

LXk :::XA -Xe:::

(4)

LYk:::Yc-YA-P~:::O

(5)

L:mA(Ji) =5Yc-4Xc- 4P, =0

(6)

Tu (6) ta c6:

Xe= 20 kN

TU (4) ta c6:

XA =Xe= 20 kN

TU (5) la c6:

YA= 8 k!'J

TU (1) ta c6:

X1J::: Xe::: 20 kN

DS: XA = 20 kN; YA= 8 kN; X, =Xe= 20 kN:

Y,

= 52 kN ;

Ye= 48 kN.

Bai II.28 (hinh 111.28):

a)

Hinh 111.28

Xet cftn bftng toan h~ c6 Q -_ 1LJ::: SOON:

cac ll,ic tac d\).ng:

(xA, YA, MA, Yv,

M,

?. Q)-o

C.c phUdng trinh cl:'in b.ing:

(1)

LYk =YA+ YD -Pcos30"::: 0

(2)

LXk::: XA + Q -Psin30:::

166

ca HQC LYTHUvi::r - T,l\P I: PHAN TiNH HQC, D6NG HOC

L mA(F) =MA - 2Q -M + Yv(2 + 4cos30" - Pcos30 (2 + 2cos30) + 2Psin30 :::: 0

Tu (1) ta c6:

(3)

XA:::: 550 N

Xet can bil.ng thanh CD:

cac h;tc tac d\lng (xc,

Ye, Yv,

P)-o

C8.c phUdng trinh ciin bil.ng:

L,Xk :::Xc-Psin3Q

0
:::

(4)

L, Yk:::: YD+ Ye -Pcos30:::: 0

L me ("F) = - 2P + 4Yvcos30" = 0
Tu (6) ta c6:

Yv = 289 N

Tu (5) ta c6:

Ye= 144,3 N = 144,3 N

Tu (2) ta c6:

Y, = 144,3 N

TU (3) ta c6:

MA= 2288,68 Nm
Yv = 289 N

(5)

(6)

DS: XA = 550 N; YA= 144,3 N : M~ = 2288,68 Nm;

Yv = 289 N: YA= 144,3 N: MA= 2288,68 Nm.

Bai II.29 (hinh IIl.29):

Xet can bil.ng toan vOm:
Ciic lt;tc tac dl,lng

(XA,

YA, Xe,

Ye, P, Q)-o

Cac phu'dng trinh can biing:

IX,=XA-Xc-Q=O

(1)

=Y, + Ye -P =0

(2)

LY,

ImA(F) = lOYc + 4Q-2,5P= 0

Tu (3) ta c6:

Yc=0,2kN

Tu (2) ta c6:

YA= 11,8 kN

(3)

BAI Ti\.P, Vf Ol) VA Hl10NG DAN GIAI PHAN TiNH HQC

167

YL_
B

x;
I 2,Sm

I __

..1..

0
j 2,Sm j

=~-oc

x,

Sm

Hinh Ill. 29

Xet c.:an bilng phan BC:

(X

Cac ltjc tac dl).ng

8 ,

Y 8 , Xe. Ye,

Q)- 0

cac phlidng trinh can b<\ng:

LX::::X11-Xc -Q:: 0

(11

LY:: Ye - Yu:: 0

(fi)

L,:mB(F) = 5Yc -Q- 5Xc = 0

(6)

TU ( fi) ta e6:

YB= Ye= 0,2 kN

Tu (6) ta c6:

Xe:: -1,2 kN

'l'U (1) ta c6:

XA

TU (4) ta c6:

Xll:: 5,8 kN

DS: XA

= 5,8 kN;

= 5,8 kN

YA= 11,8 kN,

Bai II.30 (hinh lll.30):

Xet c:in bing Lhanh AB vdi Q:: 4q:: 8 kN (hinh 1ll.30b).
Cricl\fct8.cd1,lng

(xA, YA, 8 8D, Q)-o

cac phtidng trinh can bilng:

L,:X,=XA=O

(1)

CO HQC L"f THU~T - TAP I: PHAN Tl NH HQC, DQNG HOC

168

LYk =YA -Q + Ssn= 0

(2)

L;m,(F) = 4S v -2Q = 0

(3)

= Q2 =4 kN

Tu (3) ta c6:

SHD

TU (3) ta c6:

YA= Q -S8 v::: 8 - 4::: 4 kN.

YL

a)

- x;

Q
A

v:-

-z

b)

1-v:-

-A
x.

c
y;

!o

4m
3m

Hinh 111.30

Xet can b.ng h~ g6m AB + CD:

CB.c lt;tc tac d9ng

(x A, YA, X c, ;, S xe, M, Q) - 0

Cac phu'.dng trinh can bAng:

LXk = XA +Xe -SKEcos30 = O

(4)

LYk =YA+ Ye -Q -SKEsin30 =0

(5)

L;mc(F) =-2X, - 2Q -M + 3SK sin30" =0

(6)

Tu (6) ta c6:

SKE = 17,3 kN

Ye= -4,7 kN
Tu (4) ta c6:
Xe= -15 kN
DS:X, = 0 kN; Y, = 4 kN
Xe= -15 kN;
StJn = 4 kN; SKE = 17,3 kN.

Tu (5) ta c6:

Ye= -4,7 kN

BAI T~P. VI DI) VA HUONG DAN GtAI PHAN TlNH HQC

169

Bili II.31 (hinh lll.31)

Xet c::i.n b~ng toan h~ vOi P ::: 4q ::: 8 kN (hinh III ..'31 a).
C8.c ll_J'.c tac dy_ng

l:XA, YA,

Xe, Ye, Mc. M.

P, Q)- 0

Cac phu'dng trinh can b~ng:

LXk :::X

11

+Xe+ Qcos60::: O

(1)

L Yk ::: Y + Ye - P - Qsin60::: 0
LmA (F)::: -M +Mc - 2P- 4Qs1n60 + 4Xccos30::: 0

(2)

11

(:3)

y1

- -

60

v;-

p
B

x.

a)

60

N,

b)
Hinh 111.31

Xet can bfi.ng thanhAB:

cacll_J'.ct8.cdng

(xA, YA, Nv,M, P, Q)-o

cac phu'dng trinh can b~ng:

LXh :::X + Qcos60"::: O

(4)

11

L:Yk :::YA+Nv-P-Qsin6Q :::Q

L:mA (F) = -4Qsin60"+ 2Nn -M - 2P = 0
0

= 26,85 kN

Tit (6) ta c6

Nv

TU (5) ta c6:

YA= -11,93 kN

Tit (4) ta c6

XA=-4kN

Tit (1) ta c6

Xe ::: 0

(5)
(6)

170

CO HQC LY' THUYi::T - TAP I: PHAN TINH HQC, ElQNG HQC

TU (2) ta c6:

Ye= 26,86 kN

TU (3) ta c6:

Mc= 53,72 kN1n

DS: X 11

:::

-4 kN; Y11

:::

-11.93 kN: Nn = 26.85 kN;

Xe= 0; Ye= 26,86 kN; Mc= 53, 72 k:.J1n

Bai II.32 (hinh III.32).

Xet can b;ing thanhAB.

Cac h;cc tac d\].ng

(xA, YA, N c, P) - o

Phuo11g trinh can b~ng:

LmA (F) = lPsincp - N,2lcos(fl = 0

(1)

B ,
"

'1E
I

Hinh lf/.32

Xet can b:lng thanh CD:

Cac h,tc LS.c dng

(xE, YE,

N'c,

P, Q)- O

Phu'd11g trinh can b~ng:

L:mE(F) =Nclcos~ -Qlsinp Jo

p = 180 - 2~--> sinp =sin (180 - 2P) = sin2~

Tit (2) ta c6:

N c lcoscp = Qlsinp = Qlsin2cp

TU (1) La c6:

Ne= Psincp

Psinq:i

--~COS<jl = Qs1n2<jl =

2 cos lp

N'c

2 cos cp

2P

x Slnlp x COStp

(2)

171

BAI T~P, Vf Dl,J VA HlfCING DAN GlAI PHAN TTNH HQC

cos<jl = -I
8

DS:

1
<jl = arccos8

82" 50.

= 82"50

Bai Il.33 (hinh 111.33):

Xet can b.ing toan vOm (hinh III.33a)
Cac 11,l'.c tac d\J.ng

(xA, YA, YB. P, Q)-o

Ph u'dn g trinh can bii.ng.

LXk =XA-Pcos45= 0

(1)

LYn =YA+ Y Q -Psin45" = 0

LmA (F) = 12Y,. - 3Q-P6sin45" =0

(2)

8 -

(3)

= 10 f:l kN

Tit (1) ta c6:

XA

Tit (3) ta c6:

Y/j = 11,57 kN

Tit (2) ta c6:

YA= 20,43 kN.

d)

b)

0'

All';-=-

x.

3m

3m

6m

6m
Hinh 111.33

Xet c.n bii.ng ph.n BC (hinh III.33b):

cac 11,l'.c tac d\lng

(YB,

Xe, Ye, SEF'

P)- 0

cac ph u'dng trinh can b&ng:

LX

=Xe - Si;:F- Pcos45" = O

( 4)

CO HQC l Y' THUYt"T - TAP I: PHAN TTNH HOC, DQNG HQC

172

I. Yk ::: Ye+ Y/J - Psin45" = 0

Lmc (F)::: -6Yll - 481<:~' - P6s1n45"::: 0
-3,65 kN

TU (6) ta c6:

SEF:::

TU (4) ta c6:

Xe= 10,5 kN

TU (5) ta c6:

Ye:::: 2,57 kN

DS: X,

= 10 J2 kN:

YA= 20,43 kN : 1',,

Xe::: 10,5 kN; Ye::: 2,57 kN:

SEF::::

= 11,57 k~ ;
-3,65 kNm.

Can b&ng cua don VO VQI 11

Bai II.34 (hinh IIl.34):

B

Hinh 111.34

Xet can b:lng niip bfto hi@m.

LlJ'c tac dl,lng len niip la

F:

d'

F= s.p:::: rc-p
4

Di8'u ki~n can b~ng:

2:mc(F,)

= -50Q + 7F- 25G = 0

Giiii phlidng trinh nay ta duc;ic:

Q = 7F _ 25G ~ nd' _ 7.11.10 _ 25.10 ~

N
430
50
50
4
50
50

Q = 430 N.
Bai II.35 (hinh IIl.35):

Xet can b:ing dOn ABC.

(5)
(6)

BAI T..;P, Vf Dl,I VA HUONG DAN GlAI PHAN TINH HQC

173

cac h,l'c tac dvng (Pl, P2, P:J XA, YA,

Q)-o.

cac phtidng trinh can bfing:

L x,, =XA + Q - P, = 0

UJ

LYk :::YA-P1-P2:::0

(2)

LmA(F)

=20?, + lOP, + lOP, -

50Q

=0

(3)

Gi8.i c8.c phUOng trinh nay ta dU<;lc:

Q=llON; XA=90N; Y,,=250N.

Nen RA =~Xi + Y,.i ::: 266 N.

y
C,_+--

Ff
c

Fi

R
10

A
10

x,

v;-

Hinh 111.35

Bili Il.36 (hinh Ill.36):

Xet can b.ng QC va AB.

CO HQC LY THUY~T - TAP I: PHAN TTNH HQC, fJQNG HQC

174

Hinh tll.36

Ta c6; Q, = 2pb; Q, = 2pa.

Dieu

ki~n

Lm (Fk)= Q
0

can bi:\ng:

~sina + (~cosa + bsina )Q

-(~ cosa -

bsina)Q1

(P1 (acosu

-(acosa-bsina)P~

+ bsina)-

B .
Q,,-s1na
- 2

Thay Q, = 2pb ; Q,

p~

=2pa ta c6;

_a
(P2 -P1 )
a
P2 -P1
-.----~-~--- =
b 1
bP1 +P2 +p(b+4a)
--2pb + 2.2pa + P1 + P2
2

tga -

175

BAI TAP, Vi Dl,l VA HlfdNG DAN GIA! PHAN TTNH HQC

Bai Il.37 (hinh TII.37).

Xet tam ch:inAB:
Khi cUnh clta AB md thl f'IA::: 0.
'

Ta c6

L mJ:F) = Px - hN

= 0.

Vi N.1 ::: 0 nen Px::: 0---+ x::: 0.

Ta c6 AC=

l~lfc P d~t l<ot1 ~'3c:_.

_!!___ . Nen h - ~ _!!___ ::: x ::: O ---+ H::: 3hsinu.

sinu

3 sina

==A

a"'

Hinh lfl.37

Bai 11.38 (hinh Ill.38)o

'ra xCt S\i can b&ng cUa lu'dng d<i (vC tie't di~n giUa tu'dng).
G9i 8.p lt,ic cU.a da't len tu'dng 18. P::: 60.l.
G9i Q 18. tr9ng lu'qng to8.n phin b9 tu'dng d8.: Q::: 20.a.h.l.
Khi tu'dng bi 1$.t quay quanh A thi lU.c d6 N ::: 0. Ta xet h.jc g.y 1$,t
quanh A 18. P n8n:
1
1
M, = -h.P = -h.601 = 20h.l
3
3
Llfc gill

M, -Qa
- .-

a = !Oa ~ .h .l .
= 20a.h.l-

ca HQC LY THUY~T - TAP I: PHAN TTNH HQC, DONG HQC

176

Dieu ki~n can b8.ng Mit ; : -: M 1 hay:

lOa~hl;::: 20hl ~a 2':

J2 ::: 1,41 m.
a

B-

lo

""

IN
Hinh fll.38

Bai II.39 (hinh Ill.39),

xet can bling cl.la thilp nude.

cac l\]'.c tac dng Ia P, Q, NA .

M,=P(H +

~)

=QAB

'

Khi ma'.t can b1ng thi NA == 0.

Dieu ki~n c.n b~ng: M 11

:::::

M1

Q AB> P(H + h)__,

2

AB~ 15m

177

BAI TAP, Vi DU VA HL10NG DAN GIAI PHAN TTNH HOC

Hinh 111.39

Bai II.40 (hinh III.40),

Xet k11i c6

v~t

n$.ng P:
M 1 ::: 1,5.50 + 10.25

M 1 ::: 325 kl\' 1n

J.\11~:::

Q(3 + x).

D18u ki$n can b~ng:

M 11 2M1
Q(3 + x)
Xet kh1 khUng c6 v('lt

325

11f~11g (P :::

(n)

0):

M 1 :::Qx

Mg::: (3 + 1,5) 50::: 225 k:-.J.

D1eu ki~n cfl.n bhng:

Mg2M1
225? Qx

(b)

CO HOC LY THUYtT - TAP I: PHAN TINH HOC. OQNG HOC

178

~~~~~~~~~~~~~~~~~

Gi8.1 l1ai b<'lt dflng ll1Uc (a) v8. (b) la du\1c.

Q" ..

11

= ~~O k~vaxnrn., = 0.75 n1.

t15m

LL,
I

ff

10m

Hinh 111.40

H$ h,Jc phbng dong quy

Bai II.41 (hinh Il!A 1):
X6L can bhng t11a11h

C:ic l\]'c t8.c dvr1g

11e'u AC=

AB.

{Q, NA. T) - 0.

C'clc li.jc nay pl1li dOng quyr Lai I

AD= 2:.-;-in45".

AC= 2.

J2 "J2 = l,4lm.
2

('.{1c pli.1id11g trinh can bllr1g:

LXu

=NA -Tcos~10..::()

( l)

BAI TAP, Vf DU VA HLTCING DAN GIAI PHAN TfNH HOC

L, Yk ::: 'l's1n<.p -

179

Q ::: 0

(2)

L:ms(F,)=".Q-a.NA =0

(3)

N.

x
~

D
a/2

a/2

Hinh 111.41

Thay vao (1) ta c6:

T COS(!) -- -Q

TU (2) ta duqc:

')

'Tf2

.,
cos-<.p

T=

. ., )
+ 1 sin-qi::: T"( cos 2 qi+ sin-qi
::: -Q- + Q'-

~BQ'
4

'Tf2

.,

= Q.!f, =559kN.
2
'

Q= 5
4

CO HOC L1 THUY~T - TAP 1- PHAN TlNH HQC, 86NG HOC

180

Bai II.42 (h'in.11 111 42):

I
I

I /?/

ipl.J qJ
I

'--f

I I I
I II

Hinh 111.42

Xet c:l11 b:\ng nlll B.

c;,1c l\fC' Lile dng 1811 B

(T. Q. P. Tl) - 0.

C;lc pl1Uelng tr11111 c:ln b?1.11g:

'Xi<
L

''Y1.
L.

Qs1n.T. + Ps1n! -T, s1n.T. -T

2
2
2

= Pcosf +

TU (2) ta c6:

T 1 cosJ- - Qcosf---, O

=P + T

1 :::

2.P vl T 1 = P'.

Q = 2P = 2.'10

= 80 l<;:~.

TU (1) ta suy ra:

T= Qsin! -SOsin.T. kN.

2
2

B,\i Il.43 (hinh Ill43):

T<:l.cb tllr1g v(ll d6 xet can b;\ng:

(1)
(2)

181

BAI T/\P, Vf Dl,) VA HVONG DAN GIAI PHAN TTNH HQC

Xet chn b8.11g clia vf:.tAH

('8-c l\Jc (RA,

P.

l"i' H) - 0. Dti.v 18. hQ bo. h;1c phi1ng dtl11g quy la c(i:

LX1t P - RAcos4CJ" - .t--lHcos'\5''

LYi, : : N .s1n45 - R_,1:->1n4Ct:::: 0

~ 0

(l I

(21

11

J2
P-.
2

,,;

Ff; I

8-

R.

_L_e_

'

R,

- -

'

R,

c- - - -

'

'

'

Hinh 111.43

Xet can b&ng cUa HBO. 'l\.trJng

ttj r1hli lrf.n

(N' H. Nu. Rn ) - U v;1

d6ng qt1.v t:;i.i B. 'fa c6:

LX;,
I,

:::: R11 -

11

Suy ra N

= N'H si1145" -- Nr; sin4f.i"

11 ::::

Nu

(:3)

N 11cos4 5" - 1\ruco:->45::: 0

(4)

va R1

j::::

P.

Xet c{i.11 bf,ng clia GCE 1'tidn_g

d6ng quy

tf.11

I,XA,

Y11

=
::::

=:::

ttj nl1li tr611

(,\T' u,

Re,

NE) - 0 vit

C*, UOi xUng vOi C qua GE

N' 0 cos4.5" -

NE

cos45 = 0

Nusln45u + iVE:->ln4Ci'' --Re:::: 0

(l-i)

Cd HOC L'? THUYtT - TAP I: PHAN TTNH HQC, DONG HQC

182

Xet c:in b~ng clia ED chl c6 Rn va N'E can b{\ng:

Bai II.44. (hinh 111.44)'

Xet can bling t?i nUt E.

Cac lV:c tac dvng:

(Q, T

T2 )

1,

LXk

LY
T~:::

T1 cos a - T~ cos a= 0
T 1sina + T2 sina - Q = 0

11 :::

TU (1) ta c6: T 1 :::

=P

.
-Q
h ay s1na
. -- - Q
2Ts1na
2T
81110: ::: -

EB

"'~~~

/t

~ 4

Q
2P

Hay

Hinh fll.44

+x '

Q
= --
2P

(1)

(2)

183

BAI TAP, Vf DU VA HIJONG DAN GIAI PHAN TiNH HQC

Bai II.45 (l1i11h 111.L15):

Xet c1n b8.ng rOng r9c A.

(Q, Ql. Q~, TAD) ~ 0.

cac llfc tac <lvng:

C:h9n 11~ trvc nhli 111.nh Ill.4G

LX
Vl

= -({~ -- T,1ncos30" - ({co,,;30''

2=, 11

:::::

Tr1n:::::

Q nen QI::::: 0 va

({1 -

=0

Qsin30 + r.\J/'an:30'' = 0.
Q~

= -2Qcos30"

Hinh 111.45

H~ h,Jc ph&ng song song

Bai II.46 (hinh lll.46),
Ta c6
Q 1 = 20 m.l kl'\/1n
Q~

= 80

111.

= ~O kN:

P 1 = :20.3 =GO kl\

l.6 k:l'\/111 = 1:20 kl\: p~ = 10.:3::::: 4:) k~.

Q: 1 = 20 m.. 1 kN/1n

= 20 k.N.

Xet toii.n ht) CD (hinl1 III.'16a).

Ar d\lng pl1Uo11g h{i.p

h6a r:\n.

Cd HQC LYTHUY~T -TAP I: PHAN TlNH HOC, BONG HOC

184

(:ac luc

(Q

t{1c

1,

d.vng 16n 118:

Q~,

Q: 1 , P 1 ,

P~, Ne,

Xe. N }:,"NF, N n)- 0.

cac phttdng trinh can b:lng:

LX,=Xc=O

(1)

L,Ylt::: Ne +Nr;+NF+Np-Q 1 - Q~ - Q. 1 -P 1 -P~:::: 0

(2)

Lmc(F,) = 35NF + 85Nc + 120Nc -

lOQ, - 60Q, -

- 92,5P,, - llO (Q, + P,)

20m

a)

=0

SOm

15m

(3)

15m

20m----+
I

N;

N;

-x, c

o;

a;
10m 10m

c)

v:-

N:

x, -o
Q,

Hinh 111.46

XeL cdn bing d:ln pht;t AC (hinl1 11I.46b).

cac 11,ic tac dng: (xA, YA,

Xe, Ne,

Q:l)- 0.

185

BA\ T,5.P, vr DY VA HLfONG oAN GIAI PHAN TiNH HOC

(;;:l,c phtidng tri11b cilr1 b&ng:

V'i

x(' = o ---+ xA = o
LYh=Nc+YA-Q 3 =()

(Fi)

2.:m,, (F,,) = JOQ, - 20N,, = 0

(GI

Xet cf111 b:ing d:'tn ph~1 BD (11inl1 11L4Gc). C'8l' l\fc

lx

8 ,

t{u.'.

dung:

YB, P1 , Q1 , Nv)-o

c:ac pl1tid11g trinh can b:'.ing:

I.X k :::X13 :::: 0->X13 :::: 0

(7)

'L,Y k ::::Y1j+N0

(8)

2.:mB(F,)

-"Q1 -1)1 ::::()

= 20N0 -

10 (P, + Q,)

=0

(9)

TU (9) ta c6:

N _ lO(P, +Q,) _ 60+2(] = 40 k:\

/)~o
--T
'fU (G) ta c6:

N = lOQ, = 20 = lOk'.'J
r
20
2
TU (2) ta c6:

1'.'t: +NF:=

Q1

+ Q~ + Q.1 + P 1 -+ P,, -J.\1(

- / \11!::.::

:21Fi kt\

(a}

Tu (3) ta c6:

:l5N,. + 85N,. = JOQ, + 60Q, + 92.5P, + 110 (Q, + P,) - 120N0

3SNr: +
Ci-1~lj l1C

85N~.::::

155G2.5---+ 71\'t: + 17.-"./1.. :::

11ai pbtidng r'inh (a)

'-N
I
1':

I-

l""'l\f
.
ll~p -

\'<:1

'']j')c
J-

~.Ll

{ 7NE+ 7NF=l:)0:J,0

~3112.5

(bl la dtl<,ic::

kt\

(bl

Cd HQC LY THUY~T - TAP I: PHAN TTNH HQC, DONG HQC

186

_
r:
ii.r _
1G07,5
ONF - 1607 ,,)4.1.YF- - - JO

Nr:
V~y:

= 215 -NF= 215 -

1(-J0,7

160.7 k:\

= 51,:3 k.'\!.

/'./(' = 10 kN; N!J = 40 k:N : N,,. = 54.0 k.'\! : NF= 160, 7 k.t\.

Bai Il.47 (hinh 11147):

a)

N,
B x
M,
1m

tml

Bm

Hinh 111.47

X8t to<in 11~AE, EB va cAn tr\lc (hinh 1Il.47a).

cac iiJc tac dQ.ng len

h~: (xA, YA, MA. NB. P. Q)-

0.

cac phl!dr1g Lrinh can bUng:

;[X,, =XA = 0

Y,.

= YA + N/j -

(1)

Q- p = 0

(2)

BAI Tft:,P, Vf Dl) VA HVONG DAN GIAI PHAN TTNH HQC

187

T8.ch ra xet can b:ing cAn tr\lc,

cac hjr tile d-.;tr1g:

(P. Q.

N,. N K

)-

Cac pl1Ud11g trinl1 cfin b{i.ng (hir1h IIT.17b):

2.;Y,, =N,+NK-P-Q=O
Int r

(Fu) = 2N

K -

lQ - fiP

(4)

=0

(5)

Ta xCt c11.n bling dfim CB.

Cii.c lVc tac d\lr1g:

(N Tl' N' K' x

E'

y E)

~ (),

Cac phtidng trinh can b:ing:

LY1, =YE+ Nu -NK= 0

2.;X,

= -XK= 0

Lmc(Fk)
TU (7) ta c6:

(OJ

= 8Nn N /j =

1.Nr:

1. N'
s

}{

--

=0

1.
8

c --.Ll

(71

0 -5r
_,) kl\

Thay vH.o (2) ta c6 YA= Q + P - Nu= 5 + 1 - 0,625

YA= 5,375 kN
TU (3) ta c6

= 4Q +SP - 12Nu = 4.5 --r- 8.1 M,\ = 20,5 kN1n.

M"

12.0,G2G

Bai II.48 (hinh Ill.48):

xet toan ht; can bhng (NA, Ql, P.

NE QC,

p_ IYn)~

0 (hlr1h TTI.'18a).
(1)

_1_8_8_ _ _ _ _ _ _ _ _ _ __cCccOccH_cOccC:clccY~T_cH~UY~t~T_-TAP I_ PHAN T[NH HOC, DONG HOC

L ni,_,,, lF'k) = 5NA' + 7.1Vv -

GP -

5,G(~~ -

;JP - 2Q 1 = 0

(2)

'l\'i.ch ra, xet t11anh AB (hir1h JTI.18b):

P. NB)~ 0

(NA, QI,

I
I

YI,= IV,,, +1-"'l11 -Ql -P

m8

(Fi:) =P+ 2Q
N,;.

1'U ( 4) ta c6:

=0

1.1V"

1 -

(:JI

=0

(4)

= l,2 kI\'.

TU (1) v8. (2) ta c6: Ni:,= 1 k:'.'J

3m

1m

1m

N;_

N:
A

Q,

N';

Q,

3m

__ ]m

1m

N:
A

Q,

I"'

N,

YL_

Hinh 111.48

MA SAT

Bai 11.49 (hlnh 111.49):

XCt c:lc li.jc t(lc: d\lng:

N.

1m

4m

(J'

1m

Q. F",)-

BAI TAP, vf DU vA HLJONG DAN GIAI PHAN TINH HOC

189

Ix,= QcosiJ-F." = o
I Y 1 =N + Qsinll - P =0

( 1)

'l'U (2) ta c6 N = P -

Dii

Qsin~),

ma

12)
F,,~:.~,

=fN =f (P -

Qsi11f-\).

thUng c6 th& chuyJn U(ing dtiQC thl g6c inn s{1l C\lC d~ll qi_,=

hav. Lun
,,,_) =

F,,,,,
1V

= /.,

'l'U (1) vii. (2) la c6:

p=

ha.v

r).

nrctg/"
{P

Q,,,,,,= ~-

vl + r

y
y

c'
x

Hinh 111.49

Hinh 111.50

Bili 11.50 (hinh III.50):

Ta x6t c;1n b.ing cor1 lan.

(?. Q. N. F .. M o
L X1., =Pcosa -F, = O
L Yk =N + Psina - Q = 0
Imc(Fk) = kN-M -RPcosct = 0
1)-

(1)

11 ,

(2)
(:l)

TU (2) ta c6:

N = Q-Psina.

TU(:)) ta c6:

M 1 = hN - RPeoc;(x

V~y

kN = RPcosa + kPs1na

= 0 vi con !~in

kQ
Reosa--,- hsina

P=---~--

liin d6u.

P (Rcosa + ksin{x)

= G7.2 :-.J.

ca HQC LYTHUYtT - TAP I: PHAN TlNH HOC, DONG HQC

190

Bili II.51(hlnh111.51):
XCt can b~ng kh6i tr1,1

P. N, Fm,)~ 0, vOi F,,,.,,. = fN.

LXh = F,,., -Psina = O
L Y 1,. = N - Pcosa = O

(1)

Lnz...1 (Fk.) =

(3)

(1l1,,

-M

+ RPs1na = 0

(2)

TU (3) tel c6: M 1 = RPsina.

TU (1) vi'i (2) ta c6: tga
TU (1) ta c6: F,,,,

Do d6 tga

$.

f.

=f.

= Psinct $_ F

111 ,.,

=/N".

V$.y a::::: arctgf.

Hinh 111.51

Bai II.52 (hinh lll.52).

xet c{111

b:lng qtul. cc1u, ta c6:

IY,=N-Q=O

(1)

Im,(F,) =RF,,,, -kN= 0

ImA(F,) =RP-kN=O,
lrong d6. F,,h

Clio nen

= pN = ~LQ vi N = (-{.

~t > ~

va P

= Q. ~

(2)
(3)

191

BAI TP,P, Vf DU VA Hlf0NG DAN GIAI PHAN TiNH HQC

p
Q

Ti

F..

1J
Hinh 111.53

Hinh f/1.52

Bili 11.53 (hlnh llI.5:-:1):

X8l c5-11 b:ing thang AB;:; l
cac 11,lc t;'tc d.vng:

(P, Q,
Ch9n

h~

NA, N

R,

F"', )- 0

trvc nhu: l1iI1h

111.5~~

L;X,, =N, -F,,,, = 0

(1)

(2)

Y/, ;:; ."!Vii - p - Q ;:; 0

Im A

(Fk) ;:; l.N1l:osa -F .,,.l."31na.. - P~ co.sa..;:; 0

TU (2) ta c6:

11

N/J;:;P+Q

'l'U (3) ta c6:

f

"''

lga=N8

p
-

2Q + p
(
;:; Fm.,
2 ga

~Q

+p
2

=P+Q- - = - +Q= - - -

S::: Fmax;:; p.N/l;:; ~l (P

+ Q)

(:l)

Cd HOC LY THUY~T TAP I PHAN T\NH HOC, 86NG HOC

192

BD.i Il.54 (l1i11h 111.51):

'

I
N,1

Hinh 111.54

G9iAB::: l.

xet Cflll hh.ng thanh AB.

Tn c6.

Ttl d16u ki~n cdn bil.11g cUa h~ ltjc ph:iing ta c6 d:;ing c8.11
sau di'ly:

uang

T6ng n161nen ccic 11)'.c tac <lvng Jen 11 dOi vdi ba d:i@m A. B, C l<-h611g
tl1f.11~ hUng b&11g kh6ng:

BAI Til,P, Vi DI,) VA HU'dNG DAN GIAI PHAN TiNH HQC

193

Cflc phtid11g trir1b c:1r1 b{:ing:

aF,:, - aF,~,. ::: 0

L,m lFk)::: Q.bsincp 0

(I)

L,1nAlFh) :::Nuls1nl3-F,~,lcos13-Q~coscp:::O
L, ni nlF11 ) ::: -N,1ls1n[3 -

l F,;;, eosf3 +

Qbsincp ::: a (F,:, +

TU (1) ta c6:

(NA + N 13 )

:::

F,,~s)

Qi

(2)

coslp ::: 0

(3)

::: a~l (NA+ Nu)

~ Q sin~ri.
a

~Lcos[3) :::

Q coslp
2

'l'U (2) ta c6:

N 1J (sinf} -

TU (:l) ta c6:

NA (sinp + cosr))::: Q coscp

2

N _

,
_
Qcoslp
Qcoslp
va N, 1 - - , - - - u- '.l(sin~-~tcosP)
2(s1np ~tcosP)

Tbny vao (*):

>t

Qcus~
l 2(sin\3Qcos~
+ cos[3) + 2(s1nl3 -

b QslOlp
.

o:: -

~tcosf3)

>t Qcos~r

Lsin[3+~LcosP

cos~1 lls1n[3 - ~tcosf~

>t -,-')

sinp-~tcos()

+ s1np -+ ~tcosr)l
1

cos cp ___2_s_i_n~~-->t-2
2
2

s1np-~t-cosp

sin

p-

__ b
~ cos [3
a

Slll<p

b
Ta c6: s1nf>::: a
~Leos cp

-(--;;b-)-,-------13)
I

- ~(1 - s1n 2

.
j = -ba Qs111cp

s1r1 cp

b .

--= -

s1ncp

ca HOC L'i' THUY~T - TAP I: PHAN TlNH HQC, 86NG HQC

194

t>Y
r,a)

_,,'r1-[b]'lJ
-

cotg<p;:::: - - - -

b: ( +
a \
1

cotgQ =

b'

--

. b'

a'' -t-~L- a

'

~l--

=---

''
2

] -

~L

Bai 11.55 (l1inh III.55)

He kl1:io s<it gdn1 c8.c thanl1 OA. OB v:J. hlnh tru tr1,1c 0 1 Vi h0 ctfli
xUng n8n ta ch1 cfin xet tha11h OA. DOi vd1 thanh OB La c6 kCt quit
tu'dng tt;i.

a)

c)

b)
a/2

Hinh Jf/.55

Titch xet ri8ng hir1h try_ (hinl1 lll.55b).

Gi3. si'.i hinh

tr1,1

chuy~n d(ing di ten.

Khi d6 c.c h;tc L8.c d\lng P dU ](:In

(Q, Ne- ND, F"';" F,,~ J -o.

cac phtfdng tinh can b&ng:
"X
L..,
k

::::

N vcosa - N cCosa: + F"

- - Fe
- :::;; 0
m> s111a
""' s1na

(1)
(2)

BAI TAP. Vi Dl) VA HLJCING DAN GIAI PHAN TfNH HQC

195

(.3)

Giil1 c8c phu'dng trinh nay ta du<;1c:

Q = 2Nc (sina -

~Lcosa)

TB.ch xet r1Cng thanh QA (hl.nh III.55c).

C:ic 1-i;ic tac d1,1ng:

(R0

P, N'lJ F'~.,.)

- 0

Lm (F,, )= -P%cotga + N j?cotga = 0

1

_ aP
2R

1; -

,
N c

Q = 2Nc (sina - fcosa)

P,

= QR

(4)

= a: (sina - fcosa)

1
sin a - fcosa

Khi l\]'c P kh6ng dU !On thi 11inh tr1,1 rdi xu6'ng, c8c l\]'c ma sat c6
chiu i1gu'<;Jc l<;i1, Ii.le d6:
P.,
~

= -QR
a

1
sina + fcosa

x -----'---

Vi P 1 > P~, nhu v~y l\]'c P pl18.1 thOa man P 2 s P s P 1 khi tga > f, do
d6 s1na > fcosa. Ta c6:

QR

-x

Khi tga

1
QR
1
s:Ps x -----sin a+ fcosa
a
si11a-fcosa

sf thi

s1na sfcosa

p~ QR x
1
a
sinu + fcosa
Bai II.56 (hinh !11.56):
Xet can b:ing 6t6:
Cac h.fc tac d\lng:

(Q, NA' F"~'' NB, F,,~, )- o

Cd HOC LYTHUYtT - TAP I PHAN TfNH HOC, DONG HOC

196

F,;~"

fN A

F,,~i,

flV B

IX Qs1na. - F,~,,. - F,~_,

I Y = 1V. \ + Nn - Qcoso. ::: 0
=

-=

( 1I

(2)

L, ni A (F) ::: liC-2sina - ~ Qcusa ::::: 0

l{h1 d tr:::i.11g tl1C1i tdi

h:~n

tl1i I'l 11

:::

(:J)

0.

Hinh 111.56

'lU (2) ta c6: Qcosa::: NA+ N 8

---7

Qsi11a ~

f (N.\ + Nn)::: fQcosa

f kl16ng trlfQt

tga

tgc:t

=f'b5.t d.8.t1 tru:qt

tga > ftrU:Ql

h
K11i li'.tt quanh A l11i M 1 ::: hQsina: M,:::::
-Qcosa
I,
2

--7

b
b
-Qco,,;a > hQs1nc1.. hnv tgo:.:; - .
2
.
.
2h

vr D\,J VA HUONG DAN GIAI PHAN TTNH HOC

BAI TAP,

'

Do c\6 sC trU:Qt 1n8. kh6ng lat kh1

trU:Qt kl11

va tga >

tga = }}__ belt dtiu \:'it

'2}i

197

'2.h

th l

l~t

< t.gu <

h
2ll

sC l(1l 1n~1 khting

< tga < f.

211

Bili II.57 (l1inl1111 57):

a

= :)n v1l r = O.fia

(_~hr,in h try_c

Oxy nhu' d hlnh IIT.J7.

X1

=
.Y!'

X1S1

X:,S __:

~~-~~ =

Si - S~

'

/
/

0,

16.1

rf;:l

c6:

=ah

Clll.

"'a
~

-,

c'

a
Hinh /Jl.57

Bili II.58 (hi11h 111.58):

e..:h9n h trvc Ix,y nhLi ('1 hinh 111.58.

V6i R

= '10cn1, r = 10 cn1
S = nR~ = n10~ = lGOOn , x = 40 c1n
S = S'~ = rrr~ = nlO" = 1 OOn
1

Hinh /f/,58

ca HQC LYTHUY~T

198

Cm v3_ X~:::

10

X 1 :::

_ xS - x 1S 1

Ta c6:

Xe -

s-s

1 -

60

Cln

x~S 1
s~

TAP I: PHAN TTNH HOC, JQNG HQC

= 40,7 cm

Bai II.59 (hinh IIL59),

Cho

c~nh

a::: 40 cm

var= 10 cm.

ChQn h$ Oxy nhu 0 hinh III.59. Ta c6:

va

S 1 :::1tr~

afa

=~cm

(i

x 1 :::10cm
= 12,84 cm

Xe:::

Hinh 111.59

Bai IL60 (hinh ][[60),

Chia tiCt di$n thanh hai hinh cl1U nhQ.t OBDF va ACEF va kY l1ii;u

la hinh (1) vit (2).

Ta c6:

Lskxk

"""~~

Ye=

-Ls;-

Xe

LS,
L:s,y,,

BAI T~P, Vi Dt,l VA HVdNG DAN GtA.I PHAN TiNH HQC

Di~n

tfc11 8 1

::::

db.

Trqng t:11n l1inh ( 1) 13.

Din llch

S~::::

Xi ::::

d va y 1 :::: !!__'
:2

(a -- d) d.

y
D

''
.(1)
d

9
Hinh 111.60

1'r911g tc1m hlnh (2):

a 2 +bd-dL
2(a+b-d)

Xe :::: -

199

:2

CO HQC LY THUYtT - TAP 1 PHAN TfNH HOC, EJQNG HQC

200

.Ye

= S1Y1
s,

.Yi'

b.d.

+ S~y~
+

s,

+(a-b)d

2
(a+b-d)d

+ad . d~
-- ----
2(a+b-d)

b~

Bai IL61(hinh111.61):

..

{1)
0

(3)

x
I
--:1 ..

"

cm

2cm

Hinh f//.61

Cl1ia tieL di~n thllnh ba hlnh chU nh$.L (1). (2) vii (3).

ChQn tQa clQ nhu d hir1h II.61 Ta c6:

81

= 20.2 = 40 cm~

x 1 =-1 cm
8~ =

20.2::: 40 CITI~

x~=lOcn1

S~::: 15.2::: 3() CID~ (X 3 ::: 21

s 1 + 8 2 + S:i
Xe=

cm)

= 40 cm 2 + 40 cm~+ 30 c1n~ = 110 cm~

_S~'-x~,_+_S~~x_,~+_S+,_x~,1
S 1 ~S~+S:i

= -

40 + 400 + G;30

110

9 cm.

Ht
Cht im

Cd HOC LY THUY~T - TAP I: PHAN TlNH HQC, DQNG HOC

202

v?y trong ph8n nay ta hc;in che' quan ni?m

can khiio sat ta:

oe? hifu cac chuye?n c16ng

Nghff::n cllu chuyn dQng 18 xac dfnh vf trf va cac dt[lc trung dQng
h9c ct.la Oiifm hay v{lt r8n so v6i

vat chon

/Eim hf; quy chiu. Trang

66 hf; quy chie'u g8n cht[1t vao m<;it dt'ft ta quan tr9ng va thudng
cJll(Jc sl! dng.

Hf} trc t9a dQ 18 hf) t9a 0() nilo 66 dl!CJC gf3n v.30 hf; quy chiu Off

thuBn tif;n khi tinh toan.

Thdi gian clUQC quan nf{jm 18 thOi gian tr6i cJ8u vB l?i m6t !Uc xBc
dfnh nao c16 goi ta thdi cli{/m.

B. PHUONG TRINH CHU YEN DQNG

vA cAc D,l..C TRUNG DQNG HQC

fJtf xac dfnh vf tri cUa dim hay vat c8n ph8i c6 cac th6ng s6 xac dfnh
vf trf goi 18 th6ng s6 cJfnh v( cac th6ng s6 nay thay d6i theo thdi gian
va mor lien h{f; giUa cac th6ng s6

ay duoc goi 18 phuong trinh chuy{/n

dQng. ChJng h?n: m6t rJie?m chuye'n c1ng trong mat phJng can bie't
hai th6ng s6 (x, y) v8 phtJOng trinh chuyen cJQng 18 m6'i lien h?:
x

=x(t); y =y(t)

V?n t6c thtJOng kY hi~u ta V 18 cJ<;ii 1u9ng n6i ten hudng va t6c 66
chuye?n cJQng cUa cJim. Khi v?t chuyf:In c16ng quay ta c6 khili ni?m
v?n t6c g6c kY hf?u ta ~.

Gia t6c 18 6?i /ur;ng 6$c trLfng cho SI/ bit?n cJ6i cUa v{Jn t6c, thtJCJng
k')! hi~u 18 W cho 6itfm va 18 gia t6'c g6c cUa v?t chuytfn 6ng
quay.

Quy cJ?o chuye'n c1ng cUa 6ie'm ta quy tfch cac vf tr! cUa 66ng
6ie'm trong mt h? quy chie'u xac cJinh nao 66.

XBc 6inh cac 6$c trLfng c1ng hc;>c cUa 6iS'm hay v{Jt ta nQi dung co bBn
nha't trong phBn <1ng hc;>c ma chl)ng ta tan tuot nghien CL!u trong cac
chUcJng (tit chuong 6 ai'in chuong 9).

ClnroNG 6
A

A'

DONG
HOC
DIEM

Trang chu'dng n8.y chUng ta nghien cUu chuy~n d(n1g clla di~n1
trong

h9

quy cl118u dil. x8.c diI1}1. C6 nh1eu phU:dng ph[1p kh1ic 11l1au

d~ kh:io sat chuy6n dQng clla di~1n, song ba phlidng ph8.p thttdr1g

dt!Qc sU d1,1ng 18-:

11h.1irlng jJlrri vccl!J, JJliui!ng JJhd/J tou (/\)

D!/ cric 1ri

phuiin~ JJhriJJ toad(! t\f nh11_;n_

6.1. PHUONG PHAP VECTO

Phuong ph8.p vectd Ia phu'dr1g ph:ip ttlng qu:'tt r1l1a't tt0 k11;10

s{1t

chuy~n dQng. Tinh u'u vi~t n6i b,$.t cl1a phLicJng phil.p nay IH: c.:ic dc~c

tru'ng dQng h9c du'cjc bi6u dii2n ddn g18-n. dC 111611 vii chinh xC1c du'tJi
d~ng

vectd. Vi vQ.y phlidr1g ph.3.p 11<\y thu'dng xuyPn dU:Qc :::;U d\tr1g

d~ nghin c(iu

ve m~t l)r thuyfit cho C<~ chu'dng n:J.y cling llhLi cUc

chVdng sau:

6.1. l. PHUONG TRiNH CHUYEN !lQNG

Ta h~-1: kh3.o sUt chuyEin dQng cUa d1~m M trong h~, qu)' chiCtt cf)
d!nh Oxyz (hinh 6.1). 1'i;ti m6i thdi diEim
lo8r1 dtIQc x8-c dir1h bdi vecto

r =OM.

vi

trf clia tliJm M sC 110811

Vccto F du\Jc g9i l<'t vccto

djnh v! clia diEim M trong h~ quy chiCu ()xyz. Kh1 d1Ei1n M cl1u:vf:n

CO HOC LYTHUY~T - TAP I: PHAN TlNH HOC, 86NG HOC

204

dQ11g,

r sC biCn th1ln l16n ty_c ll1L:o ll1(1i gian ci\. vf!' hti6ng v;\

Vl'Ctd

d9 d:'n . .l(<i lfl l1:1n1 sri cU:i t li1'i1 g1nn t:

;~

(6 11

=- "f(t)

Hinh 6.1

Pl1ti(J\1g tri11h (G.1) 18. phtidng trir1l1 chuyS11 dQng cUa di6'1n M vit{t.
dU61 dc.1r1g vccld. DOng lhdi pl11fdng trinl1 (6.1) cil11g ];\ pl11idng

trlnh quy dq.o cl1a di1n M t.ror1g 11 0.Y)'Z vi&'t dttOi Liq_ng tha1n

s6.

(~uy ticl1 c3.c di~1n ngqn clla vectcJ dj11h vj ;: trong 11Q Oxyz chi11h l8-

q11y d::;i.o cUa di~m M.

_,

6.1.2. V "'N TOC CUA DIEM

\ 1cctd v:)n t-6c cl1n dif~n1 Ji\ d:.11 ltiqng d(1c tr1fng c:bo slj bi(fn dt)i cUa
VPClli d~nl1 vj

ll1eo tl1d1 gian. Do v(1y d~ x{H: djuh vccld v(111 t6'c

chUng ta cAn 1<116.0 sii.l su' thav df}i clia

r: 6 18-n

c(ln thdi die'rn t ni\.o

(t{i.

Lbdi cti&1n t, dc)r1g U1C;n1 d

dinl1 \'j r =OM
Giil

sli tt.t1

1'<-.ll thlii d1dn1

xac

(ti11h

b61

](111

\'CCLd

vi t1i lvl dtf(_ic x[1c

dir1h bd1 VL'l"ll.i

c(tn t 1 = t + .\t dQng di61n 6 v\ lri l:Jn c(trl AJ 1 dL1\lC

d}nh v~

G:=OM\

(hi.nh 6 2)

1~/J;u1 hai. DONG HOC

\Tectd }.1.rvl1

205

= r 1 -F = ~r

1116 til gAn d.Ung hu:6r1g diva qu8.11g dliC:ing

di clla d1e'n1 M trong khoil.11g tl1di g1ar1 11h6 ,'.lt va dtiQC gqi 1;1 VCCLO

1l
C1lC
.

' T'V SO~ilrk.

CI
lU\"CTI.
-:it
" h1u 18. \/1;, . gq1 \,) v(1n tOc trung liinh
.
"
.J

cUa d161n M trong k11o::l.r1g thdi gian !J.l . Khi !J.t c1l11g nhi) Lhi Vu,
c:ing bidu <lien chi11l1 xac vectd v~n tOc trong kho8.ng
!\t---" 0.

vlh

\I

v;l kh1

se tien de'11 V<~n t6c tlic thd1 cUa d1(~1n j\.{ t:;i.i tl1di di(~lll

t. I{)' hi()u 111. V:

v- =

rlr

L\r

(f-i.2)

11111 .. .~1 OL'l.t

dt

x
Hinh 6.2

:t\l1ti vf1y. vcctd v:~n tOc lllc ll1di cUa c!1E!n1 .~f bfi11g d[_lo l18.n1 b(1e
nhfil Ll1eo tl1di g1ar1 clla vcctd di11h vi F .
DC' biC'u diC11 gqn hcln ngu:di ta dU.r1g da'u cha'n1 thay cho kY h1~u

d<::i-o h8.1n theo Lh(ii gia.n:

_ (tr
r--.
Ji

dr
dt

V~-~i'(I)

ca HOC LY THUY~T - TAP] PHAN TlNH HOC, 86NG HOC

206

.,
'flt (6.2) ta nh(in tl1iy d{jn vj cto v(ln tOc cUa cli1n M l:'i.:

D6d.'.i.1
Thd1 g1an '

ch~ng l1<:~n met/gi8-y (k.Y hi~ll 111/s) ho:)c (ktn/h).

Tlt l1i11h 6.2 ta nh(i.n thfly 6.r va Vrb cling hri{Jng vdi MM 1 , kh1 M
dfi11 dCn M: cat tuye'r1 MMI d.?in de'11 t1e'p tuyCn

t<_lt

M, vi v(ly

v(ill

tOc tile tl1di cUa di~m M lubn hu'Ong tl1co tie'p tuye'n vdi qtlY d;;to

t9-i M.

6.1.3. GIA TOC CUA lllEM

V ccto gia t6c ell a dQng d1~m M di~c trttng cho s\f bie'n d6i ci.la vcctd
vQ.n tOc

V.

Do v<~y tu'dng t\1 nhtt dOi vdi v.$.n t6c, d~ x.c dinh gia

tOc, chU.11g ta kh<io sat S\1 bie'n dcii cUa vl).n tOc t0i 18.n cl}n thdi
d1~m t.

Giil sU t:.1i thdi di[:1n t

d16n1 d vi. tri M van
. t6c

dtiejc x:ic djnh 18. V.

thdi di.m Ian c$.n

t 1 = t + 6.t dQng di6m t0i

vj tri M 1, v(ln tOc Ia V1

(hinh 6.3).
ilV =

V1 - V

M,

d?c Lru'ng

cho hiCn d6i v.$.n tOc

tro11g khoii11g tl1c'li gian
11110 _,\t .
hi~u

la

'l'Y sO

w," , g91

w,/

k.Y

Ja gia

Hinh 6.3

tOc Lrt1ng bl:nh cUa di~m M trong kho3.ng thdi gian /\t.
cl.in
hi~u

de'11

va

kl1i :it

kh6ng W16 se d8.n tdi gia tOc tUc thdi t~i thdi di~m t vii. k:Y

l<\ W.

207

d2r

-'

w~--~r

l1a_y

((i.3)

dt~

Ddn vj d@ do 6-'ia tOc 13. d~i d3.i/(thdi gia11)~. (~h[u1g h1.1n: 1n/s~ hay k1n/h"

ve

n1~t

l1inh l19c: 1'U hlnll G.:l ta 11115.11 ll1i~ i\

V~I

iv

th

lu6n

l:1uOng vC phia l61n cUa dlidng co11g quy Lt~o. Du v?y gia t6('. lUc tl1d1
clia di~1n M lrong trUd11g hcjp tclng qu:it cling c6 l1tid11g nhti v(1y.

'l'rCn d:ly chU11g la dii s-i'.i dl_111g vecld va Lt:,to hf11n vcctcJ
cAc rl:c)c trting dQng h9c cllo. di@m M. C~an cU v1io

x{lc djnl1 du'Qc tinl1 cl1flt cl1uyen clQng cUa d1~1n M

db bi~tl

d1~11

v<'t W c6 the

la 11l1anh din.

ch$.1n dtln hay d:8\1.

NCu di61n chuyJ11 dQng nl1a11h d:i11 tl1i \l tang, do d6 v~

ti:u1g d:?i.11 tl1eo thdi gian. TU d6 suy ra

V.V
(~t (y)~ = 2V-.w > O. V~1~"
=

V.W > O thl M chuy6n dQng nhanh d:'.in,

V.w < 0 thi M cl11Jye'n d(ing chQ.n1 d1in:

>:eu

Ne'u

Ne'tt V.W

0 thl M chuy6n dQ11g d8u (v1)r1 t6c kh6ng dO'i).

6.2. PHUONG PHAP TQA DQ DE cAc

VUi pbUllr1g f)h8.p n8.y 11gudi la kh;to s8.L cl1t1ydn dQng cUa dic'1n M
trong 119 t9a d9
c{ic vu6ng g6c Oxyz (hinh 6.4). 'l'inh till Vl~l nOi

ue

b~t cUa phtidng ph8.p ntly 18.

dQng h9c cU.a di~1n M

de

d8.ng xtic dirrh dU:Qc c:'tc d(u lrling

ve djnh ti11l1 v8. djnl1 lti~Jng. Do v~y pl1uong

ph8.p nAy dUQc siJ. d\]_ng cl10 c8. ngl1iCn cliu l)' lhuye't cling nhli gi8.i
cric bAi toil.n ci.;i th~.

ca HQC LYTHUYtT. TAP I: PHAN TlNH HQC, DONG HOC

208

6.2. l. PHUONG TRiNH CHUYEN DQNG

\lj trf cl1a di8n1 lvl tror1g hQ t9a dQ DC c{1c vuflng g6c Oxyz :oU

1108.11

toan xilc djnl1 11811 bie't ba t9a dQ x, y, z. Kh1 d1&'1n M cl1uy8n dQ11g
c{1.c t9a clQ nftv se thay J:6'i li8n t\)C thco thdi gia11 v8- ]fl cflc l1fln1 v6
hU'Ong clia t:

x=x(t)l

(6.1)

y ~ y(t)I
z ~ z(I)
PhUdng trlnh (6.4) 18. phlfdng
tri11}1

chuyc'n dQng clla di~tn

AI trong t9a dQ DC c:ic Ox:yz.

t)6ng t.hdi phtf(ing trlnl1 11;\y

cling lt) phttdng trinl1 quy

d~_10

vie't dtiOi d<_J..ng tham sO clia

0

tJ1di gia11 t. Khi kl1U: t t.U (6 '1)

qu:,'

rt:.10

dttOi

d0r1g

th6ng

tl1u'dng.

6.2.2.

iJ

ta r1l1(111 dtiQc phu'cjnf{ trinh

Hinh 6.4

v AN TOC
'!'a gq1 vQ.n tOc tUc tl1di cU.a dQng di61n M 18 V va hlnh ch1e'u cU.11

vccto v(1n tflc 10r1 ba try.c tqa rtO f)~ c;{r ];\ V,, V,., V,. VOi i,j,k 1:1
c5.c vccto ddn v~ clla ba tr\}.c t9a dQ. '!'a df1 bi8l
- r""xi +yj+zk

(a)

d,:
d
dx fly dz \'=-o-(xi+yj+zk):.:.- i + - j + - k

dt

dt

dt

dt .

dt

(b)

Vi i ,j,k 18. cB.c vectd hfrng sO. Ch1u hai v8 cUa (b) len c<ic tr\J.c t9a
d6 D8 c{1c ta c(i:

/'hn/J hai. DNG HQC

209

V =d.i:=X v

dt

=
y

dy

dt

y'

Vz

dz
dt

(6.5)

=-=Z

Vf').y 11inh chiCu vectd v$.n t6c cU.a di@m Ien m9t tr\Jc t9a d(l n:lo d6
b8.ng d1:to h8.1n bQ.c nha't theo thdi gian cUa t9a dQ tU:dng U11g. Bie't.
hinh chie'u cUa vectd v$.n tf}c V ta titn dtfQ'c gi.3. tri cU.a

thPo

c6r1g thUc:

(6.6)
G91 a, ~- y 18. g6c l1Qp bdi
cos a=

v
v

_x :

V vOi cite tr-t;tc t9a dQ Ox, Oy, Oz thi

cos[)=

v
v

_Y : COS"f

v
v

(6.7)

= -'

C.3.c gi. tr1 n8.y cOn g9i 18. cosin cl1i' phu:ong clla vecto v$.n t6c.

6.2.3. GIA TOC

Haan to3.r1 tlidng tV 11l1ti x8.c dtr1h v$.n tOc G9i l1inh chie'u cUa vcctd
gia tOc LUC tl1d1 1811 c[1c tr\JC lQ3 d9 Ia
WY<
va sli dt;tng ke't

wx'

. .
h..
.
qua cua p an trlidc

w = dV
d'F
dt = dt
2

wz

ta nh$.n dUQ'c:

(6.8)

V$.y hir1h chie'u vecld gia tOc cUa di@1n l&n m9t tri.;ic t9a dQ ni\o d6
b8.ng dl;l.o h<\m b$.c 11ha't theo thd1 gian hlnh chie'u vectd v$.n tOc Jen
tr\JC

iy

hay d~o h8.m b(i.c hai theo thdi gian ci.la t9a dQ tlidng U11g

Gia tri va httdng cUa vectd gia t6'c dUQ'c x8.c dinh theo c6ng th Uc:
(6.9)

CO HQC LY THUYtT - TAP I PHAN TTNH HOC, 86NG HOC

210

(6 10)

6.3. PHUONG PHAP TQA DQ Tl,I NHIEN

Pl1tlo'11g pb{1p t9a dQ ti;I nh1Pn dtidc sU dy_ng dC: ngh1f:n cllu chu~'f;n
tt(lng cU.a d16n1 kh1 da hiet dud11g cong ri11y cl<:~o cUa n{i. 11Ar1g
phlfdJ1g ph1-ip n:J.y c.c d<).c trtfng d()ng hQC du\JC Ind t3_ bdi clic d:.ll

lu\Jng c6 lien qua11 1n?t thiCt vOi c<:'i.c tfnh chtlt 11inh h9c cUa dudr1g
cong quy d~to. Do vQ.y n6 giUp ta qunn ~{tl chuydn (lc)ng cl1a d1~n1
rnQt ci1ch d@ d8.11g ne'u La tu'dng tu'(jng dltr1g t;.i1 di&n1 ch11y0n d(ing
t1[:n

l1lirJng co11g quy d:~o da bi(~'t

l<-1. l~p }1~ t(,)(\

ct(i tlj nh1Cn c6 g()c t9a d(i d

M vdi c{tc trl.Jc tie'p t11ye'n thu(in, pl1:'tp t.uyCn chinh va tr-Ung pl1[1p
Dy:a vao l1inh h9c

Vl

phfln

t11.;.Cr1. Cite vecld don vj tr11 c:'tc trl)c nc\v lll.n l1!Qt kY hi~l1 la i. r/,,
(hinh

(-i

i:i) ChU.11g l(~p thi'l11h ta1n d1~n thu(1n

b = 1A1i

:VI(lt ph/1ng

cl1Ua c{1c vccto don vi i.ii du\ic grn l:\ n1:-~l ph2111g n1;)l t1Cp.
0

6.3. l. PHUONG TRiNH CHUYE N DQNG

'rre11 du'dng cong qt1:Y d:;io tn cf1qn di61n 0

cO djnl1 18.111

gr)c vi'l cljnh

ch1Cu du'dng cl10 quy cl<?-o v8 1nQt pl1ia cl1a gflc 0. Vj tri cUa lv! trPn
quy d<:-o se 1108.n to3n x{1c d~r1h kh1 hi Ct cung 0.\1:::

S. J)o d6 S ctu\lc

gqi !:). tqa dQ cong hA.y l108.nl1 dQ cong cU.a lvl. Khi M cl1t1y6n d(n1g
thi S bie'n d6i lien t~c tl1eo th{h giar1 t:

S = S(t!

(o.11)

Phli'n /Jul. DQNG HQC

211

PhLirJr1g trinh (6.11) 18. phu'dng trinl1 c}1uy11 dQng cUa dit'i1n lvf
trong tq:i dQ tt;i nl1i&n.

b
b
Hinh 6.5

6.3.2.

v ,A.N TOC CUA DIEM

D x[1c dtnh v$.n t6'c ta xet St;!
bi6n thi811 ci.la tqa dQ cong S.
Giit sU lQ.i thdi didm t dQng
dim 6 lvf, vt trf du'Qc xC1c
d1nh b01 cu11g OM :::: S. T;;i1
thdi di~m 18.n ci}n t 1 :::: t + 0.t
dQng di&m d t;;ii M 1 , v1 tri
du'Qc x8.c dt11h b01 Cung
OM, S, S+~S (hinh 6 6)

M,
Hinh 6.6

= =

Ty'' s6' 6.8 == V, 1 1.:\ g1a tri trung binh ci.la van tOc trong khoii.11g thdi
6.t

'

gian L\t_ Gia tri clla v?n t6c tUc thdi t;;ii thdi diEim t duqc xac dinh:
(6.12)

V(1y gi8. trt v?n tOc cUa di6'm t<..~i t}1d1 d1dn1 t n:lo dO b111g d:;io ham
bQ.c nhflt theo thdi gian ci.la t9a dQ cong S tr&11 quy d00.

212

CO HQC L'i' THUYt:T - TAP I: PHAN TfNH HQC, DONG HOC

Nhv dii bie't d tren, phU:dng clla vectd v~n L6c

lu6n lu6n tiCp

tuy6n v(Ji du'd11g cong quy d~o t9i M. Do d6 chie'u cUa vectcj v(l11 L6'c

v~to dfiu ci.la gici tri V = S.

ph1,1 thuQc

l\"6u S > 0 thi V hudng Lhco cl116u dtidng cUa quy d<.10:

J:\"Cu S < 0 lhl V 11U6ng tl1eo cl118u 8.1n cUa quy <l?o.
(6.13)

6.3.3. GIA TOC CUA DIEM

TU

bi~u

th-Uc W

dV ,
dt

i1e11

kh1 dao hiin1 bie'u thUc (6.1 :3) thco t ta

dtiQc:

'\'ro11g ]1~ t9a dQ

ty: nhiCn r1gUdi ta dU ch6:11g 1ninh dtiQc

di 1 -=-n

dS

'

6 d::ly: p - b<in klnh cong clia quy d:;i.o.

Vi v1)y:
dT. = dS x di =S~ii
dt dS
p

dt

dS _

. di

,1 _

s' ..

-> W =-1+ 8 --= 8 1+ 8 x 8 -n= 8 c+-n

dt
dt
p
p

.,
.
v
. --+ W =Sr:+pn= W,i:+ W n
11

VOi
dv
w' =S=-
w
dt '

IJ

V'
p

J>Juin h;1i. DONG HOC

213

V$.y g1a tOc cUa d1~1n lrong h~ t9a dQ ttj nhi(:n g()m hai th?tnh plui.n
tie'p tuyCn va phRp tuye'n chir111:

W..

dV
dt

"

= - - go1 1a g1a toe: l1ep . n<l1n tr611 t16p tuye'n cun ciuY rl:.io.

d~1r tru:ng cho stj bi11 LtG'i g1~1 tr1 cUa v(ln tClr: then th(J1 g1an:
v~

Y\1

lu6n lu6n d1tUng r1:l1n tr611 phftp tuye'n chin}1, g9i ]ii

:-:: -

"

gia tOc philp tuye'n, d1)c lru'ng cho stj thay d6'i ph1t(jng cUa
v$.n tOc.

Vl tr1,l-C tie'p t11ye'r1 va philp tuye'n ehfnh vu6ng g6c v6'i r1hau. 1nb.
------~

W=W +W va

'

"

W~W

'

"

,.,
v

')

.nen W=.11V -IV=

1

"

(
I

'')

S-

S +, ---

(6.11)

( p

6.3.4. cAc CHUYE'N DQNG D.A,c Bl~T

C:'1c chuy~n dQng d(lc b1Qt du\Jc phUn tich lrl'>n cd sd cilc df.Ing d(lc

biQt clla dudng cong quy <l00 va gia tri cUa v~n ttlc, gia tOc 1118. ta
lhttdn.g g:;ip trong ddi sOng ky thu(it.
ll) (_fllJ)'i!/1 dr)11g fh,;f11g

(;J1u~'dn lt(lng th;\ng 18. chu~1 611 dQng c6 q11.Y d<;to Iii 1nQt d1flJng
th~ng. Hai tru'dng hejp d:;tc b1$t thudng gf)p tro11g c}1uy611 d(ing
thJ11g:

(;huydn d(lng thii.ng c1eu ID. chuy6n dQng th~ng c6 vf;tr1 t6'(' h\

hhng s6 ( V

= const ).

Qt15.ng dtidr1g d1

S dLicjc x8.c di11]1 thcu LiJng

tl1Uc:

S = S,. +Vt,
trong d6:

(6. 15)

s() - tQa dQ ba11 d:iu khi t:::::: 0.

Chuyfi11 dQr1g thAng biCn dOi dCu 18. chU!'dn rir)ng thdlng c6 g1:l tri
g1a ttlc kh6ng dtSi ( W = con8t ). :t\eu g1:i trj cUa g1a t6'c dtlo'ng thi

Cd HOC LY THUY~T - TAP I PHAN TINH HOC, 86NG HOC

214

ta c6 chu~,rt'in dQng nhanh dil.11 du, r1gu'Qc l<:~J La c6 chuy(3'11 d(ir1g

chf,un diln du. Trong LrLidng hQp n8.y ta c6 cclng thlic x:ic djnh
v~n t.Oc v8. quang dudng d1 duqc t:;i.1 thdi g1;1n t r1:\o d6:
t:l

V::: V,. + Wt; S == S., + V.,t + Y\l -

(fi 16)

b) (,1JUJ"fifl dr)ng co11g ph2i11g

Chuy@n dQng cong ph~ng 18. chuy6n dQng c6 quy d0-o la du'dng co11g
ph~ng. Ta c6 hai d<;ing cl1uy'n dQng cong ph:ing thtidng g~p:

Chuy~11 dQng cong dfu la chuy&'n dQng cong c6 g1{1 tri V<~n t6'c
kl16ng dtli (V::: canst). Tru'dng l1Qp n;l.:, qu3ng duc'Jng di du\Jc
1

Linh theo c6ng thlic:

S = S,,+ Vt

(6.17)

Cl1uyn dQng cong bie'n ct6i cteu (c6 tl1f 18 nl1anh d<'.i.n de'u hay
ch(1r11 diin dCu) li'l chuyCn d()n;; cung c(J gi(1 ll"\ g1a trlc tif~\l kh\"1ng d(l i
(W, ==canst). Trong lrU(Jng hQp 11<\y v~1n tOc va qu3ng dLidng (ti
0

dUQc tinh lhco c6ng thllc:

= V,, + W rt; S = S., + V:,t

W,

t~

(6. J 5a)

Qua11g dudng S mang dffu (+) 11u Ui61n cJ-1uy111 dQng nhar1l1 d:'.i.n
deu va mang da'u (-) khi di~m chuy@n dQng chi).111 d:'.i.n deu (S" vb. V"
18. qu8.11g (lLid11g vk1 v~>n tllc ban d.L1 kl11 t = 0).
Ngo8.i ra, vC m<'.tt cfl.c d~c trung h'inl1 l19c clia QLY dq.o r1gu'd1 lH c011
quan tam de'n m6t v8.i dq.ng d.$.c bi~l cUa quy dsi.o cong ph:ing
thudng gi)_p nhu' sau:

Quy d0-o la dudng trOn b3.n kinh R. Kl1i d6 de) co11g k

= __:'.__

R'

bH.n

V'

klnl1 cong la hang sO p = _!_ = R va W =-=--.

k
.,
R

QL1y d00cong1:1. dud11g ellp c6 hai ban tr\lc a va b du9c m6 ti bdi

~

pJ-1u:ong lrinl1 quy tlao ::____

+L
a2
b~

1.

215

P/u111 lu1i. DONG HQC

6.4. V\ DI) MINH HOA

x::::Gt~+1

y ~ :it' - 1

(a)

(x tlnh b1\ng n1Ct t li11l1 bftng g1{1v)

lfil:v

x{1c

dinl1:

a) QL1Y d<:-o cl1uy&'n d911g cUa d161n:

b) G1(1 tri v<:1. l1Lidng cUa vectcl v:)n t.Oc:

Bi1i gidi:
a) Kl1U t tU h ph1idng t.rinh chu~'C:n d(ing (<1) la nl1(u1 du\lc pl1Lidng
trlnl1 quy d:~o:

:3

;Y

y~---

Quy d1.i.o 18. m9t phfi.n ci.la dli(:it1g th:in1g dU:(!C 1n6 lit tri:'n hlnl1 (11lnh 6.7).
D9ng dif1n xua'l pl18.t tli M,, (1, -1) (Ung vdi tl1di did1n x:uflt pl15.t
t :::: 0) vi'i. cl111yd11 dQng theo 11U:6ng M,,P ch <lAn 1a xa v6 l~11 kl11 lh(ii
giant l:\ng d&n.

vx '- " x

::=

12t:

V=Y=6t
."

lvl
~,Iv,' + v; = e,,/fi.t
'
~

(1n/s).

'

6i t > 0, V~

(hinh 6.7).

va

V, > 0 do vZl~ V lutin t:6 cl1i6u nhu: tri.''11 11lnl1

ca HQC LY' THUYt"T - TAP 1 PHAN TTNH HQC, DONG HQC

216

p
3

-1
/

M,

Hinh 6.7

c) Gia tOc du:qc xB.c dinh:

W, = X = 12 m/s 2'

.. 6 ms-.
/
W y=y=
Do v?y

1w1=6./5

m/s 2. Do

w~ va

WV

lu6n mang dUu dU:d11g nen

chiu clia vectd gia tOc lu6n c6 chieu m6 t3 nhtt trCn hin!i 6.7.

Vi d~ 2: Chuy~n dQng clla di~m theo dudng xo&n Oc 1n6 tii bd1 h~
phU:Cing trinh:
x

2t

}
2

y=-2t +1
z=t 2

(b)

-t

(x, y, z tinh b.ing rnet;

t tinl1

b~ng g18-y). Hay xUc dir1h c8.c th:lnh

ph::in gia tOc va ban kinh cong p theo thdi giun t.

Bai gidi: TU l1~ pl1tfdng trinh chuy~11 dc)ng (b) ta nh?n du\-ic:

l~liin /1;11: DQNG HQC

217

x= 2
-41
{iy == 2t
-1

IV\= ...;'2ot~ -4t + 5

(1n/s)

rx = 0
:Y = -4

i=2

\w\ = 2,/5 (m/~"J

\V =dV

'

2(101-1)

dt

\V - lw'
,-~

)zot'-4t+5

- W' -

dV -

I-~-

,-dt-\20t'-4t+i

Ban klnh cong

v~ c2ot~ - 4t + 5):%
p=-=------

J96

W,

NhU vG.;v' didm chu:v,dn d(ing vd1 giB. trj gia L({c to?t11 ph&11 13 h~111g sf)
nhU11g v(1n tOc, gia tOc tiCp tuye'n. gia tOc h{lp tuye'n v3 b.11 kinh
cong qu}'

d1;lO

ph\l thuQc v8.o thdi giant.

Vi dl;l 3: MQt di6'1n chuy~n dQng trong 1n~lt pf1:i\.ng thco hC p11tirJng
trinh:
X=asint

(c)

y=2acos2tj
(a 18. h8.ng s6, t 18. th di gian).
X6.c dtnh qu)i d0.0 v8. pl18.n ticl1 chuygn d(ing I r&n qt1y ct~o

Bai gidi: TU h~ phU:dng trinh chuydn dQng (c) La c6:

y == 2aeos2t == 2a(l - 2s111 2t) =~a-

4-x
a

ca HQC l y THUYtT - TAP I_ PHAN TTNH HOC, DONG HOC

218

Qu5 d;.io cht1yc'n dQng l;l. n1QL ph6.n cUa pa1abol m6 t~1 trbn hl11h 6.8.
Gi6i h1.tn c:Un parabol du'(jc x:'.1.c clinh tU phticing lrinl1 chuy[;n d(ing

dii cho:

lxl <C: a : 'YI< 2a

l3a11 cbl.u d611g d1e'n1 xu[{t

M {0, 2a)
0

pl16.t tU Af.,(O. 2a) sau d6

cl1uye'n

d1c'n1 A
rr

t -'-- l

v6

dQ11g

v<t t61 A

Til;p

d6

phia

lUe
,

d18rn

chuye'r1 dQr1g ngu\Jc l:~i

= n v8. tOi

qua M 0 lUc t 2

3rr
t. 1 = r6i
.
2

did1n B lllc

1<.ti

qt1ay'

f 1 =2IT.

10i
Qu<:'1

}ff"

Ille
trlnh

cht1yl;11 d(ing t1Cp then

du'Qc l~}p lf.1i nl1u: da nCu
vt\

diEi1n

cl1uy6n

Hinh 6.8

d(ing

tufln ho{i.n vOi chu k:.Y 2rr.

Vi dv 4: V0tA cl1uy&n dl)ng thf'o phtldng th;'\11g c\Ung nhti Jtlng v;\o
lha11l1 dltng cf) dinh v:l nOi vOi

S(_i"i

dftv

111[;111

Sau d6 truy8n cl10 d:'.iu dfiy B mQL vf:in tOc u

(1J

vit qun l'()ng 11:1e 0.

hl h&ng s6). Hay

x{1c

rtjnl1 vr1r1 tOc, gia ttlc cUa A tl1co u vi'\ x (hlnh G.9).

Bai gidi: Xet tatn gi8.c vu6ng (JAH ta c6:

x-=

,,'QA~ -a~

~(AB-ut)~ -a~

: (J.11 =AB - ut

(a)

(bl

219

J'ln111 h.:11: DQNG HOC

V=~~=-

u(AB-ut)

dt

-.JfAB-ut)~-a~

TU (b) ta suy ra:

Q AB=-.Ja~+x~

.@.

Do v(ty:

-I

'I

AIH,-

Gia t6c d.i6rn A:

dv

ru

,-,--~

iV=-=-- -'Ila
dt
dtlx
Tinh d;;io h8-m va chU

~x

_J

y:

u I ~ +x-"
x=V=--\Ja
x

Hinh 6.9

Cltl!ONG 1
,..?

"

CHU YEN DONG

Cd BAN

"

.;

CUA VAT
RAN

Trong chlfdng n<'i.y chU.ng ta k:hlio sDt hai dc~ng cl1uy!n d911g co b8.n

nl1Ut cUa v:@..t rdn: chuyii'n d6ng (inh tzen. v:J. chuyi/n dQng quay
quan}i tr!JC co' djnh. Hai cl1t1y~n d9ng l1<1y tl11.idr1g l1ay g<~!J trong
tht;ic te', trong c3.c ng8.nh ky thu~t. c6ng nghQ. NhUng ke't qu1i
nghi811 cllu trong chlidng 113.y 13 Cd sd d~ kh8-o s&t c8.c dq.11g cl1uy?;n
d(ing pl1ltc tsi-p hdn clla vij_t r~n. dOng thdi slt d\}ng <l6' phfin ticl1
chu:v@n d(ing phUc t(;lp th8-nh c3.c d1;1ng chuyc'n dQng cd b8.11 cUa v(1t 1&n.

--.

_,,

_.,:

7.1. CHUYEN DQNG T!NH TIEN CUA Vf!,.T RAN

7.1.l. DjNH NGHiA
C'.huy&n d9ng tinh tie'n cua vat r:in 1U cbuyf!n dQng sao cho n1bl
doi;i.n th:'ing ba't ky thuQc v~t lu6n 1u6n chu:y6n dQng song song vd1
chinh n6.
Vi d9 1: '1':11n bilng chU nhc).t A lrU:Qt lr6n Uu:d11g thiing 11:1111 trong
n1(it ph1'tr1g (xOy). A chuy~n d(ing tinh tili11. vi 1n91 dot_111 tl1t~ng MN
ba't k.Y ll16n chuy~n dQng song song vOi cf1i11h 116 (hinh 7.1).

_2_2_2___

__ _ _ _ _ _ _ __cCd"-"H~O~C~Ly~T~H~U~Y~~~T~-TAP I PHAN TTNH HQC. DQNG HOC

:/

0
Hinh 7.1

Vi d~t 2: Tf-in1 pl1~ng ABCD cl1uy611 dQng nlu'J cd ca'u tay quay !J
kh;lu (hinh 7.2). 'I'im ABCD rht1y~n dQng tjnh ti8n.
D~---------C

A\)-----------JB

Hinh 7.2

7. 1.2. TiNH CHAT CUA CHUYEN OQNG TjNH TIEN

D/n/1 ~V: Khi v(Lt r&n chuyi/n d(J1ig tjnh

chuye'n dQng gi6'ng h~t nha u, nghla ld

tr;ii

tien.,

dieln th11c vit

1nOi th di cti1lm vin t6(; vii
ni(Ji

gia t6(' ct.la Jn9i di<iln thu(Jc v{lt dliu b&ng nhau, quj d<;ro r:Ua m9l
ctif/m c6 thii' t.inh tiC'n df/ trUng khit ten nhau.

Giii sU vf).t r;~n (L) chuydn d()ng t1r111 tie'n so vdi he

qt1y chiCu (Oxyz). Ne'u la'y trC11 v~L ha1 di~m A, B bit k)' thi AB

ChU:ng

ni11ih:

lu6n chuy~n dQng song song vOi chfnh 116, do v:)_y AB= canst. Theo
(hi11l1 1.3):
(o)

223

P!ufr1 hui. DONG HOC

x
Hinh 7.3

Lf\.n ltiQt c.t:;i.o h8.m b(lc nha'l v8. b(u: hai c.tA11g t11Uc (a) thco l11di g1ar1
v:l cl1U

AB""' const la 11h(ln dtf(_Jc

( 7. l)

Do AB luOn song so11g vd1 chfnh r16 (filJ II A 1B 1 II A::B:: .. ) n0r1 n(;t1 la
tin11 tie'n quy d00 (r) cU.aA sao cl10A

=B

tl1l A 1 :::: B 1, A~= B~ .. , A,,= B.,.

Lile 11\ (l .. J lrU11g kl1lt Jen (f 10 13. quy d00 clla B.

7.1.3. NH,0.N XET

'l'U cCi.c tinl1 cha'L c!Q.c b1Qt cUa chuye'11 dQng tjnl1 ti({n la di tle'n ke'l
lu(ln.

K113.o silt chuye'n dQng L1r1l1 tie'r1 cUa Y0t r;in chi ciin l<hc"io s{1t

chu~rd11 dQ11g clla 1nQt dic'n1 Lflt kY lhuQe \'.fit.

c:hu_v@n dc)ng ttnll tiCn clla v~t r:in c6 Ll1& coi nl1ti 1nQt d1~n1
chuyC'n dQng ma thfn.

ca HQC LY THUYtT - TAP I: PHAN TINH HOC, DQNG HOC

224

_,_,
_,:
7.2. CHUYEN DQNG CUA VAT RAN QUAY QUANH

TRl)C CO DjNH
7.2.1. DiNH NGHiA
(~huy&11 dQng cUa v(i.t ri11 quay qttanh mQt tr\l_c cf) d!nh lii. n1Qt

chu!dn d:(lng ma trong sutlt qu:i trinl1 cl1uyc'n dQ11g tren v;)l c6 2

d16n1 lu6n luGn dUng yCn.

Vi d\l:
d1 qua 2 b~in

18 (hinh 7.4a);

C8.nl1 cU:a qua.Y quanh

Ta'm phng quay quanh lr1,1cAB (l1inh 7.!Jb).

tr\,lC

a)

b)

..

A.-

A
Hinh 7.4

--S
7.2.2. KHAO SAT CHUYEN DQNG QUAY CUA V/;T RAN
?#

--

a} P/1uo11g trinh chuJC/1 d(J11g

Gi8- sU: v@.tr~n quay quanh trvc Az (hinl1 7.5a). Dci xric dinh vi tri
cUa v~t t?i thdi didm t ta ch9n m$.t phiing (11 cO dinh va chlla trvc
quay l<'i.1n m$.t phiing gOc. DOng thdi g&n vao v<).t 1nc~t phc)ng (11)
chUa tr\l_c quay. Khi v$t quay mQ.t phhng (rr) cling quay theo va vi tri
clla r16 x6c di11h vi tri clla v~t. G6c nhi di$n giUa (rr) va (n 18. g6c qltay
<fl cllH vi~l. Khi v$.t quay Ll1i <fl bi8r1 d6i liCn tl,lc thco thdi giant:
0

(7.2)

1~11iI11 /1ui. DNG HQC

225

c)

b)

Hinh 7.5

Bi~u thUc (7.2) 18. phU:dng trinh chuy~n dQng quay clia vf:.t ra.11

quanh lr\J.C c6' dinh. G6c quay

thu:dng tinh bting rad hay sO v6ng

i:p

quay. Dd x8.c dinh chi@u quay clla v$.t, ngtidi ta quy u:Oc g6c

i:p >

nu tll di~m ng9n c\la trl;IC quay ta thf{y vf:.t quay ngti<;JC ch1u kim
d6ng 116 va {p < 0 kh1 ngti<;lc l<?-1.
b) VJ}n t6C gOc cUa v;Jt

D6 d(lc

trling cho chuy~n dc)ng quay clla v$.t r6n quanh mc)t tr\,l.C cO

dinl1 ngudi ta dua vao kh3.i ni~m vQ.n tOc g6c va gia tOc g6c. Sau
khoang thdi gian 6.t ::: t 1 - t g6c quay lp cUa v$.t bie'n d6i mQt ltiQ11g
C.lp::: '-Pi - tp. Ta go1~"'~
ty so -

w, 6 li't v~11 tOc g6c lrung binh cUa vf:.t

trong kho8.ng thdi gian 6.t. Khi f:..t ____,,. 0 thi

U\u ____,,.

w 18. v$.n tOc g6c

clla v?,t ti;ti thdi di~m t

. w tb = 111n -"'~
<o = 11m
_!./-;I)

\/--;() ~t

d~
dt

o ~

(7.3)

VQ.y v(1n tOc g6c cUa v$.t quay quanl1 lrl,lC cO d~nh c6 gi<i tr~ b8-ng
dfilo hilm b$.c nh:lt theo thdi gian c-Ua g6c qua.Y i:p.
Ddn vi d~ tinh v$.n tOc g6c 13. rad/shay 1/s 110:(.c s 1.

Tu (7.3) ta thay:

Cd HQC LYTHUY~T - TAP I: PHAN TTNH HQC, DONG HOC

226

.N"8u

NCu cu < 0 thi v(1t quay ll111$.11 cl1ie11 k11n d6ng h6.

uJ

>0th\

> 0 v(i_l quay ngli\)c ch1Cu kin1 d6ng he~:

quay (ngay ca kl11

tr1,1c quay di dQng) ngu'di ta bi6u di6n v$.n tOc g6c rJJ b<lng vectd v$.n
tOc g6c rD (hi11h 7.5). D6 18. vectdc6:
D~ bie'u tht dQ nhanh ch$.1n, ch1eu quay

d trCn

va trvc

tr\J.C quay:

IJl1Ud11g

Cl11eu sao cha tit didrn ngqn clia veclei iy la tl13y v$.t quay ngu'Qc
cl1ieu kim d6ng 116;

G ia,

, b'

tr! ang

d~
,
dt
=tr .

1'rong ky lhu$.t nglidi ta c011 hi~u <lien vfi.n Lflc g6c bking sO vOng
quay tro11g 1nQt phUl, k.Y 11i~u b<'ing n vOr1g/pl1Ut. Ta c6 bie'u thllc
lien 11$ gilia v$.n tOc g6c w v61 n:
211:n

nn

w" - - " - rad/s

60
30
c) (]iu Irle grJc

t)~ d1~c lr1tng cho s\]' biCn do'i clia v~tn tflc g6c Lheo tl1di g1ar1 ta c6
kl18.1 r111n g1a tOc g6c. KY hi~t1 f.. 'l\.idng tV nhti dOi vdi vQ.n t6e g6c:

'

d<u d q:i
E=-=--=<.U=<j)

dt

(71)

dt 2

V[J..y gia tOc g6c cU.a v$.t quay quanh trl,lc cO dinl1 c6 gi. tr~ b&ng d00
h8.1n b$.c nha't thco tl1di gian clla v$.n t6c g6c hay d:;i.o ham b<)c ha1
Ll1eo ll1di gian cU.a g6c quay q:i.
Don vi tinh gia tOc g6c 18.

rad/s~

hay

1/s~

l1ol}c

s-~.

Tuong tV nhu: v$.n t6c g6c, ta b16u diCn g1a tOc g6c b~ng vectd
NCu gQi
[ =

dw
dt

t:.

18. vectd ddn vi cUa tr1,1c quay z thl ta c6 W =wk. Khi d(i

k = k.

V.v
,,. vectd "<>"ia t6c g6c n{im tr8n true
, quav,
, cb16u

gi. tri ell.a n6 dU:<;Jc x3c dinh b6i dffu va gi. tr! clia

(hinh 7.5b).

V(\

/'/Jilli hui. D~NG HQC

227

D@ c6 dElu h1~u nh$n bie't tinh cha't cU.a chuy~n dQng quay ta x8t
,, -(wd
') . V'1 - d (w'l
dau

&

Khi

&

:::

2
=WE

, ta co, k''
nen
et I uan:

0 v?t riin quay deu;

Khi cu > 0 v?t riin quay nhanh dfin va khi d6 cling chieu vai
iii (hinh 7.5b);

Kl11

WE

< 0 v;).t rn quay cl1i~un d8.n va

r1gu'QC chi8u vcJi

(I)

(hlnh 7.5c);
d) C;ic chUJ'e'n d(Jng quay d;Jc bil

Chuy~n dQng quay d8u la chuy~n dQng quay ma v;).n t6c g6c c6

gi. tri kh6ng d6i (wu::: const). Vi w ::: 0\, ::: canst cho nen:
cp:::cp +wt

(7.5)

(<r" 18. g6c ban dfiu khi t::: O)

Chuy@n dQng quay bie'n d6i d8u 18 chuy@n dQng quay c6 gia t6c
g6c kh6ng d6i (E::: canst). Khi d6:
w:::w 0 +t

}
1

1n:::1n
'Y
't"O

2
+wt+-t
0
2

=in
~'0

.,

(7.6)

+w <l t-t2

G6c quay cp mang da'u (+) ne'u v?t quay nhanh d.n deu va mang
diu (-) khi v;).l quay ch$,1n dfin deu (wo va cpo 18. v;).n t6c g6c va
g6c quay ban dfiu khi t::: 0).
7,2.3. KHAO SAT CHUYEN DQNG CUA DIEM THUQC Vf!J

GiS. sU' c6 v;).t r~n chuy~n dQng quay quanh trvc z c6 d!nh. Ta lfiy
mQt di@m M ba't k.Y tren v$,t c8.ch tr\lc quay mQt da:;i.n CM::: h. Khi
v;).t quay quanh tr1,1c z c6 dinh thi di~m M v0ch nen quy d?a 18. mQt
dudng trOn tam C bin klnh h n.im tren m<).t ph~ng di qua C v8.
vu6ng g6c vOi tr\lc quay. Vi bie't trUOc d:;i.ng quy di;i.o clia di@m M

Cd HOC LY THUYtT - TAP I: PHAN TlNH HQC, OQNG HOC

228

nfn La sU' d1,1ng phlidng p11:ip t9a d(i t~i nh1C~n

ct&

pl1<'.in ticl1 cl1u:-'6n

d~n1g cl1a d1&n1 M.

<J) P/JU{J71f.{ tri11/1 chllJ'C/1 d(J11g

Cl19n mQL di&n1 0 tren du'dng trOn t.irn C b{in ki11h h l3-1n gOc Loa

dQ v:l cl1qn ch18u quay ngUQc chifiu kim dOng hO 18.m chi8u du'dng.
\Ti tri cUa diG1n M du'Qc xac di11}1 br'ii cung

OM= 8 = h<p(t)

(7.7)

bJ V#11 /Oc ell.a diC/11

Ta c6:

V= 8 =

h~ =

(7 8)

hw

Vf).y v(l11 tOc clla d1dn1 bf{t k.Y tr611v;~t1/111 chu:vdn d111g qua:v quanh
ti:~~1c cO d~nh c6 gi5. trt b:ing ticl1 sf) v(ln tOc g6c clla v;)t v6i kho<:1.r1g

cUch tit di~1n d6 de'n trvc quay.

H,

a)

b)

-v.,

,_
/

'

'

c)

V:-,'

'

'

'--"

'

'

"'

'

h
I

v:-

--l9:
o\W'
w.

" I

''

' - - M,,

x
Hinh 7.6

'l'ren hl11h 7.6b bi&u <lien sv ph..n b6 vi)n t6'c cac d1~m tren 1nii.t
pl1frng Vt16ng g6c v6i trvc quay Az. (~i{1 tri clla v*n t[lc tj IQ v6"i
k110.ing c{tcl1 h tU di~m kh8.o s.t dCn tr\lc qt1ay.

l'hdn hul. DONG HQC

c) Gi11

229

tdC cUa di<f/11

Di~m M chu:'{~ll dQng tren Ltlt('jr1g trcln t5m c bAr1 kfnh h nen lro11g
trudng 11Qp t6ng qu<it gia tOc cUa didm M c6 hai th<lnh ph~11:

w.~

==hr.:

W."1" == h(D

---

I.,
w:v1 = h "11+co '

11en

( 7 9)

TU dif;1n A tren trvc quay ta ve vectd A.i\1

VM
7 .2.4. KHA\

= c01\F;

W'N

1\F va

wn

= (0,\

Ta c6.

v = ctl,\(Gi.\i-')

Nl~M VE TRUYEN CHU YEN DQNG

111~

a)

c)

b)

"\'
v:-

=
=

~~

-==
V,= V, tga

V= Rtv

d)

e)

/]J;'\
0, R,

o~

(!).

_,&
to, - R,

.!!!J_ _

Hinh 7.7

w,=tt

CO HQC L'?THUYt"T - T,i\,P I: PHAN TiNH HQC, DONG HOC

230

ChU.ng ta da nghien cUu ha1 chuy6n dQng cd b3.n 18. chuy@n d9ng
tinh tie'n vii chuy@n dQng quay quanh mQt tr9c

c6 dinh. Do nhu cfiu

clla k:Y thu~t v:l c6ng ngl1 ngudi ta ph8-i dUng mQt sO cd ca'tt d~
truyCn chuy@n dQng. Truyn chuy@n dQng tinh tie'n th8.nl1 chuy~n
dQng tinh tie'n (hinh 7. 7a). Truyn cht1y@n d(ing tjnh tie'n thi'.tr1h
chuy~n dQng quay (hinh 7.7b). Truy11 chuy@n dQng quay thUnh
chuy~n dQng quay b:ing tie'p xllc (hinh 7. 7c), b:lng day c6roa

(hinh 7.?e), b:lng b8nh rang (hinh 7.7d)

C6ng thUc truyn chuy@n dQng:

R1w1

:=

R~w2-+ Ki~ == ~ = R2
w~

R1

z~

Z1

(7.10)

trong dO: R 1, R 2 - b.n kinh;

Z 1 , z~ s6 rang cUa cac bii.nh rang 1 va 2;

K 1 ~ - h~ sO truyn chuy@n dQng, mang da'u (+) 11Cu 11a1 bktnh

rang quay cling ch1Cu (tie'p xUc tro11g) va mang da'tt (-)
ne'u ha1 b8.nh rang quay 11gUQc chiCu (ti8p xlic ngo8i).
Vi dl).! V~t A chuy~n dQng tru't;:lt thee m<'.ll nghi@ng, nhd s<;Ji day

kh6ng diin truyCn chuy@n dc)ng quay cha banh xe kep (I), banh xe
kep (I) truy@'n chuy~n dQng quay cha b::inh xe (II) b~ng t1p xUc

ngo8i (hinh 7.8). T~i thdi di6m t vf!.l A c6 v$.n tOc va gia tOc VA, WA.
Hay x3.c dinh v$.n t6'c g6c cU.a b<inh xe (Ill) vD. v(in t6'c, gia t6'c cU.a
di~mM.

Theo cac c6ng thUc vC truyCn chuy@n dc)ng ta c6:

VA

Chieu cU.a

(\)1

va

W1

do d6

dw 1

=R;

W1

W2

El

El

WA

=dt=R

(a)

thu$.n theo chie'u VA va WA

Rz
W1 R)

= ---

R,

Va

(b)

231

Da'u (-)th~ hi~n cftc chi8u qllRY ngU:Qc 11hrru.

TU (a) vii (b) ta r1l1(1n dU:Q'c giti lri c1l:::i <l, v:\ c:_,

w. f,
M

W,

w_

Hinh 7.8

V,flr1 tOc va g1a tOc clla M du:9c x3.c d~nh thco c&c c6ng th Uc eel b~ln

R,

V..11 =R.,c0)
_ _ =-V,
R ,.,

R,

W, = R.,t..,
- - = -W,,
R ,

W )' +(RiV~ J'

lw] ~ (l !S_
R
M

R2R2

:t\hu v$y tc.ii mOi tl1di didm c8.c d:;ic trting dQng h9c clla cac b<:l.11h xc
(I) vU (11) dCu xftc dinh du9c theo v?n tOc vi1 gia tOc cUa v:}t A.

ClulONG 8

,.?

....

,..?

HdP
CHUYEN DONG
CUA DIEM

Trong chu'dng 6 ch-Ung ta d8. khrio s~it r:l1uyc'n dQ11g cUa d1d1n d6'i

vdi mQt h~ quy chie'u cO dinh. Chu'dng n:ly clrting ta kh:io f38.t
chuy@n dQng cU.a di@m dOi vOi mQt h quy cbie'u ma h~ quy chiCu
nily l<:i.i chuy6n dQr1g dOi vOi h~ quy cl1iCt1 cO dinh kh.c. Trong
chu'dng nay ta se thie't 1$.p n1fli quan 11~ giUa c;:'tc dl).c trtt11g dQ11g
h9c

V. W

cUa did1n dOi vdi

c{1c

h toa drl k.h<:'it.: nl1au. CO thd neu

in(it v31 vi d\l dinh tir1h nhu' sau:

Vi dv 1: MQt chie'c thuyn chu:yi'n dQ11g so vOi m{tt nu'dc sbng.

trong khi d6 m~t nu'Oc l~i chuyffn dQng so v01 bd s6ng (hlnh 8.1 a).

Vi d\l 2: Dc)ng di@m M chuy~n d(ing d9c tl1anh OA trong kl1i tl1anl1
OA quay quanh di~m 0 cO djnl1 (hinh R.lb).

a)

b)

!!l!l!//Ul<l!((<1U!Ul!l!f!{(({!/!rl!U<f(uu{(((({/

\\ ' " ' ' " " " ' ' t ' " " ' ' " ' " " ' " " ' " " " ' " ' ' " " " " ' '

Hinh 8.1

ca HOC L'? THUY~T - TAP I: PHAN TiNH HQC, 86NG HOC

234

8.1. KHAI Nl~M VA DjNH NGHiA

VE cAc LO~I CHUYEN DQNG
XCt

cl1uydn J:Qng cua

di~'1n M d6l v01 110 dQng
Oxyz, ct Ong th di h tqa UQ
nay cUng vd1 diem M l~i

chuytin dQng d:Oi vOi h~

tqa dQ cO dinh (J 1 x 1 .\' 1 .:,
(hinh 8.2).
Df11h

111:/1/;1

/:

Chuy~n

d(ing clla di4'1n M dOi vdi

h~ tqa

dQ cO d1nh 0

1X 1Y 1z 1

g9i Ia chuy&n dQng tuyt

dOi. Vi;tn tOc va gia tOc
cUa di61n M lrong chuy~n
dQng lt1y~t dOi gqi

tOc va

g1a

la

x,

v:'.).11

tOc tuy$t d6i.

Hinh 8.2

v" =cl_(O
M)= dr, =F
dt
dt
1

(8.1)

(8.2)
D/11/111ghia 2: Chu~'i!n dQng cl.la di6m M d6i vdi h~ tqa dQ dQng Oxyz

gqi 13. chuyJn dQng tttdng dOi. V<:i.n t6c va g1a t6c cUa di61n M trong

chUJ'Jn LtQng tlidng d6'i g9i ltl v;)n tOc vh gia tOc tttdng dOi. KY l1i~t1

V 1. W 1.
Ta ky h1~u i,j,k 13 c3.c vectd ddn vi clia cac tr\}c Ox, Oy, Oz cUa hQ
tqa dQ dQng Oxyz. TQa dQ ci.ia di~1n M trong h tQa d:Q nay 18. x, y, z.
Kb1 d6 vecto x8.c dinh vi lri clla d1~1n M trong 11$ t9a dQ dQng 18..

Ph1i'n hsi. Dc)NG HQC

235

OM= r =xi + yj + zk
(8 3)

Cac vectd

l,],k

la ccic v~ctd hiing

Dinh 11gl1ia .1: Chuy~n dQng cUa h$ t9a dQ d(Jng (g9i t~t 11) h dQng)

d6i vdi h$ t9a dQ c6 d!nh (g91 t~t la 11$ cO dtnh) g9i Ia chuy611 dQng
theo. Vt}n t6c va gia tOc cUa didm M trong chuyJn dQng theo g9i lcl.
v@.11 tOc va gia t6c theo.

Ky

hi0u Ve, W".

DJ lhie't l~p du'c;!c c6ng thUc ti11h v.$.n t6c theo vii gia t6c theo ta di.,fa
vao khB.i nin1 trUng dim M*.
Vf}y trUng diJm M* 13. mQt di6m

c6 d1nh nao d6 thu(Jc h$ dQng ma

t<.'li thdi di6m kh8o s3t dQng diJm M chuyJ11 dQng de'n trUng vOi 116.
V.$.n t6c v3. gia t6c ell.a trUng di61n M* dfli vOi h c6 di11l1 tc~1 thd1
di@m kh8o sat Ia v.$.n tOc va gia tOc tl1eo:

V,.

= V.u : W" = W,w"

Ta c6:
0 1 M*=0 10+0M *=0 10+x*Z + y*] + z * k

d di
d]
dk
V, =V1,1 =-(0 1 0 ) + x * - + y ' - + z ' "
.
dt
dt
dt
dt
Do:
x(t):::: x*(t); y(t):::: y*(t); z(t):::: z*(t) nen ta c6:

d dZ
d]
dk
V =VM=-(0 10)+x-+y-+z"
dt
dt . dt
dt

d' d'i
d']
d'k
W, = W.w = dt' (0,0) + xdt' + y dt' + z dt'

(8.5)

(8 6)

236

CO HQC LY THUY~T TAP I. PHAN TTNH HOC, JONG HOC

~~~~~~~~--~~~

Khi gi3-i c:ic b8.i toftn 8-p d1.:1ng ta tl1tidng dUng chuytin dQng lu'dilg
c!Oi cU.a di6n1 M l<:~i tren 119 dQng, :oau d6 tinl1 vi;l.11 tOc vi\ g1a lflc cllft
di61n l\1 doh~ dQng chuyi!n dQng d:Oi v6'1 ht; cO clinh gf1y ra.
P/1J11 tich c:ic

ti du:

'rrong vi dv 1 (hinh 8. la):

V(l.n t6'c va gia tOc cU.a tht1ye'n so vOi bd s6ng l:l v~n t6'c v/i. gia t6C
luyQt ctfli Va, Wa

V(1n t6c va gia tOc cU.a th11yer1 so vdi 1n:fi-t n1itJc lii v(ln tOc va g1a
t6c tlidng dOi V,_, W,.

V(1n tOc va gia tOc cUa nu'Oc so vdi bd s6ng 18. v~n t6c va g1a tOc

theo Ve.We
Trang vi d\]. 2 (hinh 8. lb):

Quy d~10 tU(jng dOi hi do~1n thiing OA (f]tlY tich clia c{1c
di6'1n M vC tren tha11l1 OA)

Trling di<!;m M* 13 dim cO dinl1 thu(ic thanh QA

vi

1113.

t1i rn~1

t~_11 thdi

dim khB.o sat di&m M cbt1y~n dQng de'n trUng vOi n6. 1'rU11g

did1n lu611 lu611 thay d6'i Lr811 OA.

Quy d:;i.o tt1:1.:t dOi 18. du'dng xob.11 Oc lrung 111(1 l pl1A11g cfl dinb
chUa OA.

8.2. D!NH LY HQP v.A.N roe

8.2.1. DjNH LY
'l':;i.1 1n01 thdi d1~1n. v<).n to'c tuyL dOi ci.'u1 d16n1 bi'ing t6'ng l1lnh hqc
vf).n t6'c tUdng d61 v:\ v$.11 t6'c Ll1co:

V,,

V,. + V,,

f'/Ji111 /J;1i. DQNG HQC

237

ChUng minh: TU hi11i1 8.3, ta c6:

(8 7)

x,
Hinh 8.3

D00 h3.1n bie'u il1Uc (8.7) theo t La (J:tlQc

dF1

dt

d[

d]

dt

dt

dk
dt

dx -:
dt

dz dt

dy -:

= -(0 O)+x-+ y--+ z - + - i +-- J +-k

dt

'

dt

T11eo (8.1). (8.3) va (8 5) ta duqc:

(R.H)

Djnl1

ly tlu"dc chUng minh.

8.2.2. Vf D~ MINH HQA

Vi d9: DOng s6ng chii.Y vdi

v~n tf)c V c6 gi.i tri kl1611g d6'i. l-ia1 bd

s6r1g c>ong son.g i1]1:::1t1 vcl. c6.cl1 nl1at1 1nQL lzi103ng h (111.11]1 8.1). ~gttdi
ta lfl.i inQt con tl1t1:-'611 qua s6ng vdi v(in ttlc ltitil1g d:{{i U.
X.c dinh hUdng clia v<').n tf)c il dk thdi gian sang s611g
nha't. Vdi dieu ki11 d6 x.ic dinh

vi

ta

ngfin

tri c(1p be'n clia thuy6n.

Biii gidi: Xet cl1uy~n dQng clla tl1t1y6n: 11~ cO dinl1 0 1x 1y 1. H9 dt)ng
ta d.Ong 11u'Oc. Chuy6r1 d(n1g cUa tl1t1yCn d6"i vdi bd srir1g 18. cl1t1yii'n

Cd HQC LY THUYt"T - TA,P I: PHAN TTNH HOC, EJQNG HOC

238

dQng tuy~t d6i. (_;huy~n dQng clla thuyen dOi vOi dOng nUOc Ia
chuye'n dQr1g tliong d6i va V,. = U vB. Y';.

Tl1eo dinb

Iy h<;Jp

V.

v<)_n tOc
(*)

V,,, = usina + V

va V,,-" = ucosa

Ta tich pl1i.n 1811 vOi diCu ki~n ban d:iu:

Kh1 t = 0, x(O) = 0, y(O) = 0 ta du<Jc

X = dx = usina + V
dt
y

~x=

(us1na + V)t

= (ucosa)t

Kh1 Lhuy811 c:lp bCn thi y

a)

y,

= h = (ucosa)t

-.-,) t

_h_
uco.;a

x,
Hinh 8.4

Ne'u a= O Ll1i cosa

= 1 -> t "''"

-~

v~ tri c$.p bn clia thuyCn se Illi xuOng phia hi:t luu mQt do~r1 so v6i

. tr1. xuat
,. p h,at l'a x = -v h .
u

v~

1~hu11 l1i1i. DQNG HOC

239

8.3. DjNH LY HQP GIA TOC

8.3.1. >!NH LY 1

Tqi' nir'ii thiJi die'ni gia t6C tuyijt d6i ctia die'm bdng t(/ng hinh hqc
gia t6C titdng d6i, gia t6C theo va gia t6C K6ri6lit:
(8.9)

ChUng minh: Theo hinh 8.3, la c6:

0 1M

0 1 0 +xi

-t-

y] + z}~

(8. J 0)

Dao ht\m bi@u thUc (8.10) tl:1eo t hai 18.n. LUc nay x, y, z va i,j,k
dCu b1e'n deli. Ta c6:

d' ~
d~-l
d 1 )--:
d'k. d' X-:- d' y--: d' Z d' -- ( 0 1 M)=-(0
O)+x-+
y
+
z
- - + - l +-J-r---k+
1
1
1
1
dt 1

dt

dt

dt

dt'

dtL

dt~

dt

.\

_,_ 2 cl:x cli_ + dy dj + d~ dk I

I, dt dt dt dt dt dt 1

dy-d]
dz-dk)
Go1. -WK =2, [dx
- -di
++- va..theo (8.9). (8.10) va (8.G) la
.
dt dt dt dt dt dt
.
c6 difiu phiii chling 1ninh:
(8.9)

8.3.2. CONG THUC

xAc >\NH wK

Kl1i h~ dQ11g Oxyz chuy@n dQng quay qlta11h tnQt tr\lc v01 vQ_n tflc
g6c w" thi ta c6:
(8.11)

TU (8.11) la tha'y ne'u h~ dQng chuy@n d(rq, t\nh tie'n thl WK = 0.

Khi d6:

(8.12)

ca HOC Ly THUY~T TAP I: PHAN T1NH HOC, BQNG HOC

240

8.3.3. !ljNH LY 2

Ne'u h? dr)ng chuye.'n df)ng t_inh tiC'n thi gia t6C tuyt d6i cUa diJ'm
tq.i ntOi th(Ji dit]'m bling t6'ng hinh hoc gia t6C t/.fdng d6i vd gia
t6C theo.
TU (8 11) ta tl1Cly WK
o:::

:=

0 khl

0 h~ di)ng cl1uydn dQng Linh lie'r1:

<1)"

V,. //ru"

w:
v:

W,

W.

v:-

w.

;r/]

Hinh 8.5

Hinh 8.6

Quy t:\c thtjC h8-nh x.c dinh WK :

Trudng hQp V,.

J_

w" (hinl1 8.5). Ta qt1ay vcctd V, quanh vectd

z;;:

Lheo chieu quay cUa

cUa

Wx.

(JJ,.

di 1ni)L g6c n ta c6 phudng cl1i6tl

2

Trudng hQp V,. va (\)" hQp vOi r1hau 1nQt g6c a<% (hinh 8.6) ta

pl1fln tfch vectd V,. thanh V,.1 va V,.~ sao c ho V,.1 1- w,. cOn
V,~ II w,.. Sau J.6 quay V1.

quanh

(J,.

tl1co cl1ieu q1..1ay clia r16 di

m()t g6c ~ La c6 phu'dng chiCu ell.a WK .

241

f'h1in haL DQNG HOC

8.3.4. Vi

DV MINH HQA

Vi dl). 1: Lang tr\l tam gi.c OAB chuy~11 dQ11g t!nh tie'n tren m:;it
ngang vOi gia t6c WA :::: 3 1n/s~. DC?c theo m~t nghieng, v~t D trUQt
xu6ng theo lu~t s = 2f (s tinh b.ng met, t tinh b.ng gifiy), nhd lien
ke't day v&t qua rOng rqc 0 18.m vi).t E cl1uy6n dQng theo phuong
thiing dUng (hlnh 8.7a). Hay x:'i.c dj11h gia t6c Luy~t deli clia D va E
tQ.l t = 2s, cha a:::: 60.

b)

c)

T-7-w:-

_I__\;;,

W,
A

'

Hinh 8.7

Bdi gidi: H~ dQng 13. 18.ng tr\l GAB chuy~n dQng t1nh tie'n. D va E
18. hai di6m chuy~n dQng phUc hQp. Ap d\lng c6ng thUc:

d d.y:

wr = s =

4 m/s~;

w~ = w~ = w,.

w. = WA = 3 mis~;

w~

= w~ =iv,..

Do vi).y ta nh(l.n dUQ'c ke't quii. theo hi11h 8.7b va hinh 8.7c tUdng
Ung 13.:

~ ' +W ' =5m/s-.,

W E =W
"
r

Vi dl;l 2: Xe con A clla can cftu chuy~n dQng vdi v(l.n tOc khOng d6'i
Vr = 2 m/s. Can cftu quay quanh tr\lc Oz vdi vi).n t6c g6c khDng d6i

Cd HQC LY THUYtT - TAP 1 PHAN TTNH HOC, DONG HOC

242

:m

n = --- vg/ph (l1inh 8.8). Hay x<:'tc dinh g1a lOc ll1y~t dOi cUn xc A

kh1 OA= 2 m.

Bili gidi: H~ d9ng la ctln cti'.t1 chuyc'n d(n1g quay.

hcjp gia tOc:

Ap dung cOng tl1Uc

Wo=Wc+W,-+WK

_,,
lrong cl6:

\V ,.

W ,. ; W,.n =

OAi,i~:,

W ,-

0 (vi V,. 18. bAr1g :=o6)

cc'in IV(''

-o

0 do

(Ll

=-con st

Theo (.1.8):
Wa=WA+W""+\VK

IW,, 1~J(0Aw;)'+2(w .. V,J' =fl~l6=m=1.47m/s'

.Thay OA :::: 2 m, vr = 2 mis,

30 2rr
(!)" : : : - . - - : : : :

"

60

1 ratl/s, ta nhan d:lidc

.
.

k:e't qu:i

v-

( 0,

w:""

u
Hinh 8.8

v-

Cltt!ONG 9
~

CHUYEN DONG
SONG PHANG

CUA VAT
RAN

"

...:

'frong chltdng 7 ta dU kl18.o sc'it ha1 dsi.ng chuye'n dQng cd b<.'ir1 clla
vQt riin Chuong nUy cl1Ung ta k!1iio s5.t chuyfh1 d(h1g song phhng
cUa v(lt r::)n 13 d<_lng cl1uyf;n dQng tl111dng g~)p lrong ddi sOng v8

ky

thu;~t.

9.l. DjNH NGHiA

VA Vi DI)

9.1.1. E>jNH NGHiA

Chuyc'n d{)ng song ph~ng clla v~t r&n 18. n1Ql chuy@n d(ing 111~1
trong d6 m6i di6'm thuQc vQ.t luOn luOn cl1uy611 dQng trCn n1Qt n1;)L
phJng song song vdi 1n1~t pl1~ng n" c6 dinh cl10 trlidc.

9.1.2.

Vi D~ MINH HQA
1. M(>t bS.nh xe chuyJn dQng Ian kh611g trLfQt tr&n 1nQt rtudng
th&11g n.111 ngang. Chuye'n dQng cUn bftnh xe nc'i.y 1<'1 cl1u.vc'n
dQng song ph<~ing (hlnh 9. la).

244

CO HOC LY THUYtT TAP I: PHAN TlNH HOC_ El0NG HOC

2. C~d ca"u thanl1 truy611 tay qt1ay c6 thanh truyC11 AB chuy@'n dc)ng
song phii.ng (hinh 9.1 b).

C\

a)

,,,,,,,,,,,,,,Q,,,,,,,,,,,,,,,,,,,

Hinh 9.1
-

..:>

.?

9.1.3. MO HINH CHUYEN DQNG SONG PHANG

X6t n19t vQ,.L r~n L chuy6n di)ng song ph:ing. Lfiy dOQ.11 th:)ng AB

bi'lt k:Y thut;>c v~t ril.n

L sao cho AB 1- n

cO dinh. Vi

L la v(1L

r~n nen

AB:::: canst. ~(>L k118.c v?t L ch11y~11 di)ng song pl1i11g nCn ck1c di4'm

A vi\ B lu6n lu6n di chuy~n trong 11ai tni~t pl1tng song song nb.au.
Vl v1y AB ]u6n lu6n so11g so11g v6i vi l1l ban dfiu cU(l_ n6. cho i1E'n
chuyc'n dQng clla AB 1:1 chuy@n d(lng Linh t1C:n, clo d6 chuy@r1 dQng
ciia doQ.n AB di.tqc d?c tru'.ng bdi chuy&'n di)ng cUa didm M lil_ giao

didm cUa AB vdi m?t phng n song song vOi 1n?t phii.ng n" c6 dinl1

(hinl1 9.2a). Ta coi vc).L

L. la

l~p

l19p clia

c[H'

do9-n AB cl10 nen

chuy&'.11 dQng song ph&ng clla v~t ~ dUcjc di)c tr-Ling bdi cl1ltyfir1 J:Qng
clia 11i11l1 phii.ng (S) 13. liCt di~n cll;:i_ Y(1t

L vOi in(l.t phii.ng re. Nhu'

v~y vi~c khiio s.t chuyn d(n1g song ph1ng ell.a v$.t r&n trong

kh6ng gian du'Qc dtta ve khiio sat chuy@n dQng ph~ng ell.a }1inh
ph&ng (S) trong mf).t ph&ng

11

(lYinh 9.2).

1~1uin //;1i. DONG HOC

245
b)

y,

'
M

x,
Hinh 9.2

_,

9.2. KHAO SAT CHUYEN DQNG CUA VAT RAN

-

.?

_,

9.2.1. PHAN TICH CHUYEN DQNG SONG PHANG THANH CAC CHUVEN
DQNGCOBAN

xet

cl1uy@n

d6ng clia

hlnh phAng (S) tro11g

y,

mQ.l pl1A11g 11 (l1inh 9.3).

Cl19n h~ cti djnh 0 1x 1y1
vl1 g-<'.ln vi'l.o l1ir1h pl1Ang

(S) do:~11 AB. Vi tri do111

AB x:ic dinh vi tri l1inh
pl1Ang (S) dOi vOi 11~
0 1x 1.y 1 r-...1~t kl15.c vi tri
dO:}ll AB du"cjc: xac ttinh
b6i tyo. d0 di@1n A (xN

(S)~ ~

--~~

YA) vii. g6c tp. Bt:iy gid

ta giin vao A h~ t9a

dQ dQng Axy sao cha
Ax I I 01x 1, Ay I I 0 1y 1.

Hinh 9.3

CO HOC L'Y' THUYt:T - TAP I: PHAN TiNH HQC, l(,1NG HOC

246

Chuytin dQng cUa hinh ph5.ng (S) ctuqc ph8-n tich thilnh ha1 ehu.vJn
d6ng ll11J.nh ph::i.n:

Chuy~n dQng tinh tiCn cling vOi h~ dQng Axy so vOi h$ cO dinh
01X1Y1

Chuytin dQng quay quanh A cUa hi11h pl1Ang (S) dOi vdi hG
dQ11g Axy.

N11Li v(1y cl1uy6n dQ11g song pl1Ang cUa v1}t r8.n baa gi(':J cling c6 tl1e'

phfrn tich dlf<;Jc lh8.nh l1a1 cl1uyCn dQng cd bii11: chuy6'n dQ11g quay
LUdng d6i quanh C\fC A thuQc v~L d6i vdi h$ dQ11g Axy

va

el1uyifn

dQ11g tinh tii'.'tn clia h$ dQng Axy cling vdi ct;tc A dfli vOi h~ c6 dinh
01X1Y1

9.2.2. PHUONG TRINH CHUYEN !lQNG

'I'll stj ph8.n tich d tren thi vi tri cUa hinh phdng (8) dfli vOi 11$ cf)
djnl1 0 1x 1y 1 dtic;Jc xac dinh bdi 3 Lh6ng s6' djnh vi. D6 lli g6c ~1 d~ x<ic
dinh vj trl cUa hi11h phing (S) hay do<?-n AB trong ci1uy6n d.Q11g
tlid11g dOi qua:v quanh A vii c<l..c t9a dQ (x.'1, y,1) U6 x3.c d!nh vi til clia
h()' d(l11g Acy d6i v61 h$ cf) dinh 0 1x 1y 1 Kh1 hi11h phfing (S) cl1uydn
dQng thi cac th6ng sO dinh vj nay biCn deli liCn_ tvc theo thdi gian t.
Vi/}.y phu'dng trinh chuy~n dQng song ph&ng clia v~t riin 13.:

9.3. KHAO SAT CAC DIEM THUQC

V~T

Xet chuy~n dQng cUa d1~1n B ba't kY thuQc 11lnh ph&ng (S). Ta JRy
<li61n A nao d6 l3.1n c-i~c rO-i bi~u dl~n cric d~c tru'11g dQng h9c cUa B
theo ct;ic A. D1~1n c\(c A c6 t116' ch9n ba't kY song t6t nha"t nCn ch9r1
di~m d8_ bie"t dtit.JC mQt v8_i dQ.c trting dQng h9c.

247

l'l11i11 /Jui. DONG HQC

9.3. L

xAc DiNH v,i..N roe DIEM

I\'htt c'.I lre11 la dii phfin Lich c:l1uy@n d(ing song pl1:ing clin hlnh
pl1.ing (S) Lh<lnl1 11ai cl1uy~n J:Qng Ll1;\nh pl1:ln cl1uy8n d(ing quny
ti.tong dOi cling v6i hinh ph:1ng (S) quanh ctfc A va chuy~n dQ11g
t!nh tie'11 theo cU11g v6i ctfc A. Kl1i d6 v(lil tOc clia di;1n B tlrl'i vCii h~

c6 dinl1 0 1x 1y 1 (l1inh 9.4) 18. vf:tn L()c Luy~t J:f)i V" . V~n tOc clla rt1~1n
B cUr1g v6'i l1lnh ph.ing (S) quay quanh ctfc: A I?t v<~n tflc tUdng d6'i

v,.;;; VRA

0.--------~x,
Hinh 9.4

Do chuydn dQr1g theo la cl1uy~n d(l11g t!11h liif11 cling vOi cl,l"c A nCn

Ve =VA . Theo d!nh I:Y hrjp vEtn t6c:

G1::'t tr!. pl1u'C1ng ch1eu cUa Vu,1 dUql" x6c djnh 11]11.i :sau. \!cctd V 8 .1
c6 pl1u'Ung vt16ng g6c v61 BA, c6 chiCu thco ch16u cUa w v:l g1{1 Lr!
bar1g BA x w.
V(ly v~n tOc clla di~m B b8.'t k)' thu(ic h'inh pl1~ng (S) b1ng t6'11g
l1inl1 119c cU.a v(ln tOc ct;ic A va v(ln tOc clia d1&1n B trong ch11yf;n
dQng quay cUa hinh pl1~11g (8) quanh eve A.

Cd HQC LYTHUY~T - TAP I: PHAN TTNH HOC, EJ(:ING HOC

248

Nhu vf}.y khi bie't v$.n t6c g6c ci.la hinh ph~ng (8) 18. (0 va v~n t6c
clia ct;[c A thi c6 th@ x8.c dinh dUc;!c v$,n tOc clia di@m B b:lt ky theo
c6ng th Uc (9.2).

9.3.2. lliNH LY HiNH CHIEU VAN TOC CUA HAI lllEM

Djnh lj: Hinh chiitu v("in t6C hai diii'm bfit ky thui)c hinh phdng Zen

dor;tn th&ng n6i hai

die'm d6 thi being nhau.

Chling minh: Vdi hai di@1n A v8. B bflt ky thur)c l1inh ph:lng c6 vi~n
t6c VA va VB. 'l'heo c6ng Lhlic (9.2) la c{J:
VB= VA+ VBA
Chie'u ct&ng th-Uc nay len AB ta c6:

Do V 8 Al.AB nCn he AB V 8 A = 0 (hinh 9.5).

y

x
Hinh 9.5

Hinh 9.6

(9 3)

Vf).y

Dlnh l.Y hinh chie'u v~11 t6c bidu di5n bdi (9.3) cho ta x8.c dinh dttQc
v$_n t6c cUa di~m

B bit k.Y khi bie't phUdng vf:i,n t6c clia n6 v:l bie't

v;'.l.n tOc cljc A (hlnh 9.6):

VA sin a= V 8 cos a-> V 8 = VAtga

1~1uin hui. DNG HQC

249

9.3.3. TAM V,il.N TDC TUC THO\

a) lJ_inh ng/1ia: '1'8.m v<).n ttlc tile thd1 la mQt di~1n

P nao d6 thuQc l1inl1

ph~ng (S) ma ti?-i thdl di6m kh8-o sat c6 v~n t6c bhng: 0 ( V p = 0).
bJ Ch1i11g 111inh .~1r t611 t~1i cUa !8111 Y~ln ftfc lti~ t/1i1i

C;i{1 sU ti~l thdi di61n t nao d6 la c6 vf:.n tflc cUa

C\fC

A 1a VA va vQ.n

tOc g6c clla hinh phing (S) la w. Quay quanh cy'.c A nlia dtidng

th~ng chUa vectd VA thco chiEiu quay clla co di m6t

g6c ~ ta c6 Ax,
.
2

1vA1

tren Ax lfly d11n P sao cha AP :::: - - .

De d8.ng nh~n tbfly rilng

Vp =VA+ VPA =VA - VA= 0 (hinl1 9.7a).

Nhu: v~y t:;ii mOi thdi di~m tr8n hinh phftng (S) tbn L0-i duy nha'.t
tam vQ.n we tile thdi P. Ne'u ch9n p 18.m c\]'.c Lhl V~l1 tOc c-U.a di~m M ba't
ky tren hinh phi:ing ti;ti thdi di~1n d6 dUQc x8.c <linl1 theo c6ng th Uc
VAi = Vp + v.WP nhting vi-'

a)

b)

v:-

\~

nen v,\J

-;--= ()

v.Mf'

(9.1)

~
N

\7."' \

.....

~
w

\/,,

Hinh 9.7

Do
VMlMPva V,w

VAtP

MPx

Vl

(a)

CO HQC LY THUYtT TAP L PHAN TTNH HOC, JQNG HOC

250

DOi vOi di~1n N ta cli V,v = VNI' 1n8. V,vlNP r1ln girl. tri

v."'
TU (a)

v."iP

(bl

NP x w

va (b) la c6:
(r)

MP

NP

= ___M_ = _____!!__.

(9.5)

Nghla Ji\ v?n tOc cac die'1n tr6n h'inl1 pl1~ng (S)

t,Y

1 v6i lzltu<:1ng

citcl1 tU Ui6m d6 de'n t8.1n v<~n tOc t(ic thdi P (l1lnh 9 7b).
Theo c611g thlic (9.4) tl1i v?r1 tOc ciic d161n tr'n 11inh phlJ.ng dL(QC x{1r:

dinh giflng 11hu v$-n tOc cac di~tn tht10c v(tt r:in cl1t1y&n dQng qt1ay
quanl1 lrt;ic tile th{J1 di qua tri.1n v?n t[lc tile t!1d1 P.
c) .\';ic <l/11/1 t:.i111 1~i11 t(/c /tic t/10i 1~

'I'll c<ic ke't qu~1 nh$.n du\lc d trf~n ta tl1f{y vai Lr0 qunn tr911g clln
vi~c xac dir1h tam vQ.n tflc tUc tl1di Iii: kl11 da bie'L t:Jm V(~l1 t{)c.: tile

thdi P va v?n tOc g6c oJ clia hinh phiing (S) thl vf!.n tOc c1c rtiS1n
du\Jc ti1n tl1fly <lg d8.ng theo c611g thlic (~J 4) 1n1't kh6ng cil.11 ph:'1i slt
dvng cbng thilc vectd (9_2). Quy t:ftc thtic 118.nh

x{1c

J:inl1 tftn1 v(tn

tOc tile tl1di P dun tr8n tir1h chf-lt cu bc)n ];\ die'n1 P pl1ii.i 11.htn tr~11
dtidng thii.11g vu6ng g6c vdi phlidng Y(1r1 tOc clla die'n1 thuQc hlnh
phil11g va gi. tr! v~n tOc

I~ vdi khoH.ng c<icl1 t-U die'1n d6 Ue'n t6.1n

vQ.11 tOc tUc tl1di P. Do d6 c6 th~ litn t5.1n v(i.n tflc tile thdi P thco quy

t.Y

t.ic thy:c l13.11h 11hti sau:

Tr1iiJng h\i 1: I3ie't n1(it d1[;1n L1l1n ltiuh ph/111g c6 v(111 lllc b~u1g 0.
Kl1i 11inh ph;~ing chuye'n d(ing IC1n khti11g trr!Qt lrn n1Qt dli('J11g
hay m:;i.t cf) <lir1h thi die'n1 tiiSp xU.c c6 vQ.n LOc tile t!1di b1\11g 0 (vi
c<'tc t18p di@m cU.a hai vf:tt khi khbng trtfQt tren r1l1au pl1i'ii c6
cling vQ.11 tOc 1n3. vQ.t thU 2 10-i cO dinl1), v(1y diG1n t1Cp xi._1c cua
v(lt vdi m~t tlja lil. t81n v(ln tOc tlic thdi P (l1inl1 9.8a. L).

Trtidrig hr;Jp 2: B1Ct v(1n ttle di61n A v:'i. phlfdng v;~n tOc cUa dif~-111 B.
Pl1uor1g vQ.n tOc

cUa A v:l B kl16ng song song nhai._1 (l1inh 9.8e).

PJ11i11 h;1i. Dc)NG HOC

251

Dl,ia vao ti11h chit VAlAP va VnlBP. TU A va B ta k6 cac

dUdng vu6ng g6c vOi VA vU VB. G1ao dic3'n1 clla cl1Ung li\. tii1n

v$n tOc P.

TrU:dng h(!p 3: Biet vi).11 t6c cac di~1n A vi\ B c6 pl1tldng song song
, h ch''
,
d'~
,, cI tldr1g
,
n l iau. D o t1n
at -VA = -PA ta t h,
fl\' p \'a g1ao
1em cua

VB

PB

AB vdi do:;i.n n6'i cac d5.u 1nllt cac vccld VA vft V 8 (hinl1 9 Bd, e).
NC't1 giao di~m P Cl v6 cUng. hii1h phAng cl1uy~n dQng tj11b til;n
tile thdi ll) ~ 0 va VA =VB (l1ii1l1 9.8g. b)

d)

c)

b)

a)

v:

v,

II,

v:
g)

h)

e)

V,

v.

v.

v.

V'' I

v:

V,=Vs

ro=O

Hinh 9.8

P,

w:::Q

Cd HOC L'? THUYtT - TAP I: PHAN T[NH HQC, DQNG HOC

252

9.3.4. XAC D!NH GIA TOC CUA DIEM

X3.c di11]1 gia t6c clia di~1n B bf{L k)' LrCn l1inh phf111g (S) theo gia
t6c cl;ic A la dt;1a tren cd t0d pl18.11 Llch cl1uy~'r1 dr)ng r:Ua di@m B t1Cn
hlnh 9.9. Lile nay dim B dOng thdi tham gia ha1 chuy~n dQ11g:

Chuy~11 dQ11g Linl1 Lie'11 Lheo h dt)ng Axy (c<i C\IC A):

Chuyfin dQng cling 11i11h phiing (8) trong chuy&'n dQ11g quay
tlidng d6'i qunnh h dQng Axy (c6 ci,ic A) v6i v:;tn tflc g6c w va gia
tOc g6c _

/B

/~
A-=-

W:

Hinh 9.9

'fhco c6ng thUc hQp gia tOc W,, = Wr + YV., , IV/{ trong d6 vai trO clla

wa

18- WB, WC la WA (h dQng chuy<in dQng tinh tiCn va La chQn

A l:l1n cue). Vai lrO W,. l<\

g1a

ttl'c cU:1

d1e'1n B Lrong cl1u_v&n d~ing

llid11g clOi cUa hinh ph~ng (S) qt1av qua11l1 cue A. KY biu W 8 t1.

COn lV K

0 vi 11(: dQng c11uy~n dQng ti1)l1 tiCn.

Ta c6:

(9.6)

l'luin /1i1i. DQNG HQC

253

Ket Jua11: Theo c611g thllc (9.G) va c.3.c rninh hQa tren hinh 9.9 ta
thiy rnt10n tim g1a tOc d161n B btlt k.Y tren hinh ph<ir1g ta cfln ph1l1
hiCt c:ic ye'u t6:
t6c Cl}'C A (WA ),

c;1a.

Gia t6c g6c

Kl108-ng c.3.ch AB.

va vl)_n tOc (\) cUa hinh phi11g;

Kl1i eta biCt c:ic yCu tO neu tr8n, vi~c x1l.c dinh gia tOc di~m B Ltit k.Y
du\Jc x{1c dir1h theo c6ng tl1Uc vectd thOng thtidng. 'l'rlidng hr)p
kh6ng thC: xcl.c dinl1 try:c tie'p dtiQc gra tOc g6c c nhling l?i bre't du'c.Jc
pl1UUng clia gia tflc W 8 ell.a di6m. Khi d6 ta c6 th~ chiCu d~r1g thllc
vcctd (9.6) Jen hai phlidng n3o d6 d0 duqc 11ai phlidng trinh di.~i sO
xac dir1h 11ai &n s6 l:l

vA WB .

9.3.5. TAM GIA TOC T(/C THO!

a) iJ/n/111ghia: Tam gia tOc tUc tl1di li'l rnc)t d1f:1n

ph.ng (S)

Q 118.0 d6 thuQc l1inh

ma t<;>i thdi di~m khiio sat c6 gia tOc b.ng 0 ( WQ

= 0 ).

Ne'u Q Ia tam g1a tOc tile tl1di. ta liy Q li'un clic, kh1 d6:
W!\!

W({ + W"If(/ +IV'M<i

~IV"

11</

+IV'.\/</ (do Wr; =0)

W"MQ = MQo/; IV'M</ = MQs

>Jen

WM = MQ~ 2 + w1
tg11 =

J1,
w

Vf).y gia t6c ell.a di&m tren hlnh ph~ng b{ing gia tt}c cUa 116 khr hi11h
phftng quay quanh tftm g1a tOc tUc tl1di Q.

Gia tri gia tOc cac di~m tren hi11h phAng tY I~ vOi khoUng c:ich tU
cl1Ung de'n t3.1n gia tOc tile tl1di Q:
W,\.f = W,v = W1
MQ NQ IQ

_ ...

= ~<::2

+ ruI

254

CO HOC LY THUYtT - TAP I: PHAN TTNH HQC, EJONG HQC

b)

a)

w..

V1<;,
Q

vv.;:
A

I'

w,

Hinh 9.10

b) (:.1.ich \:ic di11h t/1111 gia life t1ic t/1rJi Q

N8t1 biCt gia tOc WA clla rnQL d1e'm A n8.o d6 thuQc hinh phAng, v$.11
tOc g6c w vD. gia tOc g6c ~;ta c6 the' tin1 du'Q'c t5-1n Q nl1u sau:

~
w

X8.c d]nh g6c theo c6ng th-Uc tg ==

Qt1ay vectd WA quanh A theo c11ieu

t:

(l1inh 9. lOa).
d1 rnQt g6c ~t ta duqc nUa

du'dng th~ng AB. TrC11 AB][{~ inQl die'n1 Q sao cha

QA=

C.3.n l1iu

wA
)r;2 +

(04

rli.ng, vic}c xac d!nh g1a tOc cUa die'1n trC11 hinh ph~ng

qua tam gia t6c tUc thdi Q phlic t;;i.p hon nl1i6u so vdi cilch x.c dinh
v$.n tOc qua tam v<).n ta'c tile thdi P, do v$.y phttdng phitp nay it

du'c;:Jc sli <lvng.

Ket !1nj11: Nhin cl1ur1g c3.c bUi t$.p trong chu'(lng nay li't Ua d9-11g va
plrUc t<;tp. Tuy nhien ne'u chU

Y d811

cac r1Q1 dttng co h8n, c{lc c6ng

1~l1ii11 hui. DQNG HOC

255

thUc c(J b<:i.n ta sC ll1fly ug h1c'u v1't dg v<)n dl,lng rt g1:i.i c{tc bb.1 to:in
d6. (~l,l t11ti 18.:
'.VIt10n x3.c djnh v~n tOc clln d1~1n LrCn hinh ph:i.ng. budc d<~u tiP11
la c<ir1 x3c dtnh tam v~n tOc Lile thdi P. TU d6 dg dD.ng xfrc di11,h
v:~n tOc cUa d1~1n b<'lt kY v<'t v~n tOc g6c cUa 11inl1 pl1Ang.

l\1u0n x:lc dj11h gia tOc cU.n d1dn1 B \J[{L kY cfin dlfa v<io c6r1g th Uc
(9.6). Ne'u c6 t11C: x{~c dinl1 r1gay dLiqc gia tOc g6c cU.a hlnl1 pl1~ng
(8) thi chi cAn cQr1g vectd. Trudng hqp kh6ng x3.c djnh trlfc tie'p
d1tcjc thi pht\.1 chie'u <lAng thllc vectd (9.6) Jen hai phlidng n3o
d6 ct6 c6 hai pltlidng trlnh d~i sO r6i tU d6 ta xAe dir1l1 dt!Qc hni
-ln sO cil.n Li1n.

L11611 lu6n nh(J r:\ng, trong cl111y0'11 dQng song pl11ing 1n9i yCu tO
coin xtl.c dinh dCu mang tinl1 chfil tile tl1d1 (11ghla Ia xet l';li mQt
thdi di6m v.3. Lf,ti mQt vt tri n8.o d6).

9.4. Vi Dl,I MINH HQA

Vi d\l 1: B3.11h xe tm 0 c6 b8.n kinl1 R chuyC:r1 dQng Ian k116ng
trliQt trfi11 in(lt nghif'ng. 'l'?i mQt thdi d1dn1 ni'lu d6 ta biCt v~1n tflc
vf1 gia tOc cUn tH.111 0 18. V0

l\-'0

H:l:--' x;J.c dinh v(1n tOc, g1a t{)c

c{i.c

di4'1n A, B, C, P trer1 l1i11h 9.11.

Bdi gidi: V@.n tOc cU.a c8.c di~1n A, B, C, P dLic;lc 1n6 t8. lr8n hinh
(l1inh 9.12a):

(!)=_Q_:

R
Gia tOc cU.a c3c di~m A, B, C, P dUQc 1nfi l<i. tr8n 11inh 9.12b. 'l'rong
trudng hc;Jp nay xac d~nh trvc tie' duqc gia tOc g6c:

c= ~<; :t(~ )= ~ d~o =~~

=

Cd HOC LYTHUYt:T TAP I: PHAN TlNH HOC, OQNG HQC

256

B
R
I

'O

Hinh 9.11

Do "'0-Y' gia tOc cUa c&c di~1n x{lc djnb Lhco lOng tl1Uc cQng vectCJ (9.b):

Cho nen:

V'

n _
0.
WBO-R

V:).y:

We

W0 + W~ 0 + W~0

1~1ia11 hal E>QNG HQC

257

W~ 0 =

W0

we-- w"2 +

W+V"'
"

)'

wnPO -_VJ
.
R ,
Do d6:

Hinh 9.12

Vi dv 2: 'Tay quay OA diii 0,2m quay deu quanh 0 vdi v~n tOc g6c
w 0 = 2 rad/s. Nhi':I thanh truygn AB 13.m cho b8.nh xe 0 1 b8.n klnh

r 1 = 0, lm quay quanh 0 1 (hlnh 9.13).

ca HQC LYTHUY~T - TAP I. PHAN TiNH HQC, DONG HQC

258

a) Hil.y xfrc dinl1 v(ln tOc di6'in B, die'1n T 11) trung CT1f;m (hinl1 9. l:)a)

cUaAB vOiAB = 20A

= 0.'11n tai thhi clif;1n 1nfi tii trf111 hinl1 9.13.

b) X;l.c dinl1 gia tOc g6c cUa thanh AB v:'i gia tti"c d1e'.1n B.

a)

V,
A
'1'--'

b) A

W'
'

a
o~-15:_

w,

x
Hinh 9.13

Bai gidi:
c:huye'.n dc)ng cUa tl1anh AB 18. cl1uy6n dQng :oong pl1Ang. F'hlicJng

va cb16u v(111 tOc cUa c{lc di4'n1 due.Jc tnCJ tii tren l1inl1 9 lJa. '1'8.111
v(in tOc tile tl1d1 lil 0, do v~y v~n tOc g6c cUa thar1h AB 13.
wAB = VA

OA

w0

2 rad/s.

. .
.
1
DC th8.y r8.11g sin a= Z-) a= 30. Do v(iy ta nhanh ch611g x{1c dinl1

dtir.Jc v(i_n tOc cUa d1e'.m B vi'l cl1e'.1n I:

VR = ABc0AJJ cos a= ABco cos30

11

V 1 =OlcoAB =-ABw =0.41nls

2

Vi).11 tOc g6c cUa b.nh xe 0

W1

"

du'cfc xRc djnh

= VB = 0,G9:i = 6 93 rad/s
r1
0,1
'

0,693m/ s

Phlln hili. oNG HQC

259

b) Gia tOc ci.la di~m B dUcjc tinh theo cy:c A:

(a)

hay

(b)

'frong bic'u thdc (b') da bie't:

y2
')
w; =_I!_=
o,693
0,1

r1

WA" == 0 Acu"2

=48m/s
,

0,8m Is 2

Ta c6:
n

WllA =ABwAll =l.6mls

COn hai d:;ri lU<;Jng cl1lfa n1Ct

ta

w~A =ABE An

va WB.

ChiC1_1 d1ng thUc vectd (b) lCn hai ph1Jdng x, y tren hinh 9.13b d
dlfqc hai l)hLidrlg trinl1

di.ll

s0 x8.c d~r1h W~A v8. W~.

Chie'u (b) len Bx:

-

W'Bs1na=
.
W"As1na.
W"
"
WBcosallA

w~

-5,914m/ s 2

W'Bcosa=- W"
" .
WBs1na+
Acosa+ W'BA

W~A ==5,12lm/s 2

"
' W'flt,.
~via

5121
AB f. AB = 512
W~A
, lm I s ' ---,) E AB = -= AB
0.4

WB =)(W~) 2 +(W;J' =)(5,914) 2 +(4,8) 2 =7,62mls 2

128
' 8 _,

"

"

,..

,,;::-.

CAU HOI ON TAP

PHAN II

1.

Neu mvc dich nghi811 cUu cUa phfin dQng 119c va d~c tru'11g dQng
hQc cUa dQng di6'm.

2.

Trinh bay t6m t~t ba phu'dng phrip ngl1iE>11 c.-Ut1 chuyn d(ing clla
di1n, so s8.nh c{lC phu'dng ph.p d6.

3.

>reu c:'.1.c c6ng thUc xfi.c djnh v:;t.r1 t6c va g1a t6c clla di)ng di~1n in:l tn
thud11g si1 dvng trong cii.c b3.i t~p

4.

Dinh nghla chuy@n dQng tinh tie'n cU.a v,$.t r'1.n; linh chit cd bil.n
cU.a cl1uy~n df.a1g linh tie'n; c110 vi dv m111h h9a.

5.

Dinh nghla cl1t1yJn dQng cUa v(lt r~n qur1:-' quanl1 trvc c6' dir1h.

kha1 ni$1n ve v~n tOc g6c, gia t6c g6c vii c:\ch b1~u diCn b8.11g VCC'ld
6.

N~6u c8.c c6ng thUc x8.c djnh v$.n tOc va gia tOc clla di&m thuQc v:;t.t

rAn khi v~t chuy@n dQng quay quanh trvc cO dtnh.

7.

Kh:ii ni~1n ve chuyn d(lng p11Uc hqp cUa di~1n, c3.c dj1111 ngl1la
phin lo:;i.1, cho vi dv minh

8.

ho~i..

Kh<ii n1~m v8 trUng dim cUa d(ing di~1n, L:;i.1 sao cfin dua ra khil.1
ni~m

nii.y, cho vi dv minh ho:;i..

9.

Dinh ly hqp v(in t6'c va vi dv 8.p dvng

10.

D!11h 1y hqp gia t6'c, y nghia cUa cac th8.nh phiin gia tOc.

11.

l)ir1h nghla chuy~n dQng so11g ph~11g clla v{l.l r<:ln, nCu vi dv nyinh
h9a, so s:inh chu.vn di)ng song p11~11g vOi ha1 d:~ng chuyn d(lng cc1
08.n d1i h9c tro11g chu'.dng 7.

262

ca HQC L'i' THUYt:T - TAP I. PHAN T]NH HOC, DONG HOC

12.

Phuong ph<lp ph8.n tich chuy~n dQng song phii.ng th8.nh hai c11uyJr1
dQng co b8.n, neu 8.p dvng clia phu:ong pl1<1-p nRy.

13.

COng thUc xUc dinh van tOc clia di61n thuQc 11inh ph:i.ng, dinh

ly

hinh chie'u vf,tn tOc cUa 11ai d1e'1n

v~n

14.

D!nh nghla tam

15.

Neu cOng thUc xac djnh gia tOc cUa di@m thtu)c hinh phii.ng va c<:'1.cl1

tOc tile thdi va neu cac pl1u:ong ph3p x8.c djnh.

v~n dvng n6 de' gi8.i c8.c b8.i toUn cl) the'.

Vi Dl) TiNH TOAN, BAI T ~p

vA HU'ONC DAN c1A1 BAI TAP

PHAN DONG
HOC

IV. Vi Dl) TiNH TOAN

Vi d\l IV.I: Pl1u'dng trinl1 chuy~n dQng clia d1e'1n:
x.::: 3t- l,5t~

va

y ::: 6t -

3t~

- 2

(vdl t ti11h bbng g18.y: x, y tfr1h

b~111g Cln).

Ti1n phttdng trinh qlt)' dsi.o,

v~n tOc va gia tOc clla di~m khi

= ls.

Bai gidi (hlnh IV. 1)

Kiili biB'n s6' thcl1 g1an t trong
cite pl1U'.dng trinh cl1uyn dQng
ta c6 pl1Udng trinh quy d;;i.o:
:2x :::: 6t -

1,5

~ll~

y=6t-3t~-2

A(0,2)

TrU ha1 phtidng Lri11l1 nay cho

nhau ta dU<;Jc:
Hinh IV.1

CO HQC L'TTHUYtT - TAP I PHAN TTNH HOC, DONG HOC

264

Day la du'dng th~ng kh6ng qua gOc t9a dQ 0.

Di@m biit dfiu xuit ph3.t (khi t::: O) t<;1.i dim A(O, -2).
Ta c6:
x ::: 3 - 3t ::: 3(1 - t) ----).

x : : -3

y =6 -

y = -6

6t

= 6(1 -

t) __,

Ta thiy trong kho8ng 0::;; t < 1 thi X > 0 vii

theo t. Kh1 t::: 1 thi X ::: 0 va

y :::

y>

0 nen x vlty tang

0, nn V:::: 0, cOn W

;t

0. Do d6

di~m xua't ph8.t tU A chuy@n dQng v phia B. Sau d6 l<_i.i chuy6n

dQng v phfa A.
V::::

~x 2 + y 2

= ~x' + y'

~3 2 (1 - t) 2 + 6~ (1 - t)'2

= ~(-3)' + (-6)'

J45 (1 - t) cm/s
= ,/9 + 36 = J45 emfs'
=

Vi d\l IV.2: TU c8.c phUdng trinh cl1uy@n d(n1g clla diJm:

x:::3+4cost

va

y:::: 2 + 4sint

Tim phu'dng trinh quy d::io va

>
quy lui;i.t chuy@n dQng cua
ditim tren quy di;i.o d6.
2

Bai gidi (hinh IV.2)

TU c8.c phlidng trinh chuy@n

- - -

dQng ta c6:
x - 3 :::: 4cost

va

y - 2 ::: 4sint

Binh phttdng hai v~ r6i cQng

Hinh IV.2

l:;ii ta du\:lc:
(x - 3)'

+ (y - 2)' = 4' = 16

Dily Ia phu'dng tinh dudng trOn b8.n kinh R ::: 4 va t9a dQ tam/ la
l(3, 2). MuOn tim quy lui}t chuy~n dQng clia di~m tren quy .d;;io ta
s\J' dvng c6ng thllc:

265

PhiJ11 hili. DONG HOC

ds= ~X 2 + y~dt

'
'
s = Jd,.,. = J~x 2 + j~dt
0

Ta c6
x :::: -r1sint va y = '1cost

ds
s

= ~4"2 si11 2 t

+ 4-' cos~ t dt

~~~-dt

4dt

= f' 4dt = 4t.

Vi d\l IV.3: MQt vien d<;i.n chuy~n d9ng trong m~t p11.ng th&ng dUng
theo phlidng trinh:
x:::: 25t;
y ::: 230t - 5t"l

(t tinh b1ng gi8.y; x, y tinh b~ng 1net).

Hay tim:
a) Quy d<:to. v<).n tOc vii gia tOc l<~ll tl1di dib1n ban d6u.

b) D9 cao va tiim xa clla du:d11g d1;1n.

c) Ban kinh cong ell.a quy d<).o t<:ti di~m cao nhElt.

Bai gidi (hinh IV .3)

x
Hinh IV.3

ca HOC l 'i' THUYt"T - TAP I: PHAN TINH HQC, DQNG HOC

266

x ll1ay vao pl1tid11g trin11 (2) tn dU:Qc:

a ) 'f n co' t = --

25

x
= 230-

25

,,

x5-'25z

C~t1)i dt_J.o lil. 1nQt dtilJng parabol c\Oi xUng.

V$.n tOc:

x ::: 25

y=

230 - lOt

v = -J25' + (230 -

lOt)'

T<;ti thdi diJ1n ban d.u t::; 0 thl V:::; 231.:35

W::: Jx~

+"y"

111/s.

inA X :::Q vii_

y =-10

W = 10 m/s 2 .

b) D~ tlm dt) cao ta nh$.n xet tl13y t~i {linl1 parahol thi vcctcj v.$_11
tOc clia viC11 d1;1-11 song song v6i trvc Ox nb11 l1inl1 cl1ii.{u vectd v~1n
tOc lCn tr1,1c Oy b~ng 0.
Vi v(1y V,. =

y = 230 -

= 0, n&n t = 2:3 s.

10t

DQ cao nha't clia du'dng d~n la:

=y"'"~ = 230.23 -

H= 2645

5.23~ = 2:3~.5

in

1'5-1n xa nl1a"t clia dudng d~i_n 13

S

=Xmax = 25.23.2 = 1150 !TI

s=ll5Dm
c) I3cin klnh co11g clia quy

ctl;l-O:

V'

w ="

'l'a c6:

"

= ~W 2

-+

V'

p~

W,
W'
'

= 2645 m

267

Plufn full: 1c)NG HQC

W. = dV = 2 (-10)(230 - 101) _ : W = 10 mis'

.
dt
2J25' + (230 - lOt)'
W = / 2
10
" ~
P

10" (230 - lOt)~ __

25' +(230-lOtl'

V2
V3
W ,, = ~o
?r:o

11

250

p=

2;)0

[25z + (230 - lOt)~ ] 3 "~

=
2co
D

'f9.i di&in cao nhit ci.la quy d:;i.o t

(25~)" ~

~-U.25

= 2:1 s. n(~n:

25' 1

25.10 = 62' 5 nl.

Vi d\1 IV.4: M9t do<ln tau b~t dfi.u chuyfn dQng nhar1h dfrn dE\"u lr8n
do?n dudng cong bftn kinl1 R = 800 n1 v:l khi di dliqc do~.1n
dlidng s 1 = 600 m thi d~t v$-n tOc 361<1n/h.
Tim v,.n t6c va gia t6c ci.la doUn tau t:~1 die'rn gula dof.1n
dttdng s 1 .

d9 cong

B<li gidi: Ta ch9n gbc t9a

t~i vi tri dot-in tau b&t dfru chuy@11

d(lr1g nn s,, = 0 va V .. = 0. Vi <loan tftu cl1uy&n dQng n11anh d:in

dfu nCn quting dudng di dtiqc:
S :::: S,,

l 'V '
+ V.,t + -2iw.
,t- = -r,t-rn

w,:::: -v

ma

nen t= -

w,

Do d6

V 2 = 2sW,.
T;;ii cuOi doi;i.n dudng S1 thi vl~

::::

2s1W,, cOn d g-i-Ua doi;tn dudng

- -Sl th'
s.,-

\'~

o.::2_1-' = _ ,

'")

S1

la

ca HQC L'i' THUY~T - TAP I: PHAN TTNH HOC, DONG HOC

268

Gia tOc ph<ip tuye'n t?i giUa dol,ln du:dng s 1 :

wn,

v~

'

v~

'
2R

(~1a tOc to:in phfln

V'

'

:2s1

ar-1-

V,'' = 2

cOn W.=

,2

s,

I,,
+ -R~ :::: 0 , 1 1n I.,
s-:::: 0.1
. ms-

W::::O,lm/s~.

Vi dy IV.5: :V10t cd ca'u culit OA qt1ay quanh lr\J.c di qua 0 dtiQc m6 t8

bftng phu'dng triI1h

c~:::: 5t - t~. :V1(ll con c11:;i.y M chuy~n dQng

d9c theo r.'.inh clla culit vOi phlidng trinh s, :::: OM

(s, tinh b&ng cm, cOn

= 1:.t"
2

t tinh bAng g1:iy).

Tin1 vf!.n tOc v8. gia tOc tuy~t dOi clia con ch0y M t<_i.i thr'Ji di@1n

= 2s.

Bdi gidi (hinh IV.4): Phiin tich chuy@n d:Qng cUa con ch;;i.y M:

Chuy6n ctQng clla con ch1,1y M d9c t11co OA ]fi_ c:huy@n dQng tticlng

dOi va 18. chuy6n ctQng thing.

(_~f1uy@r1 dQng ci.la M cling vOi OA quay quanh 0 18. chuy~11 d~n1g

keo thco.
Hcjp 11ai chuydn dQng nay ta c6 chuy~n dQng tuyt dOi clla M.

1'a c6:

:1 ')
V,.::: s::: -t- :::6cm/s
2

W ::: S ::: 3t ::: 6

'

emfs~

Ta tha'y V,. va Wr dCu dttdng nen cling hu:Ong tU 0 de'nA.

D~ tlm Ve va WC ta ph3.i tim trU.ng di6m M*.

Khi t::: 2 s thi OM*::: s

:::

l 2' ::: 4 c1n.

2

F'/n/n h11L ldNG HQC

269

W",. :::::
tjl ::: co::::: 5 - t::::: 5 - 2::::: 3 rad/s;
n&n

:::

OM*w~
:::

ip ::: -1

rad/s~,

4.3::::: 12 c1n/s: W/ ::: 4 c1n/1:/

W" ::::: 4.3:! = 36 crn/;:;"

.
Phudng ch1eu cite vecto v~n LOc v8. g1a t6'c bie'u diC11 trC11
hinh IV.4.

'

Hinh IV.4

Vi V,. 1- Ve nen theo V"

v" ~v} + v}

V, + Ve thi ta c6:

.J6

+ 12

= 13.4 emfs

Doh~ dQng chuy~n dQng quay n&n:

C<ic vectd c6 phlidng chieu nhli Cl hlnh IV.1. Ta c6:

CO HQC l '? THUYtT - TAP I: PHAN TTNH HQC, DONG HOC

270

w" =~(IV,'

w,.)'

w" = ~(36 -6)'

+(WK - W,')'

+(:Jo - 4J'

W,, = ~30' + 32' = 43.86 emfs'.

Vi d\l IV.6: Tim chU nh$.t ABCD chuyJn dQng trong 1n1~t phiing thAng

dling nhd hai tay quay 0 1A v8. O~B c6 dQ d8.i b~ng i1hau
R ::: 30cm quay quanh hai tr1,1c 0 1 v1l. O~ vuOng g6c vCJi 1n<)t
phiing nilm ngang theo quy lu$.t

~'),.

:::

~ rc{i.

D9c theo dttdng

cl1CoAC c6 di@m M (l1inh lV.5) chuy~n dQng theo phu:ong trinh:

CM= S,

= l 6t' -

2t + 2

X:ic dii1h v$.n t6c tuy~t deli va gia tOc tuy~t deli clla d1~m lvf kh1
1
t:::~s.
2

Bai gidi: Phfin tich chuy@n dQng: Ch9n CA l8.1n h dQng c6 gOc t9a dQ
18. C. Ch9n 0 1 0~ 18.m h~ c6 d~nh.
Cl1uy6n dQng cUa di@m M d9c CA 18. chuy&r1 dQng tlicJr1g dOi.
Chuy6'r1 dQng ell a ABCD quay quanl1 0 1A va O~B 18. chuyC11 dn1g

theo va 18. chuy@n dQng tinh tie'n. Chu:v,@n d(ing cUa M dOi vdi 0
O~ Ia chuy@n d(lng tuy~t dOi.

Ta c6:
I
kl11t;::::-s
2

W ;:::: S ;:::: 32 cm/s 2

'

Khi

'fa c6:

8
,
w _- tp. -_ -rc.3t

::::

8rrt ,

<P ;:::: 16rrt:::: 16rc .!_

2

~ = 60"

8rr -

(I \J'
,2

:::: Sn rad/s~

= 2rr rad/s

1,

271

Ph;J11 hai. EX)NG HQC

'l'in11

V~:

V,.::: R.tJJ::: 30.2n::: 60n cm/s

v,.

.L V~.

nPn V,,:::

,JV/+

~~--

V,."

,,'14~ +(G0rr) 1

O,

Hinh IV.5

Vi h~ dQng chuy4'n dQI1g tjnh tiC'n nen:

W"n = R.w:l::: 30 (2rr) 1

:::

120rc 1 cm/s 1

W,.' ::: Rr.::: 30.Sn::: 240n

Vil.

iv. ::: 32 cm/s 2 . Vi w,

W,. ~ ~W,'

w"

+ (W/ )' +

J_

c1n/s~

W/ J.

(W:'f

w;'
=

nC-n:

,[ii"~ (240rr)'

+ (120rr' )'

~ ~1024 + 567912.96 + 1399846,2 = 1408,2 cm/s'.

Vi dt,t IV.7: MQt dla tr011 b.n kinl1 R quay dCu v01 v?n tOc g6c Ii\,::: consl
quanh tr\l,C di qua t8.1n 0 1 clla ilia va tri,.tc giao v6i mzl.l phiiI1g
cUa dla. Tr&n dfiy cung AB ci.cf1 t1vc quay mQt do"'n h c6 mQt
didm M chuy~n dQng tU giUa dfiy CUilg vOi v::i.n tOc V., ::: const.

CO HOC LY THUY~T TAP I PHAN TiNH HOC, DQNG HOC

272

xac d~nh v:).n tOc va gia tOc tuy~t dOi clla di6'm M theo kho:ing
c6.cl1 OM::: x tren day cung (hinh IV.6).

Bai gidi: Ch9n tr\}C 01z di qua tfi1n 01 18.m tr\}C c6 djnl1 va 13- trl,1-C quay
cUa tffm, true OB 18.rn trt_1c t9a dQ dQng.
A

ro,,

o,

Hinh fV.6

Khi drS ta tha'y:

va lii

Chuy@n dQng clia M d9c theo OB 18. chuy6n dQ11g tUdng d6i
chuy6n dQng thftng, du.

Cl1uye'11 dQng clia die'1n M cUng ilia trOn quay quanh 0 12 lil
ch11y@n dQng theo.

Ch11y@n dQng cUa dim M dOi vdi 0

V$..y

v~n t6'c LU:d11g

V ":::

rc0

d6'i cU.a M 18. V,

,.
vd1

= ~h'

12

lii chuy~n dQng tuy~t d6i.

v;, .

+ x-')

Ta c6:
+

r'i,",
u

+ 2V() ri
u ,,

h
r

273

PhJn hui. DQNG HQC

cosa::::

do

h
r

Vi 11 d(lng cl1uy6n dQng quay qt1anh 0 1z nen theo <linh l:Y ht;lp gia
tOc ta c6:

Do chuy6n d(lng tlidng d0i Ia thng deu nen W,. :;;; 0

'fa c6:

Vi d9 IV.8: Banh xe ci.la Loa tau di~n chuy~n dQng tr8n do9-n thA11g nilm
ngang vOi gia tOc tam 0 Ja W.,:::: 2 m/s~. 1'<.i.i thdi di@m dang xet
c6 v$,n tOc V,.:::: 1 m/s. BUnh xe lan kh6ng tru:qt trCn dlidng ray.
xac dinh gia tOc ci.la cac di~m d<'iu milt ci.la cac du:dng kin11
r6to tc:.o vOi du:dng th&ng dUng mQt g6c 45", biCt r~ng ban kinh
b3nh xe 18. R:::: 0,5 m, cOn brin kinh r6lo 18. r:::: 0,25 m (hinh IV. 7).

Bai gicii: X8t c11uy~n dQng song ph~ng clia b8.nh xe

t.1n

0.

T11co c6ng thUc xac di11h g1a t6c mQt di~m LhuQc hi11h philng:

ta c6:

W~ 0

::::

MO.:::: r

w,.;0 =M0UJ 2 ::::

rUJ~

274

CO HQC LYTHUYtT - TAP I: PHAN TTNH HOC, DONG HQC

x
p
Hinh /V.7

'fa ti11l1 w., va c V1 P 18 t:im v?11 tOc tUc thdi clia b3.r1h xe nCn:
0

"' " =
V$.r:

W
R

0
r= 0,25- = 1 ms

r-"- = 0,25J...::_ = 1 m/s~

y2

!I

WMO = rw"

Cl1ie'u cii l1ai

I .,

2
0,5

0,5

'I

0,5 2

ve d..ng thUc n:)y Jen cac tr1,1C x va y,

Fz

::::: -2+1.-

Fz

~I-=

-2

m/s~

ta c6:

275

Ph1i'n hai. DQNG HOC

= 1

Fz
2

WM L = fw~ l x + W~ ,,~ =

.J 4 + 2 = ,J6 =

+ lFz = Fzmis"
2

2,449 m/s1 .

DOi vdi diim M 3 tinh tu'dng ti.;t ta c6:

WM 3 = W,,
"'l

2,449 mis~.

ta c6:

Fz Fz
'"'2) =-3,414ms
!'
:::-2- 1--l-o=-(2+vz
2

= 1Fz- - 1Fz- = 0
2

WM, =

Jw_ii x + W,~.,y
2

= 3,414

mis~

Vdi di@m M 4 :

Fz

Fz

:::: - 2+1- - 1 2
2

= -

2+ 1 414
'

= -

0 586
'

'

m/s~

Vi dl;l IV.9: MQt con 18.n hinh trv trOn ban klnh r 18.n kh6ng tru'Qt trong
Ong trv c6 d1nh sao cho v$.n t6c cUa t.1n C hinh trv c6 gi8- tr!
kh6ng dO'i bilng V. Xac dinh gia tOc cUa di@m tie'p xU.c giUa con
Ian va Ong trv A va clia difm B dOi xUng dudng kinh vdi A
(hinh IV. 8).

ca HQC l y THUYtT

276

TJrli t::rrii: '!'a nh(ln

tbf.\~'

TAP I PHAN TiNH HOC, DONG HOC

lfitn C cl1n trv LrOn vc.1ch ra qu5 dao ](1 ltli('Jng

trlln b<'tn kinh R - r.

Trv trr\n cl1uy6n d(lng song phAng va J:ie'1n A l<l. t<11n v0-n tOc tUc tl1lJi.

Ta c6

oi

= -v va' = 0 , v1'v = const_

r

W'c

dV
dt

0 , cOn

Wr~

V'
--

R-r

s,

c~
-'--,--/-

_c ..- "

'

'

l/U.'-_

Hinh IV.8

1'hen c6ng th Uc:

do

WC

'l'a c6:

iv~c

1'a tl18y

W2

= 0 va

W~c

= 0 vis= 0,

V'
r

v8. W.~c cling phUdng, cl11Ct1 nC11:

V'
H
l VA --

---

R--

--

V"

I'"

r(R -- r)

Tinh deli vdi di&m B:

ina

\\'"
c --~
R - r

va

wBC

Hai veclcl We~ va

iv,_J =

iv~.'

w;c cling pl1Lidng, r1gLiQC chie'u. nen:

-

v~

v~

l"r - R)V"

R - r

r(R -- r)

W~c = - - - - -

v2 .

2r - R
r (R - r)

v. DE BAI TAP
DQNG HQC DIEM

Bai V.l: l'vlQt di61n chuy8n dQng tbco phu'cing trinh cho trlt6c. 'f'l1n
phtidng trinh qu)'
H)

X ::::

3t - .5

= '.}_f
l') .1" = 5s11110t - 5
d) x = 2 - ::3cos5t
b) x

df_l.O

vi\ C'h{ ra hU'.6'11g chuy&'n d(ing:

=1 -

'2t

y = 8t')

= :)coslUt
y = 4sin5t y

1.

ca HQC LYTHUYE:T - TAP 1 PHAN TINH HOC, 86NG HQC

278

Bi.ti V.2: Theo c<ic phttdng trinh chuy~n dQng di~m cho truOc, hiiy x8.c
d!nh phU'dng trinh quy dsi.o clla di@m
a)

x=20t 2 +5

b) x=4t-2t 2
y~3t-l,5t'

y=15t 2 +3
c)

x=3cost+5

d) x
y

y_::: 4sint
e)

x=3+4cost
y

= at
~

bt

= 5cost
y = 3 -- 5sint

f) x

= 2 + 5sint

Bi.ti V.3: Theo cB.c phu'dng trinh chuy@n dQng cU.a dim cha tru'6c, ti1n
quy d?,o cU.a di~m va chi ra quy lu~t chuy~n dQng clia di~m
tren quy d~o, trong d6 kho8-ng cB.ch tinh tU di~m ban dfiu:
a) x

= 3t2

y ~

b)x=3sint

= acos t
d) x = 5cos5t2

c) x

4t'

= 3cost
=as1n 2t.

y = -5sin5t2

Bili V.4: Hay tim quy d<?.o clla chuy@n dQng di~m nh$,n du:qc b&ng each
hQ'p hai dao dQng trl.,ic giao kh<ic t8-n sO:

a) x = asin2wt

= acos2wt

b) x

= asinwt
=acoswt.

Bili V.5: MQt dftu blia d~p vao c9c, sau d6 chuy~n dQng cling vOi c9c
trong th(li gian 0,02 gi.y mOi dUng h~n; c9c da nha'n sau
xuOng da't du'.c;:lc 6 cm. Hay xac djnh v.$.n tOc ban d&u cUa c9c,
coi r.ng n6 chuyn d(>ng ch.$.m din cteu.
Bili V.6: M(>t tau di~n chuyn dQng theo du:dng thfing, tro11g thdi gian
t.3.ng t6c qu.?i.ng dudng di tj.i I~ b.$.c ba vOi thdi gian. Trang mQt
phUt dfiu tau di~n di du\'lc 90 m.
Ti1n v.$.n tOc, gia tOc t1;1.i thdi dim t ::: 0, t ::: 5s va thie't 1.$.p
dudng cong clla kho8.ng each, v.$.n t6c, gia t6c.

a.o

Bili V.7: M(1t tau hoU c6 v.$.n tOc ban d.u 54 k1n/h trong khoi:l.ng
gi<iy
d8.u n6 di duqc 600 m. 'l'a coi chuy~n dQng clia tau Ia b1Cn d6'i

279

deu. X8.c dtnh V~ll tOc va gia t6c l01 cu6i gifly tl:1U :30 ne"u tau
chuy~n dQng tren dudng vOng ban ki11h r::: 1000 m.

B:li V.8: MQt tau hOa chuy@n dQ11g ch$.rn elfin de'u tren cung trOn b:in
kinh r :::: 800 m va di du\!c qu8.ng dtfdng s ::: 800 n1 v61 vi)n tflc
ban dli.u V
S4 km/h v~t v$,n t6c cutli cling V::: 18 k1n/11.
0

::::

Hi1J' x3.c dinb gia t6c cUa tau t?1 di61n dflu va di61n cutli qu8.ng
du:dng, cling nhu' thdi gian di he't do?n dudng fly.

Bili V.9: MQt tau hOa rdi ga c6 v::_tn t6c ;ihanh dfin cteu ;:;au 8 pl1Ut d:~t
v~1n t6c 72 kin/h, du:dng t{i.u di~t tr8n rnQt do~11 dtidng cong c6
b:ln kinh R:::: 800 m.
1'iin gia t6c tie'p tuy811, gia t6'c pl18.p tuye'n, g1a t6'c to8.n ph3-n
cUa tau sat1 khi rdi ga 2 phi.it.

Bai V.10: Iv1Qt qu8. d?n chuy~n dQng trong 1n$l ph~ng thing dU11g theo
phu'dng trinh:

x:::: ;}OOt:

y::: 400t- 5t~(t tlnh bd11g gi8.y, x, y tinh b.'ing 1n8t).

Hay x8.c dinl1:

a) V<}n tOc, gia tOc ti;i.i thdi di~m ban dfiu.

b) D6 cao va t:im xa.

c) Ban klnh cong clia quy dl,:lo t:;i.i dii!rn ban dfiu va di~rn cao
nl18'.t.

BU.i V.ll:Botn

idi

tU m<iy

bay chuyfin dQng fheo

x::: '1.0t; y::: 4,9t~ (x, y tinh theo met:

pl1u'ong trlnh

t tinh tl1co gi&y). Cl19n gOc

to9 dQ t1J,i di~m born bit d:iu rdi, trvc Ox n<im ngang, Lrvc Oy
11lidng xuOng duai.

Hay ti1n phuong trlnl1 quy dq.o clla bo1n v3 x8.c di11l1 thdi gian
rd1, tUm bay xa clla born theo pl1U:d11g 11gang. Bi8t r5-ng 1n8.;"
bay bay d dQ cao h::: 3000 1n.

Bai V.12:Cho Cd cau nfing v$-t

n~ng nhu: h'inh V.12. Ngu'di ta cuOn day

vao rOng r9c 1 b.n kinh r 1 va rOng rqc 2 ban kinh r~. 'fa1 d<'.iu C'
cUa dfty treo vZtt nf;tng :5 va tq.i d8.u A cUa d(l:-' huQc v<,'it n~ng 4.

CO HOC L'i' THUY~T TAP I: PHAN TlNH HOC, DONG HOC

280

Vat n~r1g 4 chuy~n d(Jng xuf)ng Ll1('0 1n8.t pl1~ng nghifng l:lm
cl10 rclng r9c k8p quay vii. v<)L nQ.11g 3 rllii:;.ic nftng IeI1.
1

c
Hinh V.12

Co1 dfty kh6ng gifir1, tim V<)n t6'c v<) g1a t6c clla v?t n~ng :3 n8u
v<).t n$.ng 4 chuytin dQng theo quy lui}t S ::: at~. Lile d.iu ht;
dUng yen.

Bili V.13: Hay tlm xe1n tl1anh BC da h;;i xuOng inQt do0-n b8.ng bao 11h1eu
khi d:it1 B clia n6 L-i;ia Jen nU:a dudng lr(n1 b8.n kfr1l1 r::: 30 cm.
I\u va'u chuy6n dQng thu(ln ngl1tch v6i v~1n tOc V ::: 5 cin/s.
Thdi gian thanh h~ xu6ng t::: .'3s. '1'1i thd1 d16m ban d<'iu thanl1
d vi tri cao nha't (hinh V.13).

iI
B

A=

Hinh V.13

281

l'h:Jn ht1i. Dc)NG HOC

B:l.i V.14:!'vlQt bitnh dfl bAt df-\u rlJi kl161 vj trf v&n tinl1 qt1ay v61 g1a tr"lc
g6c kl16ng tl6i Qua 10 phlit d.u. sot1 kh1 bfil di~.u c:l1uy&11 dQni;
n6 c6 v~n tOc g6c b.%111.g 120 vg/ph.
H61 b<:'tnh dR d6 quay du\lc bao nhiE>u vOng trong 10 phlit ctli?

Bai V.15: Kl1i tiit dQ11g cd, ca11h

qu~1t clia 1nf1y bay c6 V(lrl tOc g6c

la

n ::; 1200 vg/ph .quay d\.i(:JC 80 vrl11g thl dlt11g H61 tU ll1(1i di~tn
tfit dQng cd dCn k11i dU11g hCt bao nh18u Lhdi gian? 'l'a coi 11h1.t

c:inl1 qu;;i.t quay ch~1n d:ft11 dCu.

Bai V.16: D:ftu bUa d6ng c9c rdi tU dQ cao h ::; 2,5 1n thd1 g1an ni\ng bUa
lCn d() cao d6 gs'.p ba thi'Ji gian bUn reii 1'ro11g 1n(1l pl1-Ltt bU:t
d~p bao nhiC1.1 18.n ne'u ta xe1n r~ng btia rd1 ttj do v6i g1a t6'c
mis~.

9.81

Bai V.17: 'l'rvc A c6 b:in kinl1 R

::; 10 cm quay dliQc nhd

qua c.11 p

treo vao

b8-ng mQt sQi day. Qua

c(1n chu.v~n dQng tl1co
phUd11g trinl1 x:::: lOOt~.
trong d6 x

la

kho8.ng

each tU qua c:ln de'n

dttdng n<lm 11gang cO

dinh 00 1 (x tlnh b8.ng

c1n:

t tinl1 b&ng gii'iy).

Hay x:ic dinh vQ_n U:'l'c

g6c

v<\ gia t()c g6c

A
I R

--

Hinh V.17

ci.la trv.c cling. nhli gia

tOc to.8.n pl1[111 W clia di~1n trn

be rn(1l cUa tr"9c t;_n tl1di

diC'1n t

b1l1 kY (hlnh V.17).

Bili V.18:

(~d cff11

cUa xe td1 (nhli t1ong hi11h V.18), 1:11n cho t;:'ti trqng P

chuy~n d9ng th~ng dUng, h:h1 quay tay quay a. J)o b(1 plt(ln

h3.1n

bi hOng.

tili trqng bit t.binh l'inh rcJ1 x116'ng-. Pl11.ic1ng trinl1

CO HOC LY THUYtT TAP 1 PHAN TlNH HOC, DONG HQC

282

chuy611 dQng clla tri.1 Lrqng x::: 5t~ c1n (t tinh b.ing gi<ly). '1'rvc

Ox hu:Ong thco d.y xuflng phia du'6i. Du6ng kinh cU.a trOng
d = 200 mm. SO rang clla cCi c<'.lt1 td1 nhli sau: Z 1 = 13; Z1 = 39;

z., =

11;

z" = 11.

Hay xac d1nh v$.n t6c va g1a tOc cUa d1~m dfiu tay quay c6 dQ
dh.i a::: 400 1n1n sau khi chu:viin dQng dtl(:Jc 2 g13.y.
A

z,

Hinh V.18

Bili V.19: Chit di~m chuy~11 dQng theo hir1l1 xoan 6'c cho bdi phlidng
trinhx::: 2cos4t;y = 2sin4t, z::: 2t, trong d6 d9 dh.1 do lJhng mCt.

xac djnh bcin kinh cong p clla quy

d~10.

B8.i V.20: Trang cd c:lt1 dCing hO chi' kim chuyn dQng clia cQt do (1)
truyen cho b8.11h rang (2) tren trvc cU:-i. b8.nh rang n8.y gAn v8.o
b8.nh rang (3) an kh6p v6i b8.nh rang (4) n1Hng kim d6ng hCi
chi (hinh V.20).

Hi'ly x<ic djnh v(l.n tOc g6c clla k11n r1e'u c!1uy6n di)ng clln cQL do
du'qc cho bOi pl1U'dng trinh x::: as111kt (a, k 18. h~ng s6), cOr1 b{111
kinl1 clla cac b.nh rang tLidng Ung tar~,

r;.

rl.

283

F'hJn hi11: D(/NG HQC

B
1

4
4

Hinh V.20

Hinh V.21

Bai V.21: 1'rong cd cflu clla c8.i klch khi ta quay tay quay A thi c3c b8.nh
rang (1), (2), (3), (4) va (5) sC quay. ch.Ung l8.1n cha cQt B c6
kh<'ic r8.11g clla kich chuy6'n dQng (hinh V.21).
X{tc dinh v$.n t6c clia cQt ne'u tay quay A quay 30 vg/pl1. SO
rang clla c.c b8.nh Z 1 = 6, z~ = 24: Z:i = 8: Z_1 = 3'.2. 138.n klnh
b3nh rang (5) la r;; = 4 cm.

Bai V.22: MQt sc;1i day kh6ng dan cu6n v8.o t:S.ng ngo8.1 clia rOng r9c kCp
I. D:iu kia clla day buQc v:lo v?t A. ROng r9c I truy(in chu:.'~11
dQng cho rOng rQC II (hinh V.22) r1h0 da1 truy8n.

B D
0

c
0

r,

r,

II

A
Hinh V.22

CO HOC L1 THUYt.T - Tii,P I: PHAN Tl NH HOC, DONG HOC

284

Ti1n:

a) V(ln t(l'c g6c v8. gia tOc g6c cUa rr'1ng rqc lI kl1i v(1l A cl1t1!dn
d611g
.

th~ng dUng

xuflng dtiOi theo phu'dng lrinh x = .!_tL

~

b) \'(In to'c v1l. ~ia tllc cUa dic'n1 B trl'n 111(\l cU:J 16ng rqc ll.
_,

"

'

.:.>

CHUYEN E>QNG PHUC HQP CUA DIEM

Bai V.23: \TR11 ta1n g18.c chu~re'n c\Qng tjnh tiCn. n1Q.c dT111 cUa 116 ngl1i6ng
v{J1 trvc Ox n1Qt g6c a. Hi:iy x~1c Lli11h giu t(lc cua tl1anh t\]a t1{~11
vtiu V't lru\Jt Lt! do trong c:ic (i. dd, lnCt 1:\ng Y'i(u chu:ir'en rtflng
vdi gia tOc kh6ng ctbi W,, va thanh tu'a lufin lu6n vu6ng g6c vOi
Ox (hlnh V.2:1).

111~

a)

w,
a

Hinh V.23

Bai V.24: Trong c:d cflu tha11l1 lru'ljt tay qunv. Lha11l1 trUcjl B(,' chuy~n
c\Qng tir1l1 t1C'n, cOn ta:v OA c6 de) dfl.i l

= 200 n11n

qua.v v6i v{tn

tOc g6c kl16ng do'i n::: 90 vg/ph. D6.t1 A gin b8.11 18 vOi cor1 ch:.1y
lrU:Qt lrong ri:'inh clla ll1anh tru'Ql. (~on Chf.l~' 18.1n ('ho tl1a11h
t1'U:Qt BC chu_y@n dQng tjnl1 t16n ll1u(tn nghjcl1 (11i11l1 V.~1).

Hii;. x<.l.r dir1h v(tn tflc V cUa thanh trtfQl khi ta:v quay L:.tu v(l!
try.c t hanl1 trl.iC}l 1nQt g6c xOA::: ;JO'.

285

Phii11 hui. D6NG HQC

MH
le

fr!,

I
!

Hinh V.24

Hinh V.25

Bili V.25: ~\1Qt 1n8.y t1ift che' Iv t8.1n Oflt quay quanh tr\IC th~ng dU11g v61
v~r1 tOc g6c tiCt cl1 t1J '.:'.. 10 rad/.s Do tl1ay deli hj.c d~t vl10 tn8.y

cite qu:i cfiu t8.cl1 kh61 try.c va l;\m cho cfrc thanh gftn vOi clnlng

c6

v~n t()c g6c l'.01:::

1,2 rR<l/s

t~i

vi tri da11g xet (hlnh V.25).

Hf1y x8.c djnh v:}n t6'c tuy<;t df)i cUa ci'.ic qui'1 eti~ t<.1i tl1d1 di&'n1
dRng xet. b1Ct dQ dai ci'1'1 cfac thanh Ia l ::::: 50

Clll.

khoitng cri.ch

g1U;i c3c try.c d1 qua c{1c did1n treo cU.a cl1l1ng lt) 2e ::: 10 cn1.

Cilc g6c t00 bdi cac t11anh v6i lrl,lC in Uy t1e't che':

Bili V.26: l'vl?t phcing AB ngbii2ng v6i 1nt_J.t ph/i.ng 11;\1n ngang 1nQt g6c 45

vcl chl1ye'n dQng th~ng sor1g song trllC Ox vr'Ji g1a tOc khflng do'i

1 dn1/s". TrC11 m$t pl1~r1g AB, 1nQt v~tl D chu_yt'.f11 dQ11g xuflng
vOi g1a tOc tlidng dOi kh6ng d()i

.J2 d1n/s~. V1)r1 tOc ban dfiu cUa

m(1t ph~ng nghi&ng va vfyt bhng khOng; vi tri ban dfi.u cUa vQ.t
c6 tqa dQ x::: 0, y::: h (hi11l1 V.26).

CO HQC LYTHUY~T - TAP I: PHAN TTNH HOC, DONG HQC

286

0
Hinh V.26

Xac dinh quy dq.o vl}n t6c va gia tOc clia cl1uy~n dQng tuy$L deli
clia v~t.

Bai V.27: Tren xe tdi dang chuycin dQng theo phlid11g nftm ngang v8 phia
bCn ph8.i vCri gia t6c W::: 49,2 emfs~, i1gU0i ta d~t mc)t dQng cd
di$n c6 r6to khi ho9.t dQng quay t11eo pl1Lio'11g trinh tp::: t~, g6c tp
do b1ng radian, bii.n kinh r6to b1ng 20 c1n (hinh V.27).
Hay xac d!nh gia tOc tuy$t dOi cU.a d1@m A nftm tren vli.nh clla

r6to k11i t ::: ls. N"e'u thdi di~m d6 di61n d t<;i.i vi lri nhu' tre11
hinh V.27.

A
I

Q;i'

Hinh V.27

Hinh V.28

287

Bfti V.28: MQt ding cd

d1~n quay theo qt1y

1u$.t tr ::: wt (w 18. 118.ng s6).

Ngu'di ta g~r1 thanh OA c6 d9 d8.i l vu6ng g6c v01 tr\).C cUa n6.
'frong kl1i d6 dQng Cd du'c.JC di;tt tlj do nn lhtjc hi~n dao dQng
diCu hOa theo phu'dng n8.m ngang tren b~ in.y theo quy lu$.t
x = as1nwt (hlnh V.28).

Hay xac d1nh g1a tOc tuy~t dOi clla di61n A t~i thd1 d1f\1n
t

n
-s.
2(0

Bfti V.29: Hinh chU nh$.t ABCD quay quanh c1;1-nh CD v01 vfln tOc
tu = ~
2 rad/s ::: canst Doc
. theo canh
. AB di~1n M chuy~n d6ng
. then
quy 1u$.t S::: asin ~ t (cm). Cho bi@'tDA::: CB.:::: a cm (hinh V.29).

Hay xac di11h gia tOc tuy~t <lOi clia di81n t:;i_i thdi di~m t::: 1 s.

2a

'
M

'

' J>"
/

'

'

' o',

/
/

'

/
/

A''
AW

'

Hinh V.29

Hinh V.30

'

'

'

2a

' o

CO HQC L1 THUY~T - T~p I: PHAN TINH HQC, DONG HOC

288

Bai V.30: Hi11h vu611g ABCD c6 C9-nh 2a quay xung quanh ci.1-nh AB vOi
v.$.n t6c g6c kh6ng dOi w = n,/2 radho. D9c theo dlidng ch Co AC
d16'1n M dao d{ing thco quy lui;lt ~=(!COS~ t (cm) (hinl1 v.:iOJ.
Hay xac dinh h'1a tOC tuyt d6i cll<t di6m M khi t = 1 s va kl1i t

= 2s.

B:'li V.31: Hinh xttye'n r6ng b3.n kinh r gi\n ch(lt v8.o trr,ic AB sao cho tim

clla trl,lC n~n1 lrong in(lt pl1~ng r:Ua trl,lc 11lnh xuye'n. Hln11
xuvCn
du- 11 ,...,u dfiy nLiOc chuv&'n
d6n)?;
.
.
. - tht'o ch16u

tOc

tu'dng

d6'i kh6r1g dfli u. Trl).eAB quay

t]1('0

111Ui

lPn v61 v:ln

.

c:l1ieu kin1 d6ng

hd 11u r1hir1 tit A d11 B. V.$.n tOc g6c ci.la trl)c law= canst. Hil:v

xii.c dinh gia trt gia tOc tuyt d6i ctla ctic d1m 1, 2, 3 va 4
(hlnh V 31).

,3

0
2

'1

"'
Hinh V.31

'
B

'o

Hinh V.32

Bai V.32: Theo cac di8u ki~n clla b1l.i V.31. chl thay d6i 6 chr1111(1.t pl1ing
cU.a tr\lc hinh xuye'n vu6ng g6c vUi tr1,1c AB (l1inh V.32). Hay
xfi.c dinh cac gi8. trt nhu' d bai V.31 trong hai trvdng hQp:
a) Cl1uyf'.n d(lng keo theo va chuye'.n Lt(ing tu'dng drli cling }1Li{Jng;

b) CUc chuyc'n dQr1g th8.nh ph:in ngu\Jc }1Lfd11g nl1au.

/'hii'n /JaL DONG HOC

289

Bai V.33: Qu:1 cftu M chuy~n d9ng tU di&m 0 tren dB.y cung AB cUa clia
trOn quay quanh dttdng klnh vu6ng g6c v01 d.y cung AB tl1co
quy luk;i_t tp = 3t - 0,5t 2 rad (ne'u nhin tU N vg H ta th:iy ilia
trOn quay quanh dttdng kinh ngU<;Jc chigu ki1n d6ng h6). Trong
hie d6 di@m M chuy@n dQng LU 0 (hinl1 V.33) t11eo quy lu$.t
OM= Sr= 4sin!.:. t (cm, s).
2

Tim v$.n t6c va gia tOc tuy~t ctOi clla di@m M khi t = 0 vat= 1 s.
z

M
I

- - - Cl
H

=
=
N

Hinh V.33

Bili V.34:-YIQt ilia trOn quay quanh trtJ.C di qua tam 0 v8. vu6ng g6c vdi
2 "J
'
,
'
'
mat
. ph<lng cua ilia thco luat
. "'
= -t
3 . Diem M bat dau chuyen
?

.,

d9ng d9c ban kinh OA theo quy lu$.t OM= S, = 4t2 - lOt + 8 (cm).
Tim vE).n tOc va gia tOc tuy~t dOi clla M (hlnh V.34) khi t = ls.

Bai V.35: Qua cfiu P chuy~n dQng vdi v$.n tOc V = 1,2 mis tU A dn B d9c
tl1eo dB.y cung AB clla dla trOn quay quar1h trtJ.c z di qua tam
0 clia n6 v8. vu6ng g6c vOi m?t ph~ng clia clia (hinh V.35).
xac dinh v$n tOc va gia tOc tuy~t dOi clla qu8. cftu khi n6 d each
tam 0 m9t khoi:ing ng&n nha't Ia 30 cm. Tc:i.i thCii di~m nay v$.n
t6c g6c clla ilia 18. 0) = 3 rad/s, va gia t6'c g6c ch~m d.in b.ng
8 rad/s 2 .

CO HOC LY THUY~T - TAP I: PHAN TlNH HQC, BONG HOC

290

11
11

'

/~

///

11

,I

OJ_
'JQ

CIT!

-----

30'

Hinh V.35

Hinh V.36

Bili V.36:L8.ng trv ta1n gi.c DAB trUc;lt

kb6ng ma sat tren mQ_t ph~ng
n.im ngang theo phUdng trinh
x ;;:: t'1 (m. s). Tro11g kl1i 06
1nc)t di6'm M chuy~r1 d{h1g d9c
m$.t nghiCng QA theo quy lu~t
OM ~ S,;;:: 5t - t 3 (m, s). G6c
OAB ~ 30" (hinh V.36).

Ti1n v0.11 t6'c vii. gia tOc tuy<)t

dOi cUa M khi t = 1 s

Bai V.37: 'l'ha11h OA

g~n vao trvc

CD

ti;i.o th<'inh g6c 30. MQt di~m

M c11uyfn dQng d9c OA theo
quy lu~t OM= S,;;:: 2t 3 (m, s).
Khi d6 trvc CD (hinh V.37)
quay vOi quy lu~t cp ;;:: St - {i
(rad)'.
Tim v~n tOc va gia tOc tuy~t
dOi cUa di6m M khi t ;;:: 1 s.

Hinh V.37

PhA'n hai. BQNG

291

HQC

Bai V.38: NUa dUdng trOn biin kinh R quay quanh du:dng kinh Lh~ng
dllng AB theo quy lu~t

qi=

4t -0,2t 2 (rad). Khi d6 difm M

(hlnh V.38) chuyfn dQng tren nU:a du:dng t10n nay vdi phU:dng
trinh: OM= Sr= lOnsin~t (emfs).
4
'l'im v~n tOc vii gia tOc tuy~t dOi cila di6m M khi

(s) ne'u

R::: 30cm.

M
R
~

O,

B- - -

Hinh V.38

Hinh V.39

Bai V.39: Hinh xuye'n rOng biin kinh R t8.m C quay quanh trl,1.C 0 1z theo
quy lu~t

qi=

5t -4t 2 (rad) sao cha m$t ph~ng hinh xuye'n

vu6ng g6c vOi trl,1.c quay 0 1z. Difm M (hinh V.39) chuy~n dQng
trong hinh xuye'n theo phU:dng trinh
OM~

S,

15
8

'l

-nt' (cm/s).

Tim v~n tOc va gia tOc tuy~t d6i cUa M khi t ::: 2s, ne'u

=a::: 30cm.

Cd HQC L'i' THUY~T - TAP 1- PHAN TINH HOC, DQNG HOC

292

CHUYEN DQNG SONG PHANG CUA

vAT RAN

B3i V.40: Hai tl1a11h Ava B sor1g song cling chuy0n UQ11g ve tnQt phia vOi
v~n L0c V~ 1:- Vil. C1Ua l1ai tha1111 c6 1nQt d1a trOn tftrn C bftn

kfr1h R chuy@11 dQng Ian l<;:l16r1g trtit;Jl thco c~1c tba11h (hinh V.40).
1-ii'i.y xac dinlt:
a) Vi}n tOc tam

c va v~n t6c g6c cUa ilia Ll1eo VA, Vn:

b) TU d6 s11y ra ke'i qu1l kl1i cflc ll1anh cling chuy@n rla1g ve

hai phia kh:lc nhau.
A

R
B

Hinh V.40

Blli V.41: Ta_y quay OA ::: 30 c1n quay q11anl1 lrc 0 vOi v{tn tOc g6c
w"::: 2,5 rad/s truyen chuy@n dQng cho b{tnh xe ban ki11h r = 10 cm
r1hCJ l11anl1 AB ::: 30/3 cn1. Cho b{1nh xe 18.n kh6ng lrliQt Lre11

du:dng n~1n ngang (hlnh V.41)

A

c
Hinh V.41

HU.v xflc djnlt vQ.n t6c g6c b8.nh xe BC, v(1n tOc cac di@m B va C

k111 OA vu6r1g g6c v61 AB.

293

Bai V.42: 1'ay quay OA quay vOi v[.tn t6c

g6c ci\, :::: 2,5 rarl/s qua11h trvc
0 cUa l).nh xc cO di11l1 b8.n

klnh r 2

::::

15 cm vii 18.m cho

b8.nh xe b.in kinh r 1

:::

5 cm

g<:"tn lrCn d:iu A cUa r16 chuy~n

dQng 18.n kh6ng truqt tren

b8-nh xe cO d1nh (hlnh V.42).
HRy xUc d}nh v$.n t6c cac di~tn
A, B, C, D va E cUa bflnh xe

Hinh V.42

dQng i1e'u CE vu6ng g6c v& BD.

Bai V.43: Hai vf.i-t n,ftng M 1

va

M~ bu{ic

viJ.o h$ puli bOn r011g r9c. 11ay

IV

x8.c djnh v$.n t6c clla cac di~m

tha'p nhit cUa cB.c rOng r9c I

va

11 thu9c cvm di dQng, V(ln tOc

g6c cl.la c8.c rOng r9c d6

va

M,
III

v~n

ttlc V~ clla v~t ni).11g M~ ne'u

v$.t M 1 h~ xu6'ng vdi v0-n t6"c
Y1

:::

12 cm/s; r 1

:::

6 cm;

r.,:::: 9 c1n (hinh V.43).

Bai V.44: Tay quay OA :::: 35 cm quay

quanh Q 18.m thanh ~B v8. con
chq.y B chuy~n dQ11g (hinh V.44).

II

Tlm v~n tOc, gia tOc con ch0y

B. vf!.n tOc g6c, gia t6'c g6c

thanh AB t:;ii thdi di~m OA d v~
tri thling dUng. ne'u 0l" ::: 4
rad/s;
8 rad/s~ v;l a:::: 30".
0

:::

M,
Hinh V.43

CO HQC L1 THUY~T - TAP I: PHAN TiNH HQC, DQNG HOC

294

Hinh V.44

Bai V.45: Tay quay OA

= 30

cm quay

quanh tr\lc 0 v6'i v?n t6c g6c

= 0,5 rad/s. BB.nh xe ban kinh

r 2 = 20 cm Ian kh6ng tru'i;lt tren
ro

b8nh xe c6 dtnh ban

r1 =

kinh

10 cm lam cho thanh

truyn CB = 20

.J26 cm

m,
A

g.n vOi

n6 chuy~n d<)ng (hinh V.45).

Hay xac d!nh v$.n tOc g6c clia

thanh truyen CB va v$.n t6'c cac
di~m B va C khi blln kfnh AB

trl,l'c giao vOi tay quay OA.

Bai V.46: Bii.nh xe t.9.m 0 Ian kh6ng tru\:lt

trong m:;J_t phiing thiing dUng

theo mQt du'dng thing nghieng

vOi phtidng ngang mQt g6c a.

xac dinh gia tOc c:ic di~m dftu

mUt cU.a hai dttdng kinh vu6ng g6c vOi nhau

Hinh V.45

ma

mQt trong hai

dudng kinh cUa b8.nh xe song song vOi dudng ray. Bie't rilng t?i

thdi di~m dang xet v$.n tOc tam 0 cUa bilnh Xe Ia V,, = 1 1n/s,
gia tOc clla t.m nay 18. W .. = 3 1n/s 2 b8.n kinh b8.nh xe Ia

0,5 m (hinh V.46).

295

I'lli/n /Jiu: DONG HQC

M,~--~
\
\

-l

,
M,

M,

~;
\

Wo

\
\
.....

Hinh V.46

- - -

Hinh V.47

Bai V.47: Tay quay OA:::: 20 cm quay quanh 0 theo quy lu-it <.p = lOt rad
(t tlnh thco gifry) va 18.m cho thanh AB:::: 100 c1n chuy~n dQng.

Con ch~y B chuy~n dQng theo dudng thii.ng dU:ng.

'rim v~n t6c g6c va gia tOc g6c cUa tf1anh AB cG.ng nh1t gia tOc
COil ch~y

B k11i thanh bien AB va tay quay OA vu6ng g6c

vdi nhau va hQp vdi tri.;ic n1m ngang nhG'ng g6c a :::: 13
(hinh V.47).

= 45u

B3.i V.48: 'l'ay quay OA quay quanh trvc cO dinh 0 theo quy lu~t
c.p(t):::: t 2 - t (rad) 18.m b8.nh xe ban ki'.nh r 18.n kh6ng tru'Qt tror1g
611g trv. cO dinh b.in ki'.nh R 11hd thanh truyc'n AB. '1'9-1 thdi
di~m t = 1 8 Cd ca'u vi tri nhu' d hinh V.48.

Hay x3.c djnh v$.n tOc va gia t6c cUa cB.c di@m B, C va xac dinh
gia tOc g6c thanh AB v:l gia to'c g6c bii.nh xe, neu OA =AB =
R:::: 2r:::: lm.

CO HQC LY THUYgT - TAP I: PHAN TINH HOC, DQNG HQC

296

R
r

Hinh V.48

Bi.ti V.49: 1-'hanh AB chuy6n d(lng trong m?t ph&ng th~ng dUng v6i ct.iu
A chuy@n dc)ng theo phll'dng n&m ngang, d.u B chuy@n dQng
thting dUng. T~i thdi di@m khiio sat d.iu A c6 VA ::: 10 emfs,
WA::: 20 cm/s 2 . BiCtAB::: 20 cm va a::: 30 (hln!1 V.19).
Tlm gia tOc di~m B

va gia tOc g6c thanh AB.

Hinh V.49

Bai V.50: Trong Cd cilu Oat tay dOn 01A quay qltanh tr\l.C 01 va nhd
thanh biCn AB truyCn chuy@n dQng cho tay quay OB d?t t\]'. do
tr8n tr1,1c 0. Bcinh xe I cling dliQc d:;i.t Ien trvc 0. MQt dfi.u cU.a
thanh trt1y6n AB giin vao b<inh xe II (hinh V.50)."

Ph;fn hai. D(>NG HQC

297

Hay xitc dinh v$.n lOc g6c cU.a tay quay OB va b<'i.nh xe I
l<hi

AB=

p::: 90". I31e't r 1 ::: r~ = 30,/;3- cm; 0 1A

150 cm va v$.n tOc g6c cU.a tay dOn t),, = 6 rad/s.

a::: 60,

= 75 cm.

Hinh V.50

Bai V.51: XB.c dtnh v$.n tOc, gia tOc lie'p, gia tOc ph{i_p cU.a d1~m B clla cd
ci'lu truyen chuy~n dQng (hinh V.51) k111 OA (!

vi trl

dUr1g. Clio tay quay OA quay quanh 0 v6"i gia tOc

Ll1Ar1g

kh611g
d6'i s 0 = 5s va t1;1-i thdi dii41n khlio sat c6 v<\n tOc g6c w,, = 10s 1 .
Bie't OA = 20 cm, 0 1B = 100 c1n vi":t AB= 1 20 cm.
2

0,
Hinh V.51

g{ic

CO HQC LY THUYt:T - TAP I: PHAN TlNH HQC, OQNG HQC

298

B:'.li V.52: 1\.18.y 1n8.i chuy~n dQng nhd ban d<~p OA = 24 c1n, dao dQng
quanh 0 theo quy luftt lr = ~sin~t (rad) (;6c lp Linh tU duh11g

n8.m ngang. Vi8n dii. mai K chuy6n d(l11g quay quanh 0 1 nhd
thanh truyenAB. Trl,lc 0 va 0 1 cling vu6ng g6c vdi m:)_l ph~ng

hl11h V.52. Tsi.i thdi di6m t

= 0 thi OA va 0

B nllm ngang. G6c

OAB = 60. Xac dinh:

a) V(ln tOc di6m D tren bC 1n<}t vir1 d8. 1n1l.1 K

b) Gia t6c di~m B ci.ia vi@n da mB.i K ne'u 0 1B

=0,5R =

12 cm.

Hinh V.52

Hinh V.53

Bili V.53: Hai thanh CA va CB nOi vdi n11au bing biin

Oifl = 0,)3

le C.

Tay quay

=r quay cling cl1iCu nhau vOi v?n tOc g6c kh6ng deli w".

X{ic dinh v~n tOc va gia tOc di~1n C k11i tay quay 0 1A va OJ]
n8.m ngang tren cling mQt du'.dng thing (hinh V.53). NCu
thdi di~m d6 g6c CA0 1 = CBO~ = 45 va khoUng each 0 1 0~ = 2r.

t1.11

l'llii11 ll<1i.

299

DQNG HQC
..

:=:

..

..

VI. HUONG DAN GIAI BAI

T~P

Bili V.1: TU c8.c phU:dng trinh chuyJn d(ing la biCn d6i

x::; :3t - 5:

a)

2x::;6t-l0

= -2t +4;

3y:::: -6t + 12

:::::>2x+3y-2=0
Du:dng thiing 3y + 2x - 2:::: 0 b:it d.u t?i x:::: -5 va y
y =

x::; 2t;

b)

= 4.

St~::; 2x~

Nh8.nh ph3.i cU.a parabol y ::; 2x2 va b:it d<:~U t~l gclc tc;>a dQ x = 0,
y = 0.
c)

r.x:)' + (:y_J'
~ 1.
3
\ fj

. -x ' + -y ' = 1 va. b"al d''au ta1. x::; 0 ; y

El1p
25
9
.

x -2 =-cos5t va y +1
d) 3
4

.
= s1n5t
. "'l.1p
.L'.J

(x - 2)' +

~(y_+_1)_2

= 3.

= 1.

16

Di6m b~t dAu chuy~n dQng t?-i v} tri:

x=2v8.y=-1.

Bai V.2 (hinh Vl.2),

a)

Ta c6:

x ~ 201' + 5
{ y = 15t 2 + 3
3x = 60t: + 15

.
{

4y~601-+12

3x - 4y

D8.y 18. phU:dng trinh du:dng th:ing khOng di qua gOc tc;>a dQ. Di~m
xua't ph8.t tU A(5, 3). Quy d?-O 18. nU:a du:6ng th:ing (hl11h VI.2a).
b)

{x~4t
y

3t -

-2t'
1,5t~

CO HQC l '? THUYt"T - TAP I: PHAN TTNH HQC, DONG HQC

300

3x = 12t - 6t~

4y = 12t - 6t 2
3x-'1y=O

Dil.y 13 phtio'ng trinl1 dudng thAng di qt1a gf)c tQa dQ (11inl1 VI.~b),
quy

l:i rn'.ta dtidng thAng:

d;,_10

-00

< x .s 2

va -co < y .s 1,5

y

- - -

A ,
1,5

/
/

/
/
/

x = 5 + 3cost
{ y=4sir1t

(x-5)'
-3-

Ta c6:

=cos

,t

(~r =sin''

CQng hai vC ta dLi<;Jc:

(x - 5)2 + y2 = 1

9
Qt1Y d9-o

16

Ia du'dng clip.

Hinh Vl.2

301

Ph1"in /u1f. DQNG HOC

d)

Ta c6:

= .l.
b Thav) vao ta dtidc:
.

Quy d00 la parabol (11inh VI.2c):

x

= -ay ~
b'

., b''-x--+ ay-., -b-x:::

.,
hay ay-:::
0.

(x-.11'

x=3+4cost
e)

',

=>

(y; 2r

y=2+5sint

== cosi t

.., t

= SlD -

Vf}.y quy di.lo la elip c6 phlid11g trinl1:

(x-3)'

---+
16

(y-2)'

25

=1

(~)'

x = 5cost

y-:ll'
(-5-

y=3-5sint

._

+ (y - 3 )~

25

1. hay

.,

= cos- t

x~ + (y -

. )t
s1n
:3) 2

:=

25.

25

Quy dl,l.O 18. dtidng trOn b8.n kinl1 b8ng 5 vOi tfl.1n 0(0, 3).

Bai V.3:
a)

x::: 3t 2

y ::: 4t~

=>

4x - 3y ::: 0

dx = 6tdt ; dy = Stdt
ds = ~(dx)' + (dy)' ~ ~(36t' +641').(dt)' ~ lOtdt

ca HQC L'( THUY~T - TAP I. PHAN Ti NH HOC, DONG HQC

302

'
s = fds

"
b)

'

flOtdt = 5t~ .

"

x == 3sint ;

y = 3cost

dx :::: 3costdt ;

dy == -3s1ntdt

ds:::: ~9(cos 2 t +sin~ t)(dt) 2

x'!.

+ y!_

:3dt

= 9

s::: 3t.

x+y ==a

c)

dx:::: -2acostsintdt
ds =
x ::::

d)
~

dy

.,J2;; .2sintcost.dt;

5cos5t~

= '2acosts1r1tdt

s:::: a.fi sin 2 t.

y :::: 5s1n5t~

xz + y2::::; 25
dx::::

-50t.siri5t~dt

dy == 50t.cos5t1dt ;

s:::: 25t~.

Bili V.4:
a) 'I'hco b8.i ra

x:::: asin2wt

va y:::: asinwt.

Ta bie'n dfii;
x :::: 2asincot .coswt = 2asi11wt. ~ 1 - sin 2 wt

.
Th ay s1nwt

= -y , ta co:,
a

b) 'l'a c6:

x = acos2wt

y :::: acoswt

PhJ,, lliti. DQNG HOC

303

Thay cos2cot:::: 2cos2 cot - 1, do d6:

x ::: a(2cos 2 cot - 1) ::: 2acos 2cot - a

a ;!
a

.,

2y-"

x::: 2-cos-cot-a::: - - - a

ax ::: 2y 2

Bai V.5:

a 2 =>

2y 2

ax - a 2

:::

0.

Ap dung c6ng th Uc
s::: V,.t

ma

1 W t'
+ :2
0

V-V
W=--"'
t

l(V-V,l,t

s=Vt+"
2

Khi dUng

1
=-(V+V)t
2
"

l~i thi V::: 0 nen s::: ~ V"t.

v"::: -2s
t

6m/s.

Bai V.6 (hinh Vl.6):

Theo b8.i ra ta c6:
s::: kt 2

khi t::: 1 ph

Lhi s::: 90 m, v$,y k::: 90 m/ph 2 ,

s .::: 270t

s ::: 90(l =>

s:::540t:::W
Kl1i t:::: 0 :::::}

V:,:::: 0;

W"::: 0.

1
Khit.:::5 s= -ph

12

2r

v, = 21o(i1

w~, : : 540 x l~

1,88 m/ph;

45 1n/ph

V$.y:

ca HOC LY THUYtT - TAP I. PHAN TfNH HOC, DONG HOC

304

540

270

90

480

240

80

420

210

70

360

180

60

300

150

50

240

120

40

180

90

30

120

60

20

60

30

10

I
I

s = 90!'

"! I

W=540t

I
I
=

10

20

30

40

Hinh Vl.6

Bai V.7: Tl1co c6ng LhUc

s:::::

V .,t + -iw ,t~..,

'

V?y:

I V-V

s~Vt+-

"

V-V
"
t

W.=

ma

.1-~-(V+V)t

"

V = Zs - V :::: 25 in/s

w, =
W

"

"

25

15

'

::::: o,:3:3

30

y2

n1/s~

252

- - = 0 625

1000

'

m/s~

270t'

50

60

70

ts

305

PhiJn hai. EJQNG HQC

W= ~W' + W'
'
"
W = 0,708 m/s 2 .

Bai V.8: Ta d6'i 54 km/h= 15 mis va V= 18 k1n/h = 5 m/s

Ta c6
m8.:

W- V-V"
,t

0
cho nCn: s =Vt+ -lV-V"
t- = -1(V + V )t
"
2
t
2
"

= =2_s~ =
V+V"

2.800
5+15

5-15

Gia tOc toan phi&n

=80 s
= -0,125 m/s~.

80

w = ~W,.2

+ W, =

~l R)

T~i didm di&u W,,:::

15
' J' + (-0,125)
(-800

T~i d16'm cu6i W ~

( ' )'

5
__
800

=0 ;

W,

= -

+ (-0,125) 2 = 0,129 m/s 2 .

V = 72 km/h

_ V - V,,
t

= 0.308 mis.

Bai V.9: Ta c6:

V,,

+ (-0,125)

= 20 mis

20

1 __ , ,

= -- = -

3.60

l
40
=W,.t = -2.60
= 9
3

mis

JHJS

CO HQC L1 THUY~T - TAP I: PHAN TINH HQC, UONG HQC

306

IV -- -V
"

40
9.800

2 1n/s 2
9

= -- = -

= +~ w-'~4
92
92

W::::WL +
,

::::: 0,25 m/s 2 .

B:li V.10: TU cac phttong trinh chuy~n d~n1g La b1i!n d6i duqc:
_ .,
y::: 400 t-ot
,

x:::::300t:

Vx:::: X ::::300: Vy:::

y ::::400-lOt

V::: [300 2 + (400 ---10t) 2 : t

W::: 10

t\00
5xi
y:::: - - x - - - 300
300'

= U.

V:::: 500 1n/s

m/s~

S,,,,,, :::: Xnrnx

khi y ::::

thi t : : :

s ::::: x""'' ::::: 300. 80 ::::: 24000

vf!. t :::: 80

m :::

24 km

. khi y:::: 400 - lOt = 0: t = ~OO

Y m,u
l () = 10 s
H = Ymo = 400.40 - 5.40' = 8000 m = 8 km
IV,= dV =!1:._[~300' +(400-lOt)''j= -l0( 4 00-lOt)

dt

IV
n

=
p

dt

= '/lw' _W' =~lU

~(400
-- 10t)'
- y2
1

v_i _ V
w, - 3000
3

[aoo~ + (400 - iot)~ Ji'~

~--~3-0_0_0_ _~_

Kh1 l:::: 0 thi Pu== 41,67 km

Khi t ::: 40 s thi p ::::: 9000 m ::::: 9 km.

:JOOO

307

Phii/J hai. DNG HQC

Bai V.11 (hinh Vl.11)

-----'l<----1
x

Hinh Vl.11

J x = 40t

Ta c6:

[y=4.9t 2

Phtidng trinl1 quy d:;i.o Ia:

2

xy=49t ' = 4 9
,
' 40 2
{

y == 0,00306x 2

Tftm Lay xa clla born theo phlidng ngang:

4,9 x 2
40 2

y ::::

::::

h.

~40 h
2

x=

Do d6:

4,9

:::: 989 ,74 m

L:::: x:::: 40

Thdi gian rdi:

x
40

t=-==

Bai V.12 (hinh V.12)

VA= S = 2at.

989,74
=27,74s.
10

ca HQC LY THUYtT

308

T~P I: PHAN TTNH HQC, DONG HQC

We= 2a_1_

r,

c
Hinh Vf.12

Bai V.13 (hinh Vl.13):

Ta c6 x = ut = 5 x 3::: 15 cm

=r

- y

= 30 -

25,98

= 4,0:2 c1n

YL
j!

II

II
II
II

_,

-x

B
/

, /r

A=

Hinh Vl.13

309

Ph8i1 hai. EJQNG HOC

Bai V.14: Theo phlidng trinh

{!) -

(!)

1na c ; : : : : - - '
t

Ta c6:
1

c.p::::wt+ -.
2

(.() -

(0{1

.,

N:::: 600 vOng.

Bai V.15: SO vOng quay 18- Z.

Ta c6:

Z:::: nt
2

t
Bili V.16:

2Z
160
= - - ph::: 8 s.
n
1200

= -

Ap dung
. c6ng LhUc s:::: V t + .!.gt~.
2
0

. s:::: -gt-=
1 . h.
o v :::: 0. nen
D
"

t-:::: --(ui+w,, t
2

8618-n va d?p trong mQL phUt 13.:

60
.
Z = - ::::21 lfrn.
2,8

lJl= --w.t

ca HQC Lt THUYt"T - TAP I: PHAN TTNH HQC, flQNG HOC

310

Bai V.17 (hinh VI.17):

Ta c6

0,

~=-=lt

l'.0 :::
E :::

o.

cP ::: 20t rad/s

cp = 20 rad/s 2

W ::: Rw 2

"

'

W ::: RE

"

= 200~1+400t 4

cm/s 2

p
Hinh Vl.17

Bai V.18 (hinh V!.18).

z,

Hinh Vl.18

TU quan
ta c6:

h~:

Vn = X ::: lOt,
d
::: 10 cm
2

r= -

P/11/11 llai. DQNG HQC

311

VA::::

16,8 m/s

co 1

21t;

::::

<: 1

::::

21

WA:::: a~E~ +co~

rad/s~

40~21 2

WA:::: 40~21 ~ + (42) 4

Khit::::2.s:

2lt

+ (2lt)'

705,9m/s~.

Bai V.19: D~ng chu'1n clia chuy'11 dQng theo du:dng xofin Oc c6 pl1Lf(Jr1g
trl.nh chuy~n dQng 18.:

x :::: acost ; y :::: asint ; z :::: ct

thi khi d6 ta c6 dQ cong k:

k :::: -

= - - - (p - bii.11 l-::inl1 cong)

p
a2 + c1

Ap dvng vao bai toan:

l

x:::: 2cos4t; y:::: 2sin4t: z::: -4t

2

V$.y:

a :::

l
va c ::: - .

Do d6:

p~

4+

a 2 + c~

17
l
o--4 o-=2-1n

Bai V.20 (hinh VI.20):

Ta c6 v~n tOc cUa cQt:

X :::: akcoskt

CD 4 -

T3C0:3
--

rl X

r1

r.1 r~

ca HOC l y THUYt"T - TAP I: PHAN TTNH HQC, DQNG HQC

312

Hinh Vl.20

Hinh Vl.21

Bai V.21 (hinh VI.21):

Ta c6:

nn 30 n
= -- = n
30
30

C01 ::: -

z,

-w,

z,

4B6rc
::: 0,785 cm/s.
32.24

Bai V.22 (hinh VI.22):

Ta c6:

OJ ::: _____,i_

1~11un

hai. DONG HQC

313

r,

-t
R
_ Vv

1
w.,---==-r~
r~ R

t"

,~

r~

:::: __:i_ -

B D
0

c
r,

II

A
Hinh V/,22

CHUYEN DQNG PHUC HQP CUA DIEM

Bai V.23: Thanh AB chuy~n dQng ti11h ti8n di 1Pn nCn WA d1 len l~l

gi8

tOc tuy~t d0i. W._1 d9c Ll1co c<.111h DE (hinh \ll.23) 13. gia t6'c

tLidng dOi. W., la gia tOc tbeo. 'l'a c6

Cd HQC LY THUYtT - T,i\,P I: PHAN T1NH HQC, DQNG HOC

314

E=

x
Hinh Vf.23

Bili V.24 (l1i11h Vl.24):

ra c6:

w
Oi\

::: nn
30

90n
30

v:-

3 rc

FB----+--7\..A;f:Ja'J v:

l ::: 200 1nm ::: 20 cm;

VA ::: lw
Vnc::: VAsin30:::

=:~On:::

2-zw:::
2

2-20.3n

94,2 cm/s::: 0,942 mis.

c
Bai V.25 (hinh Vl.25)c
Ta c6 quii cfiu A quay quanh 0 ta
chuy&n dQng tuong dOi V,::: l.w 1 c6

Hinh Vl.24

phttdng vu6ng g6c vdi QA khung cling OA quay quanh MN

chuy~n dQng theo:
V,.::: (e + lsin30) w

Vi

ma

la

Phjfl hai !NG HQC

315

~V/ + V}

nen

V.. ::::

V$.y:

v":::: J<z(J)l)~

+ [<e + lsin30")(J)]-;;-

v,.:::: 3,06 mis:::: 306 cm/s.

Ie e

Hinh Vl.25

Hinh V/.26

Bai V.26 (hinh Vl.26):

Chuydn dQng cUa v~tt D d9c theo AB 18. chuy~n dQng tu"dng do'i c6

W,

= ./2 dm/s'.

Chuy6n dQng AB cling v$_t D theo phu"dng n8.m ngang 18. chuydn
d{>ng theo (t~nh tie'n) vOi W~:::: 1 dm/s1 :::: const.

Ta c6:

s =_le w t 2 = ./2 t 2
r

J2

J2 J2 .,

x =s - = - - t
r
r
2
2 2
X

J2

==S
r

J2f2,

-=--t

-= -

t~

2
1,

=-t

ca HQC L'YTHUYt:T. TAP I: PHAN TINH HOC, UONG HOC

316

X,

=~wt'
2

+x
"= x
'

1 ,

-t
2

1 ,
1 " + ~t
2
2

-== -t~

1 '
y,.=h-y,,=h-2t

Y " ~h- ~
2
Va

~x; + y~

)(2t) 2 + (-t)~ =

tJ5 dm/s

w" = J5 dm/s',
Bai V.27 (hinh VL27):

~
x

Hinh VJ.27

D16'1n A chuyi4n dQng quay quanh 0 111 chu.yn dQng tlidng dOi.

Di~m A chuycin dQng cling v0i xe theo phlidng n~1n 11gang Ja

chuycin dQng theo. Vi v$.y ta c6:

Phii'n h11i. ElONG HQC

mil

317

W,.' ::: Rs va W" ::: Rw 1

'

w ::: cp ::: 2t ::: 2

rad/s~

Khi t::: ls. ta c6:

t. :::

W ::: 4'> ::: 2 rad/s 1

= 0,2 m

W,.' ::: Rw 2

:::

0,2.2 1

:::

0.8 m/s 2

W;:; W.. ::: 0,492 m/s~

ChiCt1 l&n cac tr1,1c x va y, ta c6:

1
J3
= 0 ,492 + -0
2 , 4-0.8. 2

= 0,492 + 0,2 -

0,692

=0
1

Wur::: W,' sin60" + Wr" cos30"::: 0.4 J3 + 0 ,82

.
2
::: 0,346 + 0,4::: 0,746 m/s 1

:::

W11 .

Bai V,28 (hinh Vl.28):

Khi t::: ~ thi OA 1- Ox.

'"

Chuydn dQng cU.a A quay quanh 0 la cht1y~n dQng tlio'ng dOi,

cl1uy~n dQng cUa dQng cd cling h~ dQr1g Oxy la chuyn dQng thco.
Ta c6:

W . :::
'

., kh.l t ::: - rr
2w

-aw~

CO HQC L'? THUYt"T - TAP I: PHAN TiNH HQC, DQNG HQC

318

Hinh Vf.29

Hinh Vl.28

Bai V.29 (hinh VI.29),

la chuy@n dQng tU:dng d6i va tl1'1ng.

ChuJriin dQng clla M d9cAB

Chuy@n dQng cUa ABCD quay quanh Kz Ia chuy@n dQng theo.

Chuy@n dQng cUa M dOl vdi Kz 18. chuyJn dQng tuy~t dOi.

Ta c6:
.
n
w::: cp ::: '
2

= const

V ::: S ::: a~ cos~ t = O khi t ::: 1 s

r

2
2
..
TI.Jt
1t
-a- khit:::ls
W ,. ::: s r ::: -a-s1n-t:::
4
2
4

1~111i'n hni. DQNG HQC

319

n
V :::: V :::: a - c1n/s
"
'
2
n
V :::: V:::: a- cm/s
a
"
2

Bai V.30 (hlnh Vl.30),

2a
B <----------~C

"'

2a

w,
W.'
A

w.

"'
Hinh Vl.30

a) Khi t:::: 1 s

s,=1;=0
w0

::::

7t

.J2

radls :::: const

1t.1t
.
V r :::: s r ::::-a-s1n-t
2
2

ca HQC l Y' THUY~T - TAP I: PHAN TTNH HQC, DQNG HQC

320

n
V,.= -a-:

W,=O

WK:::

J2

::: an-'
2

l(W"" )~ + w~K =an~ VD

f5 c1n/s~

"

"'

n
2co"V,-::: 2nv2 a2
2
"\/

b) Khi t::: 2 s thi OM::: s,.::: -a

v. = s = 0
,.

,,

n-

Wr::::;;::: a 4

AM= a.fi-a =a(.fi-1) =0.41a

d =AMsin45'

=0,4la Fz
=0,2a.fi
2

W0" = dw;, = 0,2 afi.. 2n2

Khi t

=2 s

thi V,. ::: 0, nen WK ::: 0 vb. hu:011g vu6ng g6c vdi m<}.t

philng hlr1h ve ra ngoai.

Ta c6:
(*)

Chi8u (*) 1n c<ic tr\lc clia

h~

Mxyz (hinh VJ .30), ta c6:

W"'=Wx=O
. 4'"
W.v -- W,.sin
o - W"
c = - 0 , 39 an-'
Wuz:::

11

:::

'
W,cos45":::
0, 17 an:-'

0,44

an:~ c1n/s~.

Bai V.31 (hinh VL31):

Ta ch9n h~ c5 dtnh 18. tr1,1cAB.

Ph8n ha/. BONG

H<?C

321

V=U,
3_

w,

\\

W."
0

W."

W:"

-w.

V=U

=
=

'"

'"

Hinh Vl.31

H~ dQng c6 g6c t~i tam 0 clla hinh xuye'n. Chuy~n dQng clla h~t

16ng trong hinh xuyn quanh 0 18. chuy@n dc)ng tu'dng dOi. Chuy~n
dQng cUa hinh xuye'n quanh AB 18. chuy@n dQng theo. Chuy~n dc)ng
cUa h~t lOng dOi vOi AB 13. chuy~n d{'lng tuy~t d6i.

Ta c6:
hay
Nhung

nen
W"
vil
T~i

(1) ta c6:

CO HQC LY THUY~T - TAP I: PHAN TiNH HQC, DONG HOC

322

nin

Wa 1 --W"e1 - W"," = rw,,'

n6n

T?i (2)

W 1,

:::

Wr"

u2
r

3 rco"' + -

va (4) ta c6:

2co"u, c6 phu'Ong vu6ng g6c vdi mQ.L pl1:ir1g hinh ve, hu'c'Jng ra

I1go8.1. Nhu v?y:

wa,

~w

a,

[ ur'

+ (2rrn; l' + (2u.m,,)'

~ ( ur'

+ 2rcu;)

Bai V.32 (hinh Vl.:32)

Ch9n tr\]_C Oz di qua 0 va vu6ng g6c vdi m$.t ph~ng hinh ve lam h(!

cO di11h.
H$ Loa dQ 0 1xy 18.m h dQng. H~ dQng chuy~n dQng qua!' i1?n
c6 WK .

a)

cac chuy@n d(lng th8.nh phfi.n cling hu'dng:

Nhu'ng u

=Vr::: co11st, nen

\V,-' = 0 v;\ ru,,

Ta c6:

, W"
Wrn "" !!:____
r con
"~

T?i di@m (1) ta c6:

wne,

~ ~
r..,;nw
0

::c

co11"'t nl'tt l\r,.' -= 0

323

Ph;ill ha1: E>QNG HOC

w - wn - wn - WK
a1

e1

.,

= rw ~

- -

- 2u<o

"

T~i di~m (3) ta c6:

W"" -- W"
- W"
- Wx :, =
CJ
/'

.,
3ru)~ + ~
+ 2ucu"
r
''

w: ~

3_

.,,
.
vv,,

Vii:"

w,~

w.; W'

w,;

w;

VJ:

Hinh Vl.32

Ta thUy gia t6'c t~i di@m (2) bilng t~i di~'m (4).

Chie'u d&ng thlic nay len cac tr\lC 01X va 01)' la dUQC'.
=

Wr" cos a + W K ma, cosa :::: RJ5 = - I

'
'
R5
re

'"

u'
'
=-+Rw

"

--w;,

CO HQC l 'Y' THUY~T. TAP I: PHAN TTNH HOC, DQNG HQC

324

2R

-./5. R

-J5

s1na::::: - - = -

Rw~

b) Tru:dng hqp cac chuy&n d9ng th3.nh phfin c6 hu:dng ngUQC nhau.
Khi d6 ta thay u :::: -u cUa WK
Tl,li di~m (1) ta c6:

u'

Wo, = Rw 02 - - + 2uco
R
"
T~i di&m (3) ta c6:

u'

Wa, = Rw "2 + -R - 2uw o

Ti;li di&m (2) va ditim (4) ta c6:

W0 ,

=W = ( ~
0,

+ Rw! - 2uw 0

Bai v .33 (hinh VL33):

a) Khi t = 0 (hinh VI.33a). ta c6:

w=

= 3 - t = 3 (rad/s)

+ 4Rw:

Phan hai. E>QNG HQC

325

OM*=OM=O

v::;

V~"" 0;

'

TI

TI

4-cos-t = 211
2
2

W.::; -211.'.::.sin .'.::.t == 0

2
2
I

wk ::; 2w~ vr::; 2 x 3 x 2n::; 1211

a)

b)

B W,'

v,
=

I
-c1- -

=
=

Vo(

Cl

b) Khi t = 1 (hinh Vl.33b), ta c6:

w

= ~ =3 - t =2 (rad/s)

= ~ = -1 (radls~

OM*::; OM::; 4

v"::; 8 cm/s;

cm; V"::;

OM*.w

4w~

= 16

TI

TI

V.::; 4-cos-t = 0

'

--+ V" ::; V

'

A
Hinh Vl.33

W" ::;

::;

8 cm/s

326

CO HQC LY THUYtT - TAP I PHAN TlNH HOC, EJQNG HOC

W,.

TI
TC
= - 2n-s1n-t

.,/685.2

= - n-

26,2 c1n/s~

Bai V.34 (hinl1 VI.3,1):

Kl1i t

= 1 tl1i OM*:::: 2 cm.

'fa c6:
(p = 2t 2 ;:::: 2rad/s

9 ::: 4t
V,:::

= 4 rad/s~

S ::: St -

10::: -2 c1n/s

V. = OM* x (p ::: 2 x 2 ::: 1 emfs

Tu V,, = V, + V,, nhung V,.

V,,

= ~(V,.)" +(V,)'

J_

V, ncn

)(2)' + (4)'

W , ::: = 8 c1n/s~

wn'

=0M*xw 2 ;::::2x1 :::Semis~

W' =0M*xi;: 2 =2x4

Wk= 2wV,

Wa

=Semis~
,

= 2 x 2 x 2 = 8 c1n/s~

)<W"
e - Wr )' + (W1, - W;JC
,,

= )<s-8)' +(S-8) 2 = o

2/F,un/~

327

Phii11 hai. DONG HQC

'"

Hinh Vl.34

Hinh Vf.35

Bai V.35 (hinh Vl.35):

Ta c6:
V..,::: OPw,,::: 0,3 x 3::: 0,9 rn/s

vr:::
Tu

1,2 m/s

V r+e
V ' ma' Ve
/IV
V a- r cling ch1eu
~

11

:::

V, +Ve::: 1,2 + 0,9::: 2, 1 m/s

vr:::

1,2 m/s:::

w.n

= 0,3 x (JJ~::: 0,3 x 9::: 2,7 m/s 2

WK:::

canst~

w,::: 0

2w, x V,::: 2 x 3 x 1,2::: 7,2 m/s:;

W0 = ~(W.') 2 +(WK+ W,")'

=

~2,4 2 + (7,2 + 2,7) 2

Bai V.36: Tinh V" (hinh VI.36a)

"

= S" = 5 -

31 2

= 2 mis

= 10,186m/s

CO HQC l l' THUYt"T TAP I PHAN TfNH HQC, 86NG HQC

328

a)

a)

0
M

v:'

'
30'

Hinh Vf.36

Tinh W 0 (hinh Vl.36b):

Wc

=S

= -6t~

= -6 mis~

= 6t = 6 mis~

W,, = i

WC =~W/ +we~ +2W,. xW,. xcosa

=

J3
~
6 2 +6 ~ +2x6x6-=11Jirn/s.
2

Bai V.37 (11inh VI.37):

Ta c6:

vr = s

r :::

6t 2

:::

6 in/s

wr = s,.:::: 12t = 12 m/s

1~Jui11 luli. DQNG HOC

329

uJ = cp = 8 - 3t" = 5 racl/s

c::::::

~ = -Eit

= -6 rud/s 2

=1 s
QJ.,f* = 2 m.

a)

b)

,
'

c
Hinh VJ.37

Tinl1 V" (hinl1 VI.37a):

V

NC11

= w x 011.1.* x s1n30 = 5 x

v" = iJ'vr + Vc
2

Ji2-.:5

161 = 7.81

= VtJl

m/s

'l'inh W":
(")

YV,_

=Sr=

12t = 121n/s 2 (l1inh Vl :17b)

1
I .,
We11 = w 2 x OM* x sin:30" = 5 2 x2-=25ms2

ca HQC L'i' THUY~T - TAP I: PHAN TINH HQC, DONG HOC

330

\V'
'

w x OM* x

wk ::: 2 x 5 x 6 ~

s1n:~o"

= 6 x 2_!_ =

61n/s~

:::; 30 m/s 2

Chie'u (a) Ien c8.c tr9c cUa Mxyz, ta c6:

W <a = WTe - WL:::;

6 - 30 = -24 m/s 2
"

W~v:::
Wrcos60 - Wen
.

12 _!_ - 25

= -19 mis~

. 60" - 12 -J3 = 6'\f,j

cc;l ms
I '
\Vuz -- \V,.sin
2

Bai V,38 (hinh Vl.38):

Khi t =

(s) thi M = 0 (hinh Vl.38a)

co=

cp

= 4 - 0 4t = 4 _ 1c 0 8 = 3 73 (rad/s)

'

3 '

'

=if>= -0,4 (rad/s 2)

V~ =

V,1.1,

Rw = 112cm/s = l,12m/s
1t

TC

5~

1t

V = S = lOn:-cost-t =-re cos'

4
4
2
6

vr = -5 n:-~ "3r;:: = 21,36cm/s = 0,21m/s

4

l~hiin hni. flNG HQC

331
a)

b)

O=M

B ~

Hinh V/.38

,,

V,
0.21
I
W' =-=--=1,'17ms 2

0,3.

fj 1 1i IT
5 'I
1i
.,
- ..
W : =S=--n:--s1n-t=--n: >;Jll--'-'--0,1111/s-

(j

wen= Rw 2 = 0,3 x 3,73 2 = 4,2m/::;~

We' =Rf;',=O,ax4=1,2m/s~
W" =~(W,.n +W"n)~ +(W,.')~ +(\V,,')~
=

~(1,47 + 4,2) 2 + (0.1) 2 + (1,2) 2

Wa = J32.15 + 0,01+1,44

Bai V.39 (l1l11l1 VI.39):

Khi t

= 2 (')

thi M = B

' 45
. 15
V = S =-n::3t- =-nt

8
8

J3a,6 = 5,Sm/s~

Cd HQC L1 THUYtT - TAP I. PHAN TfNH HQC, DONG HOC

332

= 2 (s) thi

V =S
'

45

=-2n

vr

= 70,?cm/s = 0,7m/s

v"

=aw

ma

w=tj:i=5-8t=-11 (rad/s)

Ve = 0,3 x 11 = 3,3m Is
V,,

W,

Vr +Ve -). V"

=
n

Vr2

= -

Vr +Ve == 3,3 + 0,7

0,7
0,3

= - - = l,63m/s

4m/s

.
.. 45
45
45
.,
W ' = 8 =-n2t=-rrt=-rt=0,7n1/sr
8
4
2

wen

= aw

==0,3x11 2

36,3m/s 2

2
W'" =ai::=03x8:=o21m/s
,
'

Wk =2wVr =2xllx0,7=15,4m/s~

wa
= '1cw
wk- e
W" )' + (W'r+e
W' J'
V+
r

w,

I
= ,c1,6s
+ 15,4 -36,3) ' + co.1+2,4) '

W,,

19,51m/s 2

R
&

v:-

aw," iv.;

'

'c

v:w
Hinh VJ.39

Phfin hai. D~NG HQC

333

CHUVEN DQNG SONG PHANG

Bai V.40 (hinh Vl.40):

a) Hai tl1anh chuydn d(n1g clnig phia.
'l'U c6r1g thUc :

VA

Vs

Ve

AP

BP

CP

-=-=

Ta c6:

vi\

(0

b) H1:ti thanh chuyd11dQng11a1 phia kh{1c 11l1au.

va

1'a c6

0)

VA-'- VB
2R

= ---

c,

B
p

Hinh Vf.40

Bai V.41 (hinh Vl.41):

Ta c6 QA chuydn dQng quny quan11 0. 'l'hnnl1 OA
chuy~r1 dQng song ph~ng. Ta tir1h:

VA= OAw = 30.2,5 = 75 emfs

0

OA

30

tga= - = - - = -

AB 30J3

J3

va

bcl.nh xc

334

Cd HOC LY THUYtT - TAP I: PHAN TINH HQC, DONG HQC

Do U6:

a= 30

V?y:

VR
VB

VA
cos30
=

75

J3

150

86,fi cm/s

J3

IP,
I I
I
I

I
I

I
I
I
I
I
I
I
I
I

v:-

c
P,
Hinh Vl.41
(JJAB

vA

AP

75
90 0,83 rad/s. Vi AP 1 = 90 cm;

P" Ia tCun

v~n tOc tUc Ll1bi clla b<1r1l1 xc, 11611

Phii'u /Jui. Di;)NG HQC

335

Ta tin11:
Ve::: 122.47 cmis.

Bai V.42 (hinh VI.12)

Tay quay OA quanh 0 ta c6.
VIL::: OAco0

:::

(r 1 + rz) 0\,::: (15 + 5) 2,5

VA::: 50 c1n/s.

Hinh V/.42

Di~1n B 18. t3.1n v$.n t6c tile thcJi clia b:inlt xc i10n V11

:::

0. Ta c6:

= 2V,., - ~ x ,-io-=- 11111 ti11/:,;

Ve= v" =VA J2 = 50..fi

Vv

Ve ::: Vr;::: 70, 7 emfs

Bai V.43 (hinh VI.43):
Ta xCl rOng rQC 1. P 1 18. t&n1 v(i.n ltlc tile r}1(Ji cUa rOng r9c I n11
V = 2V (hinh V!.43b)

"'

336

Cd HQC LY THUYi::T - TAP I: PHAN TiNH HQC, DQNG HQC

Di@1n tl1:1p nl1a't cUa r011g r9c I lB E tl1i VE::::

-,/'2 V 0 ,.

X6t r(lng rQC IT. P~ 18. tftm v$.n tOc tUc ll1di cUa rOng rQC II (hinl1
VIA3r).

Ta c6:

Vo,

V0 ,

CP~

O~P"

11.1r~

113r~

1
1
-=---->-=--

V1

do d6:

V0

::::

4V01

Yi

'

co 1 ::::

Va

1
--

r,

~
4

= .3 c1n/s

= - = 0,5 rad/s

a)

b)

c)

IV

M,

III

v,

v~
I

v,
P,

!IV,,, P,

- 1

V,
E

v"

(),I

II

O,

M,

Hinh Vl.43

l'b,111 flili. DONG HQC

337

V:').n tclc d1~m thfip nha'.t cU.a rOng rqe II lii. VN se lil:
VH::::

H.P~w~::: Jo~H~

I
i 1
-, !
I . !
I
. !
-- (,)~ \ '~' + -:-; '~ i

,,

V 11

Thay

:::

O~P2~ w~
!'.,

(')., _--

- :1

,--

~)

,-

\-']() _-- ,,.-10!_1.,

--

')

_;{lI,\:]()

"

9,48 emfs.

Va : :::: 3 etnfs vao lrC11 ta c6:

VE::::

4,23 emfs

Va, '' V 2

::::

3 emfs.

Bai V.44 (hinh Vl.44):

Tay quay OA el1u.v6n dQng quay quanh 0, cOn OB chuy611 dQng

song pl1ilr1g.
VA ::: OAw" :::

Ta e6:

VA::::

:j:-) :-.

140 ctnfs

V:

Hinh V/.44

CO HOC Ll' THUYtT - Ti\P I: PHAN TiNH HQC, ElQNG HQC

338

'l'ilm v:)n t0c tile thdi P _,., nen

va

vfj:::

VA:::

=0

W11H

140 cm/s.

Ch911 d16m A liitn cy'c, ta c6:

(!)
Ta c6

YV~

::: OAs

w_:

w~A

::::

c1n/s~

35.8 = 280

OA.w; =35.4 2 =560cm/s~

::: BA.AB ; w;A

0 vi

(J)/\/J

=0

Chie'u (1) 18n phu'dng AB ta c6:

w2 tg30 = 280 + 560 ~ = 603,4 cm/s 2

-v'3

~Vn

= 60:3,1 c1n/s~.

Cl1ieu (1) lCn phu'dng vu6ng g6c AB ta c6:

WHsin30 =
w~A

w~A

w~

sin30 -

: : Wasin30 + w~ cos30 ~ 603.4.1c + 560. ,ff,

2

w~A

An

= BA.AB nen

= 9,24

_
All -

w; cos30"
w~

2801c
2

W~A

BA =

s1n30

~ fH6,66

646,66
70

rad/s~.

Bai V.45 (hinh Vl.45):

Ta tha'y QA quay quanh 0 cO d1nh. B<:'1nh xe II Ian kh6ng tru'Qt
tren b8.nh xe I cO djnh va 18 chuy~n dQr1g song phAng.
Thanh BC chuy~n dQng song phii.ng.

Ta c6

VA

=OA.w = 30.0,5 = 15 emfs

0

Phiifl /Jui. DONG HQC

339

- VB

COBc -

Ta c6:

Ve
BP = ep.

AC= ~CB' - AB' ~ ~20'.26 - 20'

AC= 20.5::: 100 cm

II

'

'
' 45'

I
I

B'

'
'

'

'

'

' '

' '

J -

45'''
_( 0.
p

Hinh Vl.45
M~t

khB.c, AC::: BM::: MP::: 100 cm, nen CP::: CM+ MP.

Vf}.y CP::: 20 + 100::: 120 cm va BP::: BM J2

BCPP Va

lSOO ::: 18 cm/s va

100

Wne -

Ve

v c--

100J2 cm, cho nCn:

120 .15J2

rno,13

_ Ve
CP

18 _

~ ~- -

120

0, 15 racl/s.

ca HQC LYTHUYt"T - TAP I: PHAN TINH HQC, EJQNG HQC

340

Bai V.46 (hinh VIA6)

B<'i.nl1 xe chuyJn dQng song ph~ng l8.r1 kh6ng trUQt trer1 1nf.)t
ngl116ng cU' dinh. nen:

w.;

""',

V\(,'~

"";

M,

Hinh Vl.46

1'a c6:

w;0

1na

(0-

MOUJ-:_

Rw 2 ,

- -V,
R'
2

cho nCn:

W"l\10

W~ 0 =

ma

R(J) '

R.c

= R. V,,

R~

= V,,

2 m/s 2

341

V~y:

R W0

W:.'t 0 =R.E

W
"

3 m/s~.

Ta xet di@m M 1, ta c6:

M,

"W,. + w;;.,o +

W,~,o

chie'u d~ng th-Uc nlly len cac tr1,1c 0 1x va 0 1y (hinh VI.46), ta c6:

W M,y
V~y:

W",\110 :::: 2

W M, :::: 2

tn/s~.

m/s~

Ta xet diJm M 2 , ta c6:

WM2 : : :
WMz

~Wii2x + w~2Y

= 5,83m/s

.J5 +3

Ta xet di@m M:i, ta c6:

"
WM,y = - WM,O
WM.1

= 6,32m/s

::: 2

2 msI.,

Ta xet di~m M4 , ta c6:

WM

'

W,, + w~

'

+ w~

'

J34::: 5,83 in/s2

CO HQC L1 THUYtT TAP I: PHAN TTNH HOC, DQNG HOC

342

W M 4 y = - W'lli,O :::

-3m/s~

I ' + WM,y
'
r:-::c; = vlO:::
"" 3,16 ms
!'
WM,= vW,\f,x
= 'Vl+3WM = 3,16 mis~.
'

Bai V.47 (hinh VI.4n

TU cp::: 10t, ta c6:
Wu:::

<P ::: 10 rad/s.

VA:::

OA.

W0

:::

20.10::: 200 cm/s.

Hinh Vl.47

Ta c6:

AB =AP= 100 cm

- VA
WAB -

VB

AP= BP

'AB -- -VA

AP

200 100

= - - - 2 radJs

Theo c6ng thllc:

(*)

P/JUfl hui. DNG HQC

343

ma

W2

cOn

Wl ::: 0 vl ::: 0 do w

OAw,: ::: 2000 c1n/s2

0

w;A

:::

= BA.w~::: 100.2

canst
:::

400 cm/s2

va WBA ::: BAAB

ChiC'u (*) lCn tr1,1C BA, ta c6:

Wncos45:::
W8

::::

w;A ::: 400 c1n/s~. Do d6

YV1J::: 400./2 cm/s 2

400/:2 cm/sz:::: 565,6 cm/s~.

Chie'u (*) 18n AP ta c6:

- WH s111!\G" :.: 2000 - 400.J:l

- WBA

'AH -

v?.
2

1600 :::: 16 rad/s2.

BA

= 100

Bai V.48 (hinh Vl.48):

w~

w:

w; v,

v:-

YL

-w:~

'

Wa;

Hinh Vl.48

Ta c6:

cp::::t~-t
(1)0 :::

<P ::: 2t - 1

::: 1600

cm/o;~

ca HQC L'i' THUYt:T. TAP I: PHAN TiNH HOC, tJQNG HQC

344

Khi t = 1 s thi

(!) 0

qi

= 1 radls

= E = 2 rad/s 2
0

Ta tim VA

= 1 mis
== OAw~ = 1 mis~

VA= OAw
W~

Thanh AB chuyin dQng song phii.ng. T~i thdi di@m kh8.o siit c6 tam
v~n tOc tUc thdi d v6 C\(C nen (!)AB ::: 0 va vll ::: VA ::: 1 mis. LUc nay
thanh AB chuy@n dQng tinh tiCn tile thdi.
Ch9n di@m A 18.m

ta c6:

C\IC,

Wll :=WA

+WBA

Nhting qu:Y d~o clia di~m B v8. di@m A 1:1 qu.Y d~o cong nen:
(a)

Ta bie't

w;

VB'

==

:=

J__ = 2 m/s~
0,5

Ch9n h~ trvc Oxy nhu d hinh Vl.48. Chie'u biSu thUc (a) len cac
tr\lC Ox va Oy, ta c6:

Cho nen:

w~

:=

w~

::: 2 mls 2

cOn

w; = - w2
Dod6:

+ w~A.

w~A =

w;

w~A

BA.E,vi::: 2 + 1 = 3 mis~

AB

:=

+ w~

W'
3
= __g_
== BA

== 3 radls 2

1~1nit1 ha!.

345

D\>NG HQC

Ta c6:
w~

::: 2 m/s~ va w; ::: 2 rn/s

nen

Tinh We.
Mu6n tinh We ta xet chuy~n dQng song ph.5.ng clla bB.nh xe. Di@m P
18. t<irn v~n tOc tile thdi clla bB.nh xe.

Ta c6:

vBJ2 = J2 mis

Ve=

wbx -- -VB = - 1 -- 2 rad/s

0,5

::: 4 rad/s 2

0,5
Ch9n di@m B 18.m cl,tc ta c6:

(b)

Ta bie't:
W~

= 2 m/s 2

w;B

= rw~x
2

w; = 2 m/s

::: 0,5.4::: 2 mis ;

0 ' 5 4::: 2 m/s 2

Wc"8 =

rUJ

W2 8

CB.1ix::: 0,5.4::: 2 m/s 2

bx

:::

WC~

CBw~x

W2B

CBhx

ChiCu d.5.ng thUc (b) l@n cB.c trvc Ox, Oy da ch9n, ta c6:

Wcx::: -W~ - WC8 = -2-2 =-4 m/s 2

- W"B + W'CB= 2+2=4ms.

I'
WCyDo d6:

wC :::

~WCx2 + WCy2

ti "\/Z
'2 m/s 2

ca HQC LYTHUYt"T - TAP I: PHAN TiNH HOC, DONG HOC

346

Bai V.49 (hinh VIA9)

Ta c6:
AB

=AP= lOcm

wAB ::: -VA

AP

40
::: 4 rad/s
10

= -

(a)
1nU

W~

BA.w:W

20.1

W"BA ::: 320 cn1/s 2'

W~A

=AB.EA.fl

CI1ieu (a) Ien BA, ta c6:

W8

:::

674,64

emfs~

L_

_____

Hinh Vf.49

Ph:in hal EX)NG HQC

347

C11ie'u (a) len phU:dng vuOng g6c AB, ta c6:

WBcos30:::: -WAsin30 +

i:;ABBA::::
E
All

W~A

594 2
20

- - ' - ::::

w~A

:::: 594,2
29 ,7 radls 2 .

Bai V,50 (hinh Vl.50):

Tay quay 0 1A chuy~n dQng quay q~anh 0 1 . Thanh AB chuy~n

dQng song phi>.ng. BO chuy~n dQng quay quanh 0. Ta c6:
VA:::: 0 1A.ro 0 ::: 75,6::: 450 cm/s
Chie't1 len doi;i.n th~ng AB, ta du\:lc:

. ./3
~
V1:1::: VAcos30:::: 450-"" 225.,,.3 cm/s
2
ro 08

- VB

BO

==

22513

60./3

:::: 3,75 rad/s.

--

Hinh V/.50

CO H9C LYTHUYtT - T/;,,P I: PHAN TTNH HQC, DONG HQC

348

'I'ie'p die>'m C cUa l1ai b<inh xe, cOn P l<'i. tam v?n ttlc tUc t11d1 cUa
l1inh phli11g AB.

Ve
CP

Vn
BP

-=-

Do d6:

CP
Ve= -VB
BP
BP= ABtg60'

= 150,/3

con CP

= 150,/3

- 30,/3

= 120,/3

Ve= CP VB = lZ0,/3 V 8 = '1225,/3 = 180,/3 cm/s

BP
150,/3
5
_ Ve
r,

w, - -

180,/3

=6

30,/3

racUs.

Bai V.51 (l1inh Vl.51):

OA ql1ay qt1anh 0 cO d!nh. 0 1B quay quanl1 0 1 c6 dinh AB cl1uy~r1
dQr1g song J)hir1g. 1'a c6 P~., nen cu,w ::: 0 thanh AB chuy6I1 d.Qng
tinh tie'n tU'c thdi.
VB= VA= OAw 0 = 20

W~' = -

V82
-

O, B

10

= 200 crri!1;

200:l

= - - == 400 cn1/s-

100

w_;

w~

=DAE{) = 20 x 5 = 100 cm/s2

w;A

OA(I): = 20 x

= BAco~

10~ = 2000 emfs~

= 0 do

(J)

AB

= 0.

Chie'u hai ve' clia (*) Ien Ax, ta c6:

w; sina

w~

cosa =

w~

sin a+

W,~

COS(;(

349

Ph;in hai. flNG HQC

wR

- W" Slll CL
-_ W"
Asin
- -a+ W'A
8
cosa
cos a

Ta tinh:

20

s1na::;

w~

1 va. cosa -- .J1 - sin

. ' a =

120

= 100 + 2000.1 - 100 ::; 370 c1n/s2

65.~
5.9

w;

= 400 cm/sz v8. V11 = 200 emfs.

w;

x' '

o.

Hinh Vf.51

Bili V.52 (hinh Vl.52):

.

q:i

1t

=-

1t

1t

1ti

x -cos-t = (voi t =OJ

6 2
2
12

1t~n:.1t

=--x-s1n-t=O

12

~-36 -1
36

= -5,9

CO HQC L'i' THUYt"T - TAP I: PHAN TTNH HQC, UQNG HOC

350

VA::: OAw::: 24

\Tl P,,, n6n

(!)AB:::

VA:::: V 8

2rr 2

0
:::

2rc2

Vn::: Rw::: R Vn
0,5R

2VB :::

411~

Ws =WA + W8 A hay w~ + W~' = w~ +

W"B

y2
_B_

O,B

(Zn2 )2

12

n'1

w;

+ w~A + w~A

cm/s~

= -

3
~

W"A

IT'

-cm/s 2
6

w~

v:Hinh Vl.52

Ch1e'u hai vfi cUa (*) len By, ta c6:

w; cos30" - w; sin30"

W,Z

cos60"

:::o

(*)

351

/Yfui'n hui. DQNG HOC

J3
WB
-2

1
w"A-+
wB1- - t wB oJ3
-n '

1 ' v7
"'
Wu:::: -n
6

Bai V.53 (hlnh Vl.53):

a)

b)

Hinh Vl.53

a) T:lnh Ve (hinh VI.53a).

Xet chuyf;n dQng song ph~ng clla thanh AC, ltly A li'tm ci.;ic, ta c6:
(a)

Tudng ti.;i vai thanh BC:

(b)

Cho (a) bhng (b) ta c6:

(c)

C11ie'l1 (c) 18n tri;ic Cx, ta c6: Vc_1

:::

Ven

Cd HQC l YTHUY~T - TAP I: PHAN Ti NH HOC, DQNG HQC

352

Chi8u (c) lCn try_c Cy, ta c6:

Ma

---t

J2

VA::; VcA

.J2 z.fi rwAc

2

rw,,

---t co Ac =

~
2

Chie'u (a) len trvc Cx, ta c6:

Ve

.x

= VcA' ,/2
~ ,/2
2,/2r~
~ rw "
2
2
2

Chie'u (a) Ien tr\lc Cy, ta c6:

Vey::: 0

Ve II 0,0,
b) 'l'inh We (hinh Vl.53b)
La'y A 18.m c\;(c, ta c6:
(l)

L3y B 18.m cl.;l'c, ta c6:

(2)

Cho (1) bing (2), ta c6:

(3)

Chie'u (3) 1CnAC, ta c6:

W'
W A" ,/2 - W"CA-- - W"B,/2
z+CB
2

Ph:i'n haL DONG HOC

353

-W"-.fi_W"
A
CA
2
+ ru)-., --./2
0
2
---7-

Ecs =

TUdng l1,i, ta c6:

Ta c6:
W"A

,
W CB

r '''
UJo va' W"
CA = r

W'CA = r

-J2-W,'

va Cy,

ta c6:

Chie'u (1) 18n Cx

Wey:::

w2 - WA cos45" - wcA cos45"

wcA sin 15" - wiA sin 45" = 0

1-Vc

0.

Wcr:::

V~y:

-./2 '
2 w"

= 0

-./2 '

~ r-(,)

MUCLUC

Trang

LOI NOi DAU ............................................................................................ 3

Pb3.n mQt
TiNHHQC
Chudng 1. cAc KHAI NIE:M co BAN. HE TIEN DE TlNH HQC ........ 7

1.1. Ciic kh8.i ni~m cd biin ........................................................................ 7

1.1.1. V~t r&n tuy~t dOi ................................................................... 7
1.1.2. L11c ......................................................................................... 7
1.1.3. Tr:;i.ng th3.i can b~ng clla v~t r~n va mQt s6
d!nh nghla khac ..................................................................... 8
1.2. M6men cU.a li.;ic .................................................................................. 9
'" m9't d"'

1\(c d<cua
01 vd1
iem .... ,..................................... . 9
1 .2 . 1 . M omen
1.2.2. S\f bin thien mOmen cUa llJ'.c dOi vdi o va 0 1 ..................... 11
' 1lf..c d...
. mQ't trvc ......................................... . 12
1. 2 .3 . M'omen cua
01 vm
1.2.4. Dinh l:Y lien h~ giUa mOmen cUa llf..c dOi vdi mQt diiim

' 1lf..C d'"

t n;ic .................................... . 13
va momen
cua
01 v al m9t
1.3. Ng~u
1.3. l.
1.3.2.
1.3.3.

ll!c .......................................................................................... 14
Dinh nghia va cac ye'u tO cUa ng~u lt)'.c ............................... 14
Tinh cha't tl.idng dl.idng cUa ng8.u li..tc .................................. 16
HQp h~ ng8.u h,i'c .................................................................. 17

1.4. H~ tien d@ tlnh h9c ......................................................................... 17

'
1.4.1. Tien de' 1 \VC' hai li..tc can bang)
........................................... 17
1.4.2. Tien d@ 2 (Y@ si..t tudng dUdng clla h~ l\,ic) ........................... 18
1.4.3. Tien de 3 (Quy t.ic hinh binh h!'lnh) .................................... 19
1.4.4. Tien d 4 (Quy lu~t ve' li.,tc tac d1,1ng va ph8-n tac <lvng) ...... 20
1.4.5. Tien d@ 5 (Nguyen ly h6a r~n) ............................................ 20

 1.5. L.,
ien k~
et va' p h'an I tjc 1
ien k''
et .......................................................... 20
1.5.1. Kh8.i ni~m
vi).t riin tt;i do, v~t riin khOng t\]' do,

ve

lien ke't va phiin lt,tc lien ke't 20

1.5.2. MQt s61i@n ke't thudng g:}p va phlln h,tc lien ke't ................ 21
' ' gia1
. '. p h'ong 1,
1. 5 . 3 . T,
ien d''
e 6"
\ ve
ien k'')
et ....................................... 24

Chuctng 2. HAI BAI TOAN CO BAN CUA TlNH HQC .......................... 25

2.1. Bai toan thu g9n h~ lt;ec .................................................................. 25
2.1.l. Dinh lY ddi li.,tc song song .................................................... 25
2.1.2. Thu gqn h~ ltjc khOng gian ve mQt tiim - vectd chinh
va vectd m6men chinh clia h~ lt;ic ....................................... 26
2.1.3. xac dinh vectd chinh va vectd m6men chinh clla h~ lt;ic ..... 27
2.1.4. Cac d:;i.ng chua'.n khi thu g9n h~ lt;ic kh6ng gian ................. 29
2.1.5. Dinh ly VarinhOng ............................................................... 32
2.1.6. Thu g9n h~ cac lt;ic d~c bi~t ................................................. 32
2.1.7. Vidl,ltinhtoan .................................................................... 34
2.2. Bai toan c8.n bftng clla h~ lt;ic .......................................................... 36
2.2.1. Dieu ki~n c:in bftng clia h~ lt!c kh6ng gian ......................... 36
2.2.2. Dieu ki~n c8.n bftng clia cac h~ ltjc khac ............................. 38
2.2.3. Trinh tv gi3.i bai toan tinh hQC va cac vi d\} ........................ 40

Chumig 3. BAI TOAN DAC BI:T CUA TlNH HQC ............................. .45
3.1. Bai toan ve stj c8.n bftng clia dOn va vi[l.t 11[1.t .................................... 45
3.1.1. St;ic8.nbftngcliad0n ........................................................... 45
3.1.2. St;i can bftng cUa vi[l.t li[l.t ....................................................... 46
3.2. Bai toan ve lt!c ti[l.p trung va ltjc ph8.n b0 ....................................... 49
3.3. Bai toan ma sat ............................................................................... 50
3.3.1. Ma sat trliQt ......................................................................... 50
3.3.2. Ma sat Ian ............................................................................ 54
3.4. Bai to8.n ve stj can bling clia h~ v~t ................................................ 58
3.4.1. H~v~t .................................................................................. 58
3.4.2. Phan lo;;i.i ltjc tac dl,lng Jen h~ v~t ....................................... 58
3.4.3. cac each gi3.i bai toiin h~ v~t ............................................... 59

Chumig4. TiNH DO DAN ....................................................................... 65

4.1. Da giiic ltjc va da giiic day .............................................................. 65

Ml,IC Ll,IC

357

4.1.1. Da giB.c lt;ic .......................................................................... 65

4.1.2. Dagi.cdi'iy .......................................................................... 65
4.2. Thu g9n h~ l1fc va digu ki~n can bii.ng clla h~ lt;ic .......................... 66
4.2.1. H~ lt;ic thu vg mQt hQp lt;ic ................................................... 67
4.2.2. H~ lt;ic thu vg mQt ngAu l\]'c ................................................. 68
4.2.3. H~ lt;ic can bfi.ng ................................................................... 69
4. 3. Dim .................................................................................................. 70
4.3.1. Dinh nghla dan ................................................................... 71
4.3.2. cac phttdng ph8.p giili bai toan dan .................................... 71

Chttdng 5. Hii: Ll/C SONG SONG VA TR(.JNG TAM CUA VAT RAN ... 75
5.1. Thu gqn h~ l\]'c song song ............................................................... 75
5.1.1. Thu gqn hai lt;ic song song cling chigu ................................ 75
5.1.2. Thu g9n hai lt;ic song song ngttQc chigu nhau ..................... 78
5.1.3. Thu gqn nhiu l\]'c song song ............................................... 79
5.2. Tr9ng tam clla v~t r~n .................................................................... 81
5.2.1. D!nh nghia va cOng thUc t6'ng quB.t dif x<ic djnh
tr9ng tam cUa v~ t r~n ......................................................... 81
5.2.2. Tr9ng tam cUa c8.c v~t d6ng cha't ........................................ 81
5.2.3. Gae phttdng phB.p x8.c dinh tr9ng tam
clla v~t r~n d6ng cha't .......................................................... 82
5.2.4. Tr9ng tam mQt sOv~t thttdng gi;).p ....................................... 84

cAu H6I 6N TAP PHAN TlNH H<.JC ................................................... 89

nv

vi
TiNH TOAN, BAI TAP vA HUONG DAN GIAI BAI TAP
PHAN TlNH HQC ................................................................................... 91
I.

Vi d\l tinh to8.n ................................................................................ 91

11.

De hai t?p ...................................................................................... 105

H~ ll,1C khOng gian ......................................................................... 105
H~ h,tc phng hilt ky ..................................................................... 114
Ma sat ........................................................................................... 130
Tr9ng tam ..................................................................................... 133

III.

Hudng dAn giili bai t~p ................................................................. 135

H~ l\]'c khOng gian ......................................................................... 135
H~ l\lc ph/mg hilt ky ..................................................................... 151
Ma sB.t ........................................................................................... 188

ca HQC LY THUY~T - TAP I: PHAN TTNH HQC, D(lNG HQC

358

Ph3.n hai

DQNGHQC
ChU:dng 6.

DQNG HQC DIEM ............................................................... 203

6.1. Phu'dng phlip vectd ........................................................................ 203

6.1.1. Phu'dng trinh chuy~n d9ng ................................................ 203
6.1.2. V~n t6c cUa di~m ............................................................... 204
6.1.3. Gia t6c cU.a di~m ................................................................ 206
6.2. Phlidng ph&p tqa d9 de cite ........................................................... 207
6.2.1. Phuong trinh chuy~n dQng ................................................ 208
6.2.2. Vi11-n tO'c ............................................................................... 208
6.2.3. Gia ta'c ................................................................................ 209

6.3. Phudng phitp t9a dQ ti.;i nhien ....................................................... 210

6.3.1. Phuong trinh chuy~n dQng ................................................ 210
632
A'
d',:>
. . . VA~ntoccua
iem ............................................................... 211
6.3.3. Gia ta'cclla di~m ................................................................ 212
6.3.4. cac chuy~n dQng dl)c bit .................................................. 213
?

6.4. Vi d\1 minh

ChU:dng

ho~

............................................................................. 215

7. CHUYEN DQNG Cd BAN CUA VAT RAN ........................ 221

7.1. Chuy~n dQng tinh tin clla v~t riin .............................................. 221
7.1.1. Dinh nghia ......................................................................... 221
7.1.2. Tinh cha't cUa chuy&n dQng tinh tie'n ................................ 222

7.1.3.

Nh~n

xet ............................................................................ 223

7.2. Chuy&n dQng clla v~t riin quay quanh trl,l.C ca' d!nh ..................... 224
7.2.1. D!nh nghia ......................................................................... 224
7.2.2. Kh8o sat chuy~n dQng quay cUa v~t riin .......................... 224
7 .2.3. Kh8o sat chuytin dQng clla di&m thuQc v~t ....................... 227
7 .2.4. Kh<'ii nim ve truyen chuyen dQng .................................... 229

ChU:dng 8.

HQP CHuYEN DQNG CUA DIEM ..................................... 233

7.1. Kh<'ii nim va dinh nghia ve cac lo~i chuy&n dQng ....................... 234
8.2. Dinh IY h<;ip

8.2.1. Djnh

v~n

ta'c ....................................................................... 236

ly ............................................................................... 236

8.2.2. Vi dt;t minh h9a .................................................................. 237

Ml,lCLl,lC

359

8.3. Dinh lY hQp gia tOc ....................................................................... 239

8. 3. 1. Dinh ly 1 ............................................................................ 239
8.3.2. C6ng thUc xac dinh WK .................................................... 239
8.3.3. Dinh ly 2 ............................................................................ 240
8.3.4. Vi dv. minh hqa .................................................................. 241
Ch11dng 9.

CHuYEN DQNG SONG PHANG cuA v!T RAN ............. 243

9.1. Dinh nghla va vi dv ...................................................................... 243

9.1.1. {)inh nghla ......................................................................... 243
9.1.2. Vi dv minh hqa .................................................................. 243
9.1. 3. MO hinh chuyJn dt)ng song philng .................................... 244
9.2. Khiio sat chuyJn dt)ng clla v~t r~n ............................................... 245
9.2.1. Phan tich chuyJn dt)ng song philng th8.nh
, d
.,
c;ic Ch uyen Qng Cd ban ..................................................... 245
9.2.2. Phu'.dng trinh chuyJn d()ng ................................................ 246
9.3. Khiio sat cilc diJm thut)c v~t ......................................................... 246
9.3.1. xac dinh v~n tOc di~m ....................................................... 247
9.3.2. Dinh ly hinh chie'u v!).n tOc clla hai di~m .......................... 248
9.3.3. Tam v!fi.n tOc tlic thdi ......................................................... 249
. toe
. cua
, d''
. d'1nh gi.a
9 .3 .4 . Xac
1em ................................................ . 252
9.3.5. Tam gia tOc tUc thdi .......................................................... 253
9.4. Vi dv minh hqa ............................................................................. 255

cAu H61 6N Tk-P PHAN n ................................................................. 261

Vi DVTiNH TOAN, BAI T!PVAHU'ONG DAN GW BAIT~
PHAN DQNG HQC ................................................................................. 263
IV.

Vi dv tinh to:in .............................................................................. 263

V.

Dg Bai t~p ..................................................................................... 277

D6ng hoc dit'.i'm .............................................................................. 277
,
,
,

Chuyen dQng phUc hQp cua diem ................................................. 284

>

,
Chuyen dQng song phang cua v~t ri'ln .......................................... 292
VI.

Huong d~n gi:ii bai t~p ................................................................. 299

Chuyen dQng phUc hQp cua diem ................................................. 313
?

Chuy~n dQng song phiing ............................................................. 333

::

NGUYEN TRQNG (chu bien)

TONG DANH D~O ~

LE TH!

HOANG YEN

CO HOC
LY THUYET

TAP 1
PHAN TINH HQC, DQNG HQC

Chiu trli.ch nl1iefm xuilt bdn

Pgs. Ts. To Dang Hai

Bien t(ip

Thanh Djnh, Ba Do

S1(a hdn in

Thanh Nga

K_V mj thu<Jt

D6 Phu

'J'rinh hiiy hia

Hlidng Lan

NHA

xukr BAN KHOA HOC VA KY THUAT

70 - Trdn littng D(;lo, Hil Nr)i

In 700 ban, kh6 16 x 24 cm tai Nha in KH&CN

Giay phep xuat ban s6 546 - 5.1 cap ngay 21/4/2005
In xong va n6p ILIU chifiu thang 1 nam 2006.

206007

Gia: 49.000 d