Ee aan
Vi gay = Bis = Rog cho mia th (1.7) - (1.20) ob thé abn due
Misa te = Re (127) - (0.20) c6 thé abn
Ne hé toa th ton cae wang g6e th ech higu Chi
NGM 8 i 960 1H cheb higu Chita
Tye els,
NG hi toa cong tre ao, kj iu Crate! e6 dang:
Geyer ed,
© eatre
Tee
Ms
(eM,
Tae poor re Th
1
PoP done Te
(ehng tag theo vi).
‘Thi du 1.9, Gée thinh pilin cla iy higu Chrisialfl trong hd con 48
hu 06 dang
‘Che thin pltin oon Ia ca PA bw bBng Khong,
‘Trong toa 48 tru céc than pilin eda ky higu Christo! ef dang
Ce think phi klaie Bu bang Bhdng«
1.8.2, Dao him eda v0 hing
Taek
vas Re
Gigi W gi tri cin 9 Ri thay BL tom 9 snag 2, th
Vy: dpe fi ring ela mit wd hung tao think tao higp bid bong
i.
1.3.8, Dao him higp bign ela m§t vecte (tenxer hang abit)
1, Trong hi toa 45 cong z¢ cle vecto co sb gy tao thinh rpc
shay dd tating did. Ta. x6 veeter a 6 ede thank phan pia big
(24,4, 2") aie din tai répe dia phuoog
aos.
‘Néi eluui tr i ém din Yn a°-+ do ehh wort 9 ted
Laub vects a+ da, wocbo may King xe dh tel rape: gra, a. al
pe méi gs +e:
“Vin dB fe rt mad Dida thj bin thin da cia vecta a qua tox
dip 2, try rang chink 6 led hd ele 099.48 2° 4 do* trong repe
1&4 ag. Do do plied quan apphin gta hm wepe gy wa gi + dg
‘Lay vi pin bidu Unie eda veeto a
da = peda! + od,
to thy dat bg pis Ib thant phi phn biGe ela da, tn sung
burp toa dp apehie (dg, = 0}.
Ching ta ein bid Ci dg qua toa 46 2 tai pe mi, theo {147} ta
gy = Tere.
‘Thay Un vio he Ehie eb da. bt doe
d= deg. Chwidsty, — aie aaa ie lis cae think pia phn bin
Coking han, <ét dap hn ble
_. cea lena ang ha A. Tae
Val x dal Tyalded (a, + Pye
tiga LM th tage 5 da thao phn a! eda voto a. Th
{1-22} va dé big nz tat ela toneo thi at la weep gn
hit, ngoii ra dr! cing i touxo phin bién hang ahet be de
rath,
oases
Vi pir hal vébidu thie ay
ie = dol as olds +a gy
val
Si dyng vio Ady Bg thie (1.12) ta dupe
Ah = (da! + Taal dst 4 Thode hg,
‘sip bien eda tenxa phan bid hang nit a di ri biéy se 4 frong hill Vi phan waygt déi cla céc thanh phi a¥ eda causa A ob dang
Gall Tyee 4 Th aidah
Do: trong ring hep nly d= nen a vo!
va doo hi bigp bi cia cing
Yo ln he & ag vA dng cig thie (221) 24 Vaal? all Pye 4 a
fa das ade = Vy (v5 sna phi rn 8 tS dng Ky do Ba ep i ea
“ones sess eg vit og Ig. Chg
Yo, dy — Pade!
Vo, go itv pho tnd 4 ca chon pao, cba vata
hing ta Bn thie vi abe
Voss ead = (aia ria)
24 That — Day — Pia.
igo hin higp biga cla tense cling IB tora, vi vy e6 thé ading
hale na chi si dice, ebing ban
vey
Faas = 4 ~ Dyes (225)
1a bi hs deo hn Lip igo oa temas tip bin bang abit,
‘THE MG tne (1.22) (129) va (1.24), (125) twa
fin ta dy a 1 Bip bin 48 vat
Ching ta din ta diy Ké quis alt Ty deo Ni
ving Wh ch cing tuo re ya bn the
Bh =e = ven! Vile") = pyot 4 eVie,
‘Vulafas) = {aes}
234, Bpo him hig Digna tones gg be Ky Sia, theta eihg
Lup nie tr ebing ta to hi higp bigs eda cea Sy on eign iin
nh ching ta pe lp bia cba Teta) agen Usa
at
20 BS di Ritchie. Deo ham higp bién cia tenza métric bing khéng trong|
i I toa 6.
Qui vi:
Thay thé
vio he thite vira nhan done cho ta két quis
Yagi, = 0.
“Taong ty abie véy:
viet
vag!
i Vatea
vas}
Hig qua. a) Phép cudn tense vi dan bia higp bido of thé giao hosin
Auge
Pay,
Veal, =EPVaai,
1) Phép ha Wa ng el 5 ao hoi vk do hima hit bia:
Vea = Value’) = ga Vea*.
1.8.5, Dgo him higp bign ofp cao
Do him higp bin mot teuxo tgo thank mit tense Khe, néu ll
tz0 him higp bién tomo vira nbn dure thi Bs qu lien ue ten
‘Ta gpl tens miy th dan hare gp bign ep hai. Néu tip tye qua tin
(6 ching ta 98 26 dao hen higp bidn odp thy J.
‘Bay ald ching ta xé+ do him higp bia oy hal cla wota higp bidn
‘a, So moe 56 tin tos ta ban doe
Vaite = Vite = Rep (126)
trong dé:
Tee Poe THB — TT
2
Hg eng Ry 50 Ua tence Riemann Christoffel. Néx ha oki oS p, ta
sah Age nee Bt ho
yest = Soak:
Tenner ny 06 thé vidi dod dang
Fyne = Hopers + Benge Srast~ Gta)
$9" Ceaml an Trt pen)
Te thiy (ona Ry) ob nig tink chit sat,
Denvin Byra Pbk 8 xtmg 96 tig 08 el 25 pv AS lng
vit odp por st, 9 why chal tn tg 6 Uhh pn de
Fiyan. Ream Foam Raise, Hones Rone
enzo Riomane-Christofel bing kidng trong hf ton 9 déeie, vi
lai v8 ee (1.26) bang
Do Ai tener ni bg king trong miei Re toa 46 ota khéng gion
Buctge.
‘Tuong ty club dgo bam bigp bién bac hal ota vem hang, hal
Wats — Petes = Mop e + Conk oa
Vesa! — Vagal? = a Rlaey — 0 Ring:
(1a)
[Xen tinh tenxo trong King pian Euclid, oh the (1.26), (1.27)
din ofe ddng tate sau
Fret = Vinod,
Vide = Vetey Vous = Vinee Gid a a 1 bi bie, ta nde phony trinh
Via~o,
du hg eh 3S tséa, phuons ‘rink so dang:
ore
‘Trong bi toa 49 8 ede phirong tinh of dang dow gin
ap =O (tag theo #),
‘Ham 96 thda min phwong trinh ny goi Ia hém didu Ado hay fame
‘Tiong br ube vay, phurong telah
Vyaeo,
trong toa dB dB che of dog,
Gyan =O (téog theo r,
“HRam of théa man dita kigm niy gol Ib hdr lrdng did hoa.
1.3.6. Cie edng thite 48% v6 vector
Trong ton di dene vung ae cde cing thite @6i wb vecto di tri
bay trong 1.1.8
‘Mi rng cho trong hop ton AB cog, theo dinh nghia ta eé
ed p = eR"
diva =V.0";
POF = Ve OV Fae;
‘uhimg him nay bat big 43 v3 php bién A tag qua.
Ky bide toda to
ae
One oe
ce be thie trén 06 thé vie dd dang:
(1.28)
oc rg F
ex thet) xe
Vie 8 Fite
To ob
iv grad y = Ap = Velg"e.) = ol Veet
trong di ky higu 4 1b odin tk Laplace.
yar chung ta thlde Mp cdng thie Gans Octrogradsky In hi
ita teh phan kbd v8 ich phim mit, Néu a Ta veeto ade dinh eroag
imiin V 4 han béi mat S vin Ti vecto dom vj ca phép tuyén voi
ind: 5, tbl cing thite Gauss Ostrogradsicy 0 dang:
[ffeomer~ ffs.
rong 6
[Nhe hg thnte (1.28) ebing ta vide cbng thike Gauss Ostrogradsky
“se If vatav [fess
Cud aang ta vist cong tite Stokes Hin he gta tich phiin mbt vB
ick phi ding, Néu ala vecto abe diah tré mitt dwec dinh Inxoag
S si6i han bah dudg Cl Tis psp tuydn ms 8, th cdg thite Stokes
“ene [oar [foams
ES Cong thite nay vit dueéi dang temo:
f ada = J [f re o.asns.
1.8, Cho tenxa hang hai 48t xérag T
‘Hay dim gid tr chinh ota tenxo (T)* vB cbl ra ring hudng chinh eile
6 tog yGi hnéng chinh cia tenxo . Si dung kit qua aby hay tir
tex
1.8, Dig cing Chie Hamilton - Coyle, xe dh (B)* ai wi tensa
boo -t\ >
B-(o 30
10-2
Rai tip chuong 1
‘et Tiong tg ian ba ci, cig mined id Uc su dy
12, eo hg minh he i the 1.20, Chi ra ring AB li tenxo bang nbét, biét ring A th teane hang
oatey eB tone ae ba
On big ly 1:1. Phép in deta hai bp ton 4) Oz} va Oxs25ey cho b6i
4) na, Bh temee phn 43) xing. big amn
1.8. Cho tenxe phi dot img by vi veto 06 thank pin
dving minh 18g bay = epg.
1d. Gli a6, Ia tense phia dBi sohog, edn a4 Ai wag, eng an
hg ayhy = 0 aad
2.5. Chitug minh ring dish thie
2 28 8
e YSVE VE a/v
a 4s 0 8/8
x -3/SvB VE -4/5vE
1
pend
4) Chi ra ring phép bia dai ndy tha mén Aiba kiéa tye giao
4,
Au An Ars iB = Bj tig = bye
DetlAuh=|An Aor Aas ‘) Hay ade dnb’ tromg Ib 56 mnéi Aide o6 én kinh voete R=
4 dg Ass Pee
1) Trong hg ton 48 m6i phuromg teink raft phi 21 ~ 22 + 82q= 1
6 dang abe thé nie.
112. Cho hava J = agaity, rong 46 ag TA nbing bing 65, chiro
inh vlog
5 U8 vit 6 dang eg day Aas Aye
2.6, Chir ehng ay + uy tb thi pin ca tease hang ha
ho Bid a, vi hy Ith pin cn ng bese hag ade
et. Chéag minh hog dang tats phone Dy2ys, thing A, nba
hay tener Dy bag pind xing cba ads? MOM
of
#
tytenes fe astes
36 a EP UESEO TS 8008 (0) Ya hn tk cbr, chivag mink cag
Vier) = Fr}
> trong 46 R= {,29,25)
Vite) = Asie) = pe) LOD
2.14. Ching moh 0g a, oxy bE id i vi phi bik dl
Ueda Be ipa
1.18. Ding cg the Ga Outro, cing minh ag
ff anja = V6,
trong 46 V 1a thé ch gidt han bbi mat Sn YA thin phn eka veoto
php tuydn don vj ebm mit 6.
1-16. Dang cdng thie Gause-Ostrogradsly, ching minh rng
[forvnas ay
trong 46 RB voeta bin hab dim, a lk vac kh a be 4.
Fp) ang mit Hag oe dns thie a1 = ger = o30 = 1, gy
{6 #3} Th ait a cn vb aa tga lk hg car vaoag aoe
Fie igchine ih ring cin cin cc ae gin ec true ton xe
inh tag cing thite
conly
2:29. Ching mish tog bi phan trish ou ~ Bex nog dong dh
Ne ay = Bee
1.20. Ching minh stag
ab = ab!
1-21, Ching minh ring, x8 ton 49 tre giao, th
20 GeH
1.22, Ching minh 2hag gana ?a? vk gt; W obi tena a6
xing.
1.23. Hay cab ra Tye vALY, 40 xi theo 4, J,
1.24, Ching minh ring
Vote = Vyas =
ae
1.25. Ching minh rag
8) ValGya!) = gyVaa"
b) Valet) = aM + aVaat
°} Elson! (Fra, + ab Feb)
1.26, Hy ch ra ede thanh pits eda vecto rot a trong hé toa &5 cong
rowers
a \: — Bary,
58-8) 5G-B) 4E-B
1.27, Ching inh cing the Greos
[rast = ff ($2 - 2) aries
4
ey Cheong HL
DONG HOC CAc MOI TRUONG LIEN TUC
1, Cée khai niém chung. Phuong phép bi
dién chuyén dong cia moi tring lien tuc
244. Khai nig chung,
"Ta xt edo vt thi ds in a véa phn thd ti hd dV cia eh
ting chéo ks mba phia th, do vdy 4k 6) cde mito by
Yat thd ob tad ci vio Kha nid oe de lwoug VE alin me
{VEL ChE, cup vy, vn #6, gin te, Ie aged ing rang, trong rv
“6s nahi tung bn then ng thé. Ly cdg ia wet thé thet
CHIMTLE ch hige & ohd ta xem tt dt ch ete dj
hye. rong CHMTUT eb iu x8 oie tung. de eo hilt
tae cane ci iy, 5s Ki 6 tink nce te ch
hae
‘Cie dat hmong, trén dug bidu didn quo cée dé tirgag ton hoc,
ta temo cae bang: temo hang khong hay v0 huréng (mit 45, 0
Ing. ]; seaxo hang nha hay vector (vecto bn kink diém,
i tc, ia te, dng ait) eens hag ba (tense bién dn
temo tng su...) Lena hang bn (tema cae hg 95 vat iE,
Ricniann-Christotlel vv.) Ge tenxa nay ln tuc, kha vi dn 98
ln Git, ‘Tiong cde ching, mus tip then 68 an dn lam sng
mv ‘se mdi treme qian gia ching. Khéng g
Aue dong & ey A Mhdng an Fanci bo iby, obey Ut git
A461 Vise chen hd toe 48 hin ton Cy Ce ad vam ton ie A
one oho ese bien tome, vit If phils Kg phy Chu: vo el ey
1 toa 46, cin che quay lake x8 I, cr hge pha du din qua ee
‘trou nay bang. eh thir toa hye bat bido 46 voi phe bia
Wi ton a8,
2.1.2, Nehién etm chuyén doug theo Lagrange va Buler
"Tai thin dim ¢ abo diy, thé tich V ole mai treimg lea tye
liga Bhi mit 5 chidi mite D ndo day ofa khing gan, Néu trong,
lig 190 4 xc dinh, ta chi ra sy tng teog gio ce pan ti eba i
teh méi trig hen tue Voi ede dig cba Khong glan do ching hid
40
pO
‘ev tal hi ime 4, Ui ba abiding tal nb dn 46 A bit Ai Us
{fe edu tinh) cm re erg Hn 9
Bign dang Ia sy thay 4a: hinh dang cia mOl iruing tir hinh thi
syn dou nao thy (chon bign dng) dn Reb th ip theo (id dao),
vate cl hide dave ta HhGng cin hr jee Nin ¢hat trun ans
hung nghien cu sw chay {trang théi choyéu ding lién tue chs mai
treue) phai che # dém qué crinh thay 4ai binh thai.
Boke (i= 1.2.3) la be veer cara re chad ct 8 toa inh
colo, eh
. ela er0y= ais
‘iti enaime ign tye chuyda ng vA bin dang tc th giant a
ththdidm ban dau fo n6 cides wisn ob thé tic Vi, én thin din ¢
‘hier thd ich V cha bg cin tok 48, Ta nt mal tering chy tr
nh chai hod dz & sang Win ti dr ch die
Gib hj ign
Mier + Aree + Xres = Xie
[ban Ki vector (%; Ik tga 48) ea den vat chit P bo Aly tai thir
eo ty. cb
Renate tes
Tan kin vecto eing oa chit ddan AS tai thbi dtm ¢. Kbi 66 ta of
wee Qa)
ol ls weet conga ca chit dim P
G mab hank that 06 thé chon von db riéng cla nd. DG dom gidn ta. o6
{he liy he toa dicae ving gf mét hh thé no dy. KE 6 be
1, 6. enung, pal Th hd toa 49 cong thy thuje vio wi big dang cia
rei trutmg, Diba d6 68 nea la ta o6 thé Ky hi ton 4 décae voding
fede gn Uba wi nh thi ban Su (5) Cub i ban df,
fon a5 & inh Uh bida dang (a,) tai tht didn ta IK bi tp 9 cong
hoe nage Ia
Cm ja. mij trudng liin we xem nbu bilt duos, nw
molt ta biét quan he guia Rv, boe la et week
R= 6K Xa. X.0> 22
a hay Ha i che ea ee a pin
FAL AAs) = 1.2.3),
‘ving bigu thi quy Inf chuyén dng oda cée plan tt indi trod,
Hih 2
Cc hn 0:(%y, X2y Xqut) kd vi lin tye
bign Xs, 1; quan he gira Rv’ r wa mdi # tune ting uhét ~ nh eh
nn Jacobien cba he (22) Khe khéag.
Or Oa,
am Ok
aX BX
Do dé 0d thé gif nguge lat
P= Wlenzazt),
aay 2
Xs Wlenanzs8) (
@ 18 wecto him se din trey vOK me 4, nd tha mt dies
OX, Xa. Ks,te) =F
hay
PK, Xa Xaste) = Xe
2
(am @ cli m6 td tng ana Who hoe gite binh tail ban din Ky va
nik hai ip theo Ke
(Cae bin @ vi a phd lén «ye theo ede bién IA t9a 46 va thn glan,
hin sit chuyén dog che méi erudmy lien tue ta ehip who gud biet
7a) Ho dim vat chit 6 vite Tin cin ode nbau trong bin thé ban
. i, cing vin 4 ln ca ela nha tong tit ed ede Binh thai tp
*b) Cée die vt ct cin trong Bah that y mgt mio en tng
io iy, th ering sing hid init lien thing eng ep trong Ky (0h
et, mit, Ag cong), min uit chil. dich ehuyae theo
5} Cae dim vat che nbn bén troug mgt mBt kin mio dy trong Ko,
Issa lon kre tong eo8tkin dich ehuyo te moe tds.
a) Nge bia ia mdi tru 1B mkt vt ch
Cé bal phuows phy biéu dis nya dong a ori in tas:
phoune phdp Lagrange vA phvoug phdp Baler
1. Phugng php Lagronge
mbt 36 ai Bin theo
bs, Tir hg tae (22) ta thdy ay (F = 1,2,8) ae a vf bg UE
a é 2,8) tah he di
oe jn Ms. 1 eke te ade dink oy two dye cd. idm cla ia
| 24 ép san. Cich bide dtu
OX chuyén doug nhs vax goi la bigu din thea Lagrange, cic: bin X,, Xe,
Brg, Ofc img lag pn tengo mrtg INL la et
Bi Lagrange. Néu Xy, Xo, X3 6 inh, t thay AB 2 (22) cho guy
nd shuyén dong cin mat lin ht x8 dinh, né ma tA sity dan cv
ng wha phn tt ndy cho dudi dang tham 36. Néa Xa, Xa, Xa thay
an ¢o6 dia th (2.2) cho sw phn bé cfc phn th moi trots, al
ta di a6; cor néu Xa, Xa Xa vat thay doi eo (22) ade dian quy
uit chav dng cla nfl uraing. C6 thé not i td Lagrange amd
fActeo ate tan Phuong phép Lagrange di
Lagrange va ng edu chayda ding cia ci pin Gk rh tone bin
rst tot inno ch Whar sda eh en Xa
cho bi kinh vector ta thumg ding vecto euyn vi u(X1, Xa, Xast)
Vi tos dh Lagrange tal t nd chung Whcong, thong np sian xia ah
et eae bid thie vA phone tsnh phic tap a6 wi che Ae cris
oi: tring, haus we thé ela nS 1b cho théng tin Bodn ebinh vé cc
Shem 6 Ken qua én nC en to ang wt (6 oh ee), Tons
2.
2,8). Fo. ¢ trong toa dé Lagrange, obn oie hé thie Khe ing phuvag pip Bub
fie pent,
1 supe ng suis va bia dang nbs, phwong pip Lagrange din dén|
et ed dom gid vi 30 ran.
‘Téa lai, aghién ctu chuyén ding theo Lagrange diya txén Hh
ciuuyée ding cla tae phiin mat tnving ben tye, fe Bk quan
Bp auy fost thay dt cia ee dl fog eRe terug i voi phn Ui
tesa mk trims
iy gi ta Khing quan ton fa ib st choy ng ela pa
ridng, oh mun biét edi dS xv a kb ce
fda. ngprif quae ast qua ede choi dda she ohew; tei diém king
dijeae oki vk kide ahou ela iad) ubag chy qua, tke Ma quan 8a
‘Ain quy Init thay dé eda ee dai lugag die rug tal mot oak
teas, 81.401 Jy dign-shuyéa yg (hso Buber. Céc toa 0
Akhéng ian 35.22, va (hot glam é gi lt igs Baler. Nbr vy i
thé xay ctr trndmg cdc thar 48 cin thist trong Khéng ian ef din
ctia-ngteoi quan sit, (5 thé Sy trong he Loa @6 décac vans we)
Cong thie (2.3) cén vi bién Lagrange ¥® bién Euler 26
dlink 2, 22423, hg tite (2.8) chi ra nig, phi W(X, Xa X5)
1ni err aqua dee Ws, xan cho tre tee th Alden kh
Sau my ta thay ede phuong tinh xe inh eta moi trudg did
hue tien hem.
2.1L. Vin tbe, gia te
Chuyée ding vi ou ebay diag 48 mob wp thay 46 te thi
ben tye cia hinh thai mdi trirag lin tue, Co thé ida ty cya
‘bi teubug lin tye theo Lagrange (tga. vét chit) (22) hoge ©
ler (toadd Khang gan) (23). wae ate
‘Tie € thay Aff theo thoi glan cia dai hromg die tng nia day
‘ee phan Lt rng bigt cla moi srwbng chuyén dug goi Ib dao ham veh
chat theo thir gian cia dai ao a6 (cdm got 1é dao hmm toin phi
16 xor uhar te d9 thay 42) cha 4gi hong dang xét duoc xée dink
gud quan sat cimg chaydn dog vGi phko Gh m6l tautag. Dao bi
vt chat too ¢hbi gan eda vi Ut phiin Ub gp Ib un te te #hoi
ne
aa
ve myn uo ea)
MB ving cho dai lugug bit Ky die trung cho tinh chit ela msi
rwimng, ching han dat lime A 6 cée thiah phn o,,,, n6 ¢6 the la
hung, vecta hase tensa,
Bp. = ey. a, Xa. Kast
(Ui da ban vB chit theo thd gian 06 dang
dog. aus (Ki Xa, Xt
a
as
vi tgs dX; khong Adi (tome tag vi ng ret phn wh},
iy theo Euler
443. S Oy. (128.2948),
thi dan hm vit elit cho ta
as. _ eis Menta tart) , Oy orza tt) doe
de am Ory <7
fing Ores
ar “de,
Mm ee
(26 hang tir nie de trmmg te dB thay di ela dpi ivorg. tai diém
ong, gan o inh, oi i t6c dda phirong, $6 dane thi hat wet le
16d do theo do chyén ding ein cde pln ti trong tring thay
48. cin 495 lune 4 cho}
“Temong va tde (24) 06 thé ede dfmh qua vector chuyén ahd ha
thie (21). Ta od vw
bay ta ‘Theo Lagrange uy = ws X4y Xa, Xovth tht Vi Saoobien cia plép bid ad
fo Oa
Ka a ut ay a On
Pua ayy y 2A a oe OG
y [oe SE oe
th ler = teat in ie ie
om th Baler = 613,850 Ee
Basi) Deed ke OX
‘re
edtet-189,
hay te oa thé bida did nguge lat
ou
Bev we:
‘chng thite vin t6e dudi dang thing hidn, vi dw phi cing 06 gi4 ti
ny.
‘Bao him vit chit theo thoi gian ea vin t6 cho ta gia the, Theo|
Lagrange to 06
=) ym nlet-1)
Ti aye t aT
Ce think pin vin t8c theo bién Lagrange cé dang
4 Xa aa.
e * Joba eéc thinh phn gia te
bay Li
aut nxt, ye ete
Mee, n= Sea Meets wn = SP = Xe
‘bn theo Euler a Tir day xéc dink ede think phan vin tde theo big Evler bing cach
i bay X12,
_Oulenzn20t) , Oalenz208), | sd me
of w= Sans vena, Viigras'o
bay ta emt ~ \ tag
we May ren a Leadst vate.
"Thi dy 2.2. Cho quy nat chuyéa jug ee mei trad
Xt ale = Y)
Xb Xe
Xi
"
Hay xe dinh tring vin tée vA gis t6e theo bién Lagrange vA
Eoler
6 a ‘Ta 6 thé dB ding kidm tra Ii cic hid te eda gia ‘6 too bign E
Unk theo efng thie
_ Ov, Oe
wn GET Bet gmt pel,
TAK du 2.2. Cho tnudne van te aa més ting
ia, takes, t=O, b> 0.
aye ih oy a yea da cn rage ta 9
rt ovate hae aa a
NS tek pgs Hetty, 8g
a Te dt
ro Pn so ¢ pong ah tht lv sk ag ung nh
ee
ey
ethan =0.
Phuong trin nay e6 nghiém
25 = Cleaskt +Cyaindt,
hay vo phos trinh thit nb edn Bé cho ta
Cysin et — Cyeewt,
may
4 = Xi, a Xa, thay
ce hg thi cia 24,29, say re
G oe
Quy lufe chuyén ding cin moi ermine ef dong
8; = Xs cost ~ Xasiatt,
2 = Xp alnkt +X o0s kt,
aX
ida difa mange lat
X; =n conkt + zgsink,
My = ny sinkt + 24 c08kt,
Xp =a.
(Cir thin phltn chuyén vj theo bién Lagrange
ty = 24 ~ Xi = ~X{L ~ cost) — Xan bt,
uy = 2 — Xp Xi sind — Xa{l — cow kt),
ts =p Xa =0,
chu thoo bigo Euler
(1.~ cont) — ayant,
sia kt + 29(1 — coe),
we
uy =0.
(Cc tah phiin vn te theo big Lagrange
= R(X sin At + Xa coke),
va = W(X, comkt — Xa sin kt},
= 0,
#0 com bt = Xp int),
HC, sn he + Xo coe kt),
0
Hay, uy 5
‘Tong he ton dQ cong (theo bid Euler) bidu thie ola vn te vi
i to 08 dang,
ou, oo
va Bu,
ov, ov
watt we, ‘Virtus nén cde thanh phiin ofa vin te vA chyyn qua cde thinh phn vat if te disge
Bu aba
evant,
OF oaipet
= Bs vet
Tht dy 2.3, Vide che thanh pin vit ly cfs veto gia te que
thin phin wat I eda veto vn te trong bP toa dd ey.
‘ong bg tom 46 try (2, 22,23) o (rz)
gn = A= (2),
my =9 (AD)
ang
iy dao chayén ding Ih avons vach bM phn ti trong qué tink
‘onyyén dang corg khong gian ngudi quan sét_ Nl tia nd bit quy
Tut chuyén ding ca phi td, 1B ta bit iy da chuyen bog ca
phn 1 ny. NEw bd ie cha mst trig, th he
teioh se dinh guy deo obs wei z
cic think phn
phiin vat eda
ewevr zt, tla, =X (an
‘Dy Ik be phone tinh vi phn WOH be a2, 3,3 Ibm ci bia
‘in oc thin phn vt es ia tbe age xe dink toms t
s iy jib ta dura vio ho eke duimg cong inh hoc 09 § nghia trong
bdo sit chuyn dng oda mi trabmg hén
‘Tai mgt tht did T cho trade, mg ta
eg. ong Gog gan yb quan a Aho ohne cueag bao hinh oa
lgwing vin tGe_v. ith 46 ob nghin lk, dvemg dong cua tratng van
(5 tal me thoi didi T' cho trade no dy ls dag cong, tgp Tuyen
tai mii diém eda né tring vor mudng vin tBe tai didm dy
wesw wy auts wu!
Tourn
wie FE acolo ari emet,
frag bom 6 tel 6 ys Thy = 1%, Me Wing Ede
na
. aR = byl, 22,24.7),
Be tek yore
et ake a etry
Bet Bey Out
=e ge tet
agg La
is. dy es
Ge ea aT) 8
30 a ‘iy JABS ion pacomg, tein vt phan thoo hin, 5,25. Nha
slong trong hong xian agul quas eit tal thoi idm cho true
‘9t ho ning diag cong. inh hoe hai tham
Kéog nén nbiim Ihr lira during ding va guy dao vi § aghte
W ela ching iin tod kde nha, VE mit toda hoe he (27] ea (2.
‘cing ban ton be uhau, trong hg (2.2) thbi ian ¢ 18 bién, ode
(28) this gion of inh,
‘Troug th dy 2.2 ta 4a xée dink quy lnét capa 480g
1 © Xycomkt— Nosinks,
By = Xisinkt + Xpouekt,
Kis ta deve aby dao dhuyge ding
2342} ~X2423 ane,
18 abs dong tron nk tréa mkt phing xy = cont,
sting aiing, nf ening va te khéng phi thug hién vo0 that
EGE ne et nN oe, 068 = Yang afl ANE one on the es hg = ca
nv $Y so. Me 2.7) in a6 doe doy,
aa its des “eo
thay ode bidu thie ela % vio ta dune
dan ten _ dey
ky “a, 3"
wale tz)” Ces Sana) * Blenzn aa)"
hing hot son tring vi phuong telah xe din Aude dg,
‘bi shir am xc Amb 7, hom niza ns cing kndng phy tude 7.
Ki fy ese ay do lip than ho ede datmg cong hints lige al th
86 tring hoa ton vii ho eae dune dong, ede ho dung vay cbt
‘hing thay di Wen thi gion.
vs Wo mest) RE (2.7) dav
muy ta zy = const, xd + andre = Lalo + 23} = 0. Vay 25 = const
Fito} = cout, cio dims dbug cing lho ofc dims tre tam O és
wait phog 25 = const
Thidy 2.5. Cho cinyén 46mg cia mdi trig. xie Alon bi
. doy = wayne;
sar, Bar, w=0, aro
iy sic di ede dime dg ti Cd ie 7, bia dfn thoo Lagrange
cto dg iy:
Day chases ding dng. Cle dvbng ding vay dao tring abou
‘i-khing phy tude thbi gian, ching ning hypecbén. Qué vay, ts
° dey _ dey _ dry
a Tan 0
‘Ho du aad ~ nyeg = Hated — nf) = Ova ay = Xq. Tih phi len
& dpe ho ee ding dn
Hoax,
‘échi raring, mB Lh bl toin ink hye duve gid gust haya dp
Wibg thay dot Zhi chi gian ty da
(Chuyén doug, go nike ding, nf trun via te 06 dang
eeleaaees.t) = Aolan,
ta)
Te 06 thé chi ea rng eae dudeg dng cong hing thay dé theo
tian, ede aliy dao lap chin he dum cong hinh ge hal thai 2
ing v6 cdr diroug en
ThE dy 2.4. Cho thrbng vn ide eka mi trating abu trong thi dy 2
HBr xe dink aay dan chayéa ding via doong ding. Chi range
53 y= Xs, pan
es
Savy
1b ofe hypecbin tréa mat ping 5 = 2 =
Bida dim chuyén dng thoo Lagrange I bide din theo ay
Gide phzoog erin
Pian ob mt dan du 45° v6i hadag weet phip tuyén eda wb 1,
cé chide phi Ur d5 voi bung nf, ky higu lb dS, Khi 46
aa
Sass, =O
&_. as =17ex,,
& do 86
a 4 as) £ (79% or ag 8
z easy = 2 (se)ax, — Bas, — %,
ied (I Fee) es Bets gets 220)
‘yh itu ign tg thi dm # = 0, mj =X, ta doe quy Test ch
ing » him Vét eit ea pha ti drbag cho ta
21 Xidhat+ Xshat, Pe
bio Kuhoe ttncon Sa = Ktdnte) = 24 tree,
nak ne
iy dg0 whim durae bing cfc Kh & tir eke he thnks trim in én “ fan) = 1 Pax, = Many
‘ic dutmg hypecbén néu ten. at) aha, 881 = aR
Bu Oe ay _ Ov
Be BGO 5g
2.1.4. Dyo him vgt ehit theo thé gian cia phan td thé t
phan 6 mst va phan t6 duéng, cia tich phn khéi, tieh pl
mit vA tich phin dutmg doa
Do ciuyn gt ean ean i & thd in ty 41
thés dang, xée & ehei diém t, che phiin tik mai truong du ten chi om
3 U8 Ube sth Va chin yu UV
“ ‘Nob ee cong Lbite trén ta tinh dgo ham vit chat eda tich phan Khéi
Wy = AX AKAN,
Eff ow = ff son
Uf Po Sher ff Be homie
Dring cons thine Ceuss- Onteogzadak vio diy ta doe
S [ffs oa = [J eos fom. nts. om
55
Oy ay 8a
AV = deydrattng = eye 28 Ha Or, =
bet = yn Sp TEE STE AMX = Je
yo hin vt chi theo ¢ ta duce.
Been = S.say - Lavy,
C8 eh ob vw -Xet trong toa 49 Lagrange
= dsj = dR: dR - dr: dr
(2h tet
ae. BK, aM BE,
By dXidXs,
ce erg tp ee
Si wi tieh pha at
A ffs cts = ff (Mier Bar )55~ ff ns Be
fan yen
Wi 8S wf Ach pin ei
E fov tity [Meds [Bronte — a
af a
2.2, Tenxo bién dang
2.2.1, Bid dang toi lin en didm mat truémg liéa tue. Te
bign dong hitu hon
Y¥ tudng v2 bide dng bao hae sty thay A kioing ech gira
pia 18. Chdag haa, trong moi tering phiing lwai ede dba
Tuk eubng 6 trang thi ban dia xe Orion hn ut cong 2 tr
this biéa dang Tai lin cin mie didm nio diy cle mii rung 4
hag to rs, (9 thay In vung biéa dang Lhd lod hinb bin hat
Bin dang eta mi tring li tue dure. xem 1a bit, nd ti i
‘bt kj no day aa nd (06 toa a6 ban dtu ge ong bai ba. inh
1) & thd digo thy ¢ ea hide bien dang cia moi phin to vit chit ld
len cin diém 6. ‘Tw cic suy iugn hinh hoc biga dang the bite &
thay dG: ich thude dit cia dogn vé cing abd bét KF dr My tie dig
Dang song tuyda tink
Qi Qy Ta Aiden tan con ea Py, tie TB PoQe
oda ech ¥9 cng nth Fao bg, (28)
ae = are we
Sang hioh bai big dang Pp cig vier P. Qo chim vi er Q 2.18)
lin can P, ta.c6 PQ = dR va
ay? = aR dR,
Ih tonao tte dog (twoug Ging @ Mf toa 06 X; viz). Ching Ae
rong rag i ng i cu i cn md rg, Teen
Ry 6 tinh ee A ig, ee Dk
ds} cho tw 46 do bin dang tai lin ejn iém ein ume
wate Fu
a” va si tong trudne hop khong sien (2,4 = 1,3,
‘Ti ede he the trong ie tga 4} dae vudng ie
ta Xie, R= se,
‘ong 46 x, Ha hg vbi X theo (2.2) hate (2.3); ta the
hon Green
“Viét ou thé ee thinb phiin 745
al(GE) + Ge) BY,
a a
lls)" + Gey + BY 4.
Bayt bene oes
(ae) + Ge)" + Gey a).
Ua be, dos dey dy
OX, Ry * Deo BH gl
5
bus on
aaa)
‘wong tos thé viét ee than phn Fy
‘Thi dy 2.6. Cho auy luge chuyin dng a ei trvime,
ns Xe tale = 1),
va = Kat Xoet—e8,
nye Ky.
58
5 Cir phibn dé lip eds 26 be trong rng bgp png (i)
2.3)
in ee
toh din thiét v8 eae tich vé hag ‘trong ec bp thito (2.16), (2.16)
sibs aoe
1 /2ex Brg
a(ptaet ~&)>
1 (4, BRO
3(%- 82, dz;
tee eh en inti 2
‘hing gin cia bign dang, Tenxv 08 td got enzo Bien dang
jes hss 0 ye ie
Hay sind ee tenxo bign dng Biku hyn Green vi Almansi. Cie this
pilin cin tenxo ign dary bin hyn Green,
eon. om
maa HE ows
Ve eyp
wae, m0.
1 tinh ee thank pin cla tes bién dang Almansl ti quy fat
chuyén dg to bidu da ngage Is
Kan
Aa = rnc
ApS nem} baylet 4) 9
Kh ds
Bae,
1,
Pte),
He-enacetet +
2.22, Biéu didn tonne bi6a dang qua che thin phiin chuyda
vi
Ti he thie (2.1) tab, a
a aR ow
Oa” 8x,” Be,
ay vito h thie (2.15) va (2.16) din ia
1/u Or | uae ow ow
2\BX OX, OX, BRR ae
. jy-i(28. oR, 2 OR ow ow
Os; Be; * Be, Br, Bay B21
1. Tenxo bidn dang teong he toa a9 decac vung gc
18) Thee toa a6 X; {6 hiah thai ban an) ta 08,
dom thay vio (2.19) tu nh duage bids thie ela veweo bién dang hi
bban Green cue ric thénh pilin chuyén
1 (BU | BU dt
Bax; * ax. * ax, Bx,
2
a,
Bai logng > gui Wh geadion vat chit ed chuyda vj. Ta v6
rma Fy aT eraon vt cht cn chuyda vi,
tinh efe think pln ela teuxe nay
any (B)),
Ve BX OX,
mn) Ge) + Gey)
ae + alle)’ + GR) + (ae)
(2204
2 tH, As aU uy
XOX: * AK BN, * OX, Bs!
AU, A, | Me Wy | By As:
ONz Ky * Xp Xs * ON, AN.
BiB, Us Bs Hh Bey
X35 OX, © AX,9X, ” GXsAX,!"
by) Thur tao, (mh tha ign dang) e2
m
Bete ler Fy Bat) e
iu On,
Ory 5,9" .
Une hida cde php tink trong (2.29) ta dg bigu the eta tense big
ddgug hu han Abmansi que ege thin pla ebuyén v
2 _ Ou dy (222)
Gs, Or Bas:
‘Tony by nbs ten ob thd it emg ann cc thin phi cia sense
on "
aly. Da bow 2 raion dng gan ia cn.
Phi dy 2.7. Cho uy lute chuyée dng cbs mol uaa
aah,
ae Kit Ke* 0,
XK 1)
lay vit c&e thanh phn cit tomxa bidm dang hirs lan theo cbuyén vi
(Cle thanb phn chuyén vi thea toa aX,
U=0, exe "1, vy=Mle*=0,
a ‘Theo (220 tin ede thoh pin eis tenn bin dang Bru han Green ong ty nu vy, ong ih tha biéo dang
aR
ay = B
Yer wetes 0%,
ou (2m -
ge on™ = (GE ~The.
4; J seco co 86 eh Ohl ia dang, con Vl go a Ap bla
thin og bp co then towns mre ay = ey Thay Yo (2.20),
096i ts ta dine ewe bi da late ong hon
one
\
(Bray + Vet — 9" eta Vta) ay
‘Ce thiuh phiin ehuyén ¥ theo toa 22
Tn bi dango
rh hy vt oh 5 he ea
‘sch. nl cnt yeh equi aha ke
56 lung bac hai trong (2.19), {2.20) ta di dn cde bp thie cila tense
‘thé dung hd hay tenza bien dang tuyén tinh.
1 Tomi dang tt ne 8 ac aig de
Gig sng faves era a
us mle ™— 1} wy =ale*—1)
"Thus (2.22) tinh ee thanh phiin ela tenxo biga dgug hu han Ales
feo, 1 Hb, a,
FeO oa ae ax,) (25
2. Tenxo bidin dang trong, hé toa 05 cong = 2 (Om 4 Oar
Theo ton a9 tnt cb db te rae, on)
Yi erodien chuyén vj vi bia Gm ehuyén vi Ta ahd, na or kde bide
fen Coa dp vat chit vd. tga a long gian cina phn uk mos trebug,
ring ang ke do 6 xem hal tenxo ign dang nh név tren bing
‘han. 6 06 thé ly mt trong hai dang (2.28). Ta quen gol bb ebire
‘la ej 16 b@ thie Cauchy. Ce thd phn eda né ob dang
a
oni
oa
m
Gay gla ag voeko ca of cla hind thi ban di, AF hid Ch =}
oF lua Ha chee tense mutric 9, = g°,-e°, a hinh thai ban din, 2a
‘va hg chée (2.19), ta éeae tenxo blén dang Green trong hé tow 1 Puy
cong Tas
=e) 4 $5, FSud as ey = (28 4,
y= HOHE site, ena h(E
2 (05 thd lp itu a8 dub dang ena tr
Tey i nt em i tg hl vB hay
0 (xetm 1.1 Chaong T) ede than phin eta tease bin dane
ig 09 9b m6 of dane
eh
Tay git du § nabia cia cdc thinh pilin tense bign dang. ‘Te
Ihét xit 9 din tong dios cia ohn el dirmg ds; doc theo did
toa di 7. Theo dinb nghia ta 06
zi
«SS
‘Thay bidu Unie cba def va de, din dn
ViFF a
‘Tip din xt ge git hai phn i dudng toa a5 ds, vad cla vie
sau kht bign dang. Ta 06
as, ds,
sds c08 212
2
OS ET
Misr x8 46 din swan 454 ea phn U8 ding bat hj. Goi
tng of pilin 69 Poo = ae te m= SE va AS hi Ta
diy tng 64 ro ng tae
A aRANy |
4
ay I
JTF Ras —
“ rel bey
Drarany
‘th In dang ne eee be Uhite tm soy ce
ere,
cosas Sey (EDI, (226)
ee = Bm.
Vga wat Yea (2.26) Hin rg hi thie tbe he cho ta
tse dai rong sy, €20. 6s bid thi 9 dan teomp a cba ee ag vie
chat touvre bid Dida dang Ruvime tho ee tae toa di. He ate kha
shi ra sang ee dad leymg 2esay 2ezs, Zen, bid Uj cusin en pie gia
bi phn Ub curing sau Ki bién dang, mi tric KA Higa dang ing
drning theo tue toa dB.
onsen, = eo [5 ~ (E+ 61] ky
=sinl6 +6)
Reith ay eae
tink 4
leone 1 pi ty A ge shal pin agente Va a
io dag, Vi iy Sea, 2g Ben De thse thy 38g gi oe
Abn 1 tatag ma true thi ia dae eg hang Phe ton,
Nabi tn cba gl ching ich dang tre
a § rag Yenc a dang ah ph tute ty tn wap tha
sha byw. nn ta lt bleu dang doe tapen rk Na
Thi dy 2.8. Oho trong chuyda vin1 = Xy+ANa, 25 = Xo-+ AN,
2.2 Ne~ AX, v6 A= const. Tin tenxo bin dng ab Chen bi
2o56 vi bie Baler, sp ab xy bi A itn
Cie think phim chmyén vi thoo big Lagrange {; ~ AX, Uh =
Mo Uy = AN. Theo céng thie (225) tn cA think phe wan
‘ing mks
66 a)
Sinwin ©
wa © sole.
Bia didn ngage lai Xz qua zi, ede thnh phn chuyéa vi theo bin
Baler 06 dang
‘Tho céng thie (2.25) tinh ce tadmh phi tonne bigs dang nha
thea big Fler q
A-#
2
ao
Aw
2
tifaew
@a=Tp
Voi Avie oh (A 1) cya i mh, ta a ero vd
(rng unas, «
2. Temas bign dying ob trong hb E99 6 cong bat Kj
‘Tir (2.23), 24) b8 qua oe a hang tic ta suy
eg = Vay + Dy. en
or ats vi ido dang uhé tonxc bia pug th theo bin thi
fi va Hind thai bigm dang Khdng hie ist, "T thibag xd tnx 1
trong, toe 43 cong trv gi (taa ei, ton 69 try, 10a 5 cme)
anh pio vf eis tease (227) 06 dang
6
45 DA,
Bidy Oe"
Soy
ThA os
AV bug “ut Ay, 95" Ody
Ay x ~ Aydy Bat * AA, De?
dfay 8 73g) ae 2
2a ae Gh) *
8
(228)
. ane
een alae
rung, 6 alin (°) a8 ci ee thbnb phiin vie If, ebm A, = yi Wb 8
Lomé oba tua db cong trve giao (xem mye 12 Charing I
Trudug hop ren,
5) Dik ws Bg toa A6 Une (79,2
(Cae chu phn vt Ij cin wecto ebuyéa vi Leong toa AG ny Ay hig
ft ay Use, HOE TA Wf = the
Yat Is edn tenxe bid dove ef, = eon. €8, = E80, ha = Sees Te = Ero
a fee chr = ear. Peta td among 06 cong
1s? det 4 + ds,
(ir 8 ne ph ce he 86 Lam
(29, bh) Bat Wi toa 30 eve (nA). .
"Ta xét cfe thinb pin tenea ign dang trong triog bop phiag.
Kini dé u. = 0 vi up, ng kag phy tude ve, €i ole he thie (229),
say a
(2.0)
6) Si uti AE toa 45 ctw fr.) a
‘Ta ky hidu ode thin pin vat I cla veety hyn vi Ia wy,
‘va c&e thamh phia vAt If eda tenxe bign dang Ia eye, &60, Egy SP. C8
Ege. Phan tir dutmg ¢6 dang
ast = apt Pin peo + Pap,
do
A Aga rsing, Ay
‘Thay ese gid tr may vit hg thie (2.28) ta nha drge biéu tha
tenxo big dang, trong toa 4 ca
23
3. Bit bidn cia temer bign dang. Truc chinh, Bién dang chish
‘fenxo bin dang ahd cj, li anxo a6! abng hare ha, nen 8 thé kp
dong phuong php xc dak hudng chink ofa tenna ni A trick Diy
trong 1.1.5 Chuong I. Trong toa 6 décac pinnomg, trinh xe dh eo
done
(eu beta my =O, 22)
‘rong d6 ng 14 aban chi hodng cia vecto dem x theo hag chin, ea)
a gti chink ea tense big, dang.
28 phwong tinh tren vide diol dang tang miak
Gea — oi) teams teary
212% + ea Ga3a ea (sr)
sr Herne + (ex gaps =
Vink tnd +n = 1, ede 56 te my king ding eh bing king,
phuong trinh (2:32) ¢6 nghtém ka inh th
Detles eal
Kas if sa ta due
hay — Seebay + Extiny ~ £0
(2.3)
srg 28
Ese tea ten cai,
(le elle eels sei}
~Heuey—
ei 35
Nehigm cia piuomg tinh (238) gid ein ola tense ba
long. hay oi go lath dong chinh Yoke 9 dan chink” Cae hag
oo hth nage i gcc hy ag ee 45 vo py
‘nh (2:2) 08g. Cas ng wceong Po ve eB ome
chink €}, €2, es may true glao voi nhay vs P thank Asedng chinah digi] .
pi lk 46 din frung dink |
(Nhy vy Kbi tim duge hung chinh va bln doug chit, ta 06 thé
dt bién dang ea mOi tredug ake tép hep esha ba dé din tuong eéi
{de lap theo ba huGng trye giao v6i phan, Tai mi Hin en dita tn
huge be burdg, theo dé chl 06 ede thanh phn divs cheo cia tenxer
bia dang khée khdng. Theo ese hung nay a9 din trang ai 0d gi
featete,
f2~ (creat exes tevta)
Sis eieres
Git 4 Hi chin lug phy thuge vio eich chon be tow 49, nbn ode
tal won, Ex 1 gos che bat Bich cla tenzo bids dang
a
av.
Jor fmatetes
Ch i hncin dn Pi i
agree ua inet a oc
Pe lt ae a hes aan
Sane eer i ge
J de at OE ade ah
‘Bg 05 thd tic bing
v
1 +erddos(h i endestes}te
SO tebe tesidedreday,
vviy
=) _ av
oe
‘hoo bi thie ein Bat ido & tac
eats by
oy
utente Be
dive.
SP
‘Bét bidn the nhat bigu thi ev hay di toons A6i cia thé tich, te “
tng rb cdc lp Las nba vy tuo th nll hte (2.38).
{Qua vag, theo cong thir (2.26) 45 dan tuemg A6ieGa pin tt roa
5 rong n bat hy 08 dang,
eurany,
ng
‘Tin ee tr cae, véi du kidy nny = 1 din (i ten oye ti eda
en
F = sigrany ~ eayhrny — Us
55 ey 8 Ada apne
Tyan Deter at
or
in
‘a nhin. ii hé phuomng trink (2.92)
(655 ~ etasbuly =
‘rong sing ¥6i btn dang eich & ta xée dink hudeg chink nf
(is 1,2,3) 1 he the ten
inl (b
aun 2.3)
‘Thi du 2.9, Biéa dane tuyén tinh {nhd) cho bab thie ws = zs —
Sr Sty, ue = ny Ten, uy = Sy + Ste + Ay, HBy tm bién dang
‘hinh vi has chin bid dang
n ‘Si dung hd thge Couchy xSe dh tense bin dang nho
Oy 1a
ene Mag, eneea=3(5e
Es 1H
wnat, nae UR
a =a
ena Baa, exmen=3(Fe
ver aoe
feg= fo 7 2
024
1 phoong tink x6e dina hnéag.chinh
(4d) + Oma + Omg
On, +2n) + (4—
rrnkend
(Cac gid trim, khéng dng thi bing khong, nén
us 00
0 7-a 2
o 2 4-2
(4 a)? = 11 +24) =0.
(Géc biéa dang chink 1b nghiém cba phuong trata nay
a8 oe
hag wi ds = 8 tw es
2g = Any = 0,
nhenbega i,
say = Oona =
Leh
yg tie
2
fa,
ar)
“pent hg Wi By Ate shin dye
nl ={£1,0.0}
cn Cg 6 Dg
weft rd)
Buvecto na, nl! xécdinh ba buxing chinh biga deng, trong bi toa
0 Hy mong ehinh Wen truc ton 46, venue bign dang c6 dang ding.
fhe bial
B00
40
003
‘quit vay. Lir ofing thite £* = AEAT ta cd
O28 ga
aR (243) 2
a) o7 2) ae
oh ea
BOB 5
4. Mat bign dang
Pay pi cng ta xéscdch bide didn Aink Age trong hit biéu
‘si lke ean di P. ° ons
Too cing shic (2.20) oan exons ai cin pha ok ang ob
Soong m bat hw dba kign id dang nh o4 dane
eS eynity.
8 Gang tne tren chi ra ing, ¢ din omomg 6 cia phn ut du
270 06 wing n bis ti qua ede thax 98a tonxa igh gg tal di
Ph ce esin chi ing, Kéo eA PQ din mbt dea Py ato dy. Ki
bigu PA, = 1 py = Xing = Y, hing = 2 la tea do cl iden Bi
Ki thd vi (2.26) de dang Wide:
Blukt ben¥t end? + deaXY +2 Z +2928)
1
Bunna,
‘Tai mai uring m ldy didon Py sao cho tr] 82 kong dd, an
ta nhjn dive pking trish mit bee hai
OfK.Y,Z) = euuX? + caa¥? bee? + 2X
Begg Zo egy ZX = const
‘Ta gpl mit hy Fa mat din dang Cauchy. Mit nay 6 tinh cha.
9 dia twong dG cin col vie edt It ky, ude past tir diem P, tf
which wi Binh phuong bén Kkinh eta mit bin dang of cng
vai ay wk chal de,
‘his mgt biéx dang, c6 thé xa dinh duce chuyén vi ea ida
iy trong, edn dies P. Qua v4y:
af,
ox
nXen¥ bead
ar
pp reek ten tend =
4 b
Br eeN tend bent = at
day I
trong 6 sg = [POY con 8° ade cin pita verte chuyéa wn
da bign dang tila ty. Do 48 vecto chiydn vf niy eb digas Q
Invi song sg wi vet pred f; godt rad It Ab dan toons A
4
cio soi vit cit PQ, the Ia bit vf tof Minh chiéo Q" ttn hung PP,
ca didi iu mit QF vecta 6 = QQ! Vi viy, vector 8° Auge Hoan
tin stink (xem Binh 5}.
Hol ding kich thie va hudoe ca wat bids Aang tel mi cm
P(ssotavts) ole, vit thé bie dang hog nr nha, n6 thay dt
+ dfn did kde. Név mat bign dang tai mdi diz ah hain,
thé of tare tha bidn dang tnita nha. Mae bién dang Ib mds
bic hl of tm, tc 1A elipxdit bof hypeebisit (hay la suy bién cb
cies)
Hoh Hoi 6
2Séu mi ido dang epi th bi pint ong su ht
silane, ge du i qany vue No mgt
lnpeeholi (mgt ci hype em hop) th ov et ay di,
{fog Hh 06 wt cht Ws trong gv hye a hop Ba
Snes, Spin eh ui mate gp naa hin no tiem en te
Sng wi hig wo ve cto 8 es Hg Ming, ae Ib hee bien
ang
“ve dt bt, twa Tun 0 ti pnb ee Ae tinh
a °
hoo ode mung dg glia ci trye kh in dane kong thay di
Mit bic hai os di vb dang ehinh the. Theo eich xie dja ort th
fue rink eta tenzo big dang tring wi tre ebinh ela mit bite dong.
Ly bg ruc X7Y'Z theo Iudng ehinh bin deng, mit bin dang x6
6 6, Twa quay tuyée tinh
Cis did P ob chuyén vf w, khi 46 dim Q & ta ci ca dian P
do siuh Oem ee 8 05 chuyda vila w+ da. Dal hugmg dia chuyéa
trong it ole @ lw Pee ehh pin cla we rob a 8
Seas vUGng ge oO tad vst dg dang
FH 16 4 Maes y Bigg — Oe
i, = tes 4 don 4
oa” +e, + oat Ox;
Pia th gradion chuyé vj hin hai hh phi
potus 0 xe
Tg
ane Ree
sip cho vige nein etka cde lf thayét ota Go hoe Vat in big
sau nay.
‘Thay bidw thito ois ey vio diy ta duye
vt
eu ~ €xa)? + (exa ~ ess)? + (eas — Sua}? + Ole Fo +
4 eral ra arta aF
w Vector w gol Ib veets quay tuyén tink,
‘Néu temo biéa dang ding nbit khéng, thi tai lin cin didn P
>sit, uy vi teeny 4% ay Guay cw 6 thé:
dd; = este = esas
hay
duswxdR.
Nar vay chayén vj tai lin cn diém Dao gm pin chnyén vi gay
bin dang thu ty eye, vi ehuyén dng quay whe othe vi.
2.2.4, Digu kign twong thich bign dang
‘Néu ede think phim tenxo bin dang, ¢, cho duréi dang hid 1
hams cha toe 43, chi si phuong teinh (2.25) xem ubur Ia su
twink dae hien neg dé xée dish ba thin phn chuyda vi a. BE
dink céc tanh phin chuyén vj én tye va dom tr, ce thnb pn
‘dang phi chiu rang bade nBo dy. Dé 1b ec dieu kiga tac thc bi
sang.
Tein
1/2 _ Ou
ale, ~ Be,
= My dao hn theo bi
‘Bg0 him lin thi hai theo 24, ta din din
Bony Pim Peg
Digits ~ AxyOry— Bebe
‘Thay 401 thé Ur My dao him ta dirve
Pen Pep
*
Vi tina thc mt rung 8p hop Aid ea ing gan Buc
Bo fet dao han kg thay 6 i he
Pein Pejm Ben Pen
Bn,Bn,” Bnbty ~ Bejdz_ Br dtm
day
Ping Deyn
B5Bin, Fase Taday
Day 18 be phucong trinh tong thich bi
hag do tank est
Per
a
ong ge 81 phony tc,
Risa = Ryo
Fisom = ~Rasnos
Bijmn = Rin
nn hi ob 6 phzong tinh fe tp, ama ta quen got Ik phony tinh
tang thich Saini - Venant « pena
Fey | Pen 5 Dee
“Gl * eh Fears
Pea | Pena Pers
33 Ry “Ordey"
ex
Pr
en ea
‘ea Sn ,
Bris Ba! Oey a
os 0 (den Bou ann
Babe, ~ Bex ee * Sey)
Pegs Od: Bem _ Dery
bras Bes ae, * Gan ~ Sop)
_ Tons tring bow bi ton &9 cong bit ky phy teat trong thich
nein ai dove ee ‘cach Thm twomg ty, they dao him thmvag,
VVns in + VyVain — VrPutin — V5Von Ching han, ¢@ nhéa dupe phuorg trinh twomg thieh biéa dang trong
14 tri ky igo Christoffel trong com, tite
x igo dang,
Son 0a)
Piree) , Perse)
a erae Bete
ot yes Lefer)
ai) + 7 a8!
[Dé nin Mage cée phong trlah beng thich trong tewtg her
quét ndt, ching ta xudt phat tir chi moi ming hie tue & Riuh th
Dan dint, ding ahve & binh thai bién dang @éu 1A tAp hop dim Kho
wn Euclide ba chit, Do 45 tenxo Riemann - Christoffel trong c& be
ns thai d6 dw bing Khéng,
or
Vide bidu thite ea ee temxo nay va thye biba mndt 36 phép th
va dit cha tn (*)
Ope
2.3, Tenxo t6e 4) bién dang
(Gide bit van ede mai trvdag tg didn dang xé (ching han tb
(P) 6 thay clio 1 va cae dao ham cha 26 theo toa 45 cong tei Adon
‘Ta 06 thé whan duge ciag thie tiab vn tBe cing 3 eat didn 8
idem Q bat ky huge lan edn idm P, Dé thuan tn chon gée toa of
{Gee chy dam HP Bo Hay Di, NAS Dy he Que ws 3A NG
80
tai din Pe Ih Lea €8 dvsn P(0,0,0), cin idm Qf. 2025) 50 wi
323
weevan sat v(0 0.0 + (2) 214 (SL) ar
=wo.00.0+ (2)
ry bd qua ning shang chia 2 tir hc hl tr én, v0.0.0,
“vin te tai dm P_ Chiga lin ode argc tga 8, ta dtroc
name (4)
tay
typ + Bayt Bhan t Bn,
tant Boy + Bon + Bn,
vaste t
ida dita dai gag
du 1/00. Buy
Ba, * 2\0a; * Ox,
Tense 23 wing mg bas
aay)
Boi tenes tie a6 bide dang, Cie ehanh phitn ele no 06 dane
Oe Aden, Bow
fuse setae)
Oty da , Bey
nage nas + SB).
Bey 18s, Om
ean ge ney Set Bea)
a “trang hop bid dang rhd ‘a ob in bi gia eamea te 46 big
4, vi tenn big dang nd abr sa
8
ey~ Bey)
eae pia 8 og
1/0u_&
=k de) @
01 Be tenze andy ude te. N6 oS ba think pilin de lip
etn = Hats = Hoc hn hae sng
pin dic lip cila Vis, gpi lA vecto zody win t6e:
Van, Oe
te 8 cong bt A}, tenny We i dag 6 dang
a
Yin, My Via
“Trang hs
1
fy = inet Yosh
om temxe nay vain We
Mig= HV = Sh
Bid Ui qua ede think pln vl ly trong be tea 45 cong une a
(rg, eve, din,..), ching 3 dang teung ap nh teuxe biga dane
vb ease quay’ Laven tinh
ea
‘Ta vide cng thie phan b6 vin te digi dane,
Sw Heyty + May
Fe bite my ob thd vist dui dang vecta
vow xR, 2%)
cong dv got I un te bin dang, Hin chidu ea né lén ede trye
ho hd cong the
(48), = cuts
bay Ia
wi ean tate + coms,
oY eazy tenes +n,
WS Stan beset dns.
ing hie (2.37) cho ta ti doe vin we & thin didn ¢ i ain @
tht enue lin of digexP, nda cing 6 thd ide uy bit vu (i,
oct oy vin te vs enn te bin dan ta dn P- Cg the
(2S7] tas mi ring cho mdi trudng gn tye eng tke ak vn Se
ao thé i do trong ehuyés dong dag gust abst. DA véi oth
wit = 0. Neo ra divi él tog Len tye vere ody VED Ne al
Ain dang no ng 9 vec vn Se Boe tong mem pS the
“avo ne tose bin dang a cng PAE lel tenn 1 Dia
ng Chia te lech vi ers
85 = by +s
trong 6
by Ey — Ay,
Yea vio dai rong
y”
Bi Ik cong dG sie dg ifm dons, duce xse dink qua bik biga thi bat
ha tenxe Beh te dB bign dang ‘Thi dy 2.10. Cho traing vin tée cds mdi rung
vs (rho ztper + t}zze: + 2i}en.
Hy xe dind tenxo we 46 bida dang, tena xoky vin te via svete
ody vin 160 tg iden PCI, 2,3) ee
“Theo ong thie 2.35} tah ef thinh pin cia tenxcr we dé big
Toi din P(,1,3) hat term mdb 6 gt
®
208 °
eath=fo1 0 2
5
2°68 3
bn tense xosy vin te
Bai tap chuong IL
2A, Cho quy Twat chuyiin ding eda mdi eri,
nak
By eX H AGE HON GY?
By EXE IG) 4 — Vd
‘ile din ede think phan win t6e theo bid Lagrause v8 bin Euler
2.2. Cho tng vin te
Brafil+ 8.
‘Tim céc than phan gia te thea tiga Euler vi bié Lagrange,
2.3. Ching minh ring, uéo trnimg vin t&e theo big Euler oS dene
81 = say(2)rj th wecto chuyéa vi taong ing Ha him tuyén cnn ea tp
4 Lagrange
. Dil wl trudug van te erong hai ton 2, biy im dimong dine
‘ily du. Ching mina rng ening rang nha
2.5. Chhing minh cSog, néu emg vn 16e hen bign Euler & dang,
= eae,
troug ds 5 - ee Bg 68, ti cic ding dong vA qiy dao tring nhat,
26, Cho modu van te ny = Aes Srp, v2 = Sey, 2 = 4s,
fe inh cic thant phn gia te tai dim P(b, 0,0) x8 QUO, 4b, 30)
bing lh rang tering va té= Luong tg vos er quay ola eS thé vi
vin 3° ge bling 5 quanh teuc buréng taco vesto @ — (46a + 3es)/5-
27. Cho tens, vin tle oy =~ Xp, ty = Xp, vy = 2 Tim ee
‘anh pn gin te trong bign Euler.
2.8. Chimg mini ring, ai Gi trum vi te
wartsh wonieltzed, =o.
Abng dang IA Abe tr, 2.0. Cio quy luit chuyén dng oi a eon 210, Cho seoto chayén vf w= AXPo, + Nader + Xi Jen. Xt ad
tr mdi cha phn te mi ban du ai mon sel iin 1, 0.2),
2.17, Moi rubug thye bién chuyén vi
= [8X2 — 4Xs)ey + 2K; — Naor + [4X2 — Niles
‘ile dink vi tef mdi ea vocter nt phn Uh A(T, 6,2) #8 (26,6),
2.18, Moi Curdng lkin tye chi bid dang
= Mat As, 1X5 4+ AN,
hong 46 A= const. Hay nh tenxo tie dang Green.
2.19. Cho treémg chuyén vi
Be MtANy me X2+ AN, 2
tuomg dé A = const. Hy tinh tenxo bin dang ub (tayo tinh) theo
ia Lagrange va bign Enler. So sénb ha tone why kot re ab.
2.20, ©)
Me + Aalet 0, 2 = Ned Kale), ey = Xe
Chi ra shag J 40 va thm ce thin phn vn té trong bin 1
vi bign Euler.
2.20. Che quy lait chayén dng
AEX, Het Me* I, SAMMY
nak, om
ay tin van t5c, ia te oa chuyén dig trong bién Lagrange v8 bi
Euler.
2.11, Yocte chusén vi, trong bién Lagrange ed dang, Xt AX:
Xai —1)
fet — 1), up = Kae 1), ag
‘Tin wocter vn t6e-v theo bién Ruler, gid thiét ving khi¢ =O, 2
2.12, Veet chuyéa vj trong biéa Lagrange eé dang
trarag ohne vi
~~ sales + (22+ 2y}e3 ~ ener.
ty = Ail eos be] Nysinke
ug = Xi sin ~ Xp(1~ cost)
a0
Hay unk tense bign dang nh, exe quay tayén tinh VA veeter cas
sai dm FOG,2,—D.
2.21. Cho sruéme bién dang thin nht
1 3 3
BL
226
I bidn dang chin va hugng ehinh
2.92, ‘The lip bids thik cia tense bién dang nhé trong hi tow a5 era
eet)
223.1 we bién dang ahd hit thite Lp fe ploy
‘ub ewong thick bidn dgng, Xe thie trang Odi bid dane ea mh
(24%)
‘Tim truimg vosto vin to vb woot gn te tong bign Bale.
2.18, Tim bida thie ela thinh pin vf lea vector eia Se ona
‘han pi v6t ly oe veewo vin te trong hé ton 48 cBn.
2.14, Cho teving chavén vt cia md trvimg lan tue 1 = Xi,
Xz + AN, my = Xp4 AX trong a A = const. Hay xo doh
‘hh phitn weet chuyén vi trong bido Lagrange vi bid Bur.
2.15, Voi try chayén vj 5 bai 214, hiy de dinh vf tf ob &
hin vi, mn bass din ching lap thinh:
2) Mas tom 26 itn 22+ AB = re omg mat gM
') Minh lp pnemg of ean na tan ee true tp dv ob
ax, 2X.
Py aie
86 sr phueng trinh twang thich ob thda man hay kha?
2.24, Cho trwimg eiuyda vi
MeN +ANs, y= Xe AXs, Xy— AN, + AX:
xc dioh tome bign dang hw han Grovn, Cal ra xhug nu A
1 thi chy Bap quay of eh
Any +322,
he
2.25. Cho tring ey vi ue
32 — Ba, wg =
‘im fenxe biga dang nbd. Thm quan be gta Av B dé khéng ob bid
dang bs,
2.26. Cho trun vin tbe
6,
ns a= Aleta = Fe
(ong 6 A vi B = const. Tinh temeo te a hién dang v2 tense
vn te tal dé, PCL, 0,8) & then digs = 9.
2.27. Cho chuyén dna
no X, mkt MEF 1,
40"),
‘Flay tink tenxa tide 49 bign dang va tenxo xoay vin téc. So siinh ter
(ea bin dang v6 tence $45).
2.28. Ching min rhog tren vn te
(Ary ~ Ban)oy + (Boy ~ Crsjea + (Cry — Ars)ey
Dida tht sur quay’ ela 6 tha
2.28, Moi tratmg chuvén ding wa win te
Saye) — Anges + (421 ~ Bees
bay xe diuh tenxa xoty va-cdl ra v= 0%
Dy tro hing chink vi git ehinh cia tense t&e A bin dang.
2.91. Ching minh 18ing gie WoW 06 thé vidt dui dang
av _ ov 1
we Ba yoy sev 4 Merete?
=F srotv ny hen
av 1
Rem
vot
2.82. Cho tring vs ig
=a tsh ma ns}- a, a0.
iy tong hick ea tenn te bia dang tt in be
2283. Clo guy lage ya dug cis msi terug
Ank
Xa + Xah/2 + (Sa —3}/2,
HG Ma )/9~ 04a = 9/2
Chia sin sting Hi = 0 woe te 6 in cg bbs tere 4)
Su sth bal tense by Wb = 05
234. Hy vid bia tte ola eee te A bie dang (gua ee Haka
Ss eff) trong Be toa dt wh ta 9 ou,
2.95, Chg nih tg
a
a
deevi=
ar, (Chong 11
DONG LIC HOC CAC MOI TRUONG LIEN TYC
3.1, Trang thai vg sua
Do kt qui eda bie dang, a ap 4 de pin tv chit
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