Bai giang C hoc ai cng (Me canique Generale)

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Chng 1 : CHUYN NG CUA VT RN

1. Vt rn trong c hoc : 1) Khai nim v vt rn : Trong c hoc, vt rn la mt vt th khng bin dang : Khoang cach gia hai im bt ky cua vt rn khng i theo thi gian.
F

gi ta

dm kim loai Khai nim vt th khng bin dang ch la mt m hnh. V vy, mt t giy Hnh 1 mong trt trn mt ban va khng b bin dang vn co th xem nh la mt vt rn. Trong khi o mt dm kim loai t trn hai gi ta va chu lc F kha ln, se b bin dang kha nhiu trong qua trnh chu lc trong trng hp nay, khng th coi dm la vt rn. 2) H quy chiu gn lin vi vt rn : z Xet mt vt rn (S) co dang hnh vanh tron, tm C, chuyn ng trong mt phng thng ng trn mt t nm ngang, trong h quy chiu trai t R (O; ex ; e y ; ez ) . im C, tm (R) cua vanh tron, cung co th xem nh la mt im thuc vt rn, mc u tai C khng co vt cht, bi v khi vanh tron chuyn ng, im C cung chuyn ng cung vi vanh tron. Tng quat hn, moi im trong khng gian (mc du tai o khng co vt cht), lin kt cht che vi (S) va chuyn ng cung vi (S) cung co th xem la cac im thuc vt rn (S). Nh vy nu gn cng trn vt rn (S) mt h quy chiu RS (C ; exS ; e yS ; ezS ) (1) lin kt cht

zS

(RS)

M C y = yS O zS z
(S )

exs
Hnh 2

xS x

(R)

OS

( RS ) yS

y che vi vt rn va chuyn ng cung vi vt rn. Khi o, chuyn ng cua vt rn (S) trong exs h quy chiu (R) co th xem nh tng ng Hnh 3 vi chuyn ng cua h quy chiu (RS) so vi x h quy chiu (R). 3) Thng s cn thit m ta chuyn ng cua vt rn : i vi mt h cht im (S) gm n cht im Mi. m ta chuyn ng cua h (S) trong h quy chiu(R), cn phai bit 3n thng s (vi mi cht im cn bit ba toa x, y, z cua no). O

xS

Cac h toa (O; ex ; e y ; ex ) va (C ; ex ; e y ; ez ) la cac h toa De scartes S S S

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Bai giang C hoc ai cng (Me canique Generale)

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Tuy nhin, m ta chuyn ng cua vt rn (S) trong h quy chiu (R), ch cn bit nhiu nht la 6 thng s, nhm m ta chuyn ng cua h quy chiu (RS) gn lin vi vt rn i vi h quy chiu (R): + Ba thng s xac nh v tr cua gc OS cua h quy chiu (RS) i vi h quy chiu (R) : ba

toa xOS, yOS, zOS cua im OS trong h (R) + Ba thng s (ba goc) xac nh phng chiu cua vect n v exS cua h (RS) i vi h (R): , , Trong trng hp chuyn ng cua vt rn c dn hng bi mt s rang buc, s thng s cn thit m ta chuyn ng cua vt rn co th < 6. V du, vanh tron chuyn ng trong mt phng thng ng va lun tip xuc vi mt t nm ngang ch cn hai thng s m ta chuyn ng cua vt rn trong h quy chiu (R) (Hnh 2): + Hoanh x cua tm C cua vanh tron trong h (R) + Goc xac nh phng chiu cua vect n v exS cua h (RS) trong (R). 2. Trng vn tc : 1) Quan h vn tc va gia tc : Xet mt vt rn (S) chuyn ng trong h quy chiu (R). Goi (RS) la h quy chiu gn lin vi vt rn (S) va co gc P, vi P la mt im c nh trn (S). @ Goi v ( M ) / R la vn tc cua im M thuc vt rn (S) trong h quy chiu (R). Ap dung nh ly hp vn tc : v ( M ) / R = ve ( M ) + v ( M ) / RS vi : ve ( M ) : vn tc theo cua im M.
v ( M ) / RS : vn tc cua im M trong h quy

zS z
( RS ) ( S )

P
(R)

yS

xS y Hnh 4

chiu (RS) (im M c nh trong h quy chiu (RS) : v ( M ) / RS = 0 ) Goi RS / R la vect quay tc thi cua vt rn (S) trong h quy chiu (R) (vect quay cua h quy chiu (RS) i vi h quy chiu (R)) v ( M ) / R = ve ( M ) = v ( P) / R + RS / R PM Vit gon lai, ta co : v ( M ) = v ( P ) + PM (1) Nh vy, khi bit vn tc cua mt im P va vect quay tc thi cua vt rn (S) co th xac nh vn tc cua mt im M bt ky thuc vt rn (S) theo biu thc (1). @ Tng t, goi a ( M ) / R la gia tc cua im M thuc vt rn (S) trong h quy chiu (R). Ap dung nh ly hp gia tc : a ( M ) / R = ae ( M ) + aC ( M ) + a ( M ) / RS vi : ae ( M ) la gia tc theo cua im M :

ae ( M ) = a ( P) R +

PM + RS / R ( RS / R PM ) dt aC ( M ) la gia tc Coriolis :

d RS / R

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Bai giang C hoc ai cng (Me canique Generale)

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aC (M ) = 2.RS / R v (M )/ R s = 0 do v (M )/ R s = 0
a ( M ) / RS : gia tc cua im M trong h quy chiu (RS) (im M c nh trong h quy

chiu (RS) : a ( M ) / RS = 0 ) Vit gon lai, ta co : a ( M ) = a ( P) +

d (2) PM + ( PM ) dt Nh vy, khi bit gia tc cua mt im P, vect quay tc thi (con goi la vect vn tc goc tc
thi) va vect gia tc goc tc thi

d cua vt rn (S) trong h quy chiu (R) co th xac nh dt

z
(S )

gia tc cua mt im M bt ky thuc vt rn (S) theo biu thc (2). 2) Cac trng hp n gian : a) Vt rn (S) chuyn ng tnh tin : Nu vt rn S chuyn ng tnh tin trong (R) = 0 v ( M ) = v ( P) = v (t )
Vn tc cua moi im M trn vt rn tai thi im t cho trc u bng nhau.

(R)

O Hnh 5 x y

dv = a (t ) dt b) Vt rn (S) quay xung quanh mt truc Oz c nh trong (R): Xet vt rn (S) quay xung quanh truc Oz c nh trong h quy chiu R(O; ex ; ey ; ez ) . Gn cng vi vt rn mt
Tng t cho gia tc : a ( M ) = a ( P ) = h quy chiu RS (O; xS , yS , zS ) nh hnh 6 vi Oz = OzS. Goi la goc quay cua vt rn (S) quanh truc Oz (goc quay cua h quy chiu (RS) xung quanh truc Oz cua h quy chiu (R)). Vect quay cua vt rn (S) trong (R): = (t ).ez

( R)

z = zS

ez
H r M z O ( RS ) yS

e
y

Mi im M cua vt rn vach nn mt quy ao hnh tron, x xS co truc la Oz. Trong h toa tru, v tr cua M c xac nh bng : (r va z khng phu thuc vao t) OM = r.er + z.ez @ Vn tc cua im M trong (R) : dOM 2 v (M ) = = v (O ) + OM = OM = HM ( ) dt / R v ( M ) = r. .e

er
Hnh 6

Vect v ( M ) vung goc vi HM va hng theo chiu chuyn ng cua (S) trong h quy chiu R.
O va M la hai im thuc vt rn nn : v ( M ) = v (O ) + OM ; c nh trong R nn v (O ) = 0

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Bai giang C hoc ai cng (Me canique Generale)

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@ Gia tc cua im M trong (R) :

vi :

d (r. .e ) d (v ( M )) de a(M ) = = r. . = + r. .e dt dt / R dt / R / R 3 de de = + e = e = ez e = er ( ) dt / R dt / RS
a (M ) =

d (v ( M )) 2 = r. .er + r. .e dt / R
cua im M co th phn thanh hai thanh phn : Thanh phn

@ Ghi chu : Gia tc a ( M )

2

an ( M ) = r. .er hng t M v H (goi la gia tc hng tm) va thanh phn at ( M ) = r. .e

vung goc vi HM (gia tc tip tuyn). 3) Vt rn quay xung quanh truc co phng khng i trong (R): a) V du 1 : Chuyn ng cua thanh truyn : Xet c cu tay quay- con trt nh hnh 7, dung bin chuyn ng quay cua khu OA thanh chuyn ng tnh tin cua con trt B va ngc lai. Hay nghin cu chuyn ng cua thanh truyn AB co khi tm la G. nghin cu chuyn ng cua thanh truyn AB, y ta xet thm h quy chiu khi tm R * (G; ex , e y , ez ) y tng ng vi h quy chiu (R). @ Trong h quy chiu khi tm (R*), thanh truyn ( R) AB quay xung quanh truc Gz c nh. Goi M la mt im bt ky cua thanh truyn AB, ta co : z v ( M )* = v (G ) * + * GM O vi : v ( M ) * va v (G ) * la vn tc cua M va G trong h quy chiu khi tm (R*), * la vect quay tc thi cua thanh truyn AB trong h (R*) : * = (t ).ez S dung nh ly hp vn tc, trong h quy chiu (R), ta co : v ( M ) = ve ( M ) + v ( M ) * H quy chiu khi tm (R*) chuyn ng tnh tin i vi h quy chiu (R) ve ( M ) = v (G ) A M G

( R*)
x

x B

Hnh 7

Do khi tm G c nh trong h (R*) v (G )* = 0 v ( M )* = * GM

v ( M ) = v (G ) + * GM

(1)

@ Mc khac, goi la vect quay tc thi cua thanh truyn AB trong h (R), ta co : (2) v ( M ) = v (G ) + GM

Chu y rng trong RS, e khng i nn

de =0 dt / RS

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Bai giang C hoc ai cng (Me canique Generale)

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T (1) va (2), suy ra :

* = = (t ).ez

Vect quay tc thi cua vt rn la nh nhau trong hai h quy chiu (R) va (R*). M rng ra, vect quay tc thi cua vt rn la nh nhau trong cac h quy chiu chuyn ng tnh tin tng i i vi nhau.

@ Ghi chu: Chuyn ng cua thanh truyn AB trong h quy chiu (R) co th xem nh hp cua hai chuyn ng: Chuyn ng tnh tin cung vi khi tm G trong h quy chiu (R). Chuyn ng quay xung quanh mt truc Gz i qua khi tm G trong h quy chiu khi tm (R*) (Truc Gz c nh trong h quy chiu khi tm (R*)). b) V du 2 : Chuyn ng cua mt banh xe : @ Xet mt banh xe, coi nh mt a tron, ban knh b, tm C, chuyn ng trong mt phng thng ng trn mt t nm ngang c nh trong h quy chiu (R) (Hnh 8). Goi I la im tip xuc cua banh xe va mt t tai thi im t. Tai ch tip xuc I vao thi im t, cn phn bit ba im khac nhau: im IS cua mt t, c nh trong (R). im IR cua banh xe. Do banh xe ln tai mt thi im sau o IR khng con nm trn mt t na. im hnh hoc I xac nh v tr tip xuc. Hnh 8

y
(R)

x y

= ez

tai t + t

tai t
M

y Hnh 9

.dt

C
JR

(R*)

tai t + t
( R)

tai t
C C

b I = IR = IS x
z O

z O JS = J x

x I ()

Tai thi im t, ba im IS, IR va I co vn tc khac nhau trong (R) : v (IS ) = 0

v ( I ) = v (C ) , bi v I va C lun lun nm trn cung mt ng thng ng.

v ( I R ) = v (C ) + CI

vi : la vect quay cua banh xe trong (R).

Vn tc v ( I R ) = vg c goi la vn tc trt cua banh xe trn mt t (nh rng mt t la c nh trong R). Ta thy vg nm theo phng tip tuyn chung tai I gia banh xe va mt dt. @ Banh xe c goi la ln khng trt nu nh : vg = v ( I R ) = 0 .

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Bai giang C hoc ai cng (Me canique Generale)

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Khi banh xe ln khng trt trn mt t, tai thi im t ang xet, im IR cua banh xe tip xuc vi mt t co vn tc bng khng Khi banh xe ln khng trt trn mt t, gia hai thi im t va t + dt rt gn nhau banh xe co th xem nh chuyn ng quay tc thi xung quanh mt truc i I va song song vi . Truc c goi la truc quay tc thi cua banh xe (4) (Hnh 9). @ Chuyn ng cua banh xe co th xem nh hp cua hai chuyn ng : + Chuyn ng tnh tin cung vi khi tm C ( OC = x.ex + b.e y ) vi vn tc la vC = x.ex + Chuyn ng quay xung quanh truc Cz i qua khi tm C trong h quy chiu khi tm R* vi vn tc goc = (t ).ez , trong o la goc gia truc Cx va mt ban knh CM gn cng trn banh xe. @ Vn tc cua im IR trn banh xe tai thi im t: v ( I R ) = v (C ) + CI

v ( I R ) = x.ex + .ez (b.ey )

v ( I R ) = x.ex + .b.ex

Suy ra vn tc trt cua banh xe trn mt t :

vg = v ( I R ) = ( x + .b).ex

@ Banh xe ln khng trt trn mt t khi: vg = v ( I R ) = 0 . Th ma : vg = ( x + .b).ex . Do o, khi banh xe ln khng trt : x + .b = 0 Mt khac, nu goi x va ln lt la dch chuyn cua tm C cua banh xe va goc quay cua banh xe trong khoang thi gian t; JR va JS ln lt la cac im cua banh xe va cua mt t, ma tai thi im t + t n tip xuc vi nhau tai J, ta co : I S J S = x va cung I R J R = b. Khi banh xe ln khng trt trn mt t th:
x + .b = 0 x = b. I S J S = I R J R

@ Ghi chu : Chuyn ng cua thanh truyn (v du 1) va cua banh xe (v du 2) con c goi la chuyn ng song phng. Trong chuyn ng song phng, mt im M bt ky cua vt rn chuyn ng trong cung mt mt phng hay trong cac mt phng song song vi mt mt phng quy chiu nh trc. Chuyn ng song phng cua mt vt rn co th xem la tng hp cua hai chuyn ng: Chuyn ng tnh tin cung vi khi tm G va chuyn ng quay xung quanh truc Gz i qua khi tm va vung goc vi mt phng quy chiu noi trn. 3. Cac ai lng ng hoc : 1) Trng hp vt rn chuyn ng quay xung quanh mt truc c nh : a) Momen ng lng i vi mt im trn mt truc : Xet mt vt rn (S) quay xung quanh mt truc gn cng vi (S) (truc c nh trong h quy chiu R(O ; x, y, z)), vi vect quay la : . Ly truc Oz cua h R trung vi truc quay . Goi la goc quay cua h quy chiu (RS) gn cng vi vt rn so vi h (R), ta co : = .ez = .ez (Hnh 10). Goi M la mt im bt ky cua vt rn (S), dm la khi lng cua mt phn t th tch vt rn bao quanh im M.
Khi banh xe chuyn ng, truc quay tc thi dch chuyn theo im tip xuc I gia banh xe va mt t va lun lun song song vi vect .
4

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Bai giang C hoc ai cng (Me canique Generale)

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Momen ng lng LA cua vt rn i vi im A c nh trn truc Oz trong h quy chiu (R) :

LA = AM v ( M )dm
(S )

Do M va A la hai im thuc vt rn (S) nn v ( M ) = v ( A) + AM = .ez AM (im A c nh trn truc Oz : v ( A) = 0 ) Suy ra : LA = . AM (ez AM )dm
(S )

(R)
(S)

z = zS

H
r

(RS )

yS

O x xS

Hay :
2 LA = . AM .ez ( AM .ez ) AM dm (S )

A
Hnh 10

(Ghi chu : A ( B C ) = B (C. A) C ( A.B ) ) Goi H la hnh chiu cua M trn truc quay , ta co : AM = AH + HM = ( AM .ez ).ez + HM Suy ra : LA = . AM 2 .dm . ( AM .ez ) ( AM .ez )ez + HM dm
(S ) (S )

()

LA = . AM 2 .dm . AH 2 .ez + ( AM .ez ).HM dm

(S ) (S )

LA = . AM 2 .dm . AH 2 .dm . ( AM .ez ).HM .dm

(S ) (S ) (S )

Mc khac : Suy ra :

HM = AM AH LA = . HM 2 .dm . (( AM .ez ) HM ) dm
(S ) (S )

Nh vy, momen ng lng LA gm hai phn :

LA // = . HM 2 .dm song song vi vect quay .

(S )

LA = . (( AM .ez ) HM ) dm vung goc vi vect quay .

(S )

Ghi chu : Thanh phn LA = 0 khi :

@ Vt rn nhn truc lam truc i xng. @ Khi vt rn la vt rn phng nm trong mt phng qua A va vung goc vi truc . b) Momen ng lng i vi truc - Momen quan tnh : Hnh chiu L cua momen ng lng LA ln truc quay c goi la momen ng lng cua vt rn (S) i vi truc : L = LA .eZ = LA // .eZ = HM 2 .dm
(S )

L khng phu thuc vao v tr cua im A trn truc .

Momen quan tnh cua vt rn (S) i vi truc quay c nh ngha nh sau :

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Bai giang C hoc ai cng (Me canique Generale)

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J = r 2 .dm
(S )

vi : r la khoang cach t im M cua vt rn n truc quay . L = J . Nh vy : va : LA // = J .

Ghi chu : Trng hp vt rn (S) bao gm hai phn (S1) va (S2), ln lt co momen quan tnh i vi truc la J1 va J2 . Khi o, momen quan tnh cua (S) i vi truc i vi truc se bng : J = J1 + J2

c) ng nng : ng nng cua vt rn (S) noi trn trong h quy chiu (R) : 1 EK = .v 2 ( M ).dm vi : v ( M ) = AM 2 (S ) Suy ra :

1 EK = . ( AM ).v ( M ).dm 2 (S ) 1 EK = . ( AM v ( M )).dm . 2 (S )

Ta co : ( AM ).v ( M ) = ( AM v ( M )). bi v : A( B C ) = B (C A) = C ( A B ) ) 1 1 EK = .LA . = LA // . 2 2 1 1 EK = .L . = .J . 2 2 2 2) Ap dung cac nh ly Koenig : a) Momen ng lng va ng nng cua vt rn: z @ nghin cu chuyn ng cua mt vt rn (S) (R*) trong h quy chiu R(O,x,y,z), ta a thm vao h z quy chiu khi tm R*(G,x,y,z). Khi o, ap dung cac G nh ly Koenig: (R) * x V momen ng lng : LA = AG mv (G ) + LG (S) A O * y vi : LG la momen ng lng cua (S) i vi khi x Hnh 11 * * * tm G trong h quy chiu (R*); LG = LG // + LG vi
* * * * LG // : thanh phn cua LG song song vi ; LG : thanh phn cua LG vung goc vi .

1 * V ng nng : EK = .mv 2 (G ) + EK 2 * vi : EK la ng nng cua (S) trong h quy chiu (R*).

@ Trng hp vect quay cua vt rn (S) lun lun khng thay i phng trong sut qua trnh chuyn ng, chng han lun nm theo phng truc Oz (Hnh 11) (5) : Trong (R*), (S) quay quanh truc c nh Gz, ta co:

Vect quay la nh nhau trong hai h quy chiu (R) va (R*)

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