3.

α = 25
δt = 4s
µ = 0, 04

V1 =?

Slika 1: OTDT 1-1

Z 4
⃗1 − K
K ⃗0 = F⃗ dt
0
Z 4
x : mV1 − mV0 = (mgsinα − mgcosαµ)dt
0
mV1 = mg(sinα − µcosα)∆t| : m
V1 = g(sinα − µcosα)∆t
m
V1 = 15, 161
s

1
3.7

x2 y 2
+ =1
25 16
A(4, 0)
B(0, 4)
C(−5, 0)
V⃗0 = 2⃗j

V⃗B − V⃗C =?

Slika 2: OTDT 1-2

2
 L⃗E = const
⃗
⃗r × mV⃗ = r⃗0 × m1 V⃗0
r⃗B × mV⃗B = r⃗0 × mV⃗0

z :EBmVB sin̸ (r⃗B , V⃗B ) = EAmV0 sin̸ (⃗

r0 , V⃗0 )

r r
b2 16 3
e= 1− 2 = 1− =
a 25 5
3
OE = ae = 5 · = 3
5
EA = a − OE = 5 − 3 = 2

b
sin̸ (r⃗B , V⃗B ) =
EB
sin̸ (⃗ ⃗
r0 , V0 ) = 1
b
EBVB = EAV0 · 1
EB
EA 2
bVB = EAV0 ⇒ VB = V0 = · 2 = 1, V⃗B = −⃗i
b 4
r⃗C × mV⃗C = r⃗0 × mV⃗0

z :ECmVC sin̸ (r⃗C , V⃗C ) = EAmV0 sin̸ (⃗

r0 , V⃗0 )
EA
(OE + a)VC = EAV0 ⇒ VC =
a + OE
2 1
V0 = ·2=
8 2

1
V⃗C = − ⃗j
2
⃗i ⃗j ⃗k
r0 × V⃗0 = m 2 0 0 = 4m⃗k
r⃗0 × mV⃗0 = m⃗
0 2 0

3
 ⃗i ⃗j ⃗k
r⃗B × mV⃗B = mr⃗B × V⃗B = m −3 4 0 = −4mVBx⃗k
VBx 0 0
4m⃗k = −4mVBx⃗k ⇒ VBx = −1

⃗i ⃗j ⃗k
r⃗C × mV⃗C = mr⃗C × V⃗C = m −8 0 0 = −8mVCy⃗k
0 VCy 0
1
4m⃗k = −8mVCy⃗k ⇒ VCy = −
2

3.9

u = const.
t0 = 0
V0 ,r0

V (t) =?

LOz = cosnt.
LOz (t0 ) = LOz (t)
r = r0 − ut

L⃗0 = ⃗r × mV⃗
L0⃗(t0 ) = r⃗0 × mV⃗0

4
 Slika 3: OTDT 1-3

V⃗ = V⃗r + V⃗p
Vr = u

q
V02 = Vp20 + u2 ⇒ Vp0 = V02 − u2
√
V 2 = Vp2 + u2 ⇒ Vp = V 2 − u2
L0⃗(t) = ⃗r × m(V⃗p + V⃗r ) = ⃗r × mV⃗p + ⃗r × mV⃗r = ⃗r × mV⃗p
L⃗0 (t0 ) = r⃗0 × mV⃗p0

5
 Slika 4: OTDT 1-4

L0z (t) = mrVp sin̸ (⃗r, V⃗p ) = mrVp

r0 , V⃗p0 ) = mr0 Vp0
Loz (t0 ) = mr0 Vp0 sin̸ (⃗
mr0 Vp0 = mrVp
r0 Vp0 = rVp
q √
r0 V02 − u2 = r V 2 − u2
r02 (V02 − u2 ) = r2 (V 2 − u2 )
r02 2
2 2
r = u + (V0 − u2 )
s r2
r02 (V02 − u2 )
V = u2 +
(r0 − ut)2
s
u2 (r02 − 2r0 ut + u2 t2 ) + r02 V02 − r02 u2
=
(r0 − ut)2
p
r02 V02 − 2r0 u3 t + u4 t2
=
r0 − ut 6
3.13

N
c=2
m
x2 y 2
+ =1
4 9
l0 = 1m

A1,2 =?

Slika 5: OTDT 1-5

c
(r1 − l0 )2 − (r2 − l0 )2

A1,2 =
2
2
(2 − 1)2 − (3 − 1)2 = 1(1 − 4) = −3J

=
2

7
3.20

V2 = 2V1
Fv = bV 2

Slika 6: OTDT 1-6

P1 = F Va V1 = bV12 V1 = bV13
P2 = FV2 V2 = b(2V1 )2 2V1 = 8bV13
P2 8bV13
= =8
P1 bV13

3.22

R
F
T =?

8
 Slika 7: OTDT 1-7

1
T = mV 2
2
m⃗a = F⃗
V2
η=m =F
R
FR
V2 =
m
1 FR 1
T = m = FR
2 m 2

9
3.25

m
c
M0 (2, 3, 6)
V0

Slika 8: OTDT 1-8

T1 − T0 = A(m⃗g ) + A(F⃗c )
1 1 c p 2 p 2
mV12 − mV02 = −mg(z − 6) − x + y 2 + z 2 − (22 + 32 + 62 )
2 2 2
2 2 c p 2 2
V1 = V0 − 2g(z − 6) − x + y2 + z2 − 7
m

10
3.27

V0 = 0
H, R
ρk = 2ρV
V1 =?

Slika 9: OTDT 1-9

T1 − T0 = A0,1 (m⃗g ) + A0,1 (F⃗p )

1 2
mr = A0,1 (m⃗g ) + A0,1 (F⃗p )
2 1
A0,1 (m⃗g ) = mgH
Z H
⃗
A0,1 (Fp ) = − Fp dt
0
Fp = ρV gV
R r
=
H z
R
r= z
H
1 1 R2 2
V = V 2 πz = πz
3 3 H2

11
 H
1 R2
Z
A0,1 (F⃗p ) = − ρv gπz 3 dt
0 3 H2
1 ρV R2 g z 4 H ρV g R 2 π 4 ρV g 2
=− 2
π |0 = − 2
H =− R πH 2
3 H 4 12 H 12
1
m = ρK V = 2ρV R8 πH
3
1 ρ V g
mV12 = mgH − R2 πH 2
2 12
2 ρV g 2 gH 7gH
V12 = 2gH − 2 2
R πH 2 = 2gH − =
ρ R πH 12
3 V
4 4
1 p
V1 = 7gH
2

3.28

y = x2
√
A( 2, 2)
V0 = 0
m = 0, 01kg
N1 =?

T1 − T0 = A0,1 (m⃗g )
1
mV12 = mgh = 2mg
2
V12 = 4J
m⃗a = m⃗g + N⃗

V12 V2
n :m N1 − mg ⇒ Na = mg + m 1
Rk1 m1

12
 V2
   
4
Na = m g + 1 = mg 1 +
RK RK1
3
(1 + y1′2 ) 2 1
RK1 = ′′
=
y1 2
′
y1 = 2x1 = 0
y1′′ = 2
 
4
N1 = 0, 01 · 9, 81 1 + 1 = 0, 0981 · 9 ≈ 0, 8829N
2

3.30

DA = 4
α = 30
m
√
R=4 3
V0 − VC =?

TC − TA = AA,C (m⃗g )
1 1
mVC2 − mV02 = mg(h − 2Rcosα)
2 2
√ !
√ 3
VC2 = V02 + 2g h − 2h 3 = V02 − 4gh
2

NASTAVAK JE ISTI (MEHANIKA 2 - DINAMIKA TAČKE 2, STR. 5-6)

13
Slika 10: OTDT 1-10

14
Slika 11: OTDT 1-11

15
3.36

x3
y=
a2
m
V0 = 0
x1 − y1 =?

Slika 1: OTDT 2-1

T − T0 = A(m⃗g )
1
mV 2 = mgy
2
x3
V 2 = 2gy = 2g
a2
⃗
m⃗a = m⃗g + N

1
 V2
n:m = −N + mgcosα
Rk

3
(1 + y ′2 ) 2
Rk =
|y ′′ |
x2
y′ = 3 2
a
x
y ′′ = 6 2
a

3
1 + a49x4 2
Rk = 6
a2
|x|
3x2
tgα = y ′ = 2
a
1 1
cosα = p =q
1 + zg 2 α 1+ 9x4
a4

USLOV: n=0
x3
9x41 1
 
2g a21 1
3 = g  ·(1 + 4 ) 2
9x4 a
(1+ a94 x41 ) 2 1 + a41 12
b
|x1 |
a2
3
x1 6
2 |x |
a2 a2 1
9 4

=1
1 + a4 x1
12 4 4 a4 a
4
x 1 = 1 ⇒ x 1 = ⇒ x1 = √4
a 3 3
3
1 1 a a
y1 = 2 x31 = 2 3 = √ 4
a a 34 27

2
3.42

m
4x2
y= ,a > 0
a
m0 (0, 0)
√
V0 = ag
4mg
c=
a
B(0, a)
a
l0 =
 a4 
A , yA
2
NA =?

Slika 2: OTDT 2-2

3
 4 a2
yA = =a
a
a  4
A ,a
2  
T1 − T0 = A0,1 (m⃗g ) + A0,1 F⃗C
1 1 
m V12 − V02 = −mgyA + c (r1 − r0 )2 − (r2 − r0 )2


2 2  
2 2 c  a 2  a a 2
V1 = V0 − 2ga + a− − −
m 4 2 4
r
p a 2 a
V2 = (xA − xB )2 + (yA − yB )2 = − 0 + (a − a)2 =
2 2
c 9 2 a2 c a2 a2 4mg
V1 = ag − 2ga + ( a − ) = −ag + = −ag + = ag
m 16 16 m 2 2m a

m⃗a = m⃗g + N ⃗ + F⃗C

V1
n:m = −N1 − mgcosα1 + c(r2 − r0 )cosβ1
RK1
8
y′ = x
a
8a
y1′ = =4
a2
8
y ′′ =
a
3 3
(1 + y1′2 ) 2 (1 + 16) 2 a √
RK1 = ′′
= 8 = 17 17
|y1 | a
8
1 1 1
cosα1 = p =√ =√
1 + tg 2 α1 1 + 16 17
4
sinα1 = √
17
 π ⃗  π 4 1
n⃗1 = ⃗icos α1 + + jsin α1 + = −⃗isinα1 + ⃗jcosα1 = − √ ⃗i + √ ⃗j
2 2 17 17

⃗ 1 = (xB − xA )⃗i + (yB − yA )⃗j = 0 − a 
⃗i + (a − a)⃗j
K
2
K⃗ 1 = − a⃗i, K ⃗1 = a
2 2
⃗
K1
K⃗01 = = −i
K⃗1

n⃗1 ·

4
 K⃗01 = |n⃗1 | K⃗01 cosβ1
   
4 ⃗ 1 ⃗ 4
− √ i + √ j · −⃗i = √ = cosβ1
17 17 17

mg 4mg  a a  4 mga
N1 = − √ + − √ − a √
17 a 2 4 17 8
17 17
!
1 −17 + 4 · 17 − 8 43mg
N1 = mg − √ 4 8
= mg √ = √
17 + √17 − 17√17 17 17 17 17

3.44

x = R(φ − sinφ)
y = R(1 − cosφ)
t0 = 0
M0 (0, 0)
V0 = 0
N (t) =?

Slika 3: OTDT 2-3

5
 T − T0 = A(m⃗g )
1
m V 2 − V02 = mgy


2
V 2 = 2gy
m⃗a = m⃗g + N⃗
V2
n:m = −mgcosα + N
Rk
 
2y
N = mg cosα +
Rk
ẋ = R (φ̇ − φ̇cosφ) = Rφ̇(1 − cosφ)
ẏ = Rφ̇sinφ
V 2 = 2gy = 2gR(1 − cosφ) = R2 φ̇2 1 − 2cosφ + cos2 φ + sin2 φ

= R2 φ̇2 (2 − 2cosφ)
= 2R2 φ̇2 (1 − cosφ)
= 2gR(1 − cosφ)
r
2 2 g g
Rφ̇ = g ⇒ φ̇ = ⇒ φ̇ =
R R
r r
g g
φ = φ0 + t= t
R R
t0 = 0, x0 = 0, y0 = 0, zaφ = 0
V2 V2 V3
Rk = p = =
a2 − a2T aN (ẋÿ − ẏẍ)
 r 
2 g
V = 2gR(1 − cosφ) = 2gR 1 − cos t
R
r  r   r 
g g p g
ẋ = R 1 − cos t = Rg 1 − cos t
R R R
r r r
g g p g
ẏ = R sin t = Rgsin t
R R R
r
g
ẍ = gsin t
R
r
g
ÿ = gcos t
R
p
|ẋÿ − ẏẍ| = g Rg cosφ − cos2 φ − sin2 φ
V3
Rk =
|ẋÿ − ẏẍ|
3
(2gR(1 − cosφ)) 2
= √
g Rg(1 − cosφ)
6
 p
2gR(1 − cosφ) 2gR(1 − cosφ)
= √
g Rg(1 − cosφ)
p
= 2R 2(1 − cosφ)
φ
= 2R · 2sin
r2
1 g
= 4Rsin t
2 R
r
2y 2R(1 − cosφ) 1 p φ 1 g
= √ √ =√ (1 − cosφ) = sin = sin t
Rk 2 2R 1 − cosφ 2 2 2 R
′ dy dt ẏ sinφ sinφ 2sin φ2 cos φ2 cos φ2 φ
tgα = y = = = = 2 φ = 2 φ = φ = ctg
dx dt ẋ 1 − cosφ 2sin 2 2sin 2 sin 2 2
1 1 φ
cosα = p =p φ = sin
2
1 + tg α 1 + ctg 22 2
 φ φ  φ 1g
N = mg sin + sin = 2mgsin = 2mgsin t
2 2 2 2R

3.47

α = 30
µ
T, V0 = 0
H =?

Slika 4: OTDT 2-4

7
 Z T  
K⃗B − K⃗A = ⃗ ⃗
m⃗g + N + Fµ dt
0
x : m(VB − 0) = (mgsinα − mgcosαµ)T
VB = gT (sinα − µcosα)
TC − TB = AB,C (m⃗g )
1
− mVB2 = −mgH
2
1 2 2
g T (sinα − µcosα)2 = gH
2
1
H = gT 2 (sinα − µcosα)2
2
√ !2
1 2 1 3
= gT −µ
2 2 2
gT 2 √
= (1 − µ 3)2
8

8
 Geometrija masa
1) Štap

Z
1 h kg i
xc = xdm, m = ρl, ρ
m (m) m
dm = ρdx
Z l
1 11 2 l 11 2 l 1 
xc = xρdx =
x = l = C ,0
ρl
0 l2 0 l2 2 2
Z l
ml2
Z
1 l m
Jy = x2 dm = x2 ρdx = ρ x3 = l3 =
(m) 0 3 0 3l 3
ml2 l2 ml2
JyA = Jy − mx2c = −m =
3 4 12

2) Pravougaona ploča

m = ρab
dm = ρdxdy

1
 Z Z Z Z a Z b
1 1 m 1 1 1 2 a b
xc = xdm = xρdxdy = xdx dy = x y =
m (m) m ab m 0 0 ab 2 0 0

1 a2 b a
= =
ab 2Z 2
1 b a b 
yc = ydm = ... = C ,
m 2 2 2
Z Z Z m Z a Z b
2 2 2 m 1 3 a b
Jy = x dm = x ρdxdy = x dx dy = x y =
(m) ab 0 0 ab 3 0 0

m 3 ma2
= a b=
3ab 3
 a 2 ma2 ma2 ma2
Jy1 = Jy − m = − =
2Z Z 3 4 12
mb2
Z
Jx = y 2 dm = y 2 ρdxdy = ... =
3
2 Z
mb m
Jx1 = ... = , Jz = (x2 + y 2 )dm = (a2 + b2 )
12 12

3) Trougaona ploča

ρab
m=
2
dm = ρdxdy

2
 Z b(1− x )
2m 1 a
Z Z Z Z
1 1 a x y
xc = xdm = xρdxdy = xdx dy = + = 1
m (m) m ab m 0 0 a b
b  1 
=⇒ y = b − x = b 1 − x
a a
 x
y(x) = b 1 −
a "Z #
Z a b(1− x 2 a  a
1 a 2
Z Z
2 a
) x 2
xc = xdxy = b 1− xdx = xdx − x dx =
ab 0 0 ab 0 a a 0 a 0
" # " #
2 x2 a 1 1 3 a 2 a2 a2 2 a2 a
= − x = − = =
a 2 0 a3 0 a 2 3 a 6 3
Z
1 b  a b 
yc = ydm = ... = C ,
m 3 3 3
Z b(1− x )
2m a 2 2m a 2 b(1− x
Z Z Z Z Z )
a a
2 2
Jy = x dm = x ρdxdy = x dx dy = x dxy =
(m) ab 0 0 ab 0 0
!
2m
Z  x  2m Z a  x  2m
Z a
1
Z a
= x2 dxb 1 − = x2 1 − dx = x2 dx − x3 dx =
ab a a 0 a a 0 a 0
!
2m 1 3 a 1 a 2m  a3 a3  2m a3 ma2
= x − x4 = − = =
a 3 0 4a 0 a 3 4 a 12 6
 a 2 ma2 a 2
ma 2
Jy1 = Jy − m = −m =
3 6 9 18
Z 2
mb
Jx = y 2 dm = ... =
6
2
mb
Jx1 = ... =
18
Z
m 2
Jz = (x2 + y 2 )dm = (a + b2 )
6
m 2
Jz1 = (a + b2 )
18

3
4) Ploča oblika kružnog prstena

C(0, 0)
x = r cos φ
y = r sin φ

∂x ∂y
∂r ∂r cos φ sin φ
J= ∂x ∂y =
∂φ ∂φ
−r sin φ r cos φ

Z Z Z Z Z Z Z Z R Z 2π
A= dA = dxdy = drdφ|J| = drdφr = rdr dφ =
(A) r0 0
1 R
2π r2 = (R2 − r02 )π
2 r0
m = ρA = ρ(R2 − r02 )π
dm = ρdA = ρrdrdφ
Z Z Z Z R Z 2π
2 m
Jy = x dm = r2 cos2 φρ rdrdφ = 3
r dr cos2 φdφ = ⃝
∗
(m) (R2 − r02 )π r0 0
!
Z 2π Z 2π
1 + cos 2φ 1 2π 1 2π
cos2 φdφ = dφ = φ + sin 2φ =π
0 0 2 2 0 2 0

mπ 1 2R m m
∗ Jy =
⃝ 2 2
r 2= 2 2
(R4 − r04 ) = (R2 + r02 )
(R − r0 )π 4 r0 4(R + r0 ) 4
m 2 2
Jx = Jy = (R + r0 )
Z 4
m
Jz = (x2 + y 2 )dm = (R2 + r02 )
2
za r0 = 0
m m
Jx = Jy = R2 , Jz = R2
4 2
za r0 ≈ R
m
Jx = Jy = R2 , Jz = mR2
2

4
5) Ploča olika elipse

x2 y 2 b√ 2
+ = 1 =⇒ y = ± a − x2
a2 b2 a √
Z a Z b a2 −x2 √
Z Z
a
Z a b
a2 −x2
a
A= dxdy = dx √
dy = dx y √ =
−a − ab a2 −x2 −a − ab a2 −x2
a
b√ 2 a √
Z Z
2
b
= dx 2 a −x =2 a2 − x2 dx =
−a a a −a
x = a sin φ
b π/2
Z Z π/2
= dx = a cos φdφ = 2 a cos φa cos φdφ = 2ab cos2 φdφ
a
− π2 ⊆ φ ⊆ π2 −π/2 −π/2

Z π/2 !
1 + cos 2φ π/2 1 π/2
A = 2ab dφ = ab φ + sin 2φ = abπ,
−π/2 2 −π/2 2 −π/2

m = ρA = ρabπ
Z Z Z Z a Z b √a2 −x2
2 2 m 2
a
Jy = x dm = x ρdxdy = x dx √
dy =
(m) abπ −a − ab a2 −x2
b√ 2 m b a 2√ 2
Z a Z
m 2 2
= x dx 2 a −x = 2 x a − x2 dx =
abπ −a a abπ a −a
x = a sin φ
2m a 2 √ 2
Z
= 2 x a − x2 dx = dx = a cos φdφ =
a π −a
− π2 ⊆ φ ⊆ π2
2m π/2 2 2 2m 4 π/2
Z Z
= 2 a sin φa cos φa cos φdφ = 2 a sin2 φ cos2 φdφ =
a π −π/2 aπ −π/2

2ma2 π/2 1 ma2 π/2

Z Z
2
(2 sin φ cos φ) dφ = sin2 2φdφ =
π −π/2 4 2π −π/2

5
 !
π/2
ma2 1 − cos 4φ ma2
Z π/2 1 π/2
= dφ = φ − sin 4φ
2π −π/2 2 4π −π/2 4 −π/2

ma2 ma2
Jy = π=
Z4π 4
mb2
Jx = y 2 dm = ... =
4
m 2
Jz = (a + b2 )
4

6) Cilindrična cev

kg
m = ρV, ρ[ ]
m3
dm = ρdV

Z
2
dV = (R − r02 )πdz \·
H
V = (R2 − r02 )πz = (R2 − r02 )πH
0
1 H
Z Z Z Z
1 1 1m
zc = zdm = zρdV = zdV = z(R2 − r02 )πdz =
m m m V mV V V 0
(R2 − r02 )π H (R2 − r02 )π 1 2 (R2 − r02 )π 1 2
Z
1
zdz = H = 2
H = H
V 0 V 2 (R2 − r0 )πH 2 2

6
 Z Z Z
2 2 m
Jz = r dm = r ρdV = r2 dV = ⃝
∗
(m) (V ) V (V )
h i
dV = (r + dr) − r πH = (r2 + 2rdr + dr2 − r2 )πH = 2rdrπH
2 2

∗
⃝
2mπH R 3
Z Z
m 3 2mπH 1 4R m 1 4
2r drπH = r dr = 2 2
r = 2 2
(R − r04 ) =
V V r0 (R − r0 )πH 4 r 0 (R − r 0 ) 2
m 2 2
(R + r0 )
2
m H 2 2
Z Z Z Z
2 2 m 2
Jxy = z dm = z ρdV = z dV = z (R − r02 )πdz =
(m) (V ) V (V ) V 0
Z H
m 2 m 1 3H m
(R − r02 )π z 2 dz = 2 2
(R 2
− r 2
0 )π z = H2
V 0 (R − r0 )πH 3 0 3
Jxz = Jyz
1 m
Jz = Jxz + Jyz = 2Jxz =⇒ Jxz = Jz = (R2 + r02 )
2 4
m 2 2 m 2
Jx = Jxz + Jxy = (R + r0 ) + H
4 3
!2
H m m m
Jx1 = Jx − m = (R2 + r02 ) + H 2 − H 2
2 4 3 4
m m m
Jx1 = (R2 + r02 ) + H 2 = (3R2 + 3r02 + H 2 )
4 12 12
Jy1 = Jx1
za r0 = 0
m m
Jz = R2 , Jx1 = Jy1 = (3R2 + H 2 )
2 12
za r0 = R
m
Jz = mR2 , Jx1 = Jy1 = (6R2 + H 2 )
12

7
7) Prav kružni konus

kg
m = ρV, ρ[ ]
m3
dm = ρdV

R r
=
H z
R
r= z
H

Z
2
dV = r πdz \ ·
Z H 2
R 2 R2 1 3 H R2 π 1 3
V = z πdz = π z = H
0 H2 H2 3 0 H2 3
1 2
R πH
3
1 H R2 2
Z Z Z Z
1 1 1m
zc = zdm = zρdV = zdV = z 2 z πdz =
m (m) m (V ) mV V V 0 H
H
1 R2 R2 1 4 H
Z
3 1 3
2
π z dz = 1 2 2
π z = H
V H 0 3
R πH H 4 0 4

Z Z Z
1 2 1 2 m
Jz = r dm = r ρdV = r2 dV = ⃝
∗
2 (m) 2 (V ) 2V (V )
2
R 2
dV = z πdz
H2
∗
⃝
m H R2 2 R2 2
Z H
m R4 R4 1 5
Z
4 m
= z z πdz = π z dz = π H =
2V 0 H 2 H 2 2V H 4 0 2 31 R2 πH H 4 5
3
mR2
10

8
 H
R2 2 m R2 1 5 3mH 2
Z Z Z
2 m 2 2
Jxy = z dm = z ρdV = z 2 z πdz = 1 2 π H =
(m) (V ) V 0 H 2
R πH H 2 5 5
Jxz = Jyz
1 3
Jz = Jxz + Jyz = 2Jxz =⇒ Jxz = Jz = mR2
2 20
3 3 3m
Jx = Jxz + Jxy = mR2 + mH 2 = (R2 + 4H 2 )
20 5 20
 3 2 3m 9 3m
Jx1 = Jx − m H = (R2 + 4H 2 ) − mH 2 = (4R2 + 16H 2 − 15H 2 ) =
4 20 10 80
3m
= (4R2 + H 2 )
80
Jy1 = Jx1

8) Lopta

kg
m = ρV, ρ[ ]
m3
dm = ρdV

R2 = z 2 + r 2
r 2 = R2 − z 2

Z
2
dV = r πdz \ ·
!
Z R Z R R 1 R
V = r2 πdz = π (R2 − z 2 )dz = π R2 z − z3 =
−R −R −R 3 −R
 2  4
= π 2R3 − R3 = R3 π
3 3

9
Jxy = Jxz = Jyz
Jz = Jxz + Jyz = 2Jxz = 2Jxy = 2Jyz
m R 2 2
Z Z Z Z R
2 2 mπ
Jxy = z dm = z ρdV = z r πdz = 4 3 (R2 − z 2 )z 2 dz =
(m) (V ) V −R 3
R π −R
!
3m 21 3
R 1 5R 3m 2 5 2 5
  m
= 3
R z − z = 3
R − R = R2
4R 3 −R 5 −R 4R 3 5 5
2
Jz = mR2 = Jy = Jz
5

10
8.1

A :P, a
B :Q
a⃗C =?

Slika 1: OTDS 1-1

1
 n=2
P Q
m1 = , m2 =
g g
1
M = m1 + m2 = (P + Q)
g
y d2
tg α = ⇒ y = x tg α| 2
x dt
ÿ = ẍ tg α
aB = a tg α
X
M a⃗C = mi a⃗i
P +Q P Q
a⃗C = a⃗i + a tg α⃗j
g g g
a
a⃗C = (P⃗i + Q tg α⃗j)
P +Q

8.2

A :m1
B :m2
AB = l
t0 = 0, φ(t0 ) = φ0 , φ̇(t0 ) = 0

a)xC =?
b)xB =?

M a⃗C = F⃗RS = m1⃗g + m2⃗g + N

⃗
x :M x¨C = 0, M = m1 + m2
X X
M xC = mi xi = mi xi0
i

2
 Slika 2: OTDS 1-2

Kx = Kx0 = const.
Kx0 = m1 x˙0 + m2 (x˙0 + lφ˙0 ) = 0
(m1 + m2 )xC = m1 x + m2 (x + l sin φ)
= m1 x0 + m2 (x0 + l sin φ0 )
= m2 l sin φ0

m2 l sin φ0
xC =
m1 + m2

(m1 + m2 )x + m2 l sin φ = m2 l sin φ0

m2 l(sin φ0 − sin φ)
x=
m1 + m2
xB = x + l sin φ, yB = l cos φ
m2 l(sin φ0 − sin φ)
xB = + l sin φ
m1 + m2
m2 l sin φ0 − m2 l sin φ + m1 l sin φ + m2 l sin φ
=
m1 + m2
l(m2 sin φ0 + m1 sin φ)
=
m1 + m2
xB (m1 + m2 ) = lm2 sin φ0 + lm1 sin φ| : m1
m1 + m2 m2
xB − l sin φ0 = l sin φ
m1 m1

3
   )
m1 +m2 m2 2
m1
xB − m1 +m2
l sin φ0 = l sin φ|
+
yB = l cos φ|2

 2
xB − m1m+m
2
2
l sin φ0 yB2
2 + = 1 ⇒ ELIP SA
l2

m1 l
m1 +m2

8.3

m2 l(sin π − sin φ) m2
x= =− l sin φ
m1 + m2 m1 + m2
m2 π
ẋ = − lφ̇ cos φ = 0 ⇒ φ∗ =
m1 + m2 2
∗ π m2 hπ i
x1 = x(φ = ) = − l, φ , 0
2 m1 + m2 2
hπ i
x2 = x(φ = 0) = 0, φ , 0
2
m2 m2 2m2
Ax = (x1 − x0 ) + (x2 − x1 ) = l+ l= l
m1 + m2 m1 + m2 m1 + m2

8.4

AB = 2a
t0 = 0, φ0 = 600 , mirovao

a) xA = xA (φ)
b) xB , yB

4
 Slika 3: OTDS 1-3

K x = K x0 = 0
M xC = const. = M xC0
1
mxC = ma cos 600 = ma
2
xC = xA + a cos φ
1
xA + a cos φ = a
2  
a 1
aA = − a cos φ = a − cos φ
2 2
 
1
xB = xA + 2a cos φ = a + cos φ
2
yB = 2a sin φ

1 a


2
xB − 2
= cos φ|2
yB +
2a
= sin φ|2

a 2


xB − 2 yB
+ = 1 ⇒ ELIP SA
a2 (2a)2

5
8.5

A :m1
B :m2
c
t0 = 0, x(t0 ) = x0 , ẋ(t0 ) = 0

xB (t) =?

Slika 4: OTDS 1-4

X X
Kx = Kx0 = 0, M xC = m i xi = mi xi0
i i
M xC = m1 (x + ξ) + m2 x = m1 x0
x(m1 + m2 ) + m1 ξ = m1 x0
m1
x= (x0 − ξ)
m1 + m2

6
 Slika 5: OTDS 1-5

TELO A:
¨ = −2cξ
m1 (ẍ + ξ)
m1 ¨
ẍ = − ξ
m1 + m2
 
m1
m1 ξ¨ − ¨ = −2cξ
xi
m1 + m2
m1 m2 ¨ m1 + m2
ξ = −2cξ| ·
m1 + m2 m1 m2
m 1 + m 2
ξ¨ + 2c ξ=0
m1 m2

7
 ξ¨ + ω 2 ξ = 0
m1 + m2
ω 2 = 2c
m1 m2
−2t
ξ = Ae
ξ˙ = −2Ae−2t
ξ¨ = (−2)2 Ae−2t
(−2)2 Ae−2t + ω 2 Ae−2t = 0
(λ2 + ω 2 )Ae−2t = 0
λ2 + ω 2 = 0 ⇒ λ = ±iω
ξ = A1 eiωt + A−iωt
2
e±iωt = cos ωt ± i sin ωt
ξ = A1 (cos ωt + i ∼ ωt) + A2 (cos ωt − i ∼ ωt)
ξ = (A1 + A2 ) cos ωt + i(A1 − A2 ) ∼ ωt
A1 + A2 = C1 ; i(A1 − A2 ) = C2
ξ = C1 cos ωt + C2 sin ωT
ξ˙ = −C1 ω sin ωt + C2 ω cos ωt
˙ 0) = 0
t0 = 0, ξ(t0 ) = x0 , ξ(t
x0 = C 1
0 = C2 ω ⇒ C2 = 0
r
m1 + m2
ξ = x0 cos ωt = x0 cos 2c t
m1 m2
r
m 1 x0 m1 + m2
x= (1 − cos 2c t)
m1 + m2 m1 m2

8.9

x :m1
O1 A = 02 B = a, m2
AB :m3
t0 = 0, φ0 = α

8
 ∆x1

Slika 6: OTDS1-6

Kx = Kx0 = 0
X X
M xc = m i xi = mi xi0
i i
M = m1 + 2m2 + m3
 
 a  a AB
(m1 + 2m2 + m3 )xC = m1 x1 + m2 x1 + b − + m 2 x1 − b − + m 3 ( x1 + b − a −
2 2 2
 
 a   a  AB
= 0 + m2 b − sinα + m2 −b − sinα + m3 b − a sin α −
2 2 2
m2 (1 − sinα) + m3 (1 − sinα)
x1 = a =
m1 + m2 + m3

8.14

A, G3 , r
3r, ω
OA = 2r, G2
B : G1
t0 = 0, φ0 = 0

9
a)x =?
b)N =?
c)ωmax =?

Slika 7: OTDS1-7

1
M = (G1 + G2 + G3 )
g
xB = x
Kx = Kx0 = const.
M x˙C = M xC˙ 0
x0 = x
xc1 = x + rsinφ
xA = x + 2rsinφ
y0 = 0
yC1 = rcosφ
yA = 2rcosφ

10
1 1 1 1 1
G1 ẋ + G2 (ẋ + rφ̇cosφ) + G3 (ẋ + 2rφ̇cosφ) = 0 + G2 rφ˙0 cosφ0 + G3 2rφ˙0 cosφ0
g g g g g
2rφ̇ = rω
ω
φ̇ =
2
ω
φ = φ0 + t
2
ω
φ= t
2

ω ω ω
ẋ(G1 + G2 + G3 ) + r cos t(G1 + 2G3 ) = r (G2 + 2G3 )
2 2 2

(G2 + 2G3 )(1 − cos ω2 t) ω dx

ẋ = r =
G1 + G2 + G3 2 dt Z
w G2 + 2G3  ω 
dx = r 1 − cos t dt| ·
2 G1 + G2 + G3 2
 
rω G2 + 2G3 2 ω t
x = x0 + t − sin t|0
2 G1 + G2 + G3 ω 2
 
G2 + 2G − 3 rω ωt
x= t − rsin
G1 + G2 + G3 2 2

mi a⃗i = F⃗RS
X
M a⃗C =
1 1 1
y : M y¨C = G1 · 0 + G2 y¨C1 + G3 y¨A =
g g g
= N − G1 − G2 − G3
1 1
N = G1 + G2 + G3 + G2 y¨C1 + G3 y¨A ∗
g g
2
yC˙ 1 = −φrsinφ ⇒ y¨C1 = −φ̇ rcosφ
y˙A = −2rφ̇sinφ ⇒ y¨A = −2φ̇2 rcosφ

∗
1 ω2 ωt
N = (G1 + G2 + G3 ) − (G2 + 2G3 ) rcos
g 4 2
c)Nmin ≥ 0
1 ω2r
((G1 + G2 + G3 )) ≥ (G2 + 2G3 )
g 4

11
 s
4g(G1 + G2 + G3 )
ω≤
(G2 + 2G − 3)r
r
4g G1 + G+ G3
ωmax =
r G2 + 2G3

12
8.21

2a
m, r
M

dLoz X
= Moz (F⃗is )
dz i
Loz = Joz φ̇

m  1
Joz = 2 r2 + ma2 = m(r2 + 4a2 )
4 2
m 2 2
Loz = (r + 4a )φ̇
2
dLoz m
= (r2 + 4a2 )φ̈
Xdt 2
Moz (F⃗is ) = M
i
m 2
(r + 4a2 )φ̈ = M
2 Z
2M dφ̇
φ̈ = = \ ·dt \ ·
m(r2 + 4a2 ) dt
Z
2M dφ
φ̇ = φ˙0 + t= \ ·dt \ ·
m(r2 + 4a2 ) dt
M t2
φ(t) = φ0 + φ˙0 t +
m(r2 + 4a2 )

1
8.22

r
r/2

T =?

dLoz X
= Moz (F⃗is )
dz i
Loz = Joz φ̇
m  r 2 mr2 mr2 3mr2
Joz = r2 + m = + =
2 2 2 4 4
3mr2
Loz = φ̈
4
X r
Moz (F⃗is ) = −mg sin φ
i
2

Male oscilacije
φ3 φ5
sin φ ≈ 0 + 1 · φ − + + ...
3! 5!
sin φ ≈ φ
3mr2 r
φ̈ = −mg φ
4 2
3r 2g
φ̈ = −gφ =⇒ φ̈ + φ = 0, φ̈ + ω 2 φ = 0
2 3r
r
2 2g 2π 6r
ω = , T = =π
3r ω g

2
8.24

m1
R
ω0
m2

ω1d =?

n
dLcz X
= Mcz (F⃗is ) = 0
dt i=1
Lcz = const
1
t0 = 0 : Ldcz (t0 ) = Jcz
d
ω0 = m1 R2 ω0
4
M
Lcz (t0 ) = 0

1
t: Ldcz (t) = Jcz
d
ω = m1 R2 ω
4
−→ ⃗ −−→
M
Lcz (t) = (⃗rM × m2 VM ) · K = [m2 CM × (V⃗M P + V⃗M r )] · K
⃗ =
−−→ −−→
= [m2 CM × V⃗M P + m2 CM × V⃗M r ] · K
⃗ =
−−→ ⃗ + m2 (− −→
= m2 (CM × V⃗M P ) · K CM × V⃗M r ) · K
⃗ =
| {z }
0
◦
m2 CM VM P · 1 · cos(90 − φ) = m2 CM sin φVM P =
m2 CM sin φ hω = m2 h2 ω
h

1
Lcz (t) = m1 R2 ω + m2 h2 ω
4
1
t = t1 h = R, Lcz = m1 R2 ω1 + m2 R2 ω1
4
1 1
m1 R ω1 + m2 R ω1 = m1 R2 ω0 \ : R2
2 2
4 4
1  1
ω1 m1 + m2 = m1 ω0
4 4
1
m1 ω 0 m1 ω0
ω1 = 1 4 =
m + m2
4 1
m1 + 4m2

3
8.25

m1
r
ω0
VroM = 0
M0 ≡ A
m2
Vr

ω1 =?
n
dLoz X
= Moz (F⃗is ) = 0 Loz = const
dt i=1
1
t0 = 0 : Ldcz (t0 ) = Jcz
d
ω0 = m1 r2 ω0
2
−→
Lcz (t0 ) = (OA × m2 V⃗M (t0 )) × K
M ⃗ =
−→ ⃗ = m2 (−→ −→
= m2 (OA × (V⃗M r (t0 ) + V⃗M P (t0 ))) · K OA × V⃗M r (t0 ) + OA × V⃗M P (t0 )) · K
⃗ =
−→ ⃗ = m2 OA · OAω0 · 1 · 1 = m2 OA2 ω0 = m2 r2 ω0
= m2 (OA × V⃗M P (t0 )) · K
1 1
Lcz (t0 ) = m1 r2 ω0 + m2 r2 ω0 = ω0 (m1 + 2m2 )r2
2 2

1
t = t1 Ldcz (t1 ) = Jcz
d
ω1 = m1 a2 ω1
2
M 2 −−−→ ⃗ ⃗ = m2 a2 ω1 + m2 aVr
Lcz (t1 ) = m2 a ω1 + m2 (OM1 × Vr ) · K
1
Lcz (t1 ) = m1 r2 ω1 + m2 a2 ω1 + m2 aVr
2

1 1
m1 r2 ω0 + m2 r2 ω0 = m1 r2 ω1 + m2 a2 ω1 + m2 aVr \ ·2
2 2
ω0 (m1 + 2m2 )r = ω1 (m1 r2 + 2m2 a2 ) + 2m2 aVr
2

ω0 (m1 + 2m2 )r2 − 2m2 aVr

ω1 =
(m1 r2 + 2m2 a2 )

4
8.31

Q
P
t0 = 0 M0 ≡ C
a, V0 = 0

VM (y) =?

X
T − T0 = Ai VM 1 = VM 2 = ẏ cos α
y
T = Qy cos α = p
a2 + y 2
T = TM 1 + TM 2 + TM
1P 2 1P 2
TM 1 = VM 1 = V cos2 α = TM 2
2g 2g M
1Q 2
TM = V
2g M

1Q 2 P
VM + VM2 cos2 α = Qy
2g g
s
VM2  y2  2gQy
Q + 2P 2 2
= Qy =⇒ VM = 2
2g a +y Q + 22y 2 P
a +y

5
8.35

m1 = 4m
R
M = 4mgR
AB = 4R, m
B:m
π
φ1 =
4

ωd =?

n
X
T − T0 = Ai
0 i=1

T = Td + TAB + TB
1 1
Td = JO φ̇2 + 4mV02 , V0 Rφ̇
2 2
11
Td = 2mR2 φ̇2 + 4mR2 φ̇2 = 3mR2 φ̇2
22

6
 1 1
TAB = mVT2 + JT ωAB
2
2 2
1 2
TB = mVAB
2

√
VA1 = R 2ωd1

R 1
sin α = =
4R
√ 4
15
cos α =
4

4R B1 PVAB A1 PVAB
= =
sin 45◦ sin(45◦ − α) sin(90◦ + α)
4R B1 PVAB A1 PVAB
√ = =
2 sin(45◦ − α) cos α
2
√ B1 PVAB A1 PVAB
4 2R = =
sin(45◦ − α) cos α
√
√ √ 15 √
AB
A1 PV = 4 2R cos α = 4 2R = 30R
√ 4
√ √
VA1 = R 2ωd1 = APVAB ωAB1 = 2 · 15ωAB1 R
ωd1
ωAB1 = √
15
√
√ ◦
√ 2
AB
B1 PV = 4 2R sin(45 − α) = 4 2R (cos α − sin α) =
2
 √15 1  √
= 4R − = R( 15 − 1)
4 4
√ ωd1  1 
VB1 = B1 PVAB ωAB1 = R( 15 − 1) √ = R 1 − √ ωd1
15 15

7
 2 2
PVAB T1 = B1 PVAB + (2R)2 − 2 · 2R · (B1 PVAB ) cos(90◦ + α) =
√ √ 1
= R2 ( 15 − 1)2 + 4R2 + 4R2 ( 15 − 1) =
2
√ 2 2
√ 4
= R (15 − 2 15 + 1) + 4R + R ( 15 − 1) =
√ √ √
R2 (16 + 4 − 1 − 2 15 + 15) = R2 (19 − 15)
√
q
AB
PV T1 = R 19 − 15

√
q
ωd1
VT 1 = ωAB1 · PVAB T1 =√ R 19 − 15
15

Td (t1 ) = 3mR2 ωd1

2

1 R2 ωd12 √ 1 1 2  19 √15
2 ωd1 2 2 16 
TAB (t1 ) = m (19 − 15) + m(4R) = mR ωd1 − + =
2 15√ 2 12 15 30 30 360
2 61 − 3 15
= mR2 ωd1
90 √
1 2 1 2 2 8− 15

2 2
TB (t1 ) = mR ωd1 1 − √ + = mR ωd1
2 15 15 15

√ √ !
61 − 3 15 8 − 15
T1 = 3 + + mR2 ωd12
=
90 15
√ √ ! √
2 2 90 · 3 + 61 − 3 15 + 6 · 8 − 6 15 379 − 9 15
= mR ωd1 = mR2 ωd1
2
90 90

n
X 1 π 1 1 
Ai = mgR + M = mgR + 2mgRπ = mgR + 2π
i=1
2 2 2 2

√
379 − 9 15 1 
mR2 ωd1
2
= mgR + 2π
90 2
s
g 45(1 + 4π)
ωd1 = √
R 379 − 9 15

8
8.40

M, R
O1 A : 2R, m
φ1 = 90◦
t0 = 0, φ0 = 0, φ̇0 = 0
O1 B = 2R

t0 = 0 : φ0 = 0, φ̇0 = 0 T0 = 0
Xn
T1 − T0 = Ai
0 i=1
Xn
T1 = Ai = mgR
i=1
Rφd = S
S 2 = (2R)2 + (2R)2 − 2 · 2R · 2R cos φ = 8R2 − 8R2 cos φ = 8R2 (1 − cos φ)
p
S = R2 2(1 − cos φ) = Rφd
r r
1 − cos φ 1 − cos φ φ
φd = 2 4 =4 = 4 sin
2 2 2
φ̇ φ φ
φ̇d = 4 · cos = 2φ̇ cos
2 2 2

9
 φ
VC = Rφ̇d = 2Rφ̇ cos
2

T1 = Td1 + TO1 A1
1 11 90◦ 1 1
Td1 = JO φ̇2d = M R2 · 4φ̇21 cos2 = M R2 φ̇21 = M R2 φ̇21
2 22 2 2 2
1 1 1 2
TO1 A1 = JO1 φ̇21 = m4R2 φ̇21 = mR2 φ̇21
2 23 3
1 2
M R2 φ̇21 + mR2 φ̇21 = mgR
2 3
1 2 
φ̇21 M R + mR = mg
2 3
mg 6mgR
φ̇21 =  =
1
R 2M + 3m2 R(3M + 4m)
s
6mgR
φ̇1 =
R(3M + 4m)

10
8.44

M = 2m
R = 3r
m, r
t0 = 0
∆xp =?, Vp =?

Slika 1: OTDS3-1

X X
mi xi = M xC = const. = mi xi0
(m + 2m)xC = 2m(f + xp ) + m(xp + 2rcosφ) = 2mf + m · 2r
3m∆xP = 2mr − 2mrcosφ| ÷ 3m
2
∆xP = r(1 − cosφ)
3
π 2
zaφ = ⇒ ∆xP = r
2 3
2 d
xP = r(1 − cosφ)| ·
3 dt
2
x˙P = rφ̇sinφ = VP
3
2 3 Vr1
VP1 = ẋP |φ= π2 = rφ̇1 ⇒ φ̇1 =
3 2 r

1
 2rφ̇ = rωd ⇒ ωd = 2φ̇
VCr = rωd = 2rφ̇
X
T1 − T0 = Ai = 2mgr
i
T1 = T1d + T1P
T1d − disk
T1P − prizma
1
T1P = 2mVp21 = mVP21
2
1 1
T1d = JC ωd2 + m(VCr1 − VCP1 )
2 2
 2
11 2 2 1 2
= mr · 4φ̇1 + m 2rφ̇1 − rφ̇1
22 2 3
1 16
= mr2 φ̇21 + m r2 φ̇21
 2 9
8
= mr2 φ̇21 1 +
9
17
= mr2 φ̇21
9
17 2 9 VP21
= mr
9 4 r2
17
= mVP21
4
17 21
T1 = mVP21 + mVP21 = mVP21
4 r 4
21 8gr
mVP20 = 2mgr ⇒ VP1 =
4 21

8.52

! :2m
2 :m
2mg
c=
R
l0 = R
t0 = 0

2
V1 =?

Slika 2: OTDS3-2

X
T1 − T0 = Ai
i
X 1 1 2mg 2
T1 = Ai = 2mgR + c(2R)2 = 2mgR + 4R = 6mgR
i
2 2 R
I⃗iS
X
⃗1 − K
K ⃗0 =
i
x : K1x − K0x = 0 ⇒ K1x = 0
2mV1 + m(V2P + V2r ) = 0(V2P = V1 )
3mV1 = −mV2r ⇒ V2r = −3V1

3
 1 1
T1 = 2mV12 + m(V2P + V2r )2
2 2
1
= mV12 + m(V1 − 3V1 )2
2
= mV1 + 2mV12
2

= 3mV12
p
3mV12 = 6mgR ⇒ V1 = 2gR
p
V2r = −3V1 = −3 2gR

8.60

OA :l, m
M :m
t0 = 0 : ω0 , VM0 = 0

VM1 =?

Slika 3: OTDS3-3

4
 dLOz X  
= MOz F⃗is = 0 ⇒ LOz = const.
dt i
1 2
LOA
Oz (t0 ) = JOz ω0 = ml ω0
3
M
LOz (t0 ) = msVP0 = 0
1
LOz (t0 ) = ml2 ω0
3
1
LOz (t1 ) = JOz ω1 = ml2 ω1
OA
3
LM (t
Oz 1 ) = mlV P1 = ml · lω1 = ml2 ω1
4
LOz (t1 ) = ml2 ω1
3
1 2 4 ω0
ml ω0 = ml2 ω1 ⇒ ω1 =
3 3
X 4
T1 − T0 = A1 = 0
i
T1 = T0
1 11 2 2 1 2 2
T0 = T0OA + T0M = T0OA = JOz ω02 = ml ω0 = ml ω0
2 23 6
OA M OA 1 2 11 2 2 1 2 2
T1 = T1 + T0 = T0 = JOz ω0 = ml ω0 = ml ω0
2 23 6
1 1 1 2 2 1
T1 = T1 + T1 = J0 + ω1 + mVM1 = ml ω1 + mVM2 1
OA M 2 2
2 2 6 2
1 2 2 1 2 2 1 2
ml ω0 = nl ω1 + mVM1
6 6 2
1 2 2 2

1 2
ml ω − ω1 = mVM1
6  0  2
2
1 2 ω
l ω02 − 0 = VM2 1
3 16
1 15ω02 5l2 ω02
VM1 = l2 =
3 √16 16
5
VM1 = lω0
4

8.63

d :m1 , R
M :m1 c, l0 = 2R
t0 = 0 :W0 = 0, Vr0 = 0

5
ωd =?

Slika 4: OTDS3-4

dLOz X  
= MOz F⃗is = 0
dt i
LOz = const.

6
LOz (t0 ) = LOz (t1 )
LOz (t0 ) = LdOz (t0 ) + LM Oz (t0 )
= JOz ω0 + mRVP0
 
1 2 2
= m1 R + M1 R ω0 + mR · Rω0
2
 
3
= m1 + m R2 ω0 = 0
2
LOz (t1 ) = LOz d (t1 ) + LM Oz (t1 )
3 √
= m1 R2 ω1 − mRVr1 + mR 2VPd
2
3 √ √
= m1 R2 ω1 − mRVr1 + mR 2 · R 2ω1
2  
2 3
= R ω1 m1 + 2m − mRV r1
2
 
2 3
R ω1 m1 + 2m − mRV r1 = 0
2
 
3 m1
Vr1 = Rω1 +2
2m
X 1
Ai = c ∆l02 − ∆l12


T1 − T0 =
i
2
1   1
= c (R − 2R)2 − (2R − 2R)2 = cR2
2 2
d M
T1 = T1 + T1
1 1
= JOz ω12 + mVM2 1
2 2
13 1
m1 R2 ω12 + m Vr21 + VP21 − 2Vr1 VP1 ·cos45


=
22 2 "
2 √ #
√ √
  
1 1 3 m 1 3 m 1 2
= m1 R2 ω12 + m R2 ω12 + 2 + (R 2ω1 )2 − 2Rω1 + 2 R 2ω1 ·
6 2 2m 2m 2
= ...
1 2 2
R ω1 8m2 + 18mm1 + 9m21


=
8m
1 2 2
1
R ω1 8m2 + 18mm1 + 9m21 = cR2
8m 2
2 4mc
ω1 =
(8m2 + 18mm1 + 9m21 )
r
mc
ω1 = 2
8m2 + 18mm1 + 9m21

7
 1 Zadatak 1 Grupa F = 3mg
ili: { T = 92 mẏ 2 9mÿ = 2F − mg }

5
Grupa 2

ÿ = g
mÿ = S − mg

2 ẏ 9
JAz = 2mR ωA = R


J ω̇ = F 2R − SR
Az A t1

14 F = 2mg
JOz = 92 mR2 ωO = 23 Rẏ =⇒ S = mg ÿ = g3
JOz ω̇O = Ft2 3R − Ft1 3R 9
S = 43 mg
 
ẋ = 2ẏ
 


mẍ = F − Ft2 17
Ft2 = mg Ft2 = 43 mg
9
2 Zadatak 1 Grupa x = sin 3t c = 9
(
ẋ = 3 cos 3t
Fpin = map m⃗r¨rel = m⃗g + N
⃗ + F⃗O + F⃗ in + F⃗ in / · ⃗λ
p cor ξ¨ + 9ξ = 9 sin 3t
ẍ = −9 sin 3t
(
ξ = C1 cos 3t + C2 sin 3t − 32 t cos 3t C1 = 0 1 3
=⇒ =⇒ ξ = sin 3t − t cos 3t
˙
ξ(0) =0 C2 = 12 2 2

2 Grupa x = sin 2t c = 4
(
ξ = C1 cos 2t + C2 sin 2t − t cos 2t C1 = 0 1
ξ¨ + 4ξ = 4 sin 2t ⇒ ⇒ξ= sin 2t − t cos 2t
˙
ξ(0) = 0 ξ(0) = 0 C2 = 12 2

3 Zadatak 1 i 2 Grupa (R = T h = L)
( (
xM = R sin φ + A1 ẋM = Rφ̇ cos φ 2
vM = R2 φ̇2 + ξ˙2 − 2Rφ̇ξ˙ sin φ
yM = R cos φ + A2 + ξ ẏM = −Rφ̇ sin φ + ξ˙

1 1 1 1 2 1
T = JOz φ̇2 + JEz φ̇2 + mvT2 + mvM JOz = JEz = mR2 vT2 = R2 φ̇2
2 2 2 2 ( 3
4 1 ˙2 ∂T
= 3 mR φ̇ − mRξ˙ sin φ ∂T
8 2
= −mRφ̇ξ˙ cos φ
2 2 ˙
T = mR φ̇ − mRφ̇ξ sin φ + mξ ∂ φ̇ ∂φ
3 2 ∂T
∂ ξ̇
= mξ˙ − mRφ̇ sin φ ∂T
∂ξ
=0

6
 (
Qφ = −3mg sin φ
δA = mgδyT1 + mgδyT2 + mgδyT − cξδξ − cξδξ + mgδyM
Qξ = mg − 2cξ

(
8
3
− mRξ¨ sin φ − mRξ˙φ̇ cos φ + mRξ˙φ̇ cos φ = −3mg sin φ
mR2 φ̈
mξ¨ − mRφ̈ sin φ − mRφ̇2 cos φ = mg − 2cξ
(
8
φ = εf1 (t) 3
mR2 φ̈
= −3mg sin φ
=⇒
ξ = εf2 (t) ¨
mξ = mg − 2cξ

    q q
φ̈ + 9 g φ = 0 φ̇(0) = 0 φ(0) = φ0 φ = C1 cos 9 g t + C2 sin 9 g t
 8 R q 8R q 8R
ξ¨ + 2c ξ = g ˙
ξ(0) = 0 ξ(0) = 0 ξ = C3 cos 2c t + C4 sin 2c t + mg
m m m 2c

  p 
φ = φ0 cos 3 g t
2 2R
 q 
ξ = mg 1 − cos 2c t
2c m

7
 √ √
R 7 7
1) VA = φ̇, VB = VD = OB φ̇ = Rφ̇, OB = OD =
2 2 2
n
dLOz X ⃗
F s
 R  2  7  29
= MOzi , LOz = m φ̇ + 2 2m R2 φ̇ = mR2 φ̇
dt i=1
2 4 4
R
· m + 2 · 2m · R
2 9
ρC = = R, MOz = −M gC ρC sin φ
m + 2m + 2m 10
29 9
M = 5m, mR2 φ̈ = −5mg R sin φ
4 10
18 g
φ̈ = − sin φ, φ(0) = 60◦ , φ̇(0) = 0
29 R
36 g  1 18 g
φ̇2 = cos φ − , φ̈(φ = 0) = 0, φ̇2 (φ = 0) =
29 R 2 29 R
2
X V
M⃗aC = F⃗i , h : 5m C1 = −YO cos φ1 − XO sin φ1 − 5mg cos φ1
ρC
226
za φ1 = 0 =⇒ YO = − mg
29

2)

m⃗a¨r = m⃗g + F⃗C + N

⃗1 + N ⃗ 2 + F⃗Pin + F⃗cor
in
/ · ⃗λ
mξ¨ = −c(ξ − l0 ) + mω02 ξ
c  c
ξ¨ + − ω02 ξ = l0
m m

I II
R R
c = 5mω02 , l0 = c = 10mω02 , l0 =
5 5
ξ¨ + 4ω02 ξ = ω02 R ξ¨ + 9ω02 ξ = 2ω02 R
R ˙ R ˙
ξ(0) = , ξ(0) =0 ξ(0) = , ξ(0) =0
8 9

9
 R R
ξ(t) = (2 − cos 2ω0 t) ξ(t) = (2 − cos 3ω0 t)
8 9
Rω0 Rω0
ξ˙ = sin 2ω0 t ξ˙ = sin 3ω0 t
4 3
in
Fcor = 2mω0 ξ˙ in
Fcor = 2mω0 ξ˙

3)
h1 i h1 i h1 i h1 1 i h1 1 i
T = mVA2 + JBz φ̇ 2
+ mVK2 + mVD2
+ JDz θ̇ 2 2
+ mVE + JEz γ̇ 2
+
2 A 2 B 2 K 2 2 D 2 2 E
h1 1 i h1 i h11  ẋ2 i h1 i h 1  ẋ 2
+ mVC2 + JCz α̇2 = mẋ2 + mR2 2 + mẋ2 + 2 m +
2 2 C 2 A 2 2 R B 2 K 2 2
11  ẋ2 2 i n1 h i 11  ẏ 2 o
2 2 2 2
+ mR + m (ẋ + ẏ cos α) + (ẏ sin α) + mR =
2 2 2R D+E 2 2 2 R C
17 3
= mẋ2 + mẏ 2 + mẋẏ cos α
8 4
h i h δx i h δx i h i
δA = mgδx + M + −F + mg sin αδy =
A 2R D 2 E C
2mgδx + mg sin αδy = Qx δx + Qy δy
Qx = 2mg, Qy = mg sin α
∂T 17 d  ∂T  17
= mẋ + mẏ cos α, = mẍ + mÿ cos α
∂ ẋ 4 dt ∂ ẋ 4
∂T ∂T 3 d  ∂T  3
= 0, = mẏ + mẋ cos α, = mÿ + mẍ cos α
∂x ∂ ẏ 2 dt ∂ ẏ 2
∂T
=0
∂y
17
mẍ + mÿ cos α = 2mg
4
3
mÿ + mẍ cos α = mg sin α
2

6 − sin 2α 17 sin α − 8 cos α

ẍ = 4g , ÿ = 2g
47 − 4 cos 2α √47− 4 cos 2α 
4  3 2 17 √ 
I α = 30◦ =⇒ ẍ = 6− g, ÿ = −4 3 g
45 2
√ 45 2 √ 
4  3  2  17 3
II α = 60◦ =⇒ ẍ = 6− g, ÿ = −4+ g
49 2 49 2

10
1)
⃗˙ B = m⃗g + N
K ⃗ + F⃗µ + S
⃗1

x : mẍ = S1 − Fµ = S1 − mgµ (1)

y : 0 = N − mg =⇒ N = mg

n
⃗˙ C =
X
L ⃗ C (F⃗i )
M Telo D:
i=1

⃗˙ D = m⃗g + S
K ⃗2′
1
mR2 φ̈ = S2 R − S1 R (2)
2
mẍ = mg − S2′
Rφ̇ = x

2 mg mg
ẍ = g(1 − µ), S1 = (2 + 3µ), S2 = (3 + 2µ)
5 5 5
⃗1′ + S
m⃗aC = m⃗g + S ⃗2 + R
⃗C
mg
x: 0 = XC − S1′ =⇒ XC = S1′ = (2 + 3µ)
5
2mg
y: 0 = YC − mg − S2 =⇒ YC = mg + S2 = (4 + µ)
5

0 = XA + Fµ − XC′
2mg
XA = XC′ − Fµ = (1 − µ)
5
0 = YA − N ′ − YC′ =⇒ YA = N ′ + YC′
mg
YA = (13 + 2µ)
5
0 = MA − N ′ x(t) − YC′ l
2mgl
MA = N ′ x(t) + YC′ l = mgx(t) + (4 + µ)
5

I II
1 1
µ= µ=
2 4
g l 3 l
ẍ = , x0 = , ẋ0 = 0 ẍ = g, x0 = , ẋ0 = 0
5 2 10 2

R g g 2 l
x(t) = + t2 x(t) = t +
2 10 20 2

12
 7 4 mg 11 7 3
S1 = mg, S2 = mg, XA = S1 = mg, S2 = mg, XA = mg
10 5 5 20 10 10
14  23 g 2 27 22 3
YA = mg, MA = mg l+ t YA = mg, MA = mgl + mgt2
5 10 10 10 10 20

2)

⃗ + F⃗C + F⃗V
m⃗a = m⃗g + N
x : mẍ = −bẋ − cM C sin α
x
sin α =
MC
mẍ = −bẋ − cx\ : m

b c
ẍ + ẋ + x = 0
m m
ẍ + 8ẋ + 25x = 0
λ2 + 8λ + 25 = 0 =⇒ λ1,2 = −4 ± 3i
x = e−4t (C1 cos(3t) + C2 sin(3t))
ẋ = −4e−4t (C1 cos(3t) + C2 sin(3t)) + 3e−4t (−C1 sin(3t) + C2 cos(3t))

t0 = 0, x0 = −0, 4m, ẋ0 = 0, 4m/s

−0, 4 = C1
1
0, 4 = −4C1 + 3C2 =⇒ C2 = (0, 4 + 4C1 ) = −0, 4
3
−4t
x(t) = −0, 4e (cos(3t) + sin(3t)) (1)
3π π
x(t1 ) = 0 =⇒ tan(3t1 ) = −1 =⇒ 3t1 = =⇒ t1 = (2)
4 4

II x→y

3)
1 h1 1 i 1 1
T = mA VA2 + mB VB2 + JBz ωB2 + JCz ωC2 + mD VD2 =
2 2 2 B 2 2
1 h1 1 1  ẏ − ẋ 2 i 1 1  ẏ 2 1
= mẋ + mẋ2 + mR2 + mR2 + mẏ 2 =
2 2 22 R 22 R 2
5 1
= mẋ2 + mẏ 2 − mẋẏ
4 2

13
∂T 5 1 ∂T 1 ∂T ∂T
= mẋ − mẏ; = 2mẏ − mẋ; = 0; =0
∂ ẋ 2 2 ∂ ẏ 2 ∂x ∂y
d  ∂T  5 1 d  ∂T  1
= mẍ − mÿ; = 2mÿ − mẍ
dt ∂ ẋ 2 2 dt ∂ ẏ 2
y − x M   M
δA = −F δx − M δ + mgδy = − F δx + mg − δy
R R R
M y
Qx = − F = mg − F ; Qy = mg − = 0
R R

I II
F = 2mg F = 3mg
Qx = −mg, Qy = 0 Qx = −2mg, Qy = 0
5 1 5 1
mẍ − mÿ = −mg (1) mẍ − mÿ = −2mg (1)
2 2 2 2
1 1
2mÿ − mẍ = 0 (2) 2mÿ − mẍ = 0 (2)
2 2

8 16
iz (1) i (2) =⇒ ẍ = − g iz (1) i (2) =⇒ ẍ = − g
19 19
2 4
ÿ = − g ÿ = − g
19 19

⃗˙ D = m⃗g + S
⃗1 23
K S1 = mg − mÿ = mg
19
1 25
mÿ = mg − S1 S2 = S1′ − mÿ = mg
2 19
21
S1 = mg
19

n
X
Telo C:LCz = MCz (F⃗i )
i=1
1 ÿ
mR2 = S1′ R − S2 R
2 R
22
S2 = mg
19

14
 Obe grupe su iste!

1
3mR2
a) LCz = JCz · ω + RmV = ω + mR2 ω
2
5
LCz = mR2 ω
2

b) MCz = M − mgR = mgR

dLCz 5
c) = MCz =⇒ mR2 φ̈ = mgR
dt 2
2g
φ̈ =
5R

d)
⃗ − m⃗g
m⃗a = S
2g 7
mRφ̈ = S − mg =⇒ S = mg + mR , S = mg
5R 5
3mẍC = 0 = S1 sin 30◦ − S2 sin 30◦ =⇒ S1 = S2
3mÿC = 0 = S1 cos 30◦ + S2 cos 30◦ − 3mg − S ′
√
3 7 22
2S1 = 3mg + mg =⇒ S1 = S2 = √ mg
2 5 5 3

2
m⃗ar = m⃗g + F⃗O + N
⃗ + F⃗Pin + F⃗cor
in

mẍ = −mg cos φ − FO − FPin1 sin φ + FPin2

FO = 10mω 2 x, FPin1 = ma0 = 0
FPin2 = mω 2 x
mẍ = −mg cos φ − 10mω 2 x + ω 2 x\ : m
ẍ + 9ω 2 x = −g cos ωt

x(0) = 0
ẋ(0) = V0
R  3V  gR2 h  3V   V i
0 0 0
x(t) = sin t + 2
cos t − cos t
3 R 8V0 R R

16
3

ẋ = ẏ + 3Rφ̇
ẋ − ẏ
φ̇ =
3R
VO ẏ + Rφ̇
ẋ + 2ẏ
VO =
3
m 4m
m1 = m2 =
3 9
JOz = miO = 3mR2
2

ẋ + ẏ
VC = = VD
2

1 1 1 1 1
EK = mVO2 + JOz φ̇2 + m1 ẋ2 + m2 ẏ 2 + 4mVD2
2 2 2 2 2
...
8 10 8
EK = mẋ2 + mẏ 2 + mẋẏ
9 9 9
δx + δy
δA(m⃗g ) = 4m⃗g δ⃗rD = 4mg = 2mg(δx + δy)
2
Qx = 2mg, Qy = 2mg
ẍ − ÿ
8ẍ + 4ÿ = 9g b) φ̈ =
3R
3 g
10ÿ + 4ẍ = 9g φ̈ =
32 R
27 9
ẍ = g, ÿ = g
32 16

17
1

ẋ
ẋ = 2Rφ̇ −→ φ̇ =
) 2R
ẋ
ẏ = Rφ̇ = 2 ẋ
α=
ẏ = Rα 2R
(
d I) mR2 α̈ = −T R → T = − 12 mẍ
1) (JCz α) = −T R
dt II) 12 mR2 α̈ = −T R → T = − 41 mẍ
(
d ⃗ mC g I) S1 = 32 mẍ + mg
2) (KC ) = F⃗RS → mC ÿ − S1 + T −
dt 2 II) S1 = 43 mẍ + mg
2

d
(JBz φ̇ + mA 2Rẋ) = −S1′ R + mA g · 2R
dt
2 14
I) ẍ = g −→ S1 = mg
11 11
2 4
II) ẍ = g −→ S1 = mg
5 ( 5
9
I) S2 = 11 mg
mẍ = mg − S2 3
II) S2 = 5 mg

2
r
2c 2c
mẍ = −cx − c(x − R sin φ) t0 = 0 ω2 = I) Ω = rezonancija
m m
2c cR
ẍ + x= sin Ωt x0 = 0
m m r
c
ẋ0 = 0 II) Ω =
m

cR
I) x = C1 cos ωt + C2 sin ωt − t cos Ωt C1 = 0
r 2Ωmr
r
R 2c R c 2c R
x = sin t− t cos t C2 =
4 m 2 2m m 4

II) x = C1 cos ωt + C2 sin ωt + R sin Ωt C1 = 0

√ r r √
R 2 2c c R 2
x=− sin t + R sin t C2 = −
2 m m 2

19
3

1
a) EK1 = 2mẋ2
2
1 11
EK2 = m(ẋ + Rφ̇)2 + mR2 φ̇2 =
2 22
1  ẋ 2 1  ẏ ẋ 2
= m + ẏ + mR2 −
2 2 4 R 2R
EK3 = 0
1  ẋ 2
EK4 = m + ẏ
2 2
11 2 2ẏ
 2
EK5 = 2mR
22 R
EK6 = 0
1
EK7 = 2mẏ 2
2

21 3 17
EK = mẋ2 + mẋẏ = mẏ 2
16 4 4
1 x  2 1 1 1
Ep = c + y − 2mgy = cx2 + cxy + cy 2 − 2mgy
2 2 8 2 2

21 3 1 1
mẍ + mÿ = − cx − cy I) c = 6m
8 4 4 2
17 3 1
mÿ + mẍ = 2mg − cx − cy II) c = 12m
2 4 2

4
b) ÿ = 0 −→ ẍ = − g I) x0 = 0 II) x0 = 1
9
2 2
I) x = − gt ẋ0 = 0 ẋ0 = 0
9
2
II) x = − gt2 + 1
9

20
8.38
m1 , m2 , R, V
M=?

Slika 1: Slika 1

K⃗˙ = m⃗g + T⃗ + S⃗ +N
⃗
˙ X
⃗ (F⃗S )
L⃗c = M

x : m1 ẍ = T − S cos α (1)
y : 0 = N − m1 g − s sin α (2)
1
z : m1 R2 φ̈ = M − T R − SR (3)
2

1
 Slika 2: Slika 2

Z
φ
x = Rφ
dt
Z
φ
ẋ = Rφ̇
dt
ẍ
ẍ = Rφ̈ ⇒ φ̈ =
R
1 ẍ
⇒ m1 R2 = M − T R − SR/ : R
2 R

1 M
m1 ẍ = −T −S (3’)
2 R

(1) ⇒ T = m1 ẍ + s cos α
1 M
m1 ẍ = − m1 ẍ − S cos α
2 R
3 M
m1 ẍ = − S(1 + cos α)/ · R
2 R

2
 Slika 3: Slika 3

3
M = m1 Rẍ + SR(1 + cos α)
2

m2 z̈ = S ′ − m2 g, ż = V = const, z̈ = 0
S ′ = m2 g = S

3
M = m1 Rẍ + Rm2 g(1 + cos α)
2

3
 Slika 4: Slika 4

ẍ, α =?
R α R
= tg ⇒ x =
x 2 tg α2
sin α2
r
α 1 − cos α 2
tg = α = |
2 cos 2 1 + cos α
α 1 − cos α
tg2 =
2 1 + cos α
2 α
(1 + cos α) tg = 1 − cos α
2
α α
cos α(1 + tg2 ) = 1 − tg2
2 2

4
 2
1−tg2 α 1− R2 x2 −R2
cos α = 1+tg2
2
α = x
2 = x2 +R2
2 1+ R2
x

3 x2 − R 2
M = m1 Rẍ + m2 gR(1 + 2 )
2 x + R2
3 x2 + R 2 + x2 − R 2
M = m1 Rẍ + m2 gR( )
2 x2 + R 2
3 2m2 gRx2
M = m1 Rẍ + 2
2 x + R2

ẍ =?
1 x2 + R 2
ẋ = − α̇
2 R
VA = PVα Aφ̇
2
PVα A = R2 + R2 − 2R2 cos 180◦ − α
= 2R2 + 2R2 cos α = 2R2 (1 + cos α) =
1 + cos α
= 4R2
2

α
PVα A = 2R cos
2

α α ẋ α
VA = 2R cos φ̇ = 2R cos = 2 cos ẋ
2 2R 2
α
V = VA cos
2
α
V = 2ẋ cos2
2
V
ẋ = 1+cos α
2 2
V
=
1 + cos α
V x2 + R 2 d
= 2 2 = V |
1 + xx2 −R
+R2
2x2 dt

5
 2xẋ · 2x2 − (x2 + R2 ) · 4xẋ
ẍ = V
4x4
4x − 4x(x + R2 )
3 2
=V ẋ
4x4
x2 − x2 − R 2
=V ẋ
x3
V R 2 x2 + R 2
=− 3 V
x 2x2
2 2
V R 2
=− (x + R2 )
2x5

3 V 2 R2 2 2 2m2 gRx2
M = − m1 R (x + R ) + 2
2 2x5 x + R2
2 2 2
2Rx 3m1 V R 2
= 2 2
[m2 g − (x + R2 )]
x +R 8x7
2Rx2 3m1 V 2 R2 2
lim M (+) = lim 2 + R2
[m 2 g − 7
(x + R2 )2 ]
x
R
→∞ x→∞ x 8x
2Rm2 g 3 2 R 3 R 5
= xlim [ 2 − m1 V (( ) + ( ) )]
R
→∞ 1 + ( R 4 x x
X
= 2Rm2 g
dT dA
II) Primenom dt
= dt

1 1
T = m1 VC2 + JC φ̇2
2 2
1 1 1 ẋ2
= m1 ẋ2 + m1 R2 2
2 22 R
3
= m1 ẋ2
4
dT 3
= m1 ẋẍ
dt 2
′
d A = −m2 gdz + mdφ
d′ A ẋ
= −m2 g ż + M φ̇ = M − m2 gV
dt R
3 M R
m1 ẋẍ = ẋ − m2 gV ·
2 R ẋ
3 m2 gRV
M = m1 Rẍ +
2 ẋ

6
8.39
AB:Rm
BC:m, BC = l
CD:m,l
ωCD = ω = const.

M=?

Slika 5: OTDS 5-5

dT d′ Aφ
=
dt dt
T = TAB + TBC + TCD
T = TAB + TBC + TCD
1
TAB = 2mVB2 = mVB2
2
˙ = −2lφ̇ sin φ = V
BD = u cos φ, BD B
2 2 2
TAB = 4ml φ̇ sin φ

7
 1 1
TBC = mVT21 + JT1 ωBC 2
2 2
1 1 1
= mVT21 + ml2 ωBC 2
2 2 12
1 1
= mVT2D + ml2 ωBC 2
2 24
3 l
xT1 = l cos φ, yT1 = sin φ
2 2
3 l
x˙T1 = − lφ̇ sin φ, yT˙ 1 = φ̇ cos φ
2 2
2 ˙
2
VT 1 = xT1 + yT1 ˙
2

9 l2
= l2 φ˙2 sin2 φ + φ˙2 cos2 φ
4 4
1
= 2l2 φ˙2 sin2 φ + l2 φ˙2
4
l l
VT2 = ωCD = ω ⇒ ωCD = ω
2 2
l l
xT2 = cos φ, yT2 = sin φ
2 2
l l
X˙T2 = − φ̇ sin φ, yT˙ 2 = φ̇ cos φ
2 2
2
l l l
VT22 = φ̇2 ⇒ VT2 = φ̇ = ω
4 2 2

φ̇ = ω

l2 2
VT21 = 2l2 ω 2 sin2 φ + ω
4

VC = lω
VC = lωBC

8
 Slika 6: OTDS 5-6

⇒ ωBC = ω

1 1 1
TBC = ml2 ω 2 (2 sin2 φ + ) + ml2 ω 2
2 4 24
1
= ml2 ω 2 ( + sin2 φ)
6
1
TCD = JO ω 2
2
1 1
= (4 sin2 φ + + sin2 phi + )
6 6
1
= ml2 ω 2 (5 sin2 φ + )
3
dT
= ml2 ω 2 10 sin φ cos φφ̇
dt
= 10ml2 ω 3 sin φ cos φ

d′ A = M δφ − mgδyT1 − mgdyT2
l l
dyT1 = cos φdφ, dyT2 = cosφdφ
2 2
l l
dA = M dφ − mg cos φdφ − mg cos φdφ
2 2
= M dφ − mSl cos φdφ, φ̇ = ω
d′ A
= M φ̇ − mgl cos φφ̇ = M ω − mgl cos φω
dt

9
 10ml2 ω 3 sin φ cos φ = M ω − mgl cos φω| : ω
M = 10ml2 ω 3 sin φ cos φ + mgl cos φ
= 5ml2 ω 2 sin 2φ + mglcosφ

8.46

φ̇(φ) =?

Slika 7: OTDS 5-7

1
XA = a( − cosφ) ⇒ X˙A = aφ̇sinφ
2
1
XB = a( + cosφ) ⇒ X˙B = −aφ̇sinφ
2
YB = 2asinφ ⇒ Y˙B = 2aφ̇cosφ

10
 V⃗B = V⃗A + V⃗BA
x : VBx = x˙B = −aφ̇sinφ = aφ̇sinφ + 2aωAB sinφ
= −2aφ̇sinφ = 2aωAB sinφ
⇓
ωAB = −φ̇
y : VBy = y˙B = 2aφ̇cosφ = 0 − 2aωAB cosφ

X
T − T0 = Hi
i
1 1
mVC2 + JC φ̇2 = mga(sinω − sinφ)
2 2 √
1 1 1 3
mVC2 + mga2 φ˙2 = mga( − sinφ)
2 2 12 2

Slika 8: OTDS 5-7

V⃗c = V⃗A + V⃗CA

x : VCx = x˙A + aωAB sinφ
= aφ̇sinφ + aωAB sinφ
= aφ̇sinφ − aφ̇sinφ = 0
y : VCy = 0 − aωAB cosφ
= aφ̇cosφVC2 = a2 φ̇2 cos2 φ

11
 √
3
3a2 φ̇2 cos2 φ + a2 φ2 = 6ga( )
√ 2
a2 φ2 (3cos2 φ + 1) = 3ga( 3 − 2sinφ)
√
3g( 3 − 2sinφ)
φ̇ =
a(1 + 3cos2 φ)
s√
3 − 2sinφ 3g
φ̇ = − = −ωAB
1 + 3cos2 φ a

8.47

M = m2 ga

Slika 9: OTDS 5-9

X X
mi xi0 = mi xi
a a b
m1 f + m2 = m1 (x + f ) + m2 (x + cosφ − sinφ)
2 2 2
a a b
x(m1 + m2 ) = m2 − m2 cosφ + m2 sinφ
2 2 2
m2
x(m1 + m2 ) = [a(1 − cosφ) + bsinφ]
2

12
 m2
x= [a(1 − cosφ) + bsinφ]
2(m1 + m2 )

π m2
x = x(φ = )= (a + b)
2 2(m1 + m2 )
m2
ẋ = [xaφ̇sinφ + bφ̇cosφ]
2(m1 + m2 )
m2 φ̇
= (asinφ + bcosφ)
2(m1 + m2 )
π m2 φ˙1 a
ẋ = ẋ(φ = ) =
2 2(m1 + m2 )

X
T − T0 = Hi
i
T = T1 + T2
1
T1 = m1 ẋ2
2
1 m22 φ̇2
= m1 (asinφ + b cos φ)2
2 4(m1 + m2 )2
m1 m22 φ̇2
= (asinφ + bcosφ)2
8(m1 + m2 )2
m1 M22 φ˙1 2 a2
T1 (t1 ) =
8(m1 + m2 )2

1 1
T2 = m2 VT22 + JT2 φ̇2
2 2
m2 2 2
JT2 = (a + b )
12
V⃗T2 = V⃗A + V⃗TA2
a
VT2x (t1 ) = x˙1 + φ˙1
2
3
VT2y (t1 ) = − φ˙1
2

13
 Slika 10: OTDS 5-10

b2 2
 
1 a 2 m2 2
T2 (t1 ) = m2 (x˙1 − φ˙1 ) + φ˙1 + (a + b2 )φ˙1 2
2 2 4 24
" 2 #
m2 m2 a a b2 2 m2 2
a + b2 φ˙1 2


= φ˙1 − φ˙1 + φ˙1 +
2 2(m1 + m2 ) 2 4 24
" 2 #
m2 a2 φ˙1 2 b2

m2 m2 2
− 1 + φ˙1 2 + a + b2 φ˙1 2


=
2 4 m1 + m2 4 24
m21
 
m2 2 2 m2 2
+ b2 + a + b2 φ˙1 2


= φ˙1 a 2
8 (m1 + m2 ) 24
2 2
 
m2 2 3a m1 2 m2 2 2

2
= φ˙1 + b + a + b φ˙1
24 (m1 + m2 )2 24
3a2 m21
 
m2 2 2 2 2
= φ˙1 + bb + a + b
24 (m1 + m2 )2
m2 φ˙1 2 2 3m21
   
2
= a 1+3 + 4b
24 (m1 + m2 )2
m2 φ˙1 2 2 4m21 + 2m1 m2 + m22
   
2
= a + 4b
24 (m1 + m2 )2

T (ta ) = T1 (t1 ) + T2 (t2 )

" #
2
m1 m22 φ˙1 2 a2 m2 φ˙1 2 2 4m21 + 2m1 m2 + m22
= + a + 4b2
8(m1 + m2 )2 24 m1 + m2
5 m1 m22 φ˙1 2 a2 m2 φ˙1 2 2 4m21 + m22
   
2
= + a + 4b
24 (m1 + m2 )2 24 (m1 + m2 )2

14
  
a b m2 g
A0,1 (m2⃗g ) = −m2 g − =− (a − b)
2 2 2
π
A0,1 (M ) = M φ1 = m2 ga
 2 
X aπ a b m2 g
Ai = m2 g − + = (aπ − a + b)
i
2 2 2 2

5 m1 m22 φ˙1 2 a2 m2 φ˙1 2 2 4m21 + m22

   
m2 g
2
+ a 2
+ 4b = (aπ − a + b)| · 2
24 (m1 + m2 ) 24 (m1 + m2 ) 2
5 m1 m2 φ2 4m21 + m22
   
2 1 2
φ˙1 + a + 4b φ˙1 2 = g(aπ − a + b)
2
12 (m1 + m2 )2 12 (m1 + m2 )2
φ˙1 2  2 2 2 2 2 2

5m 1 m 2 a + a (4m 1 + m 2 ) + 4b (m1 + m 2 ) = g(aπ − a + b)
12(m1 + m2 )2

m2 φ˙1 2 a 2
x˙1 = |
2(m1 + m2 )
m22 φ˙1 2 a φ˙1 2 x˙1 2
x˙1 2 = ⇒ =
4(m1 + m2 )2 4(m1 + m2 )2 m22 a2

x˙1 2 
5m1 m2 a2 + a2 (4m21 + m22 ) + 4b2 (m1 + m2 )2 = g(aπ − a + b)

2 2
3m2 a
v
u 3gm22 a2 [a(π − 1) + b]
x˙1 = t
u
h  i
2 2 5m1 m2 +4m1 +m2
(m1 + m2 ) 4b (m1 + m2 ) + a m1 +m2
v
u 3gm22 a2 [a(π − 1) + b]
=t
u
h  i
2 2 4m1 m2 +4m21 +m1 m2 +m22
(m1 + m2 ) 4b (m1 + m2 ) + a m1 +m2
s
3gm22 a2 [a(π − 1) + b]
=
(m1 + m2 ) [4(a2 + b2 )(m1 + m2 ) − 3m2 a2 ]

15
8.47

1 :R, 2m
2 :m, b
M = const.
t0 = 0, sistem je mirovao

Slika 11: OTDS 5-11

X X
m : xi 0 = mi x1
 
b b
2m · 0 + m = 2m (Rφ + x) + m x +
2 2
3mx + 2mRφ = 0| : m
3x = −2Rφ
⇓

16
 2
x = − Rφ
3

2
x1 = x(Rφ = b) = − b
3
2 3 x˙1
ẋ = − Rφ ⇒ φ˙1 = −
X3 2R
T1 − T0 = Ai
i
T1 = T1 (t1 ) + T2 (t2 )

1 1
T1 (t1 ) = 2mVC21 + JC φ˙1 2
2 2
1
= mVC21 + 2mR2 φ˙1 2
2
1
= mVC21 + mR2 φ˙1 2
2
V C1 = x˙1 + Rφ˙1
 
3 x˙1
= x˙1 + R −
2R
1
= − x˙1
2
2
1 ˙2 1 2 9 x˙1
T1 (t1 ) = m x1 + mR
4 2 4 R2
11
= mx˙1 2
8
1
T2 (t1 ) = mx˙1 2
2
11 1 15
T1 (t1 ) = mx˙21 + mx˙1 2 = mx˙1 2
8 2 8
X b
Ai = mφ1 = M
i
R
r
15 2 b 8M b
mx˙1 = M ⇒ x˙1 = −
8 R 15mR

17