Professional Documents
Culture Documents
Introduction
Simple Harmonic Oscillation
(Vibration)
Transverse wave (1-dimensional):
wave motion on a rope
Longitudinal wave: the sound
wave
Electromagnetic wave
Fourier Analysis
Modulation
References
M. O. Tjia, Gelombang, Dabara.
HJ Pain, The Physics of Vibrations and Waves, 6th ed. Wiley.
Hariadi P. Supangkat, Catatan Kuliah FI311: Gelombang
Course Rules
Evaluation criteria
1st Exam (30%)
2nd Exam (40%)
Assignments/Quizzes (20%)
RBL project (10%)
Grade conversion:
Similar to First Year Physics
*)Subject to agreement from parallel class lecturers
Objectives
After studying this chapter you should be able to:
Derive simple harmonic motion for various physical
models
Compute the characteristic frequency of simple
harmonic oscillation
Derive the equation of motion for coupled oscillators
Compute the solutions for coupled oscillators
Use matrix equation to find the eigen solutions of
coupled oscillators
What is wave?
Wave is a propagation of a local disturbances (oscillation) to a
certain physical quantities.
Example of oscillations:
Oscillation of pressure
Oscillation of position
Oscillation of mass density
Oscillation of electric field or magnetic field
Oscillation of current
Etc
x0
= 0 or
2
2
= 2
2
,
where T :
If X(t) is obtained then everything about the motion is completely determined, such
as :
Velocity: =
= sin( + ), = _ max
Acceleration: =
= 2 sin + , 2 = _ max
= 2
2
the characteristic
L = 0,
Where I is the electric current and Q is electric charge.
2
2
Couple HMS
Model 1: a coupled simple pendulums
A pair of pendulum each with mass m is connected by a spring with
a spring constant k. Each of the pendulum is hung by a massless
rope with length l . Suppose each pendulums are displaced from its
equilibrium position by x and y.
What is the equation of motion for each pendulum?
Fk = -k (y-x)
2
Or
2 = tan ( )
W=mg
2
2
/ .
(1)
/ + .
(2)
Couple HMS
If there is no spring then each pendulum will vibrate with the characteristic frequency
02 =
2
2
2
2
+02 =
+02 =
(3)
(4)
+02 = 0
+(02 +
)=0
(5)
(6)
Meaning of equations:
If Y=0, the x=y all the times, the motion is completely described by (5, with normal frequency 02 =
Can you imagine the motion ? This is the in-phase motion.
If X=0, the x=-y all the time, this is the outof-phase motion,
The motion is completely described by (6)
2
with normal frequency 2 = 02 +
In normal coordinates each equation of motion is a differential equation with
constant coeff and each eq. only contains ONE dependent variable (e.g, X or Y)
Vibration associated with each normal coordinate is called normal mode and it has
its own normal frequency.
In undamped system the energy of each normal mode are :
potential energy (~ 2 2 ) and kinetic energy (~ 2 2 )
Thus for normal coordinate X, the energy = 2 + 2 and
normal coordinate Y, the energy = 2 + where a,b,c and d are constant.
In this example there are four different energies, therefore this system has 4
degree of freedom.
2
2
2
2
= / .
= / + .
(7)
(8)
The normal mode solution (or eigen solution) can be found by assuming that the solution may
be written as : = and = with initial condition all pendulums are starting from
rest. Substitute this solutions into (7) and (8) and use the definition 02 = and 2 =
(2 + 02 ) 2 = 2
2 + 2 + 02 = 2
(9)
(10)
Or in matrix notation :
2 + 02
= 2
(11)
+
In this expression , 0 are specified by the system parameters while A,B and are unkown.
2
02
2 + 02
2 + 02
To find the eigen value 2 , we solve the auxiliary eq : det (A-I)=0, where I is the identity
matrix.
2 + 02
2 + 02
=0
(12)
2
matrix, and =
2 + 02 02
0
+
02
(13)
02
Question: Write the solution for X and Y also in original coordinates x and y.
Analogously, for = 22 + 02 :
2 + 02 (22 + 02 )
2
0
+
+
Which give the solution A=-B.the antiphase motion.
2
02
(22
02 )
(14)
Question: Write the solution for X and Y also in original coordinates x and y.
If, initially the pendulums have initial velocities, then the solutions have the form:
= (1 ) and = (2) . The extra parameters are to be found from initial
conditions!
x
m
2
2
2
2
= ( )
(15)
= ( )
(16)
Using similar method we can solve these pair of eqs. Adding ( + ) and substracting =
will de-couple these eqs:
2
2
2
2
(17)
= 3
(18)
The normal coordinates in this system is (X,Y). If X=0, y=x is the in-phase mode, both masses move
in a similar way with freq. 12 = . This is the motion of the center of mass mode, no relative motion
(19)
The constants A,B and 1,2 are determined by its initial conditions.
Question: Can you write equivalent other form of general solutions?
1+ 2=0
(20)
=0
(21)
2
2
1 1
1 2
1 2
1 3
=0
=0
(20)
(21)
Question: Can you explain why the sign in dq1/dt is negative whereas in dq3/dt is positive?
Substitute these expressions into (20) and (21) result in the following equation:
2
2
+ (2 ) = 0
+ (2 ) = 0
(20)
(21)
2 1
2
2
=0
(23)
+ 2 = 0
(24)
and 22 =
(25)
From (25) we can write the solution in original coordinates as sum of the solution in terms of the normal
coordinates.
Each of the solution in normal coordinates is independent, and it vibrates with its own frequency.
Thus the solution of the original problem can be written as a linear superposition of these solution in
normal coordinates each with its own frequency. This will lead to the general method to analyze
vibration known as Fourier Series and Fourier Transform (see your Math. Phys. Lectures)
Small Oscillation
The driving force behind a simple harmonic oscillation is a restoring force which is
proportional to the displacement. In spring-mass system the force is the ideal elastic
force (Hookes law):
F=-kx
Where x : displacement.
It is called a restoring force since it always tries to restore the mass to its equilibrium
position. Check the motion!
The force is not necessary a pull or push as we have seen along the slides for different
situations. And so does the displacement.
However, we can also express this restoring force in term of energy, it is equivalent to
a quadratic potensial energy:
V
=+
1
2
10
= 2
8
6
4
2
0
-4
-2
Small Oscillation
Suppose x=a is the location of the minimum of V(x), then from Calculus we learn:
2
2
=0
=
>0
=
= +
1
+
2
=
2
2
+
=
As long as x is close to a (that is |x-a| << 1) then we can truncate the series up to the 3rd
term, and relative to the minimum energy we can express the energy as :
1
=
2
Where
2
2 =
2
2
=
=
1
2