A Periodic Solution for a Certain Problem in Mechanics

Author(s): J. W. Campbell
Source: The American Mathematical Monthly, Vol. 34, No. 4 (Apr., 1927), pp. 188-195
Published by: Mathematical Association of America
Stable URL: http://www.jstor.org/stable/2299863
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188 A PERIODIC SOLUTION FOR A CERTAIN PROBLEM IN MECHANICS [Apr.,

THEOREM IV. The square of the standard deviation,GOL, of a Lexis series,

is givenby theformula:
(n2 -rn
aL = npq+ ( ) (pi-p)2, wherep= (p+p2+ + . +pr)/r and q =1-p.
r i=1

For the calculationof the square of the standarddeviation,we

PROOF:
considertheexpression:
oL2 = [fo(np - 0)2 + fl(np - 1)2+ ?+ f(np - n)2]/rN
= [n2p2(fo+ f + i * * * + fn)/rN] [2np(0 fo + 1 .f++ ?+ nfn)/rN]
+ [(02fo + 12fi + 22f2 + + n2f,) /rN]

-n2p2 + Z (02fo(i) + 12f,(i) + 22f2(i) + . + n2f (i)) rN.

Fromthefactthat
n

E f/i)(np, -
j)2 = Nnpiq,
i=0

we have, aftersquaringand collectingterms,

02fo(i) + 12fl(i) + 22f2(i) + + n2f,(i) = Nnpiqi + Nn2p 2

Hence we get
r r r

[02fo(i)
+ 12fl(i) + + n2f,(i)]/r Al nptqi + n2 p2 )/r

r pi(i I
2_
i=1 Pi
-pi)2
n2E Zp2
]/= f ?pn2n r i=A

thisvalue above, we have the formula

Substituting
n2 _ n r
cL2 =-_n2p +np + E pi2
r i=1

givenin the theorem.

whichis easilyseen to be equivalentto theexpression

A PERIODIC SOLUTION FOR A CERTAIN PROBLEM IN

MECHANICS'
By J. W. CAMPBELL, Universityof Alberta

Supposea mass m restingon a smoothhorizontaltable,is connectedby a

lightinextensible
string,whichpasses througha smallholein the centreof the
table,to a mass M hangingfreelyand supposethat inis givena blowin a di-
1 Presentedto the AmericanMathematicalSociety,Sept. 9, 1926.
1927] A PERIODIC SOLUTION FOR A CERTAIN PROBLEM IN MECHANICS 189

rectionat rightanglesto the stringon the table. Then if the centrifugal

force
exertedby m is equal to the weightof M, m willrevolveabout the hole in a
circleand M will remainin stationaryequilibrium.If the blow impartedto
m is less than this criticalvalue thenthe centrifugal
forceexertedby m will
be less thantheweightofM and M willfall. But as M fallsthedistancefrom
m to thehole willdecrease,the centrifugal forceexertedwillincrease,becom-
ingequal to and thenexceedingtheweightofM. The downwardmotionofM
will thus attain a maximumvalue and thendecreaseto zero,afterwhichM
will rise. The oppositeeffectwould be obtainedif the blow impartedto m
weregreaterthanthe criticalvalue. Therefore in generalM willoscillatein a
verticalline.'
The above physicalphenomononformsthe basis of problemsgiven in
Lamb's Dynamics, page 148, and in Byerly's GeneralisedCoordinates,page 22.
The problemsas therestatedare onlyto findthe totalrangeof themotionof
M, and not to finda generalsolutionof the motion,but a generalperiodic
solutionis hereobtainedwhenthe totalrangeofmotionis not too great. The
methodofobtainingthesolutionis analogousto themethodsused in thefind-
ing of periodicorbits2in mathematicalastronomy, and the main purposeof
the articleis to illustratethe applicabilityof thosemethodsto problemsof
physicsand mechanicswhereperiodicvariationis involved. The solutionalso
showssomepeculiarities not commonto astronomical problems.
Let us denoteby r thedistanceofm fromthehole,by x thedistanceof M
belowthepositionfromwhichit starts,by 0 theangularpositionof the string
on thetable,and by T thetensionof the stringat timet.
Then by thelaws of motionwe obtainthe equations

m(r - r02) + T = 0
m(r6+ 2M) = 0
M - Mg + T = 0.
T betweenthe
Integratingthe secondof theseequationsand eliminating
firstand thirdwe obtain

r2o = Cl; m(r0-r2) - Mt + Mg = 0.

We now put r= a - x, and then,eliminating
0 betweentheseequations,we
obtain
x(m + M)+ mc~1/(a- x)3 - Mg = 0.

1 It is assumed
thatthelengthofthestring
andtheinitialconditions mnorM
aresuchthatneither
reachtheholebefore theextreme
positions
ofM arereached.
2 F. R. Moultonand collaborators, 161.
PeriodicOrbits,
CarnegiePublication
190 A PERIODIC SOLUTION FOR A CERTAIN PROBLEM IN MECHANICS [Apr.,

This equationmay be writtenin the form

x + A/(a -X)3 - g,= O
(1) A = mc?/(m + + M).
M), g, = Mg/(rn
It followsfromtheseequationsthat
. = 0 whenA/(a-x)3 =gl, thatis whenx =a-(A/gi)"'3.
Then put
(2) x = a - (Al/gl)" + z,
and the equationof motionbecomes
A
z- = l
(Algl)113- Z)1}3
or
Z + gi(l - k)-3 = gl, where k3- g/A.
Expandingby the binomialtheoremthislast equationmay be writtenin
the form
( ~~10
z+ 3g,k1z + 2kz2+ - k2z3+ 5k3z4- 7k4z5. = 0

providedz < Ilk. The k of thisequationis a parameterof theproblembut it

is nota convenientparameterin whichto expressthesolutionwithoutgeneral-
isation. To obtaina periodicsolutionwe makethetransformations
(3) z = cy ; 3g,k = K; ck = X ; t -t = T (I + 3)/K}1/2

where 11 is the time at which x =a-lk, or at which z =0 and at which dx/dt

is positive.
equation then becomes
The differential
y" + (1 + a){y + 2Xy2+10/3x2y3 + .. 0
(4)
wherethe primesdenotedifferentiation withrespectto T.
The X is now takenas theparameterof the solution.The a is also a para-
meterwhichis to be determinedso that the motionshall be periodicwith
period2r in T, the introduction of theK as above makingthis possible. The
introduction of the c is to facilitatethe discussionand the construction
of the
solution,as the c may be determined so thaty'(0) = 1.
For
dt
yI = z'/c = -/c (1 + 8)/K} 1/2/c,
dT

since z = cy. Also by (2) c=, and the energyintegral of (1) gives
A
+ glx= c2
2 2(a -x)2-
1927] A PERIODIC SOLUTION FOR A CERTAIN PROBLEM IN MECHANICS 191

c2=A/2a2. Then at x=a-1/k we have

At x=O, x=O and therefore

x2-A ( k2) + 2g, a- -

ify'(O)= 1,
Therefore

(5) c = { A( - k2) + 2g1(a - i)} {2(1 + 3)/K} 1/2.

forlateruse to denotethefirstfactorofthisexpression
It willbe convenient
by a singlesymbol,and accordingly we put

(6) y = {A (2 - k2) + 2g1(a - )}

Now equation (4) may be regardedas a differential equationin two para-

meters,a and X,and by thegeneraltheoryofanalyticdifferential equationsit
maybe integrated as a powerseriesin a and X,convergingfora and Xsufficiently
smallforanypreassigned intervaloftime.It is truethatthea appearsimplicitly
in Xbutwe shallgeneraliseit and forthepurposeofconstruction ofthesolution
we shallregardit as a constantwhereit appearsimplicitly.
Let thepowerseriessolutionin a and X be represented by
00

Y= E yiwviX
isj=O

yxi(O)= (i,j=O,* ,%
(7) yOO(0)= 1
yiti(O)=O (i,j = O ... * ; i+j O).

of 8iXj(i,j=O*,... oo) we
Substituting(7) in (4) and equatingcoefficients
obtain a systemof equationswhichmay be integratedsequentially.
of60X0gives yoo' +y0o= 0; and yoo= sinT is the solution satisfy-
The coefficient
ing the initialconditionsstated.
of 8X?gives y1'' +y,o =-sinr.
The coefficient
The solutionof this equation satisfyingthe initial conditionsis readily
foundto be
1 T
Yio =--sin T+ -cosr.
2 2
Thesetwostepsare sufficient to establishtheexistenceofa periodicsolution
of (4). For the conditionsof sucha solutionwithperiod2r in r are
(8) y(27r)= y(O) = 0; y'(27r)= y'(O)= 1.
192 A PERIODIC SOLUTION FOR A CERTAIN PROBLEM IN MECHANICS [Apr.,

These conditionsare not independenthowever,as the firstimpliesthe

second. For sincey(O) 0 and y'(O)= 1, theenergyintegralof (4) impliesthat
then
ify(2w7r)=O,
y'(27r)} 2-{y'(0)} 2 = 1, and thereforey'(2ir)= + 1.
But sinceby thepowerseriessolutionjust obtained

y=sinr +(- sinr + - cos r)6 +

it followsthat
(9) y(2r) =r6 + q(Q,X), q(0,0) = 0,
(10) y'(27r)= 1 + p(6,X), p(O,O)= 0.
Equation (9) may be solvedfor6 as a powerseriesin X,vanishingwithX
and convergingforX sufficiently small. Also (10) is true forX sufficiently
small. But when X=0, by (10) -1. Therefore
y'(27r) = +1, and not -1,
y'(2wr)
small. Therefore
forX sufficiently thefirstof equations(8) impliesthesecond.
Againchangingthe signsof y, X and r leaves the differential equation(4)
unchangedand also theinitialconditions y(O)= 0, y'(O)= 1 unchanged.There-
foreify=f(X, 6; r) is a solution,-y=f(-X, 6; -r).
And iff(X, 6; r) is periodicwithperiod2wx, thenf(- X, 6; - r) is also peri-
odic withperiod2wr.Hence if 6 is determined so thatf(X,6; 27r)= 0, then
f(- X, 6 ; - 2r) = f ( -, 6 ; 27) = 0.
6 is expan-
evenin X and therefore
This meansthatf(X,6; 27r)is explicitly
sibleas a powerseriesin even powersof X.
Let such an expansionbe represented by
(11) 8 = 82X2+ 84X4 + 66X6+ *

Now by (3), (5) and (6), X2= c2k2 2k2(1 + 6)/K

and if we put , = then
y2k2/K,

(12) 6 = 62A(1+ 6) + 64/u2(1+ 6)2 + 36A3(1 + 6)3 + *- .

But thisis again an implicitequationin 6 and , whichmay be solvedfor6

as a powerseriesin A,vanishingwith, and converging small.
for, sufficiently
The solutionis
6 = 32 + (32 + 64)Q2 + (623 + 36264 + 68)A3+

Withthisvalue for6 the solution(7) is periodic.

1927] A PERIODIC SOLUTION FOR A CERTAIN PROBLEM IN MECHANICS 193

Direct Constructionof theSolution

Instead of finding f(X, 3; r) in the manner indicated and solving
f(X, 3; 2-r)=0 for 3 to get equation (11), it is simpler to solve equation (4)
directlyas a power seriesin X, determiningthe coefficients of the expansion (11)
at each step so that the solution shall be periodic with period 2wrin ir.
Accordinglywe assume the solution
00 00

y= I:yixi ; 6= Y,62iX2i
i-O i=l

yi(O) = O (i= o, * * 0)

I0V,(0) = 1, y '(0) 0 (i-1, * , ).

This solution must satisfythe equation identicallyin X, and thereforeafter

the substitutionwe may equate the coefficientsof Xi separately to zero. There
resultsa systemof differential equations whichmay be integratedsequentially,
the constants of integrationbeing determinedat each step so as to satisfythe
above conditions.
The coefficientofXOgives yo' + yo = 0. The solution is yo= sin.
The coefficientof X gives yl' + y = - 2yo2 = - 1 + cos 2ir.
The solution of this equation is
4 1
y = + - cos r - - cos 2r.
3 3
The coefficient
of X2 gives

Y21 + Y2 -(4yoyl+ y03 + 2YO)

/3
/ 5\ 8 3
-a- 2 + - sinr - -sin 2r +- sin 3r.

For periodicity,32= 5/6, and the solution of the equation gives

175 8 3
Y2 = --sin r + - sin 2r - - sin 3r.
144 9 16
of X3 gives
The coefficient
/ ~~~~~~~~5
5 \
Ya" + y3 = - 2y12 + 4YOY2 + 10yo2y + 5Yo4
+ -
yi + y2)

5 44 35
= - - - cos 2r + 6 cos 3r - - cos 4r.
6 9 18
194 A PERIODIC SOLUTION FOR A CERTAIN PROBLEM IN MECHANICS [Apr.,

The solution of this equation is

5 199 44 3 7
Y3 = - - --cos r + -cos 2r - -cos3r + -cos 4r.
6 108 27 4 54
This method may be carriedon indefinitelyand as many of the coefficients
as desired obtained. The coefficientsof odd powers of X are cosine series in
multiplesof r and thecoefficients
ofevenpowersare sineseries.It seemsrather
thatwhilethedetermination
remarkable ofa 32i is necessaryin orderto elimi-
nate the term in sin r in obtaining the coefficientsof even powers of X, in
obtaining the coefficientsof odd powers the term in cos r drops out auto-
matically.Thereseemsto be no simpledirectproofof thisfact,but thatit is
truefollowsfromtheexistenceand theuniquenessof theperiodicsolution.
Also, the values of the coefficients
obtainedmay be checkedby meansof
the energyintegralof equation(4). That integral,aftersimplification,
is
4 5 7
y'2 + a constant= - -(1+ + -Xyl + _X2y4+ 2X3y5+ _X4y6+
3 3 3 /

This equation must be satisfiedidentically in X, and thereforethe substi-

tutionin it of the solution (12) requiresthat the followingrelationsbe satisfied.

yI2 + a constant- yo2

IY / 4 \
2y + 2yoyl + yc?
+2YJy2= 3
yl2 + Syoty2t= _ (y2 + 2YOY2 + 4y I + - yo0 +
y{ +2y0

{ ~~~~~~~~20
2yly + 2YY3 = - 2YY2 + 2YOY3 + 4y2Y2 + 4y0y 2 + 3yoi

+ 2yO5 + 52(2yoy1 + - yo0)}

Finally,the solutionin termsof the originaldata is, on substitution,

x = a-- + c{ sin -- (3-4 cos - + cos2-)X

- -- (175 sin -r-128 sin 2r + 27 sin 3r)X2

144
1
+ -8 (90 - 199cos T+ 176cos 2T- 81 cos3r + 14cos 4r)X3+
108
1927] SUGGESTED READINGS IN THE THEORY OF NUMBERS 195

where
= (t - tl)/{ (1 + a)/K} 1/2; 6 = 5/6g +
c2 = y2(1+ )/K; X = ck ; y2k2/K
I 1 \ma 40o
ly2 = A - - k2) + 2gi a - k)- A = -~ +M

Mg
g= ; k = (gi/A)"3 ; K = 3g1k.
m+ M
The general solution shows that the motion is non-symmetricalabout the
equilibrium position.
To illustrate by a numerical example, if we take a=10ft., m=0.1lb.,
M = 2.9 lb., a6o= 100 ft./sec.and g = 32.16 ft./sec2.,then
A = 33333ft.4/sec. 2 g = 0.0005465

gi = 31.088 ft. /sec.2 = 0.000455

k = 0.097702 ft.-I c = 0.239 ft.
9.1123 8 sec.-2 X = 0.0234
y2 .2
= 0.5217 ft.2/sec
Then the period is
P = { (1 + 6)/K} 1/22r = 2.08 sec .
Solution by interpolation shows that the motion below the equilibrium
position requires 1.02 sec. per oscillation and that above 1.06 sec. The total
range of oscillation is 0.478 ft., of which 0.235 ft. is below the equilibrium
position and 0.243 ft.is above.

SUGGESTED READINGS IN CONNECTION WITH

"SUCCESSIVE GENERALIZATIONS IN THE THEORY OF NUMBERS"'
By E. T. BELL, CaliforniaInstitute of Technology

R. Dedekind. Sur la theoriedes nombresentiersalgebriques,Bulletin des

Sciences Mathematiques(Darboux'Bulletin),(2), vol. 1, pp. 17-41, 69-92,
114-164,207-248. Also publishedseparatelyby GauthierVillars,Paris, 1877.
- VorlesungenibberZahientheorie,von P. G. Lejeune Dirichlet, 4th
in 1912), SupplementXI.
edition,1894 (reprinted
G. Zolotareff. Theoriedes nombresentierscomplexes,avec une application au
calculintegral.St. Petersbourg,1873-4. ChapterIII fortheoryof ideals.
Journaldes Mathematiques(Liouville'sJournal),(3), vol.6, (1880)
pp. 51-84, 115-129,145-167.
E. T. Bell was publishedin theFebruarynumberof thisMonthly,
1 Thispaperby Professor
vol. 34 (1927),pp. 55-75.