Applications 51. Vibration of a spring Consider a steel spring attached to a support and hanging downward. stretched or compressed, its change in length will be proportion: exerted upon it and, when that force is removed, the spring to its original position with its length and other physical proper changed. Thereis, therefore, associated with each springa numerical consta of the force exerted force of magnitude Q pounds Q=ke ) defines the spring constant k in units of pounds per foot Let a body B weighing w Ib be attached to the lower end of a spring brought to the point of equilibrium where it can remain at ‘weight B is moved from the point of equilibrium in Figure 14, _—_—_— 156 gst] Vibration of a spring 187 the motion of B I be determined by a differential equation and associated FIGURE 13 motion takes place. Some common retarding forces, jional to the cube of the velocity, lead to nonlinear differe The weight of the spring is usually negligible compared to the weight B, ‘0 we use for the mass of our system the weight of B divided by g, the constat acceleration of gravity. If no forces other than those described above a upon the weight, the displacement x must equation al equations. x'(0) + bx) + kx(t) = 0. ¢ e Suppose that an additional vertical force, due to the motion of the support or to presence of a magnet and so on, is imposed upon the system. The new, impressed force, will depend upon time and we may use F denote the acceleration that ie would impart to the weight B. The158 Applications Ich. 10 impressed force is (w/g)F(t) and equation (2) is replaced by eet) + bx) + katt) = "RC, 6 & 8 At time zero, let the weight be displaced by an amount xp from the equi- librium point and let the weight be given an initial velocity v9. Either or both of xq and vg may be zero in specific instances. The problem of deter- mining the position of the weight at any time ¢ becomes that of solving the initial value problem consisting of the differential equation Zee) + bx) + kx) = SF, fore > 0, @ z z and the initial conditions X(0) = Xo (0) = 0 6 It is convenient to rewrite equation (4) in the form x") + Bx) + PX = FO, 6 in which we have put We may choose f > Oand we know y 2 0. Note that 7 = O corresponds to a negligible retarding force. ‘A number of special cases of the initial value problem contained in equa- tions (5) and (6) will now be studied 52. Undamped vibrations If» =0 in the problem of Section 51, the differential equation becomes + Blt) = Flo, w ‘second-order linear equation with constant coefficients in which f? = kee ‘The complementary function associated with the homogeneous equation 0) + Bx) = Ois sin fit + ¢3 cos i, and the general solution of equation (1) will be of the form x =e; sin ft + €, 608 ft + xp. Q where x, is any particular solution of the nonhomogeneous equation. 52] ‘Undamped vibrations 159 We now look at a number of examples of the motion described by equa- tion (2) for different functions F(x) in equation (1), EXAMPLE (a): Solve the s Fit) = Asino, where f ¥ w, The will be discussed in the next section, The differential equation of motion is 12 problem with no damping but with se ff = w leads to resonance, which 2x9 + kx) = "Asin or 8 g and may be written x) + Bx{t) = Asin ot, 8 with the introduction of f? = kg/w. We shall assume initial conditions X10) =X, (0) = 9 “ ‘A particular solution of equation (3) will be of the form x)= Esinot, and we may obtain E by direct substitution into equation (3). We have Fo? sin ot + fPEsinot = A ot, fan equation that is satisfied for al if we choose 4 Enp ie ‘The general solution of (3) now becomes x10) = ¢, sin fit + 6, 60s Bt + a9 4 PF 3) with derivative Ao £00 = coon fk ~ esin ft + A? scos The initial conditions (4) now require Aw eee and meh t Ae b Bo and force us to choose % Aw a= and ¢2 = Xo. “BO BE)160 Applications Ich. 10 From (5) it follows at once that 2%, Ao 4 () = "sin Bt + xo 608 ft — a sin Be + a xe) = sin Bt — Fig atin Bt + ae ‘The x of (6) has two parts. The first two terms represent the natural simple harmonic component of the motion, a motion that would be present if A were zero, The last two terms in (6) are caused by the presence of the external force (w/g)A sin wt sino. (6) EXAMPLE (b): A spring is such that it would be stretched 6 inches (in.) bya 12-Ib weight. Let the weight be attached to the spring and pulled down 4in, below the equilibrium point. If the weight is started with an upward velocity of 2f/sec, describe the motion. No damping or impressed force is present We know that the acceleration of gravity enters our work in the expression for the mass, We wish to use the value g = 32 feet per second per second (ft/sec) and we must use consistent units, so we put all lengths into feet. First we determine the spring constant k from the fact that the 12-Ib weight stretches the spring 6 in. }ft. Thus 12 = $k so that k = 24 Ib. ‘The differential equation of the motion is therefore Bx) + Ux = 0. o At time zero the weight is 4 in. (ft) below the equilibrium point, so x(0) = § ‘The initial velocity is negative (upward), so x(0) = ~2. Thus our problem is that of solving XO + x(t) = 0; x0) = 4, x10) = -2. 8) The general solution of equation (8) is x(8) = ¢, sin 8 + € C08 8t, from which x (8) = Be, cos 8t — Bey sin 8. ‘The initial conditions now require that fac, and -2=8e,, so that finally xlt) = —4 sin 81 + $008 81, ° A delailed study of the motion is straightforward once (9) has been ob- tained. The amplitude of the motion is, OF +a? = 4 §331 Resonance 161 that is, the weight oscillates between points 5 in. above and below E, The period is {x see. 53. Resonance In Example (a) of the previous section we postponed the study of the special case, ff = ©. In that case, the differential equation to be solved is (0) + Bxtt) = Asin Br, wo where we had let 6? = kg/w. The complementary function associated with the homogeneous equation x’) + BPx{t) = 0 will be the same as it was before, but the previous par- ticular solution x, will not exist because fi = o. ‘The method of undetermined coefficients may be applied here to seek @ particular solution of the form x, = Pt ft + Qteos pr, Q where P and Q are constants to be determined. Direct substitution of the x, of (2) into equation (1) yields 2PB cos ft — 2QB sin pt = Asin Br, an equation that can be satisfied for all: only if P = 0 and Q = — 4/26. Thus xp = 5 cos ft, 8) and the general solution of (1) is x)= At nt + e360 ft ~ 30s Bt, ® from which we obtain At A (0) = exPcos ft — ef sin ~ Zcos pt. (0) = eqBtcos pt — e,pssin ft + S'sin ft ~ 550s fi » how force us to take ‘The initial conditions (0) = xp and x(0) = =x and gy = 4S The final solution may now be written b% 4 = xocos f+ sin f+ 5 (sin fit ~ fit cos fi). o162 Applications Ich. 10 ‘That (5) satisfies the initial value problem is readily verified. In the solution (5) the terms proportional to cos fit and sin ft are bounded, but the term with fit cos fr can be made as large as we wish by proper choice of t. This building up of large amplitudes in the vibration is called reso Exercises 1. A spring is such that a ing reaches equil lb weight stretches it 6 in. The S-1b weight is attached, the giving the position of the weight at all subseque ANS, x = H{c0s8t ~ 3sin 8). 2. Aspringis stretched 1 Sin, by a 21b weight. Let the weight be pushed up 3 in. above E and then released. Describe the motion. ANS. x = — feos 16. 3. For the spring and weight of exercise 2, let the weight be impressed force of magnitude 9sin rb, describe the motion. Assume that the impressed force acts downward for very small ANS, x= oos8r — {sin Sr + $ sind. 7. Show that the answer to exercise 6 can be written x= A Deos e+ w/4) + § sin de 4 An impressed force } sin 8 is sed from a point 3in, below the = t)eos St + zesin 8 ich stops occur and ANS t= a/8, of exercise 8, find the: ng is such that a 16-b weight stretches it 1S in. The weight is pulled down toa point 4 in, below the equilibrium point and given an initial downward velocity of Afysee. An impressed force of 360.cos-tlb is applied. Find the position and velocity of the weight at time ¢ = x/8 sec. ANS. ALE = 5/8 G00). = —$ (0 = —8 (fyseo). S54] Damped vi ions 163 12, A spring is stretched 3 in. by a Sb weight, Let the weight be started from E with ‘an upward velocity of 12sec. Describe the motion. ANS. x = —L.06sin ‘and weight of exercise 12, et the weight be pulled down 4 in, below then given an upward velocity of& ft/sec. Describe the motion, ANS, x= O33 cos 1131 — Let the spring first be compressed iced and given an initial downward velocity ANS 35, Ib weight beattached 1m point and released 18. A spring is such that it is stretched 4 in by a 10b weieh to be pulled down Sin. below E and then given a do Describe the motion, ANS, x= 04208981 + 1.53 sin 9.8¢ = 1.59 e0s(9.8¢ ~ 4), where @ = arc tan 364, 19. Asspring is such iretched 4 in. by an 1b weight. Suppose the weight to be pulled down 6 in. below E and then given an upward velocity of 8 ft/sec. Describe ANS. x= 05008981 — 082sin 9.8 answer to exercise 19 can be written x = 0.96 c0s 98r +) where ANS. f= n/8,4 7/4, 34/8 Gee). 22. A spring is stretched 1.5 in, by a 4-1b weight. Let the weight be pulled down 3 in. um and released. If there isan impressed force 8 sin 16¢ acting upon the spring, desc 23, For the motion of exercise 22, find the first four times at whi 54, Damped vibrations In the genei with inear spring problem of Sect Si, we were confronted XO + x) + PX) = FO; x10) = Xo.) = 0, (1)164 Appl Ich. 10 which 2 = bg/w and f? = ke/w, B > 0. The auxi m + B? = Ohas roots ~7 + v/7? = F and we see complementary function depends upon whether f > If p> 7, B ~ 7 > 0, so let us put pope ry equation m? + 1¢ nature of the = 1, 0r P<}. ‘The presence of 1¢ natural part of the that is, the part independent zero as + co. we have f = 7, the two roots of the auxiliary equal and the general solut mn are equal 4 (1) we have f < y and ;? — 6? > 0, then we can set P-B=0, o>0. 0 Since o <7, the two roots of the auxiliary equation are both real and negative, and we have HE) = eye CgETH™ HH 6 Again Y3( ind we see that the damping factor e~* causes the natural component of 6) to approach zero as t -+ 00 Suppose for the moment that we have F(t) = 0, so the natural component ) holds and the motion is said to be overdamped; the parameter 7 is large han it needs to be to remove the o» shows a represer n mentioned in this paragraph, a damped o: damped motion, and an overdamped motion. $54) ‘Damped vibrations 168 FIGURE Is ‘The auxiliary equation of (7) may be written m+ L6m + 64 = 0, an equation that has rots ~08 + /63.361, Therefore, the general solution ~®-8(c, cos 8.0F + cy sin 81 and ) = [Bey ~ 8c) sin 8.07 + (Be, ~ 08c,) cos BOF}. ‘The initial conditions in (7) now give us dee, and -2= 8c, -08c,, so that c, = 0.33 and e, = ~0.22, ‘Therefore the desired solution is ) = expl ~0.81)0.33 cos 8.01 ~ 0.22 sin 801), @ portion of its graph being shown in Figure 16. FIGURE 16166 Applications [cu 10 Exercises 1. Acertain straight-line motion is determined by the differential equation i-and draw the graph (0) Use y = 12. Find xin (©) Use y = 14, Find x in terms of ¢and draw the graph. ANS, x= 0.710 — 6 A An impressed force } acting on the spring. The ted upward velocity o 2 times, Find the equation dese TANS. x= fe-"Qsin Tr — cos 70. spring and moves in a medium which furnishes a dan ‘The weight is drawn down 4 ft below the ea ty of sec. Find the position of the wei aS x= [A spring is such that a 4-1b weight stretches the spring 0.41. The 4b ‘attached to the spring (suspended from a fixed support) and the system is. reach equilibrium. Then the weight is started from eq ed upward velocity of 2f/sec. Assume that the motion takes place in a ‘medium that furnishes retarding force of magnitude numerically equal to the speed, in feet per second, of the moving weight. Determine the position of the weight 1s a function of time. ans. x= —her*"sin 'A spring is stretched 6 in. by a 3-Ib weight, The 3-1b weight is attached to the spring and then started from equilibrium ‘upward velocity of 12 fysec. = sin80). Jp that a 2-b weight stretches it 6 in. There isa damping force present, ‘An impressed force " = feos i. 8. A spring is stretched 10in. by a 4 ‘equilibrium point with an upward vel $54] Damped vibrations 167 = HBr + Ne“™ — Hos: = —sheost 8, page 162, be retarded by a dam; force of magnitude Sx = 0300 — 0030" — 2c ler exercise 6, page 162, b he velocity and then di 20. Let the weight of exercise 19 be given an {Determine v and 21. From the results in exercise 20, find a relation that does not os Om Bt toax = Hat + Bt ANS, 0? = 08 + Ja 22. Iai nee furnishes an additional force proportional to the velfeat ions. Ich. 10 Solve equation (A) given the conditions ¢ = 0,x = 0, and v = gp. Use a = bg, ANS esata 23, Tocompare the series for &~ nB3. ANS = 24, The equation of motion of the vertical fall of a man with a parachute may be roughly approximated by equation (A) of exercise 2, Suppose a 180-Jb man drops fom a great height ins a velocity of 20 miles per hour {mph) after a long time, Determine the implied coefficient b of equation (A). ANS. 6.1 Mt, is moving along the x-axis according to the law © 22 and discard 4 ryt = JaPGry + inthe answer for Pot aseno tent es 1 particle started at x = 0 with an terms of (6) the times at which stops. al values of x at successive stops, ) xe —3e sind, = 0.23 + dram =0,1,2,3, 095. 55. The simple pendulum A rod of length C ft is suspended by one end so it can swing freely in a vertical plane. Let a weight B (the bob) of w lb be attached to the free end of the rod, and let the weight of the rod be negligible compared to the weight FIGURE 17 $55] The simple pendulum 169 ‘w lb) is w sin 0 and it tends to decrease 8. Then, neglecting the rod and using $ = CO as a measure of arc length from the ver! we may conclude that ion, wes gaz ~ ~wsing w Since $ = C8 and C is constat involves an |, however, sin and @ are nearly equal and approximated by the much simpler equation “ vo 2, 2 Get h=0; p= The solution of usable results whenever those : (radians). se Bios Esercss 1} Aclock has 6-in, pendulum. The clock ticks once for each time that the pendulum Feturning to its original position. How many times docs the . ANS. 38 times. ‘an angle one-tenth of a radian from the ftsec’), describe the motion, " ANS, 0 = 0.1 cos 8¢ (radians). ‘maximum angular speed and it 3. For the pendulum of exercise 2, find t 4.4 Grin. pendulum froma position on¢ sited W Tada, toward te er ihradan rom th vera Deseret ton ‘as O= fond Taint dian degree the maximum angul . i" 8 a pendulum problem and solve: “ s GtPO=OP =F, whene=0,0= 0,0 = 8 = 7 a 0 = by, 0 = B= wy ANS 0 = 05005 ft +B! wg sin ft (radians) isplacement from the vertical for the pendulum ol ANS. Ona = (08 + 8 id the maxim exercise 6