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Lecture Note About Non Harmonic Motion

This document discusses driven harmonic oscillators and solutions to the differential equation θ̈ + Γθ̇ + ω02 θ = f0 cos ωd t. It provides examples of underdamped, critically damped, and overdamped oscillators. It also gives examples of driving a pendulum and plotting amplitude and phase versus driving frequency.

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Yasir Lone
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65 views6 pages

Lecture Note About Non Harmonic Motion

This document discusses driven harmonic oscillators and solutions to the differential equation θ̈ + Γθ̇ + ω02 θ = f0 cos ωd t. It provides examples of underdamped, critically damped, and overdamped oscillators. It also gives examples of driving a pendulum and plotting amplitude and phase versus driving frequency.

Uploaded by

Yasir Lone
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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8.

03 Lecture 3
Summary: solution of θ̈ + Γθ̇ + ω02 θ = 0

(0): Γ = 0 No damping:
θ(t) = A cos (ω0 t + α)
Γ2
(1): ω02 > 4 Underdamped Oscillator:
s
Γ2
θ(t) = Ae−Γt/2 cos (ωt + α) where ω = ω02 −
4
Γ2
(2): ω02 = 4 Critically damped oscillator:

θ(t) = (A + Bt)e−Γt/2
Γ2
(3): ω02 < 4 Overdamped Oscillator:
s
Γ2
θ(t) = Ae−(Γ/2+β)t + Be−(Γ/2−β)t where β = − ω02
4

Continue from lecture 2:

Now we are interested in giving a driving force to this rod:

Assume that the force produces a torque:

τDRIV E = d0 cos ωd t

Total torque:

τ (t) = τg (t) + τDRAG (t) + τDRIV E (t)


Equation of motion: θ̈ + Γθ̇ + ω02 θ = dI0 cos ωd t
Where, from last lecture, we have defined:
r
3b 3g
Γ≡ ω0 ≡
ml2 2l
Where Γ is the size of the drag force and ω0 is the natural angular frequency (i.e., without drive).
Also, define f0 ≡ dI0 . Now our equation of motion reads:

θ̈ + Γθ̇ + ω02 θ = f0 cos ωd t

We would like to construct something to “cancel” cos ωd t. Idea: use complex notation:

z̈ + Γż + ω02 z = f0 eiωd t

Guess:
z(t) = Aei(ωd t−δ)
where the δ is designed to cancel eiωd t . It takes some time for the system to “feel” the driving
torque. Taking our derivatives gives us:

ż(t) = iωd z
z̈(t) = −ωd2 z

Insert these results into the equation of motion:

(−ωd2 + iωd Γ + ω02 )z(t) = f0 eiωd t


(−ωd2 + iωd Γ + ω02 )Aei(ωd t−δ) = f0 eiωd t
(−ωd2 + iωd Γ + ω02 )A = f0 eiδ
= f0 (cos δ + i sin δ)

Since this is a complex equation, we can solve for A and δ


Real part: (ω02 − ωd2 )A = f0 cos δ
Imaginary part: ωd ΓA = f0 sin δ
Squaring both of these equations and adding them together yields:
h i
A2 (ω02 − ωd2 ) + ωd2 Γ2 = f02
f0
A(ωd ) = q
(ω02 − ωd2 ) + ωd2 Γ2

Dividing the imaginary part by the real part yields:


Γωd
tan δ =
ω02 − ωd2

⇒ θ(t) = Re[z(t)] = A(ωd ) cos (ωd t − δ(ωd )) (1)

2
Where both A(ωd ) and δ(ωd ) are functions of ωd .
No free parameter?! Actually, this is the a particular solution. The full solution (if we prepare the
system in the “underdamped” mode) is:

θ(t) = A(ωd ) cos (ωd t − δ) + Be−Γt/2 cos (ωt + α)

Where the left side with amplitude A is the steady state solution and the right side with amplitude
B will die out as t → ∞.

You may be confused with so many different ω’s!! To clarify: p


ω0 is the “natural angular frequency.” In our example with the rod, ω0 = 3g/2l q
ω: this frequency is lower if there is a drag force. It is defined by the equation ω = ω02 − Γ2 /4
ωd is the frequency of the driving torque or force

Example: Driving a pendulum

Force diagram

F~DRAG = −bẋx̂
F~g = −mg ŷ
T~ = −T sin θx̂ + T cos θŷ

Take a small angle approximation: sin θ ≈ θ = x−d


l and cos θ ≈ 1
This implies:
x−d
T~ ≈ −T x̂ + T ŷ
l

3
In the x̂ direction we have
x−d
mẍ = −bẋ − T
l
and in the ŷ direction we have
0 = mÿ = −mg + T
where the force has to be zero because there is no vertical motion (assuming a small angle). We
now know mg = T .
Setting up our equation of motion we have
mg mg
mẍ + bẋ + x= ∆ sin ωd t
l l
b g g∆
ẍ + ẋ + x = sin ωd t
m l l
To compare with our previous solution, define Γ ≡ b/m, ω02 ≡ g/l, and f0 ≡ g∆/l to give

ẍ + Γẋ + ω02 x = f0 sin ωd t

Let us examine the amplitude:


f0
A(ωd ) = q
(ω02 − ωd2 ) + ωd2 Γ2

There are a few cases we need to consider:


(1) ωd → 0
f0 g∆/l
A(ωd ) = 2 = =∆
ω0 g/l
The amplitude will simply be the amplitude of the initial displacement. If the drive frequency is
zero then tan δ = 0 → δ = 0.
(2) ωd → ∞
A(ωd ) ⇒ 0 and tan δ → ∞ therefore δ = π

4
A plot of the phase as a function of the drive frequency.

A plot of the amlitude as a function of the drive frequency.

There is a third possibility:


(3) ωd ≈ ω0
This is called driving “on resonance.” Even a small ∆ can produce a large A, amplitude:

f0 ω2∆ ω0
A(ω0 ) = = 0 = ∆ = Q∆
ω0 Γ ω0 Γ Γ
Where Q ≡ ω0 /Γ and is a large parameter which gives a large amplitude.

5
MIT OpenCourseWare
https://ocw.mit.edu

8.03SC Physics III: Vibrations and Waves


Fall 2016

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