Course: PH103 (Autumn Semester 2023)

Tutorial-7
Dr. Neha Shah
1. Consider two pendula, which are coupled together with a spring, spring constant k, as
shown in figure-1. Assume that the displacement from the equilibrium positions are small
enough that small angle approximation could be used and motion is approximately only in
the x-direction. Find the normal modes and normal co-ordinates for this system.

Figure-1
Solution:

The equation of motion both masses is given by

𝑑2 𝑥1 𝑚𝑔
𝑚 2 =− 𝑥 + 𝑘(𝑥2 − 𝑥1 ) ⋯ [1]
𝑑𝑡 𝑙 1

𝑑2 𝑥2 𝑚𝑔
𝑚 = − 𝑥 − 𝑘(𝑥2 − 𝑥1 ) ⋯ [2]
𝑑𝑡 2 𝑙 2
Adding equation [1] and [2], we get
𝑑2 𝑚𝑔
𝑚 2 [𝑥1 + 𝑥2 ] = − (𝑥1 + 𝑥2 )
𝑑𝑡 𝑙

Subtracting equation [2] and [1], we get

𝑑2 𝑚𝑔
𝑚 2 (𝑥1 − 𝑥2 ) = − (𝑥1 − 𝑥2 ) − 2𝑘(𝑥1 − 𝑥2 )
𝑑𝑡 𝑙
Let us define 𝑋1 = 𝑥1 + 𝑥2 and 𝑋2 = 𝑥1 − 𝑥2 , above equations can be written as
𝑑 2 𝑋1 𝑚𝑔
𝑚 = − 𝑋 ⋯ [3]
𝑑𝑡 2 𝑙 1
𝑑 2 𝑋2 𝑚𝑔
𝑚 2
= −[ + 2𝑘] 𝑋2 ⋯ [4]
𝑑𝑡 𝑙
𝑔 𝑔 2𝑘
Let 𝜔1 = √ 𝑙 and 𝜔2 = √ 𝑙 + . Equation [3] and [4] are equations of harmonic oscillator
𝑚
and solution is given by
𝑋1 = 𝐴1 cos(𝜔1 𝑡 + 𝜑1 )
𝑋2 = 𝐴2 cos(𝜔2 𝑡 + 𝜑2 )
 Where A1, A2, 𝜑1 and 𝜑2 are arbitrary constants. Their values will be constrained by initial
conditions. 𝑋1 and 𝑋2are the normal mode coordinates and 𝜔1and 𝜔2 are the frequencies
of normal modes.
2. A damped oscillating system has an effective mass m, a natural frequency 𝜔0 and has a
𝑚𝜔0
damping co-efficient proportional to the velocity of magnitude . If there is a driving
√2
𝜔0 𝑡
force 𝐹 cos ( ), show that the energy supplied to the system by driving force during the
√2
𝜋 𝐹2 (𝜋−2)
first quarter period of the force, i.e., during the interval 𝑡 = 0 to 𝑡 = , is .
√2𝜔0 4𝑚𝜔02
Solution:
Equation of motion of the given damped oscillating system is
𝑑 2 𝑥 𝑚𝜔0 𝑑𝑥 𝜔0 𝑡
𝑚 2+ + 𝑘𝑥 = 𝐹 cos ( )
𝑑𝑡 √2 𝑑𝑡 √2
Dividing both sides by mass m
𝑑 2 𝑥 𝜔0 𝑑𝑥 𝑘 𝐹 𝜔0 𝑡
+ + 𝑥 = cos ( )
𝑑𝑡 2 √2 𝑑𝑡 𝑚 𝑚 √2
𝜔0 𝑘
Let 𝛾 = and 𝜔02 = 𝑚, then above equation can be written as
√2
𝑑2 𝑥 𝑑𝑥 𝐹 𝜔0 𝑡
2
+𝛾 + 𝜔02 𝑥 = cos ( ) ⋯ [1]
𝑑𝑡 𝑑𝑡 𝑚 √2
Equation [1] is similar to the driven damped harmonic oscillator. Solution of this equation
is
𝜔0 𝑡
𝑥(𝑡) = 𝑥0 cos ( + 𝜑) ⋯ [2]
√2
𝜔02 𝑋0 𝐹 √2𝐹
where 𝑥0 = = 2
= 𝑚𝜔2
√(𝜔02 −𝜔2 )2 +𝛾2 𝜔2 𝜔2 𝜔2 𝜔2 0
𝑑 𝑑 𝑚√(𝜔02 − 0 ) + 0 0
2 2 2

𝜔0 𝜔0
𝛾𝜔 𝜋
𝜑 = tan−1 (𝜔2 −𝜔
𝑑
2 ) = tan
−1
(𝜔2√2 √2
−𝜔2 /2
) = tan−1 1 = 4 .
0 𝑑 0 0

(Refer slide 12, lecture 23 for x0 and 𝜑)

Therefore, the solution is

√2𝐹 𝜔0 𝑡 𝜋
𝑥(𝑡) = cos ( + ) ⋯ [2]
𝑚𝜔02 √2 4
Differentiating equation [2], we get velocity
𝑑𝑥 𝐹 𝜔0 𝑡 𝜋
=− sin ( + ) ⋯ [3]
𝑑𝑡 𝑚𝜔0 √2 4
 If the system gets displaced by dx, then the work done by the driving force on the system
2𝜋 2√2𝜋
is 𝑑𝑊 = 𝐹𝑑𝑥. The time period of oscillation is 𝑇 = 𝜔 = . Therefore, the work
0 ⁄√2 𝜔0
done in the first quarter period is
𝜋
𝑇⁄ ⁄
4 √2𝜔0
𝑑𝑥 𝜔0 𝑡 𝐹 𝜔0 𝑡 𝜋
𝑊=∫ 𝐹 𝑑𝑡 = ∫ 𝐹 cos ( ) (− ) sin ( + ) 𝑑𝑡
𝑑𝑡 √2 𝑚𝜔0 √2 4
0 0

𝜋
⁄
√2𝜔0
𝐹2 2𝜔0 𝑡 𝜋 𝜋
𝑊=− ∫ [sin ( + ) + sin ] 𝑑𝑡
2𝑚𝜔0 √2 4 4
0
𝜋
𝜋 ⁄
√2𝜔0
𝐹 cos (√2𝜔0 𝑡 + 4)
2
1 𝐹2 1 𝜋
𝑊=− [ + 𝑡] =− [− + ]
2𝑚𝜔0 √2𝜔0 √2 2𝑚𝜔0 𝜔0 2𝜔0
0

𝐹2
𝑊=− (𝜋 − 2) ⋯ [4]
4𝑚𝜔02
Work done in equation [4] must be equal to the energy supplied by the driving force.
𝐹2
Therefore, the energy supplied is 4𝑚𝜔2 (𝜋 − 2).
0

3. Consider two masses connected via springs, which have spring constants k, as shown in
figure-2. Assume this coupled oscillator is immersed in a fluid so that both masses feel a
damping force, 𝐹 = −𝑏𝑣. Find solution in terms of 𝑥1 (𝑡) and 𝑥2 (𝑡).

Figure-2
Solution:
Equation of motions for both the masses are
𝑑 2 𝑥1 𝑑𝑥1
𝑚 2 = −𝑘𝑥1 + 𝑘(𝑥2 − 𝑥1 ) − 𝑏 ⋯ [1]
𝑑𝑡 𝑑𝑡

𝑑2 𝑥2 𝑑𝑥2
𝑚 2
= −𝑘𝑥2 − 𝑘(𝑥2 − 𝑥1 ) − 𝑏 ⋯ [2]
𝑑𝑡 𝑑𝑡
 Adding equation [1] and [2], we get
𝑑2 𝑑
𝑚 2 [𝑥1 + 𝑥2 ] + 𝑏 (𝑥1 + 𝑥2 ) + 𝑘(𝑥1 + 𝑥2 ) = 0
𝑑𝑡 𝑑𝑡
2
𝑑 𝑏 𝑑 𝑘
2
[𝑥1 + 𝑥2 ] + (𝑥1 + 𝑥2 ) + (𝑥1 + 𝑥2 ) = 0
𝑑𝑡 𝑚 𝑑𝑡 𝑚

Subtracting equation [2] from [1], we get

𝑑2 𝑑
𝑚 2 [𝑥1 − 𝑥2 ] + 𝑏 (𝑥1 − 𝑥2 ) + 3𝑘(𝑥1 − 𝑥2 ) = 0
𝑑𝑡 𝑑𝑡
𝑑2 𝑏 𝑑 3𝑘
[𝑥1 − 𝑥2 ] + (𝑥1 − 𝑥2 ) + (𝑥 − 𝑥2 ) = 0
𝑑𝑡 2 𝑚 𝑑𝑡 𝑚 1

Let us define 𝑋1 = 𝑥1 + 𝑥2 and 𝑋2 = 𝑥1 − 𝑥2 , above equations can be written as

𝑑2 𝑋1 𝑏 𝑑𝑋1 𝑘
+ + 𝑋1 = 0 ⋯ [3]
𝑑𝑡 2 𝑚 𝑑𝑡 𝑚
𝑑 2 𝑋2 𝑏 𝑑𝑋2 3𝑘
+ + 𝑋 = 0 ⋯ [4]
𝑑𝑡 2 𝑚 𝑑𝑡 𝑚 2

𝑏 𝑘 3𝑘
Let 𝛾 = 𝑚, 𝜔1 = √𝑚 and 𝜔2 = √ 𝑚 , equation [3] and [4] can be written as
𝑑2 𝑋1 𝑑𝑋1
+ 𝛾 + 𝜔12 𝑋1 = 0 ⋯ [5]
𝑑𝑡 2 𝑑𝑡
𝑑2 𝑋2 𝑑𝑋2
2
+𝛾 + 𝜔22 𝑋2 = 0 ⋯ [6]
𝑑𝑡 𝑑𝑡
Equation [5] and [6] are equations of damped harmonic oscillator and their solutions are
𝛾𝑡
𝑋1 (𝑡) = 𝐶1 𝑒 − 2 cos(𝜔
̃1 𝑡 + 𝜑1 )
𝛾𝑡
𝑋2 (𝑡) = 𝐶2 𝑒 − 2 cos(𝜔
̃ 2 𝑡 + 𝜑2 )
𝛾 2 𝛾 2
̃1 = √𝜔12 − (2)
Where 𝜔 ̃2 = √𝜔22 − (2) . 𝑋1 and 𝑋2are the normal mode
and 𝜔
coordinates. Using inverse transforms 𝑥1 (𝑡) and 𝑥2 (𝑡) are
𝛾𝑡
𝑋1 + 𝑋2 𝑒 − 2
𝑥1 (𝑡) = = [𝐶1 cos(𝜔
̃1 𝑡 + 𝜑1 ) + 𝐶2 cos(𝜔
̃2 𝑡 + 𝜑2 )]
2 2
𝛾𝑡
𝑋1 − 𝑋2 𝑒 − 2
𝑥2 (𝑡) = = [𝐶1 cos(𝜔
̃1 𝑡 + 𝜑1 ) − 𝐶2 cos(𝜔
̃2 𝑡 + 𝜑2 )]
2 2

4. A mass less spring of spring constant 10 N/m is suspended from rigid support and carries
a mass of 0.1 kg at its lower end. The system is subjected to resistive force – 𝛽𝑣, where 
is a constant and 𝑣 is the velocity. It is observed that the system performs damped
oscillatory motion and its energy decays to 1/e of its initial value in 50 sec. (a) Find the Q
value of the oscillator. (b) Show that the fractional change in the frequency of the damped
1
oscillator is ≈ 8𝑄2. What is the percentage change in frequency due to damping?
Solution:
(a) Energy of the damped oscillator is given by
𝐸(𝑡) = 𝐸0 𝑒 −𝛾𝑡
𝛽
where 𝐸0 is the initial energy of the system. Damping factor 𝛾 = 𝑚, where 𝛽 is constant
of resistive force. Given that, the system performs damped oscillatory motion and its
energy decays to 1/e of its initial value in 50 sec.
𝐸(𝑡) 1
=
𝐸(0) 𝑒
𝑒 −50𝛾 1
=
𝑒0 𝑒
𝛽 1
𝛾= =
𝑚 50
1
𝛽= × 0.1 = 2 × 10−3 𝑘𝑔⁄𝑠.
50
𝜔0
The quality factor is 𝑄 = 𝛾
𝑘 10 1 10
Now 𝜔0 = √𝑚 = √0.1 = 10 𝑟𝑎𝑑/𝑠 and 𝛾 = 50. Using this we get 𝑄 = 1/50 = 500.

(b) The angular frequency of the damped oscillator is

1⁄ 1⁄
𝛾 2 2 𝛾 2 2
𝜔= (𝜔02 −( ) ) = 𝜔0 (1 − ( ) ) ⋯ [1]
2 2𝜔0

1
1 ⁄2
𝜔 = 𝜔0 (1 − 2 ) ⋯ [2]
4𝑄
1
≪ 1. Using binomial expansion in equation [2] and neglecting the higher order
4𝑄 2
terms, we get
1
𝜔 = 𝜔0 (1 − )
8𝑄 2
The fractional change is
𝜔0 − 𝜔 1 1
= = = 5 × 10−7
𝜔0 8𝑄 2 8 × 5002

The percentage change in frequency is

𝜔0 − 𝜔
( ) × 100 = 5 × 10−5
𝜔0
When Q is large, the damped oscillator’s frequency reduces by a very small fraction.