Chapter 8

Simple Harmonic Motion (SHM)

8.1 Equation of Motion

A vibrating system for which the restoring force is directly

proportional to the negative of the displacement ( F = −kx ) is said
to exhibit Simple Harmonic Motion (SHM), and the system is
referred to as Simple Harmonic Oscillator(SHO).
F=−kx =max
k
ax = − x ( i.e. ax =
−ω 2 x )
m
d2 x k
= 2
+ ω x 0 , where
2
= ω
dt m
x + ω2x =
Or simply,  0 1
 dU ( x )
Fx = −
Recall dx

1
So, SHM is the one with potential energy U ( x ) = kx 2
2

 Real systems and its approximation to

SHM at equilibrium position

For an arbitrary potential U(x), Taylor expansion

(U is real and k-times differentiable function):

U ' ' ( x0 )
U ( x ) = U ( x0 ) + U ' ( x0 )( x − x0 ) + ( x − x0 ) 2 + ...
2

2
Considering 𝑥𝑥 − 𝑥𝑥0 <<1
Truncate the expansion to the 2nd order, and
note that U ' ( x0 ) = 0 , and let U ( x0 ) = 0
one gets
U ' ' ( x0 ) 1
U ( x) ≈ ( x − x0 ) 2 = kx '2 , where x ' = x − x0
2 2

x0
3
 d2 x
Solution of the eqn. of motion 2
≡ 
x = −ω 2
x
dt
of SHO is:
x (t ) = A cos(ωt + φ )
k
ω= Angular frequency
m
A Amplitude, and
φ phase constant. These two constants are determined by
initial conditions, i.e. initial position and initial velocity.
Note:
2π f = ω f is the Frequency of oscillation
T = 1/ f is the Period, and
ω t +φ is the phase, with unit radians
4
Given x (t ) = A cos(ωt + φ ) , one gets
−ω A sin(ωt + ϕ )
x =
v(t ) =
−ω 2 A cos(ωt + ϕ )
x =
a(t ) =
= −ω 2 x(t )
From the diagram we can see that the
maximum of displacement, velocity
and acceleration differ by 90o or T/4.
We can also see that the maximum
displacement, velocity and acceleration
are xmax =A, vmax = Aω and amax = Aω 2 5
Given x (t ) = A cos(ωt + φ ) , one gets
−ω A sin(ωt + ϕ )
x =
v(t ) =
−ω 2 A cos(ωt + ϕ )
x =
a(t ) =
Thus, we obtain a useful relation
=v 2 ω 2 ( A2 − x 2 )

The velocity v=0 when x=±A and v

is a maximum when x=0. Therefore,
we have vmax = ω A again.
6
 Conservation of Energy of SHM

kx = kA cos2 (ωt + φ )
1 2 1 2
Potential Energy : U =
2 2
1 2 1 1
=
Kinetic Energy: K mv= mω 2 A2 sin 2 (ωt + ϕ=
) kA2 sin 2 (ωt + ϕ )
2 2 2

1 2
Total Energy=
E: U + K kA sin 2 (ωt + ϕ ) + cos2 (ωt + ϕ ) 
2
1 2
=E = kA constant
2

7
A Comparison with uniform circular motion:

The x coordinate of a particle undergoing a circular

motion follow a similar time-dependence as that of
a SHO:
x (t ) = A cos(ωt + φ )
8
Let’s describe the particle motion in
polar coordinate: 𝑟𝑟⃗ 𝑡𝑡 = 𝑅𝑅𝑟𝑟̂ (𝑡𝑡)
We get
𝑥𝑥 𝑡𝑡 = 𝑥𝑥� ∙ 𝑟𝑟⃗ 𝑡𝑡 = 𝑅𝑅𝑥𝑥� ∙ 𝑟𝑟̂ 𝑡𝑡 = 𝑅𝑅cos 𝜃𝜃 𝑡𝑡
= 𝑅𝑅cos𝜔𝜔𝜔𝜔
Similarly we get 𝑦𝑦 𝑡𝑡 = 𝑅𝑅sin𝜔𝜔𝜔𝜔
Here the initial phase is φ = 0 9
Example 1. Block-Spring System
A 200-g block connected to a light spring of force constant 5.00
N/m is free to oscillate on a frictionless horizontal surface. The
block is displaced 5.00 cm from equilibrium and released from
rest. (A) Find the period of its motion; (B) Determine the
maximum speed of the block; (C) What is the block’s maximum
acceleration? And (D) Express the position, velocity, and
acceleration as functions of time in SI units.
Answer:
(A) This system is a model SHM system.
k 5.00 N/m
ω= = = 5.00 rad/s
m 200 × 10 kg
-3

2π 2π
so T = = = 1.26 s
ω 5.00 rad/s 10
(B) Determine the maximum speed of the block; (C) What is the
block’s maximum acceleration? And (D) Express the position,
velocity, and acceleration as functions of time in SI units.

(B) vmax = ωA = (5.00rad/s)(5.00 × 10-2 m) = 0.250 m/s

(C) amax = ω 2 A = (5.00rad/s) 2 (5.00 × 10-2 m) = 1.25 m/s2

(D) Find the phase constant from the initial condition:

x(0)=Acosφ=5cm and v(0)=Asinφ =0, which gives φ = 0.
Therefore,

x = A cos(ωt + φ ) = 0.0500 cos(5.00t ) m

v = −ωA sin(ωt + φ ) = −0.250 sin(5.00t ) m/s
a = −ω 2 A cos(ωt + φ ) = −1.25 cos(5.00t ) m/s2

11
Example 2.
A car with mass 1300 kg is constructed so that its frame is
supported by four springs, each has a spring constant of 20000 N/m.
Two people riding in the car have a combined mass of 160 kg. Find
the frequency of vibration of the car after it is driven over a pothole
in the road.
Answer:
As the total force is Ftot = ∑ − kx = −(∑ k )x = −keff x
where
keff = ∑ k = 4 × 20000 = 80000 N/m

So, the vibration frequency is

1 keff 1 80000
f = = = 1.18 Hz
2π m 2π 1300 + 160 12
Example 3. A particle of mass m is attached to one of an elastic
string with force constant k. The other end is fixed to a point O.
The natural length of the string is a. The system is released from
rest vertically. Show that the particle moves with SHM about a
time zero Time t
point at a distance (a+mg/k) below O.
Answer: The equation of motion is − = 
O O
mg kx m x
x = −  x −
which gives k mg 
 a
m k 
mg
Define z = x − , and noting that z = x A
k
k T = kx
one gets 
z = − z x

m
A
which is eqn. of motion of SHO. By using energy conservation mg
k(xmax)2/2= mg(xmax), which gives xmax = 2mg/k. Therefore the mass
is oscillating between a and (xmax+a) from O and the equilibrium
position is (mg/k+a) from O.
An uniform external force cannot change the SHO motion except the
equilibrium position
13
Example 4. A bullet of mass m embeds itself in a block of mass
M, which is attached to a spring of force constant k, just after
collision. If the initial speed of the bullet is v0, find
(a) the maximum compression of the spring, and (b) the time for
the bullet-block system to come to rest.
Answer:
v0
(a) Conservation of momentum: M m
mv0 = (m + M )v
So the combined velocity
mv0 A
v=
m+M
v=0
The kinetic energy converts to
potential energy when it comes to
M+m
rest: 1 1 2 mv0
( m + M )v = kA ⇒ So the maximum compression A =
2

2 2 k (m + M )
14
(b) the time for the bullet-block system to come to rest.

We ignore the time during which the bullet is entering the block.
Since the system is a spring-block oscillating system, the period T
is given by
m+M
T = 2π
k

hence, the time for the travels from just impact to instantaneous at
rest is given by T π m + M
=
4 2 k

Note : the motion of the block is −𝑣𝑣 → 0 → +𝑣𝑣 → 0 → −𝑣𝑣 for

one period T.
15
Example 4 - A block of mass m is connected to two springs of force
constants k1 and k2 in two different ways as shown in Figure below.
In both cases, the block moves on a frictionless table after it is
displaced from equilibrium and released. Calculate SHM periods in
case (a) and case (b).
In case (a) the block m receives only
one tension force F. But this force must
be the same for spring 1 and spring 2,
therefore we have
F=−k1x1= −k2x2=−kx, where x1 and x2
are the displacements. The total F = − k1 x 1 = − k2 x 2
displacement is simply x=x1+x2 , we can x=x1+x2
1 1 1
express = + . Using the Newton’s
𝑘𝑘𝑒𝑒𝑒𝑒𝑒𝑒 𝑘𝑘1 𝑘𝑘2
𝑘𝑘 𝑘𝑘
law 𝐹𝐹 = −𝑘𝑘𝑘𝑘𝑒𝑒𝑒𝑒𝑒𝑒 = − 1 2 𝑥𝑥 = 𝑚𝑚𝑥𝑥̈ ⇒ 𝑇𝑇 =
𝑘𝑘1 +𝑘𝑘2
𝑚𝑚 (𝑘𝑘1 +𝑘𝑘2 )𝑚𝑚
2𝜋𝜋 = 2𝜋𝜋
𝑘𝑘𝑒𝑒𝑒𝑒𝑒𝑒 𝑘𝑘1 𝑘𝑘2
In case (b), you can easily show that F= −k1x1+k2x2
𝑚𝑚 𝑚𝑚 x=x1=−x2
𝑇𝑇 = 2𝜋𝜋 = 2𝜋𝜋 (keff = k1+k2)
𝑘𝑘𝑒𝑒𝑒𝑒𝑒𝑒 (𝑘𝑘1 +𝑘𝑘2 )
16
8.2 The Pendulum: Simple Pendulum
  
The torque is τ = r × F = − Lmg sin θ ≈ − Lmgθ
(for small θ , sinθ ≈ θ )
From Newton’s law in rotational motion
one gets τ = Iα = Iθ
and so − Lmgθ = Iθ = ( mL2 )θ

g
θ = − θ = −ω 2θ , where
L
g
ω= and
L
L
Period T = 2π
g

17
 Physical Pendulum, 1
Ifa hanging object oscillates
about a fixed axis that does not
pass through the center of mass
and also the object cannot be
approximated as a point mass, the
system is called a physical
pendulum.
 It cannot be treated as a
simple pendulum.
The gravitational force provides a
torque about an axis through O.
The magnitude of the torque is
 m g d sin θ

Note : d is the distance from the rotation

axis to CM!
 Physical Pendulum, 2
I is the moment of inertia about the axis
through O.
From Newton’s Second Law,

dθ 2
=−mgd sinθ I 2 (for small θ , sinθ ≈ θ )
dt
The gravitational force produces a
restoring force.
Assuming θ is small, this becomes
d 2θ  mgd 
=−   θ =−ω 2
θ
 
2
dt I
 Physical Pendulum, 3
This equation is of the same mathematical
form as an object in simple harmonic
motion.
The solution is that of the simple harmonic
oscillator.
mgd
The angular frequency is ω =
I
2π I
The period is=
T = 2π
ω mgd
 Physical Pendulum, 4
A physical pendulum can be used to
measure the moment of inertia of a flat rigid
object. For complicated shape, we can use
simple geometry or calculus to calculate the
position of CM. Or, we can obtain the position
of the CM by handing the object at several
points and their intercept provides the
location of CM.
 If you know d, you can find I by measuring the
period.
 If I = m d2 then the physical pendulum is the
same as a simple pendulum.
 If I = m d2 the mass is all concentrated at the
center of mass.
 Example: A swinging rod

The torque eq. is

d 2θ
−Mgd sinθ =
I 2
dt
where d=L/2 is the distance from
O to CM and I=ML2/3
So the angular frequency is
Mgd
ω=
I
and the period is
2π ML2 / 3 2L
=
T = 2π = 2π
ω Mg (L / 2) 3g
22
 Torsional pendulum
The torque is
τ = −κθ , where κ is the torsion constant
So, from τ = Iθ
one get κ

θ = − θ = −ω 2θ , where
I
κ
ω= and
I

I
Period T = 2π
κ

23