Day: 17th, 22nd April, 2024 [Online]

Makeup Class [Online]: Saturday 27th April at 7pm.

Link for the Makeup Class:

meet.google.com/sym-sphj-rap

Notes:

 Section 6.2 is NOT done yet. I will complete this offline.

 Quiz 2 [Syllabus: 4.7, 6.1 and 6.2] will be offline (on the day after the day when we complete
6.2).

Chapter 5: Section 5.1 Spring-Mass System (Undamped Motion)

If 𝑠 is the elongation when a mass 𝑚 is attached with the spring, at equilibrium position, by

Hook’s Law,

𝐹 ∝ 𝑠, that is, 𝐹 = 𝑘𝑠

Here 𝑘 (the constant of proportionality) is called the Spring constant.

The spring is essentially characterized by the number 𝑘.

Note: Spring-Mass system must be at equilibrium for Hook’s Law.

 No motion, no rate of change of position. So, no differential equation.

1
Example: If a mass weighing 10 pounds stretches a spring 2 foot. Then find the elongation if 8 pounds
weight is attached to the spring.

Solution: By Hook’s Law

𝐹 = 𝑘𝑠.
 1 1
𝐹 = 10, 𝑠 = 2 : 10 = 𝑘 (2) implies 𝑘 = 20 lb/ft.

Hence, the equation of the system:

𝐹 = 20𝑠 … … … (∗)

Therefore, if a mass weighting 8 pounds stretches the same spring by

8 2
8 = 20𝑠 → 𝑠 = 20 implies by 𝑠 = 5
foot.

𝐹 = −𝑘𝑥 ⋯ ⋯ ⋯ (1)

𝑑2 𝑥
𝐹 = 𝑚𝑔 = 𝑚
𝑑𝑡 2

The negative sign in (1) indicates that the restoring force of the spring acts opposite to the direction of
motion. Furthermore, we adopt the convention that displacements measured below the equilibrium
position 𝑥 = 0 are positive.
 𝑑2 𝑥 𝑑2 𝑥 𝑘
Here 𝐹 = −𝑘𝑥 → 𝑚 𝑑𝑡 2 = −𝑘𝑥 → 𝑑𝑡 2
+𝑚 𝑥 = 0.

𝑘 𝑘
Note: Note that > 0. Set, 𝜔2 = . Hence, the equation becomes:
𝑚 𝑚

𝑑2 𝑥
+ 𝜔2 𝑥 = 0 … … … (2)
𝑑𝑡 2

Here A. E.: 𝑚 2 + 𝜔2 = 0 ∴ 𝑚 = ±𝑖𝜔 = 𝛼 ± 𝑖𝛽 ; 𝛼 = 0, 𝛽=𝜔

Initial Conditions: 𝑡 = 0.

The Initial Value Problem (IVP):

𝑑2 𝑥
+ 𝜔2 𝑥 = 0 ; 𝑥 (0) = 𝑥0 , 𝑥 ′ (0) = 𝑥1
𝑑𝑡 2
where (i) if 𝑥0 > 0, then 𝑥1 < 0 and if 𝑥0 < 0, then 𝑥1 > 0.
 2𝜋
The period of the motion: 𝑇 =
𝜔

1 𝜔
The frequency of the motion: 𝑓 = 𝑇 = 2𝜋 .

𝑑2 𝑥
To solve the DE: 𝑑𝑡 2
+ 𝜔2 𝑥 = 0 … … … (𝟐) ; Second order, Linear, Homogeneous DE

Auxiliary Equation: 𝑚 2 + 𝜔2 = 0 → 𝑚 2 = −𝜔2

∴ 𝑚 = ± 𝜔𝑖 = 0 ± 𝜔𝑖 = 𝛼 ± 𝛽𝑖 ; 𝛼 = 0, 𝛽 = 𝜔.

[ Section 4.3: General Solution: 𝑥 (𝑡) = 𝑐1 𝑒 𝛼𝑡 cos 𝛽𝑡 + 𝑐2 𝑒 𝛼𝑡

sin 𝛽𝑡 ; 𝛼 = 0, 𝛽 = 𝜔. ]

General solution of (2): 𝑥(𝑡) = 𝑐1 cos(𝜔𝑡) + 𝑐2 sin(𝜔𝑡) .

Example: 1

A mass weighing 2 pounds stretches a spring 6 inches. At 𝑡 = 0 the mass is released from a point 8
4
inches below the equilibrium position with an upward velocity of ft/s . Determine the equation of
3
motion.

[Scale: F=w  lb, mass m F/g Slugs , Distance  ft ; g 𝑓𝑡 2 / s]

𝑑2 𝑥
[First 𝐹 = 𝑘𝑠, then for + 𝜔2 𝑥 = 0 ; 𝑥 (0) = 𝑥0 , 𝑥 ′ (0) = 𝑥1 , we need ω2 , 𝑥0 , 𝑥1 ]
𝑑𝑡 2

𝑑2 𝑥 2 4
[IVP: + 64𝑥 = 0 , 𝑥 (0) = , 𝑥 ′ (0) = − .]
𝑑𝑡 2 3 3

[𝐴. 𝐸.: 𝑚 2 + 64 = 0 ∴ 𝑚 = ±8𝑖 ]

[𝐺𝑆: 𝑥 (𝑡) = 𝑐1 cos(8𝑡) + 𝑐2 sin(8𝑡)]

Steps: [Check the units of 𝐹, 𝑠, 𝑚, 𝑡]

(1) Using Hook’s Law, find the Spring constant 𝑘 and find 𝑚 from 𝐹 = 𝑚𝑔.
(2) Find 𝜔2 , 𝑥0 and 𝑥1
(3) Set the IVP
(4) Then use the auxiliary equation to find the GS.
(5) Then use ICs to find 𝑐1 and 𝑐2 for the particular solution.

A mass weighing 2 pounds stretches a spring 6 inches. At 𝑡 = 0 the mass is released from a point 8
4
inches below the equilibrium position with an upward velocity of 3
ft/s . Determine the equation of
motion.

Solution:

[For the Spring constant, consider the clause: A mass weighing 2 pounds stretches a spring 6 inches.]

Hook’s Law for finding 𝑘: From Hook’s Law Equation: 𝐹 = 𝑘𝑠, where 𝐹 = 2 𝑙𝑏,
6 1
𝑠 = 6 inches = 𝑓𝑡 = 𝑓𝑡.
12 2
1
So, 2 = 𝑘 (2) ∴ 𝑘 = 4 lb/ft.

𝑑2 𝑥
Recall: [ 𝑑𝑡 2 + 𝜔2 𝑥 = 0 ; 𝑥 (0) = 𝑥0 , 𝑥 ′ (0) = 𝑥1 ]

At 𝑡 = 0 the mass is released from a point 8 inches below the equilibrium position with an upward
4
velocity of 3
ft/s .
 𝑘
Newton’s Second Law of Motion: [ 𝑔 = 32 𝑓𝑡 2 /𝑠] 𝜔2 = … (∗∗∗)
𝑚

2 1
Also, here 𝐹 = 2 → 𝑚𝑔 = 2 → 𝑚 (32) = 2 → 𝑚 = 32 slugs = 16 slugs.

𝑑2 𝑥 𝑘 4
So, the DE of the undamped Spring-Mass system is: 𝑑𝑡 2
+ 𝜔2 𝑥 = 0 ; where 𝜔2 = 𝑚 = 1 = 64
16

So, DE

𝑑2 𝑥
+ 64𝑥 = 0
𝑑𝑡 2

8 2
Initial Conditions: At 𝑡 = 0 the mass is released from a point 8 inches= 12 = 3 ft below the equilibrium
4
position with an upward velocity of 3
ft/s .
2
So, at 𝑡 = 0: 𝑥0 = + 𝑓𝑡 (since the initial position of the mass is below the equilibrium)
3
4 𝑓𝑡
and 𝑥1 = − 3 𝑠
(since the initial velocity is in the negative, or upward, direction).

The Initial Value Problem (IVP):

𝑑2 𝑥 2 4
2
+ 64𝑥 = 0 with 𝑥 (0) = , 𝑥 ′ (0) = − ⋯ (1).
𝑑𝑡 3 3
To determine the equation of motion, we need to solve the IVP (1).

Auxiliary Equation of (1): 𝑚 2 + 64 = 0 ∴ 𝑚 = ±8𝑖 = 0 ± 8𝑖 ; Note: α = 0, β = ω = 8.

General solution of (1): 𝑥(𝑡) = 𝑐1 cos(8𝑡) + 𝑐2 sin(8𝑡).

2 4
To find the particular solution: 𝑥 (0) = 3 , 𝑥 ′ (0) = − 3

𝑥 (𝑡) = 𝑐1 cos(8𝑡) + 𝑐2 sin(8𝑡).

𝑥 ′ (𝑡) = −8𝑐1 sin(8𝑡) + 8𝑐2 cos(8𝑡)
2 2 2
𝑥(0) = 3 ⇒ 3 = 𝑐1 ∴ 𝑐1 = 3
⇒{ 4 4 1
𝑥 ′ (0) = − 3 ⇒ 8𝑐2 = − 3 ∴ 𝑐2 = − 6

Hence, the equation of motion is

2 1
𝑥 (𝑡) = 3 cos(8𝑡) − 6 sin(8𝑡). DONE
Important: Sketching the harmonic motion, the solution of the system. [Re-write the solution as a single
trig function]

How to write the solution as a single trigonometric function?

Suppose the general solution is: 𝑥(𝑡) = 𝑐1 cos(𝜔𝑡) + 𝑐2 sin(𝜔𝑡) .

.
Case 1: If 𝑐1 = 0, then 𝑥(𝑡) = 𝑐2 sin(𝜔𝑡). Done!

Case 2: If 𝑐2 = 0, then 𝑥(𝑡) = 𝑐1 cos(𝜔𝑡). Done!

Case 3: 𝑐1 , 𝑐2 ≠ 0. Set 𝐴 = √𝑐12 + 𝑐22 . Then, 𝐴 > 0.

(1) Writing as a Sine function

Set 𝐴 = √𝑐12 + 𝑐22 . Then 𝐴 > 0.

𝑥 (𝑡) = 𝑐1 cos(𝜔𝑡) + 𝑐2 sin(𝜔𝑡) = 𝐴 sin(𝜔𝑡 + 𝜑) = 𝐴[sin(𝜔𝑡) cos 𝜑 + cos(𝜔𝑡) sin 𝜑]

→ 𝑐1 cos(𝜔𝑡) + 𝑐2 sin(𝜔𝑡) = 𝑨 𝐬𝐢𝐧(𝝋) cos(𝜔𝑡) + 𝑨 𝐜𝐨𝐬(𝝋) sin(𝜔𝑡)

𝑐1 𝑐2
∴ sin 𝜑 = and cos 𝜑 = .
𝐴 𝐴

𝑐1 𝑐2 𝑐
Here, sin 𝜑 = 𝐴
and cos 𝜑 = 𝐴
. Hence, tan 𝜑 = 𝑐1 , thai is,
2

𝑐1
𝜑 = tan−1 ( ) (𝑏𝑒 𝑣𝑒𝑟𝑦 𝑐𝑎𝑟𝑒𝑓𝑢𝑙).
𝑐2
𝜋 𝜋
Caution: Consider 𝑦 = tan−1(𝑥) . 𝐷 = (−∞, ∞), 𝑅 = (− 2 , 2 )

𝑐1
tan−1 ( ) if 𝜑 is an angle in Quadrant − I or in Quadrant − IV
𝑐2
𝜑 ={ 𝑐1
𝜋 + tan−1 ( ) if 𝜑 is an angle in Quadrant − II or in Quadrant − III
𝑐2

Homework: Writing as a Cosine function

2 1
Write 𝑥 (𝑡) = 𝒄𝟏 cos(8𝑡) + 𝒄𝟐 sin(8𝑡) = 𝐴 cos(8𝑡 + 𝜑), where 𝑐1 = 3 and 𝑐2 = − 6 .
 2 1
𝐺𝑜𝑎𝑙: 𝑥 (𝑡) = 𝐴 cos(8𝑡 + 𝜑) = cos(8𝑡) − sin(8𝑡)
3 6
2 1
⇒ cos(8𝑡) − sin(8𝑡) = 𝑨 𝐜𝐨𝐬(𝝋) cos(8𝑡) − 𝑨 𝐬𝐢𝐧(𝝋) sin(8𝑡)]
3 6

2 1
3 6 1
Here, cos 𝜑 = and sin 𝜑 = . Hence, tan 𝜑 = , thai is,
𝐴 𝐴 4
2 1
𝑐
𝜑 = tan−1 (− 𝑐2 ) where 𝜑 is in quadrant-I ( cos 𝜑 = 3
𝐴
, sin 𝜑 = 6
𝐴
> 0).
1

𝜋 𝜋
Caution: Consider 𝑦 = tan−1(𝑥) . 𝐷 = (−∞, ∞), 𝑅 = (− 2 , 2 )

2 1
Example: We need to write the solution 𝑥 (𝑡) = 3 cos(8𝑡) − 6 sin(8𝑡) … … … (𝑃) as an equation of a
single trig function to answer the type of questions:

Find the time at which the mass attains its extreme displacement from the equilibrium position?

Alternative Solution: The equation of the motion 𝑥(𝑡) = 𝑐1 cos(8𝑡) + 𝑐2 sin(8𝑡) is given by

𝑥(𝑡) = 𝐴 sin(8𝑡 + 𝜑) . → Form (6)[𝑖𝑛 𝑏𝑜𝑜𝑘]

{𝑂𝑅 𝑥 (𝑡) = 𝐴 cos(8𝑡 − 𝜑) }

Topic: Writing 𝒙(𝒕) = 𝒄𝟏 𝐜𝐨𝐬(𝟖𝒕) + 𝒄𝟐 𝐬𝐢𝐧(𝟖𝒕) in the form 𝒙(𝒕) = 𝑨 𝐬𝐢𝐧(𝟖𝒕 + 𝝋).

Recall: sin(8𝑡 + 𝜑) = sin(8𝑡) cos(𝜑) + cos(8𝑡) sin(𝜑)

So, 𝐴 sin(8𝑡 + 𝜑) = 𝑨 𝐜𝐨𝐬(𝝋) sin(8𝑡) + 𝑨 𝐬𝐢𝐧(𝝋) cos(8𝑡) = 𝒄𝟏 cos(8𝑡) + 𝒄𝟐 sin(8𝑡)

Where 𝐴 = √𝑐12 + 𝑐22 for 𝑐1 ≠ 0, 𝑐2 ≠ 0 and 𝜑 is called the phase angle. Relation between 𝑐1 ,
𝑐2 and 𝜑 is given below:

𝐺𝑜𝑎𝑙: 𝑥 (𝑡) = 𝒄𝟏 cos(8𝑡) + 𝒄𝟐 sin(8𝑡) = 𝐴 sin(8𝑡 + 𝜑) = 𝑨 𝐜𝐨𝐬(𝝋) sin(8𝑡) + 𝑨 𝐬𝐢𝐧(𝝋) cos(8𝑡)

𝐴 sin(8𝑡 + 𝜑) = 𝑨 𝐜𝐨𝐬(𝝋) sin(8𝑡) + 𝑨 𝐬𝐢𝐧(𝝋) cos(8𝑡) = 𝒄𝟏 cos(8𝑡) + 𝒄𝟐 sin(8𝑡)
 𝑐1 𝑐2 𝑐1
Here, sin 𝜑 = and cos 𝜑 = . Hence, tan 𝜑 = , thai is,
𝐴 𝐴 𝑐2

𝑐1
𝜑 = tan−1 ( ) (𝑏𝑒 𝑣𝑒𝑟𝑦 𝑐𝑎𝑟𝑒𝑓𝑢𝑙).
𝑐2
𝜋 𝜋
Caution: Consider 𝑦 = tan−1(𝑥) . 𝐷 = (−∞, ∞), 𝑅 = (− , )
2 2
 DAY 18: Online class on 24th April

Makeup Class [Online]: Saturday 27th April at 7pm.

Link for the Makeup Class:

meet.google.com/sym-sphj-rap

Notes:

 Section 6.2 is NOT done yet. I will complete this offline.

 Quiz 2 [Syllabus: 4.7, 6.1 and 6.2] will be offline (on the day after the day when we complete
6.2).

For our problem,

2 1
Recall the solution 𝑥(𝑡) = 𝑐1 cos(8𝑡) + 𝑐2 sin(8𝑡) ; 𝑐1 = 3 and 𝑐2 = − 6.

2 1
∴ 𝑥 (𝑡) = cos(8𝑡) − sin(8𝑡)
3 6
2 1
Goal: We want write the solution 𝑥 (𝑡) = cos(8𝑡) − sin(8𝑡) in the form 𝑥 (𝑡) = 𝐴 sin(8𝑡 + 𝜑).
3 6
2 1
[Homework: Write the solution (𝑡) = 3 cos(8𝑡) − 6 sin(8𝑡) in the form 𝑥 (𝑡) = 𝐴 cos(8𝑡 + 𝜑).]

2 1
Q. Write the solution 𝑥(𝑡) = 3 cos(8𝑡) − 6 sin(8𝑡) in the form 𝑥 (𝑡) = 𝐴 sin(8𝑡 + 𝜑).

[We need to find 𝐴 and 𝜔]

[Formula: sin(𝐶 + 𝐷) = sin 𝐶 cos 𝐷 + cos 𝐶 sin 𝐷 ]

Procedure:

2 1 2 2
√17
Set 𝐴 = √𝑐12 + 𝑐22 . Then, 𝐴 > 0. Here, 𝐴 = √(3) + (− 6) = 6
.

2 1
Now, 𝑥 (𝑡) = 𝐴 sin(8𝑡 + 𝜑) = cos(8𝑡) − sin(8𝑡)
3 6

2 1
⇒ 𝐴[sin(8𝑡) cos 𝜑 + cos(8𝑡) sin 𝜑] = cos(8𝑡) − sin(8𝑡)
3 6
2 1
⇒ 𝐴 sin(8𝑡) cos 𝜑 + 𝐴 cos(8𝑡) sin 𝜑 = cos(8𝑡) − sin(8𝑡)
3 6
2 1
⇒ [𝐴 sin 𝜑] cos(8𝑡) + [𝐴 cos 𝜑] sin(8𝑡) = cos(8𝑡) + [− ] sin(8𝑡)
3 6
2 1
⇒ 𝐴 sin 𝜑 = 3 and 𝐴 cos 𝜑 = − 6
 2 1
3
⇒ sin 𝜑 = 𝐴
>0 and cos 𝜑 = − 𝐴6 < 0 ⇒ 𝜑 is in Quadrant-II
2
3
sin 𝜑 𝐴 2
Also, tan 𝜑 = cos 𝜑 = 1 ⇒ tan 𝜑 = 3 (−6)−= −4
−6
𝐴

Definition:
𝑦
tan−1 ( ) if 𝜃 (𝑜𝑟 (𝑥, 𝑦)) is an angle (point) in Quadrant − I or in Quadrant − IV
𝜃 ={ 𝑥
𝑦
𝜋 + tan−1 ( ) if 𝜃 (𝑜𝑟 (𝑥, 𝑦)) is an angle (point) in Quadrant − II or in Quadrant − III
𝑥
⇒ tan 𝜑 = −4

⇒ 𝜑 = tan−1(−4) + 𝜋 ; since 𝜑 is in Quadrant-II

⇒ 𝜑 = − tan−1 4 + 𝜋 ; Use your calculator in redian mode.

∴ 𝜑 = 1.816 rad.
Therefore,

2 1 √17
𝑥 (𝑡) = cos(8𝑡) − sin(8𝑡) = 𝐴 sin(8𝑡 + 𝜑) = sin(8𝑡 + 1.816) .
3 6 6

𝑐
tan−1 ( 1 ) if 𝜑 is an angle in Quadrant − I or in Quadrant − IV
𝑐2
[𝜑 = { 𝑐
𝜋 + tan−1 ( 1 ) if 𝜑 is an angle in Quadrant − II or in Quadrant − III
𝑐2

2 1 2 2 1 2 √17
We have 𝑐1 = 3 and 𝑐2 = − 6. Hence, 𝐴 = √𝑐12 + 𝑐22 ∴ 𝐴 = √(3) + (− 6) = 6
.
𝑐1 𝑐2
Also, sin 𝜑 = >0 and cos 𝜑 = < 0 => 𝜑 is in Quadrant-II.
𝐴 𝐴
2
𝑐1 ( )
Now,, tan 𝜑 = = 3
1 = −4 , thai is, 𝜑 = 𝜋 + tan−1 (−4) = 𝜋 − tan−1 (4) = 1.816 rad.
𝑐2 −
6

Therefore, the equation of the motion

√17
𝑥 (𝑡) = sin(8𝑡 + 1.816) → (9)[𝑖𝑛 𝑏𝑜𝑜𝑘]
6
 √17
Reflection of the blue dashed graph with respect to the 𝑥 = 0 line: 𝑥 (𝑡) = 6
sin(8𝑡 + 1.816)
The graph of the motion on the 𝑡𝑥 −plane:

√17
𝑥(𝑡) = sin(8𝑡 + 1.816).
6

Answer the following questions for

√17
𝑥(𝑡) = sin(8𝑡 + 1.816).
6

 What is the period of the motion?

2𝜋 2𝜋 𝜋
Period = 𝜔
= 8
= 4
≈ 0.785
1 𝜔 8
What is the frequency of the motion? 2𝜋 = 2𝜋 = 2𝜋 =? ? ?
𝜔

(a) When the mass will be at the equilibrium position for the 5th time?

Equilibrium Level: Set 𝑥 (𝑡) = 0.

√17
Then, 𝑥 (𝑡) = sin(8𝑡 + 1.816) = 0
6
→ sin(8𝑡 + 1.816) = 0
→ sin(8𝑡 + 1.816) = sin(𝑛𝜋) ; for integer 𝑛.
→ 8𝑡 + 1.816 = 𝑛𝜋
1
∴ 𝑡 = (𝑛𝜋 − 1.816) , 𝑛 = 1, 2, 3, ⋯ (𝑛 ≠ 0 because 𝑡 ≥ 0)
8

So, the mass will be at the equilibrium position for the 5th time for 𝑛 = 5.

1
∴ 𝑡 = (5𝜋 − 1.816) =?
8
Q; When the mass is at the equilibrium position for the first time? [𝑛 = 1]
1
Ans: At time 𝑡 = (𝜋 − 1.816) = 0.166 𝑠.
8

3𝜋
Q: Find the velocity at 𝑡 = 16
= 0.589. In which direction is the mass heading at that instant? What is
the rate of change of the velocity at that moment?
√17
Displacement: 1. 𝑥 (𝑡) = 6
sin(8𝑡 + 1.816).

√17
Velocity: 2. 𝑥 ′ (𝑡) = 8 ∙ cos(8𝑡 + 1.816).
6

√17
Acceleration: 3. 𝑥 ′′ (𝑡) = −82 ∙ sin(8𝑡 + 1.816).
6

Find the velocity:

3𝜋 √17 3𝜋 4 √17 3𝜋 𝑓𝑡
Velocity: 2. 𝑥 ′ ( 16 ) = 8 ∙ 6
cos (8 ( 16 ) + 1.816) = 2
cos ( 2 + 1.816) = 5.33 𝑠

In which direction is the mass heading at that instant? [ You need to know the sign of 𝑥 and 𝑥 ′ ]

3𝜋 √17 3𝜋 √17 3𝜋
Position: 𝑥 ( ) = sin (8 ( ) + 1.816) = sin ( + 1.816)
16 6 16 6 2
√17 3𝜋 3𝜋
= [ sin ( ) cos(1.816) + cos ( ) sin(1.816)]
6 2 2
√17 √17
= [− cos(1.816)] = − cos(1.816)
6 6
𝟑𝝅
𝒙( ) = 𝟎. 𝟐𝟒𝟑 𝒇𝒕 > 𝟎
𝟏𝟔
Velocity positive  Downward and displacement positive  below the equilibrium.
𝑓𝑡
The mass is heading downward with a velocity 5.33 𝑠
from a point that is 0.243 𝑓𝑡 below the
equilibrium position.

What is the rate of change of the velocity at that moment?

3𝜋 √17 3𝜋
𝑥 ′′ ( ) = −82 ∙ sin ( + 1.816) = −10.68 𝑓𝑡 2 /𝑠.
16 6 2
Important equations to answer related questions:
√17
Displacement: 1. 𝑥 (𝑡) = sin(8𝑡 + 1.816).
6
 √17
Velocity: 2. 𝑥 ′ (𝑡) = 8 ∙ cos(8𝑡 + 1.816).
6

√17
Acceleration: 3. 𝑥 ′′ (𝑡) = −82 ∙ sin(8𝑡 + 1.816).
6

*****Practice Exercises: 1, 2, 3, 4, 5, 6, 7 (Undamped)

For part (b), we should work with 𝑥 ′ (𝑡)

Few additional questions and answers:

(1) Find the time at which the mass attains its extreme displacement from the equilibrium position?

SPRING/MASS SYSTEMS: FREE DAMPED MOTION

The concept of free harmonic motion is somewhat unrealistic, since the motion described by equation (1)
assumes that there are no retarding forces acting on the moving mass. Unless the mass is suspended in a
perfect vacuum, there will be at least a resisting force due to the surrounding medium. As the figure below
shows, the mass could be suspended in a viscous medium or connected to a dashpot damping device.

In the study of mechanics, damping forces acting on a body are considered to be proportional to a
power of the instantaneous velocity. In particular, we shall assume throughout the subsequent discussion
 𝒅𝒙
that this force is given by a constant multiple of 𝒅𝒕
. When no other external forces are impressed on the

system, it follows from Newton’s second law that [𝐹1 + 𝐹2 = −𝑘𝑥]

𝑑2 𝑥 𝑑𝑥
𝑚 2
= −𝑘𝑥 − 𝛽 … … … (∗)
𝑑𝑡 𝑑𝑡
where 𝛽 is a positive damping constant and the negative sign is a consequence of the fact that the
damping force acts in a direction opposite to the motion.
Dividing (∗) by the mass 𝑚, we find that the differential equation of free damped motion is

𝑑2 𝑥 𝛽 𝑑𝑥 𝑘
+ + 𝑥 = 0 … … … (∗∗∗)
𝑑𝑡 2 𝑚 𝑑𝑡 𝑚

𝛽 𝑘
For simplicity, set 𝑚
= 2𝜆 and 𝑚
= 𝜔2 .

Note that The symbol 2𝜆 is used only for algebraic convenience because the auxiliary equation is
𝑚 2 + 2𝜆𝑚 + 𝜔2 = 0

−2𝜆±√(2𝜆)2−4𝜔 2
, and the corresponding roots are then 𝑚 = 2

∴ 𝑚 = −𝜆 ± √𝜆2 − 𝜔 2 .

Case-1: If 𝜆2 − 𝜔2 > 0. In this situation the system is said to be overdamped because the damping
coefficient 𝛽 is large when compared to the spring constant 𝑘.
Here, we will get two distinct real solutions 𝑚1 and 𝑚2 . The corresponding solution of (∗∗∗) is:

𝑥(𝑡) = 𝑐1 𝑒 𝑚1𝑡 + 𝑐2 𝑒 𝑚2 𝑡 .
This equation represents a smooth and non-oscillatory motion.
Graph:
Case-2: If 𝜆2 − 𝜔2 = 0. In this situation the system is said to be critically damped because any slight
decrease in the damping force would result in oscillatory motion.
Here, we will get one repeated solution of 𝑚1 and 𝑚1 . The corresponding solution of (∗∗∗) is:
𝑥 (𝑡) = 𝑐1 𝑒 𝑚1 𝑡 + 𝑐2 𝑡 𝑒 𝑚1𝑡 .
Graph:

Notice that the motion is quite similar to that of an overdamped system. It is also apparent from the
solution [Solution of 𝑥 (𝑡) = 0] that the mass can pass through the equilibrium position at most one time.

Case-3: If 𝜆2 − 𝜔2 < 0. In this situation the system is said to be underdamped because the damping
coefficient 𝛽 is smaller when compared to the spring constant 𝑘.
Here, we will get two distinct COMPLEX solutions 𝑚 = 𝛼 ± 𝑖 𝛽. The corresponding solution of (∗∗∗) is:

𝑥 (𝑡) = 𝑐1 𝑒 𝛼𝑡 cos(𝛽𝑡) + 𝑐2 𝑒 𝛼𝑡 sin(𝛽𝑡).

Graph:
As indicated in the graph, the motion described by the solution 𝑥 (𝑡) = 𝑐1 𝑒 𝛼𝑡 cos(𝛽𝑡) + 𝑐2 𝑒 𝛼𝑡 sin(𝛽𝑡)
is oscillatory; but because of the coefficient 𝑒 𝛼𝑡 , the amplitudes of vibration → 0 as 𝑡 → ∞.

Example: A mass weighing 8 pounds stretches a spring 2 feet. Assuming that a damping force numerically
equal to 2 times the instantaneous velocity acts on the system and the mass is initially released from the
equilibrium position with an upward velocity of 3 ft/s.

(i) Determine the equation of motion.

(ii) Is it over/under/critically damped?
(iii) Find the solution of the damped motion.
(iv) Find the extreme displacement. Interpret this value.

Solution: The differential equation of free damped motion is

𝑑2 𝑥 𝑑𝑥
𝑚 2
= −𝑘𝑥 − 𝛽 … … … (∗)
𝑑𝑡 𝑑𝑡
Here,
Given, 𝐹 = 8, 𝑠 = 2, 𝛽 = 2.
Hook’s Law: 𝐹 = 𝑘𝑠, 𝐹 = 8, 𝑠 = 2 → 𝑘 = 4.
𝐹 8 1
Also, 𝐹 = 𝑚𝑔 → 𝑚 = 𝑔 = 32 ∴ 𝑚 = 4.

From (∗):
1 𝑑2 𝑥 𝑑𝑥
2
= −4𝑥 − 2
4 𝑑𝑡 𝑑𝑡
The motion as IVP:
𝑑2 𝑥 𝑑𝑥
∴ 2
+8 + 16𝑥 = 0 → (1)
𝑑𝑡 𝑑𝑡
ICs: 𝑥(0) = 0, 𝑥 ′ (0) = −3
A.E. of (1):
𝑚 2 + 8𝑚 + 16 = 0 → (𝑚 + 4)2 = 0
∴ 𝑚 = −4, −4.
Motion is critically damped.

General solution of the motion: 𝑥 (𝑡) = 𝑐1 𝑒 −4𝑡 + 𝑐2 𝑡𝑒 −4𝑡 .

Apply : 𝑥 (0) = 0, 𝑥 ′ (0) = −3 to find the constants.
Here,
𝑥 ′ (𝑡) = −4𝑐1 𝑒 −4𝑡 + 𝑐2 𝑒 −4𝑡 − 4𝑐2 𝑡𝑒 −4𝑡 .
𝑐1 = 0, 𝑐2 = −3

The solution of the motion: 𝑥(𝑡) = −3 𝑡𝑒 −4𝑡 .

At the extreme displacement, 𝑥 ′ = 0.

So, set 𝑥 ′ (𝑡) = −3 𝑒 −4𝑡 + 12𝑡𝑒 −4𝑡 = (−3 + 12𝑡)𝑒 −4𝑡 = 0
→ −3 + 12𝑡 = 0
1
𝑡= 𝑠.
4
1 3
Here 𝑥 (4) = − 4𝑒 = −0.276 𝑓𝑡.

We interpret this value to mean that the mass reaches a maximum height of 0.276 foot above the
equilibrium position.
Practice more questions!!!!
Practice: 21, 22, 23, 25, 25 (Damped)