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References
M. O. Tjia, Gelombang, Dabara.
HJ Pain, The Physics of Vibrations and Waves, 6th ed. Wiley.
Hariadi P. Supangkat, Catatan Kuliah FI311: Gelombang
Course Rules
Evaluation criteria
1st Exam (30%)
2nd Exam (40%)
Assignments/Quizzes (20%)
RBL project (10%)
Grade conversion:
Similar to First Year Physics
Question:
1. Where are the positions with max velocity ? Max acceleration? Min velocity? Min
acceleration?
2. Explain why in such positions the quantities (v,a) are max or min.
Simple Harmonic Oscillator
2. Model 2: Simple pendulum
Small mass m (in what sense?) hangs freely by a massless string
(non elastic too) with length l . Suppose at t=0 s, the mass m
makes an angle to its equilibrium position.
W=mg
Simple Harmonic Oscillator
Or:
2
sin = 2
Question : Why the torque has a negative sign?
Small angle approximation : if is small (in rad sense) then
Question: Check the value of sin , for =0.01, 0.1, 0.2, 0.3 rad. Express the angle in
degree () and make a rough sketch for the magnitudes for each of those angles.or
2
/ + . (2)
2
Couple HMS
If there is no spring then each pendulum will vibrate with the characteristic frequency 02 = , therefore
we can write eq (1) and (2) as:
2
+02 = . (3)
2
2
+02 = . (4)
2
2
+02 = 0 (5)
2
2 2
+(02 + )=0 (6)
2
Meaning of equations:
If Y=0, the x=y all the times, the motion is completely described by (5), with normal frequency 02 =
Can you imagine the motion ? This is the in-phase motion.
Normal Modes and Normal Frequencies
2
= / + . (8)
2
The normal mode solution (or eigen solution) can be found by assuming that the solution may
be written as : = and = with initial condition all pendulums are starting from
rest. Substitute this solutions into (7) and (8) and use the definition 02 = and 2 =
(2 + 02 ) 2 = 2 (9)
2 + 2 + 02 = 2 (10)
Or in matrix notation :
2 + 02 2
= 2 (11)
2 +2 02
In this expression , 0 are specified by the system parameters while A,B and are unkown.
General method for Solving
Coupled Harmonic Oscillators
The last eq. (11) is known as an eigen-equation : =
Question: recall the meaning of eigen equation, eigen vectors and eigenvalues!
2 + 02 2
Where the operator is A= .
2 2 + 02
To find the eigen value 2 , we solve the auxiliary eq : det (A-I)=0, where I is the identity
matrix.
2 + 02 2
=0 (12)
2 2 + 02
2
Which gives us a quadratic eq. in : 2 + 02 4 = 0 with the solution:
1 = 02 1 = 0 and 2 = 22 + 02 2 =\ 22 + 02
2 + 02 02 2 0
= (13)
2 2
+ 02
02
0
The solution is A=B,the in-phase motion.
Question: Write the solution for X and Y also in original coordinates x and y.
Analogously, for = 22 + 02 :
2 + 02 (22 + 02 ) 2 0
= (14)
2 + 2 02+ (22
02 )
0
Which give the solution A=-B.the antiphase motion.
Question: Write the solution for X and Y also in original coordinates x and y.
If, initially the pendulums have initial velocities, then the solutions have the form:
= (1 ) and = (2) . The extra parameters are to be found from initial
conditions!
Other Couple HMS models
Model 2: a coupled spring system. y x
k k
Two blocks of masses are connected by a series of identical springs m m
with spring constant k. Suppose the displacements of each ,mass from
its equilibrium position is given by y and x:
The floor is smooth frictionles
Similar to coupled pendulum system, the equation of motion will be given by :
2
= ( ) (15)
2
2
= ( ) (16)
2
Using similar method we can solve these pair of eqs. Adding ( + ) and substracting =
will de-couple these eqs:
2
= (17)
2
2
= 3 (18)
2
The normal coordinates in this system is (X,Y). If X=0, y=x is the in-phase mode, both masses move
in a similar way with freq. 12 = . This is the motion of the center of mass mode, no relative motion
between the masses.
Other Couple HMS models
The second case is when Y=0, x+y=0 or x=-y, the anti-phase motion. Where each mass moves in
opposite with frequency 22 = 3/. The center of mass does not move but each mass moves relative
to the center of mass.
The constants A,B and 1,2 are determined by its initial conditions.
2 3
+ =0 (21)
Other Couple HMS models
Take the derivative with respect to t once again:
2 1 1 1 2
+ =0 (20)
2
1 2 1 3
+ =0 (21)
Question: Can you explain why the sign in dq1/dt is negative whereas in dq3/dt is positive?
Substitute these expressions into (20) and (21) result in the following equation:
2 1
+ (2 ) = 0 (20)
2
1
+ (2 ) = 0 (21)
2 1 1
+ =0 (23)
2
2 3
+ 2 = 0 (24)
1 3
Where the frequencies are 12 = and 22 =
From (25) we can write the solution in original coordinates as sum of the solution in terms of the normal
coordinates.
Each of the solution in normal coordinates is independent, and it vibrates with its own frequency.
Thus the solution of the original problem can be written as a linear superposition of these solution in
normal coordinates each with its own frequency. This will lead to the general method to analyze
vibration known as Fourier Series and Fourier Transform (see your Math. Phys. Lectures)
Small Oscillation
The driving force behind a simple harmonic oscillation is a restoring force which is
proportional to the displacement. In spring-mass system the force is the ideal elastic
force (Hookes law):
F=-kx
Where x : displacement.
It is called a restoring force since it always tries to restore the mass to its equilibrium
position. Check the motion!
The force is not necessary a pull or push as we have seen along the slides for different
situations. And so does the displacement.
However, we can also express this restoring force in term of energy, it is equivalent to
a quadratic potensial energy:
V
1
= 2
10
= 0
=+ 0
2 8
2
=0 >0
=
2 =
Using Taylor Expansion at x=a :
1 2
2
= + + +
=
2 2 =
As long as x is close to a (that is |x-a| << 1) then we can truncate the series up to the 3rd
term, and relative to the minimum energy we can express the energy as :
1 2
2 1 2
= =
2 2 =
2
2
Where > 0. The above expression denotes a simple harmonic motion.
2 =