1

What is forced oscillation?

Forced oscillator and Undamped oscillator with harmonic forcing, Chapter 4

resonance forced oscillator with damping
pp. 78-95

It is a free or damped oscillation which is influenced by an

externally applied harmonic force.

Topic : Undamped oscillator with harmonic forceing

Harmonic force : F  t   F0 cos t
This is acing on a spring mass system with natural frequency 0
 mx  kx  F0 cos t  mx  kx  F0 cos t
F
 x  02 x  0 cos t
m
To obtain steady state solun. let us take, x  C cos t
F F m
2C  02C  0  C  2 0 2
m 0  
If there is an initial phase  at t  0, then
F m
x  2 0 2 cos  t     C   cos  t   
0  
Example: Pendulum with oscillating point of suspension
 2

Let teh displacement from y  axis is x. So the displacement from the

equillibrium position of the pendulum is :
x  t   X  t  , where, X  t   A0 cos   t 
So, vertical and horizontal forces acting on the pendulum undergoes
small oscillation are FVertical  T cos   mg
x X x  A0 cos 
and FHorizontal  T sin   mg sin   mg  mg .
l l
d 2x mg
 Eqution of motion of the pendulum : m 2    x  A0 cos  
dt l
d 2x g g d 2x
 2  x  A0 cos t  2  02 x  02 A0 cos t
dt l l dt
02 A0 cos t
 Solution of the equation : x  t   A cos  t    
02  2
 3

Example : Electromagneticwave incident on an atom

Equation of motion of the ion of mass 'm' when e-m wave falls on it.
eE eE
mx  kx  eE0 cos t  x  02 x  0 cos t  x  02 x  0 cos t
m m
F0
So, most general solution : x  t   A cos  t     cos t
m  02  2 

Variation of amplitude with Frequency : Resonance at   0

F0
Amplitude of oscillation : A   

m 02  2 
Variation of A   with  :
 4

Topic : Forced oscillation with damping

d2x dx d2x dx F
m  b  kx  F0 cos t  2    02 x  0 cos t
dt 2 dt dt dt m
d2x dx F
  02 x  0 eit  A linear differential equation.
dt 2 dt m
Most General Solution of an Inhomogeneous equation
 Most General Solution of Homogeneous Equation
+
Any Particular Solutions of Inhomogeneous Equation
i.e.: x  t   x0  t   x p.s.  t 

Topic :The general solution of damped and forced  damped oscillation

d 2 x1 dx
Differential equation of damped oscillation : 2   1  02 x1  0
dt dt
Let , x1 eit ; Put this in the above equation, we have :
i    2  402  2 
   i    0   
2 2
0  i  0 
2
 i  1
2 2 4 2
t t

 
 
 z  A1e e 2  i1t
 A1e 2  C1ei1t  C2e i1t 
 
t t
 
 A1e 2  C1  C2  cos 1t  i  C2  C1  sin 1t   A1e 2
 R cos 1t cos   R sin 1t sin 
t t
  2
 A0 e 2
cos  1t     x1  A0 e 2
cos  1t    . where, 1    2
0
4
Other parameters can be obtained from the initial conditions
 5

Topic : Differential equation of forced  damped oscillation :Contd .

d 2 x2 dx F
Differential equation of forced  damped oscillation : 2   2  02 x2  0 cos t
dt dt m
d 2z dz F
 2    02 z  0 eit ; Let us take the trial solution as, z  Aei t  
dt dt m
Put this in the above equation :

  F
m
F
m
F

 2  i  02 Aei t    0 eit  A 02  2  i  0 ei  0  cos   i sin  
m


F F
 
 Comparing : 0 cos   A 02  2 ; 0 sin   A   and tan   2
m m 0  2
F0 e i F0 e  i
 A , A 
*


m 02  2  i  
m 02  2  i  
F0 m
 A    AA*  A   
    
2
 2
2 2
0

 Solution is : x2  A   cos  t   
F0
When   0, A    is denoted by A0 as per the your text book .
m02
F F A0 02
 0 2  A0  0  A002 and A   
m0 m
    
2
 2
2 2
0

Therefore, complete solution is of forced  damped oscillation :

t

x  A0 e 2
cos  1t     A   cos  t   
Case I : Underdamped oscillatior with no damping force.
 b  0, i.e.   0 and 1  0  x  A0 cos  0t     A   cos  t   
F0 m F0 m
Here, A    
02  2
 
2
2
0  2   2 2

F0 m
 x  A0 cos  0t     cos  t   
02  2
 6

Topic : A    in terms of Q : Quality factor Q  0 

 A   
F0 m F0 1

           Q
2
m 2
02  2
2

2 2 2
0 0

F0  0   Q 1Q
 A    ; tan    2 0 2 
m02 2   2
2
0   0 
 0   1 0 
     0
  0  Q
2

Topic : Effect of varying resistive term '  ' in terms of Q:

dA
Let , A     A    max  Am for   m , then 0
d
dA   


1 F0 4m 0  m  2m  0 Q 
2 2
 2

0
d
3
2 m
m
 2 2 2  m 0   2 2

 0  m    
  Q 

 1  F0  1 
  m  0  1   and A  Q 1 
 2Q 

m 4Q 
2 m
2

Most of the phase change  takes place over a range of frequencies roughly
 1  1 20
from 0 1   to 0 1   i.e. bandwidth of around 0 .
 Q   Q  Q
 7

Topic : Nature of oscillation in different cases :

Case I : Underdamped oscillatior with no damping force.
 b  0, i.e.   0 and 1  0  x  A0 cos  0t     A   cos  t   
F0 m F0 m
Here, A    
02  2
  2    22
2
2
0

F0 m
 x  A0 cos  0t     cos  t   
02  2

Beats: Two signals of different frequencies are overlapping and creating beats. In
absence of damping force, it will continue up to infinite time.

Case II : Forced damped oscillator with off reasonance :

t

Solun : x  A0 e 2
cos  1t     A   cos  t   
t
 F0 m
 A0 e 2
cos  1t     cos  t   
 
2
2
0  2
 2 2

After some time the amplitude reached to a steady value.

 8

Case III : Forced damped oscillator at steady state :

t

Solun : x  A0e 2
cos  1t     A   cos  t   
After some time, the first factor we can neglect. So,
F0 m
x cos  0t     A   cos  0t   
 
2
02  2   22
Initially with smooth increase of amplitude for some time,
then it achavied a steady state value.
 9

Topic : Solutions at different limiting cases of 

Low frequency limit of driving frequency :   0
d 2x dx F F
Differential equation : 2
   02 x  0 cos t  0 eit
dt dt m m
F0
Take trial solun : x eit ; u sin g the trial solun in the equation : 2 x  ix  02 x  cos t
m
The 1st term : 2 x  02 x and can be neglected
F0 F
The 2nd term : ix also can be neglected except for x  0.02 x  cos t  x  0 2 cos t
m m0
 This confirms that the oscillator is moving at the driving frequency. Also, the amplitude is
independent of  and phase is zero, i.e. oscillator is moving completely under the driving force.
This is usually the case in small angle oscillation.
High frequency limit of driving frequency :   0
Following the same logic, the first term is much much larger than
F F F
the other two terms. So, 2 x  0 cos t  x   0 2 cos t  0 2 cos    t 
m m m
F
 x  0 2 cos  t   
m
Medium frequency region of driving frequency :   0  ;   0
F0 F
For , small damping :  2 x  ix  02 x  cos t  2 x  02 x  0 cos t
m m

  02  2  x 
F0 F0
cos t  x  cos t
m m  02  2 
 10

Topic : Calculation of m when A     Amax

m

F0 m F0Q
A()  ; A resonance  A  0   ; For amplitude reasonance:
m02
 
2
2
0  2   22

dA  
 0, i.e.Maximizing A   w.r.t.  one gets at   m
d  m

dA  
d

  2 02  2   2   m
0
m

1/2
 2 
1/ 2
 1   1 
m  0 2   or m  0 1  2 
 0  1  
 2  2Q   4Q 2 

  
So, A   is at m but not at 0 and   m   tan 1  2 m 2 
max
 0  m 
 1


 1 1  2

   Q   2Q 2    1


1   1  2 1 2  
   m   tan 1
 m 0
  tan    tan  2Q  1  2      m   at 0  m
2 2 2

 0 1  m 0  
  1   
 2Q 

2
  2Q  
2

 
F0 m F0 m
and A  m   
 
2 2
02  m2   2m2  2 2 1  04  1 

 0  0 1  2 
 2 
1 2 
  2Q   Q  2Q 
F0 m F0Q 1 A0Q
 A  m   Amax    ;
04 04  1  m02  1   1 
4
 2 
1 2  1  4Q 2  1  4Q 2 
4Q Q  2Q     
F0Q
So, for high Q value : A  m    A  0 
m02
 11

Topic : Power absorbed by a driven oscillator

dW  t 
Instantaneous power input, P  t  , is: P  t    F  t  .  t 
dt
In case of force-damped oscillator: F  t   F0 cos t and
F0 m F0 m
x t   cos  t     x   sin  t   
   
2 2
2
0  2
  2 2 2
0  2
 
2 2

dW F0 m
 P t    F .  Fx  . cos t.sin  t   
dt
 
2
2
0  2
  2 2

 P t   
F 0
2
m   sin t cos t cos   sin 2 t sin  
 
2
2
0  2   22
T
1
Average power:P=  P  t  dt
T o

1
 P     .
F 0
2
m   T
. sin  cos t cos   sin 2 t sin   dt
T
      
2
2 2 2 2 o
0

1  F m 1   F m  
2 2

 P    sin   .
0 0

2       
 
2
2      2 2
2
2 2 2 2 2 2
0 0

 P   
1  F m  Q  F . 0
2
1 0 0
2

202    
2
1  2m0Q   
2
1
 0    2  
0
   2
  0  Q    0  Q

F02Q
 P    P  0   Pmax  at resonance.
2m0
 12

Topic : Calculation of half power frequency

P max
At half power frequencies, i.e. at   1 and   2 , P  1 or 2   P1 2 
2
P max 1
 .
 F02 m    
F02
; Now, P   
F02 m 2  

2 2  2 2   22  2 m  
2
2
0 02  2   22
0

 At half power frequency : 

F02 
 F02 m  
2 m  
2
0     
2 2 2 2

 F02 2 F02
 
2
   02  2   22  2 22

m  02  

2 2
   22 

2 m

2
02 2  
    1
2 2
 02  2   22  0  02  2  2   0 0    2
Q   0  Q
0  1 
     Let ,  1  ;
 0 Q 0
0  1 1
    1     1    1    
 0 1   Q
1 1  1  
 2     1      0   0  
Q 2Q 0 2Q 2Q 2
So, if  is the half power frequency, then the two half  power frequencies are :
 
 Left  0  and Right  0  ;
2 2

So, at half power frequency :   0  ;Right  Left    
2

     FWHM  0
Q
 
   0  and     FWHM and Q  0
2 
 13

Topic : Steady state energy balance and power transfer :

Steady state motion : x  A cos  t    i.e. oscillator
undergoes pure harmonic motion  spring  mass system like 
with the same angular frequency of the driving force.
2 2
1  dx  1 1  dx  1
 E  EKE  EPot  m    kx 2  m    m02 x 2
2  dt  2 2  dt  2
1 1
 E  mA22 sin 2  t     m02 A2 cos 2  t   
2 2
1
 E  mA2 2 sin 2  t     02 cos 2  t    
2
So, E  E  t  , unless,   0 ;
1 1
 E  0   mA2 02 sin 2  t     cos 2  t     and E  0   mA202
2 2
1
Otherwise, E  mA2 2 sin 2  t     02 cos 2  t    
2
1
 
 E Over a complete cycle  mA2 2  02 ; If this is constant, means the
4
driving force provides sufficient amount of energy over a
complete cycle to compensate for the energy lost due to damping.
In low frequency region    0  , PE dominates
and in the high frequency region    0  , KE dominates.
 14

Topic: Relation between average power supplied by the driving force and the
average KE of the oscillator
Equation of damped  forced oscillation :
mx  mx  m02 x  F0 cos t  F  t  and corresponding solution : x  A cos  t   

 
So, F  t   m 02  2 x  m
dx
dt
; Time rate of doing work against the damping force :

  dx  
2

 P  t   F  t  .   m  0    x  m   
dW dx 2 2 dx
dt dt  dt  dt  
2 2
 dx   dx 

 Pdriv  t   m    2
0
2
 x
dx
dt
 m  
 dt 
 m  
 dt 

1
2
mA22 
1
2
bA22

2
1  dx  1 1 1
Now, EKE  m    mA2 2  Pdriv  t   2  EKE  mA2 2  bA2 2 ;
2  dt  4 2 2
 Average work done against damping force. Here, A  A  

Topic: Average rate of doing work by the damping force :

dW
 Pdamp  t    Fdamping .  b2
dt
Here, the steady state solution is : x  A   cos  t    , x     A sin  t   
dW
  Pdamp  t   b2  bA2 2 sin 2  t   
dt
T
1 1 2 2
 
T 0
Average power in one cycle : Pdamp  bA 
2 2
sin 2
t   dt  bA 
2
So, in steady state : Pdamp  Pdriv
 15

Summary : Differential equation of forced  damped oscillation :

d2x dx F0 F0
2
  02 x  cos t  eit
dt dt m m
  t 2 
General Solution : x  t   A0 e cos  1t     A    cos  t   

F0 m  0 2
A    ; tan   ;Q  ; 1  02 
   0  
2 2
02 2 2 2 4

F0  0  0 Q 1Q
A    ; tan    
m02 2 02  2 02  2 0 
 0   1 
     0
  0  Q
2

 1  F0  1 
m  0  1   and Amax  A m  Q 1 
 2Q 2  m  4Q 2 

P  t  =P    .
1 
 F02 m   
F02
.
1

  2m0 Q  
2 2
2 2
 2   2 2   1
0 0
    2
  0  Q

F02 Q  0
P    P  0   Pmax  ;   0  and     FWHM and Q 
0 2m0 2 

E Over a complete cycle


1
4
mA2 2  02  
1 1
Pdriv  t   2  E KE  mA2 2  bA2 2 ; Pdamp  Pdriv
2 2
 16

Topic : seriesLCR circuit

If a series LCR circuit is dirven by an clternating applied voltage,
we have a typical forced oscillation equation :
di q d  dq  q dq
L   iR  V0 cos t  L     R  V0 cos t
dt c dt  dt  c dt
d 2 q R dq 1 V
 2   q  0 cos t
dt L dt LC L
 Steady state solution : q  t   q0 cos  t   

Chapter 4: Lecture problems

Prob. 4.5 A simple pendulum has a length of 1 m. In free vibration the amplitude falls off by
a factor e in 50 swings. The pendulum is set into forced vibration by moving its point of
suspension horizontally in SHM with an amplitude of 1 mm.  a  Show that if the horizontal
displacement of the bob is x and the horizontal displacement of its point of suspension is
d 2x dx g g
 the equation of motion of the pendulum is : 2    x  . Solve the equation for
dt dt l l
steady state motion, if   0 cos t.
 b  At exact resonance, what is the amplitude of the motion of the pedulum bob?
 c  At what angular frequencies is the amplitude half of its resonance value?
 17

A t 
t t nT n.2  0 n.
    . 
Solun.From the information given : A  t   A0e 2
 e 2
e 2
e 2 0 Q
e Q

A0
A t 
50.
1  50.
  e Q
  1  Q  50
A0 e Q
x
 a  Here, mg cos   T and mg sin   f driving ; For small oscillation, sin   .
l
d 2x x dx d 2x dx g g g
 m 2  mg.  b  2    x    0 cos t
dt l dt dt dt l l l
d 2x dx F
Further , 2    02 x  020 cos t  0 cos t
dt dt m
F0 FQ
 b  At resonance : A  0    0 2  A0Q
m0 m0
Given : A0  0  1mm;  Am  A  0   A0Q  50 mm  15.70 cm
F0 m F0
 c  A    ; A  0  
m0
 
2
2
0  2   22

A  0  F0 m F0 m
Let at   , A     
20
2
 
2
2
0  2   22
2
2 2  0  2 0 04
2

 
2
 02  2     4 0   0  
2 2 2 2
  2  4 2
  0  Q Q
2
2  0   2 1
2
4 21  x2 4
 2    2 . 2  2  x   x  2  2
0   0  0 Q Q x  Q Q
x2
 4

2
 1  x  2  2 ;Sin ce,   0 , so, x is closed to1 or x  1  
2

Q Q
x2 1  2
   1  1  2     4 4
2
 1 x 2 2
 2; 1  x 2
 2  2  4 2  2
 2
Q Q Q Q
Approximately,1  2  1
1  2 4 1 4 3 3
 4 2   2  4 2  2  2       5.5  103
Q 2
Q Q Q 2Q 100

  x  1    1  .0055     0 1  .0055 
0
 18

Prob. 4.6. Simple Seismograph as in figure below.It consists of a mass m hung from
a spring on a rigid framework attached to the earth. The spring force and damping
force depend on displacement and velocity relative to the earth’s surface, but the
dynamically significant acceleration is acceleration of m relative to the fixed stars.
d2y dy d 2
 a  Showthat the equation of motion is :    2
0 y   , y is displacement
dt 2 dt dt 2
of m relative to earth and    is displacement of earth’s surface itself .
 b  Solve for y if  C cos t
 c  Plot a graph of amplitude versus driving frequency.
 d  Atypical long period seismometer has a period of about 30 sec. and quality of 2.
As a result of earthquake the earth’s surface may oscillate with a period of 20 min.
and with an amplitude such that the maximum acceleration is about 109 m  s 2 . How
small a value of the displacement of the block must be observable, if the quake is to
be detected

 a  Since y is defined w.r.t. the earth’s frame, which is non  inertial ,

the forces are as shown.
d 2 dy
f fictitious  m 2
; f spring  ky; f damping  b ; So, equation of motion :
dt dt
d2y dy d 2 d 2 y b dy k d 2 d2y dy d 2
m   ky  b  m    y       2
0 y  
dt 2 dt dt 2 dt 2 m dt m dt 2 dt 2 dt dt 2
d2y dy F  
 b  Given,   c cos t; 2
   02 y  2c cos t  cos t ;
dt dt m

x 
 F m  cos  t     2c cos  t   
   
2 2
02  2   22 02  2   22
 19

A0Q
 d  A  m   Amax  ; Given Q  2. Amax  2.065 A0
 1 
1  4Q 2 
 
c2
Here : x  cos  t     A   cos  t   
2
  1
0  0    2
  0  Q
Here, amplitudeis c. Acceleration  x   A   2 cos  t   
 Maximum Acceleration  amax  c2
F0 c2  30sec
Now, A0   2 ; Given :   0.025
m0 0
2
0 20 min
c2
 A0  2  2.25  108 m
0
A0 02 A0
 A      2.25nm (check )
2 2
  1   0   1
0  0    2     2
  0  Q 0   0  Q
 20

Prob. 4.10.The power required to maintain forced vibration must be equal to the power
loss due to damping .  a  Find the instantaneous rate of doing work against the damping force.
 b  Find the mean rate of doing work against damping .  c  Substitute the value of A at any
arbitrary frequency and hence obtain the expression for average P.
Solun.
 a  Topic: Average rate of doing work by the damping force :
dW
 Pdam  t    Fdamping .  b2
dt
Here, the steady state solution is : x  A   cos  t    ;
x     A sin  t   
dW
  Pdam  t   bA2 2 sin 2  t   
dt
T
1 1
 b  Average power in one cycle  Pdam   bA2 2 sin 2  t    dt  bA2 2
T 0 2

c Pdam 
 bF0
2
2m 2 02 
  
2
1 
 0
   2
  0  Q 

So, in steady state : Pdam  Pdriv

 21

Prob. 4.17.The graph shows the mean power absorbed by an oscillator when driven by a force
of constant magnitude but variable frequency.  a  At exact resonance, how much work per cycle
is being done against the resistive force ?  b  At exact resonance, what is the total mechanical
energy E of the oscillator ?  c  If the driving force is turned off , how long does it take for the
energy of the oscillator to drop to E0e 1 ?

Solun.
2
 a  0  1.0MHz; T0   T0  2106 s
0
Work / cycle  PmaxT0  10  2105 J  210 5 J  Pm
1 2 2 1
 b  Pm  bA 0  E0 ; where E0  m A202 ;
2 2
 c  E0  Total mechanical energy of the oscillator.
From power resonance curve :     1.005  0.995  106  0.01106 s 1  104 s 1
Pmax 10
E0   4  103 J  1.0 mJ
 10
1
 E  E0e t  E0e 1 ; t   104 sec

 22

Summary : Differential equation of forced  damped oscillation :

d2x dx F0 F0
2
  02 x  cos t  eit
dt dt m m
  t 2 
General Solution : x  t   A0 e cos  1t     A    cos  t   

F0 m  0 2
A    ; tan   ;Q  ; 1  02 
   0  
2 2
02  2 2 2 4

F0  0  0 Q 1Q
A    ; tan    
m02 2 02  2 02  2 0 
 0   1 
    2  0
  0  Q

 1  F0  1 
m  0  1   and Amax  A m  Q 1 
 2Q 2  m  4Q 2 

P   
1
.

 F02 m   
F02
.
1

  2m0 Q  
2 2
2 02  2   2 2   1
0
    2
  0  Q

F02 Q  0
 P     P  0   Pmax  ;   0  and     FWHM and Q 
2m0 2 

E Over a complete cycle


1
4

mA2 2  02 
1 1
Pdriv  t   2  EKE  mA2 2  bA2 2 ; Pdamp  Pdriv
2 2