MATH1302 Sheet 7 Solutions.

Questions 1, 2 and 4 due in 18th March

1. Question. Consider two blocks of mass m and mass 2m on a frictionless table connected
by a spring with stiffness k and unstretched length `. They are compressed together so
that the spring has length `/2. Find the maximum speeds of the two blocks after they are
released from rest.
Solution.
Put the mass m on the left and the mass 2m on the right, and measure their displacements
from their initial positions as x and y, both with the positive direction pointing to the right.
Then the length of the spring is `/2 + y − x and its tension is T = k(−`/2 − x + y). That
gives the governing equations:

mẍ = T = −kx + ky − k`/2

2mÿ = −T = kx − ky + k`/2.

For convenience, we introduce σ = k/m:

ẍ = −σx + σy − σ`/2
2ÿ = σx − σy + σ`/2.

These equations can be approached several different ways. I will show a quick (but not very
obvious) way, and a more straightforward method that takes time.

• One way is to look at the centre of mass, which is displaced from its initial location by
(x + 2y)/3. This motivates looking at the combination x + 2y, which gives

ẍ + 2ÿ = 0 x + 2y = A + Bt

and the initial conditions x = ẋ = 0 and y = ẏ = 0 at t = 0 fix the constants A = B = 0

so x + 2y = 0 for all time. Then we can substitute x = −2y into either of the governing
equations to get
3 σ`
2ÿ = −3σy + σ`/2 ÿ + σy = .
2 4
Solving this gives
2`
y = A cos ((3σ/2)1/2 t + δ) +
3
and we need ẏ = y = 0 at t = 0, so
1/2
0 = − (3σ/2) A sin δ δ=0

0 = A + 2`/3 A = −2`/3
so
2` h i 4` h i
y= 1 − cos ((3σ/2)1/2 t) x=− 1 − cos ((3σ/2)1/2 t) .
3 3
The maximum speeds are then
µ ¶1/2 µ ¶1/2
2` 3σ 4` 3σ
ẏmax = ẋmax = .
3 2 3 2

1
• Another method is to write the system in matrix–vector form as
µ ¶ µ ¶µ ¶ µ ¶
ẍ −σ σ x −σ`/2
= +
ÿ σ/2 −σ/2 y σ`/4

with initial conditions x = ẋ = 0 at time t = 0. Then we find the eigenvalues and

eigenvectors of the matrix:
¯ ¯
¯ −σ − λ σ ¯
¯ ¯=0 λ(λ + 3σ/2) = 0 λ = −3σ/2, 0.
¯ σ/2 −σ/2 − λ ¯

For λ = −3σ/2,
µ ¶µ ¶ µ ¶
σ/2 σ a −2
=0 v1 = ,
σ/2 σ b 1

and for λ = 0, µ ¶µ ¶ µ ¶
−σ σ a 1
=0 v2 = .
σ/2 −σ/2 b 1
Now if we write
µ ¶ µ ¶ µ ¶
x −σ`/2 σ`
= c1 v 1 + c2 v 2 and p= = v1
y σ`/4 4

the governing equations become

µ ¶
σ`
c¨1 v 1 + c¨2 v 2 = A(c1 v 1 + c2 v 2 ) + p = (c1 λ1 v 1 + c2 λ2 v 2 ) + p = c1 (−3σ/2)v 1 + v1
4

Since v 1 and v 2 are linearly independent vectors we can take components:

3σ σ`
c¨1 + c1 = c¨2 = 0
2 4
These are the two equations we solved before, with the same initial conditions, so we
end up with
2` h i
c1 = 1 − cos ((3σ/2)1/2 t) c2 = 0
3
and we deduce x and y by using
µ ¶ iµ 2 ¶
x 2` h
= c1 v 1 + c2 v 2 = 1 − cos ((3σ/2)1/2 t) .
y 3 −1

The displacements are

4` h i 2` h i
x= 1 − cos ((3σ/2)1/2 t) y=− 1 − cos ((3σ/2)1/2 t)
3 3
and the velocities follow by differentiating as before.

2
Q2 Question. Zebedee, the bouncing character from the Magic Roundabout, consists of a
body of mass m on top of a light spring of unstretched length ` and stiffness k and a light
flat circular base.

He is bouncing periodically and vertically on the spot under gravity, and so that the base
reaches a maximum height h. Show that the period of his bouncing is
s r ( s )
2h m 2hk
2 +2 π − tan−1 .
g k mg

(Assume that the spring is never fully compressed during the motion, and that the collision
of the light plate with the ground is inelastic.)
Solution.
We will start calculating from the top of Zebedee’s bounce. We’ll find how long it takes to
the bottom; by symmetry we can just double that time to get the period. As usual, we’ll
introduce σ = k/m.
At the top of the bounce, he is in projectile motion under gravity, and has zero speed with
the plate a height h above the ground. Suppose the height of the base above the ground is
x. Then we need x = h and ẋ = 0 at t = 0, and we have

mẍ = −mg ẋ = −gt x = h − 12 gt2 .

The plate makes contact with the ground when x = 0, so tcontact = (2h/g)1/2 and it has
ẋ = −g(2h/g)1/2 = −(2gh)1/2 .
For the next phase we have motion driven by gravity and the spring force. The plate collision
is inelastic, so the plate stops moving when it reaches the ground. If we put the compression
of the spring as y (as in the diagram) the equation of motion is

mÿ = mg − ky ÿ + σy = g

and the initial conditions, y = 0 and ẏ = (2gh)1/2 at t = tcontact . The general solution to
the equation is
y = g/σ + A cos [σ 1/2 t + δ1 ]
but for convenience we write instead

y = g/σ + A cos [σ 1/2 (t − tcontact ) + δ2 ], ẏ = −σ 1/2 A sin [σ 1/2 (t − tcontact ) + δ2 ].

3
 Then the initial conditions give (for position and velocity in that order)

0 = g/σ + A cos δ2 (2gh)1/2 = −σ 1/2 A sin δ2 .

We can combine these to give us δ2 :

tan δ2 = (2hσ/g)1/2 δ2 = tan−1 (2hσ/g)1/2

and note that since this is between 0 and π/2, we expect the initial conditions to fix A to
be negative.
Now we need the time when y is at its maximum, i.e. in the expression

y = g/σ + A cos [σ 1/2 (t − tcontact ) + δ2 ],

the argument of the cosine should be π. This gives

n o
π = σ 1/2 (tbottom − tcontact ) + δ2 tbottom = tcontact + σ −1/2 π − tan−1 (2hσ/g)1/2 .

Now using T = 2tbottom and substituting in tcontact and σ gives the required form:
s r ( s )
2h m −1 2hk
T =2 +2 π − tan .
g k mg

2. Question. A steel ball of mass m is suspended from a fixed beam using an elastic string of
natural length ` and modulus of elasticity λ. Below the ball is a solenoid which produces a
magnetic field that provides a magnetic pull

F (t) = A(1 + cos (ω t)), (A, ω > 0)

on the steel ball. Initially the ball hangs in equilibrium. The solenoid is then turned on.
Show that while the string remains taut the downwards displacement from equilibrium y of
the ball satisfies
λ A
ÿ + y = (1 + cos (ω t)),
m m
and when ω 2 = λ/m find the ball’s displacement while the string remains taut. (Assume
that the ball does not collide with the solenoid and that motion is entirely vertical.)
Solution.
If the ball is displaced downwards a distance y from equilibrium, the additional tension in
the string (above and beyond the equilibrium tension mg) is λy. Thus the total force acting
downwards on the ball is
Ftotal = A(1 + cos (ω t)) − λy
so using Newton’s 2nd law,
λ A
mÿ = A(1 + cos (ω t)) − λy ÿ + y = (1 + cos (ω t)).
m m
Now we put λ/m = ω 2 and solve the system:
A
ÿ + ω 2 y = (1 + cos (ω t)).
m
The CF for this system is
yCF = α cos (ω t + δ)

4
 and for the PI, we try

yPI = C1 + C2 t sin (ω t)
ẏPI = C2 sin (ω t) + C2 ω t cos (ω t)
ÿPI = 2C2 ω cos (ω t) − C2 ω 2 t sin (ω t)
A
2C2 ω cos (ω t) − C2 ω 2 t sin (ω t) + ω 2 (C1 + C2 t sin (ω t)) = (1 + cos (ω t))
m
giving C1 = A/ω 2 m and C2 = A/2ωm, so the full solution is
A At
y = α cos (ω t + δ) + + sin (ω t).
ω 2 m 2ωm
At t = 0 the displacement and velocity are zero, so
A
0 = α cos δ + 0 = −αω sin δ,
ω2 m
and we deduce δ = 0 and α = −A/ω 2 m. Finally,
A At
y= [1 − cos (ω t)] + sin (ω t).
ω2 m 2ωm
Note that for large t, the last term of y will become arbitrarily large (and will alternate
sign) so y is bound to become sufficiently negative for the string to become slack eventually.

—***—

3. Question. Consider three masses connected vertically between two plates using four
springs, as shown (rotated through 90o ) below.

The springs and masses are identical with stiffness k and mass m respectively. Show that
motion of the system about equilibrium is given by

ẍ = −A x

where x = (x1 , x2 , x3 )T is the vector of mass displacements from equilibrium, and

 
2σ −σ 0
A =  −σ 2σ −σ 
0 −σ 2σ

where σ = k/m.

5
Show that the general solution for the mass displacements is
     
x1 −1 √1 √
 x2  = α  0  cos ((2σ)1/2 t + δ1 ) + β  2  cos ((2σ − 2 σ)1/2 t + δ2 )
x3 1 1
 
1
√ √
+ γ  − 2  cos ((2σ + 2 σ)1/2 t + δ3 )
1
where α, β, γ and δ1 , δ2 , δ3 are constants.
Solution.
When mass 1 is displaced downwards a distance x1 from equilibrium, the extra tension in
the top spring is T1 = kx1 . When, additionally, mass 2 is displaced downwards x2 from its
equilibrium, the extra tension in the second spring is T2 = k(x2 − x1 ). Similarly, the extra
tension in the third spring is T3 = k(x3 − x2 ) and in the bottom spring, T4 = −kx3 . Thus
we can write down the equations of motion for the three masses:
mẍ1 = T2 − T1 = k(x2 − 2x1 )
mẍ2 = T3 − T2 = k(x3 − 2x2 + x1 )
mẍ3 = T4 − T3 = k(x2 − 2x3 )
Using σ = k/m we can write this as a matrix–vector system ẍ = −A x:
    
ẍ1 2σ −σ 0 x1
 ẍ2  = −  −σ 2σ −σ   x2  .
ẍ3 0 −σ 2σ x3
We look for the eigenvalues and eigenvectors of the matrix A. For the eigenvalues,
¯ ¯
¯ 2σ − λ −σ 0 ¯
¯ ¯
¯
0 = ¯ −σ 2σ − λ −σ ¯¯ = (2σ − λ)[(2σ − λ)2 − σ 2 ] + σ[−σ(2σ − λ)]
¯ 0 −σ 2σ − λ ¯

(2σ − λ){(2σ − λ)2 − 2σ 2 } = 0 (2σ − λ){2σ 2 − 4σλ + λ2 } = 0

√
4σ ± 16σ 2 − 8σ 2 √
λ1 = 2σ; λ2,3 = = 2σ ± σ 2.
2
Now the eigenvectors in turn. For λ1 = 2σ,
    
0 −σ 0 a −1
 −σ 0 −σ   b  = 0 v1 =  0  .
0 −σ 0 c 1
√
For λ2 = 2σ − 2 σ,
 √    
2 σ √−σ 0 a √1
 −σ 2σ √ −σ   b  = 0 v2 =  2  ,
0 −σ 2σ c 1
√
and finally for λ2 = 2σ + 2 σ,
 √    
− 2σ −σ
√ 0 a 1
√
 −σ − 2σ −σ  b  = 0 v3 =  − 2  ,
√
0 −σ − 2σ c 1

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 Now the eigenvalues are all distinct so the eigenvectors are independent and we can use
them as a basis. We write our displacement vector as
x = g1 (t)v 1 + g2 (t)v 2 + g3 (t)v 3
so that the equation ẍ = −A x becomes
g̈1 v 1 + g̈2 (t)v 2 + g̈3 (t)v 3 = −A (g1 (t)v 1 + g2 (t)v 2 + g3 (t)v 3 ) = −g1 λ1 v 1 − g2 λ2 v 2 − g3 λ3 v 3 .
We can now take the three components separately. For each, we are solving
g̈i + λi gi = 0 gi (t) = Ci cos ((λi )1/2 t + δi ).
Substituting these in, along with the values of λi and v i , and putting C1 = α, C2 = β and
C3 = γ gives the required form:
     
x1 −1 √1 √
 x2  = α  0  cos ((2σ)1/2 t + δ1 ) + β  2  cos ((2σ − 2 σ)1/2 t + δ2 )
x3 1 1
 
1
√ √
+ γ  − 2  cos ((2σ + 2 σ)1/2 t + δ3 )
1

—***—

4. Question. An oscillator operates under the equation

ÿ + y = ²ẏ 3
where the constant ² ¿ 1.
(a) Verify that the approximation y = y1 (t) + ²y2 (t) gives y¨1 + y1 = 0 and y¨2 + y2 = y˙1 3 .
If y1 = cos t, show that
(b) the y2 equation has a first and third harmonic1 on its right-hand side.
(c) Solve for y2 given that y2 (0) = 0 and ẏ2 (0) = 0, and deduce that the approximation
becomes invalid for large t.
Solution.

(a) We take the form y = y1 (t) + ²y2 (t) and substitute it into the governing equation:
ÿ1 + ²ÿ2 + y1 + ²y2 = ²(ẏ1 + ²ẏ2 )3
Expanding the right hand side, and collecting terms on the left,
ÿ1 + y1 + ²[ÿ2 + y2 ] = ²ẏ13 + 3²2 ẏ12 ẏ2 + 3²3 ẏ1 ẏ22 + ²4 ẏ23 = ²ẏ13 + O(²2 ).
Now we require the equation to be satisfied at each order of ². So at order 1,
ÿ1 + y1 = 0
and at order ²,
ÿ2 + y2 = ẏ13
as required.
1 The kth harmonic here is a term of the form cos (kt + δ) for some δ.

7
(b) Now we have y1 = cos t, so ẏ1 = − sin t. Then
µ ¶3
3 eit − e−it e3it − 3e2it e−it + 3eit e−2it − e−3it
ÿ2 + y2 = (− sin t) = − =
2i 8i
3it −3it it −it
e −e −3e + 3e 1 3
= + = sin 3t − sin t
8i 8i 4 4
1 ³ π´ 3 ³ π´
= cos 3t − − cos t −
4 2 4 2
so we can see the first and third harmonic terms.
(c) Now we solve:
1 3
ÿ2 + y2 = sin 3t − sin t.
4 4
The CF for this equation is
yCF = α cos (t − δ)
and for the PI, we try

yPI = A sin 3t + Bt cos t

ẏPI = 3A cos 3t + B cos t − Bt sin t
ÿPI = −9A sin 3t − 2B sin t − Bt cos t

giving
1 3
−9A sin 3t − 2B sin t − Bt cos t + A sin 3t + Bt cos t = sin 3t − sin t
4 4
which fixes A = −1/32, B = 3/8 and hence
1 3t
y2 = α cos (t − δ) − sin 3t + cos t.
32 8
We are given y2 = ẏ2 = 0 at t = 0, so

0 = α cos (−δ) δ = π/2

3 3 9
0=α− + α=−
32 8 32
and the final solution is
9 1 3t
y2 = − sin t − sin 3t + cos t.
32 32 8
Since the last term can grow without bound, the underlying assumption that ²y2 ¿ y1
will break down for large t.