Cov e Gc cton.

ond Normql

Mds_

a
f.r
system
with
th.if
'
fl.i?,*r'r'il#t
_Ii T(|,"=T(Ifuty,
Kinc-lic E*qry
!trr*,1,1
ecoll

dcooc,,r,,$r

P"'tediol Eneey

("
\-) = U

Logrrangian

a !l (v,,q,a -.-',q,.)

u()
T(q,"L(
= .,) =

crdinofu
gencnalize
hove
defne/,
+'t,
I,
(1rr,o"rlrrr,,,,clr).
veitoc n- =
Ths s
lin
c^lgebtq
sen5e
a veclor-' fn K. in +h'e
"ocJ*l
q
"
nee.l
ln
be
vecloc
sFEe.
owl does ndl'

hlhece

The
Exq.ple:

Do.ble Pr"r[o-

T, night lef !t=t

s.t i

s (r, e)

scelc
o
shald
Ve
llote:
fit,
{he
rnrts
heu
sqrr
tha;

*lWt

', 1t 3 "

q, + b 7t

1i:#"
o.J

r",
=
L

lz

nrqKos 5err6a

rcutr"^

since
hove
pcevlortly slrown'th"T,
V,le
o.,1
n
of
'*r.l,renic.^l
build
we \p1.4
sist"rns
Ffttda
we catn rfuri*e

,.
a,W:l-err'e
l= ,?r,(xi+j,i*! /

rh,s

,::i,1,' ;, =i,rl

(!
Li
=zi
t

' r"'h

s.".
i,
*l=
d.. =)
",",#Vrr,ie

-r
Kir.elc

Er,erSY

ls

(
='#,'{,. I *
v,
:WV,,W,VJI,,,,
r-'

of
F,tron
.'->r
O.onrc
^#,encrattas VPJoqtics

l=

+-

.tt
,
^,

rio
Z\n,
d4 P"

-l"piTe
where
q) ore. +ft cornpon*ts
of *he tcinelc energy vnr1t'X

-the
Convenlon
Eifein
5o".natia,t
+h"1
:Ef h/e @
qlwoys
pe*ld
Ovcf
te
ndulcal
't[."'
5rrrn
we

"

Gollations

on Norvn^l

q
The, gerrra,l , ,L agroingcrn f"r

consefv.nTlve

s
Syster thus

,i*io
u(3)
L = ruel
frv*r*[i4 Mot*nto

6"*r"tiree Foo.u
L"gro.'.!e

Tel,o

P?L

F"

q, =Tr

t-6= "L

3rn

r?p. .

=Z*Iolp-W

(- *W)ur, = -q^

Th"se q?etv Corple"l Nor,lneqr' f

?u

order

DEs,

or.
lldlio,

Co.,

Exornlei

.'

Norrol Mrd

(I',olrr)

N=2

Tn ths u^se we horc L

d=l

co.rple nonlin&,r Z"or.lrc !F.5

-t
r,4,+J" i,+t+-f,i*t*
i,i.
_?u.
Q1,,

d:2

*
+t
+f,.
1;, ;
*Jfi
{#)Yi,
ii l,
-%]
L:
=
]
%i,rt+
[#

+7
t
+d,
o
fucthcr
sprfy T*p
f we
f
J
prftrulor
Sone

te

(rn+W, + d.4,
m

-*.d+:

5lill

on,Jr f,qy

o
L

-- -?9
4,
_?g

w
t"

Tr51,
qnylrletlS

Solue

!l"tivsrsc*

rnJ

l-

a0

4z

e Os.ll;tions oncl Norrol

Mdes

EX"if;"riurn
Mo-lion Aboaf

! uq)

L= rrf ,) v^i,e

S'o** therc fs q Stqble quilibriorv' po"1

qt" i, ( r *he srte^ nr+s dT F 'ir+L r.o
{hEn 4(# = solvr {t e ,O, l4.Jl .-
crnd Hrs crriec :nqll perTrrbations 1
obo.rf

l.i"*i
Tr,

we

T"/-

u() =
or ,tfr5

oEndl"i.

no{.{t

to

exp*Jr U(3)

wc

+
u(") Z^luq^r

-i=,#*lpr-'
r
u() = u(") lur.*W1.Tpr'-

*
;. U() i
Ku,t

t-t o

t- 'ilK'yfrff*

V,lhere

fi"

o)o')p
Kop

=
-

-?"u.1
zlol:16

1
r 6."rntlzC 5p.lg co'.;tq,* H,tcix"

sl'ce oT,rllbeiur',

.ll .l..
r ilol l0n

Molo"

orrnol Modes

Aboo-l E?u lbciu*

,^'io
q)
Te
e*?q",
Tylor
Af we

\rc

fi^d

=[*uc').w\ry,,
uil r^,
.'.

T(

,)'

Where

aa

Mtop'){) p

t'4X

g
3t ot.l.c in
io rylo+f's

TopT"l
'G.r.rrqizad. l't"s

hove
\de
o..
_
L = Mrp%r)o nu 1^gp

L
q

5o lh. E.,lvl

?L\
-Lr
-=t!w1r)

qfe .. .

^
Mop% = K^p\p
ODV^,,
t onle lnec^r

Irl<tr*n

V x"L .-rN

Co..'

led

;lio"
K

qnd
Modes
Nor!ql
Oscltqtjon.

About Eryrlbciu-

Mtrx

qnv
sysfem
For
cnservotve
(1,
for
U
ho"e ot po'l'er,11.*l

we

*,I*)
;?"Ul

(X,,ah,,
=

K"p =
L,

@clq.

Gsnantlal

5pn.9 Co.$.d llo{rtr

Matrrx

For

svtte*
ny
,-r

wf
cam
-te
we

-tp(i)?
T(i, ) =

Tf *

Nil

1"p

t\g,l) ' E#,P(i)inu

l{op

L,

-a)
a

:-\

?"T _

=
Xl_zaa lo'*

Gene,rrltd

l'o

$tass

--F

f.- \

lpl

Fttrrr

")

M^p

I"

o
.a

u-

$*tdx c'',
.4^

Jt

\t

+ K"p'lp = Q

n K =O

*c, *o so"e *{.t s

'f{re
anste
wHh

jt+>= e?**

frcie:

tnle

c.r
-

lwe yS
'^rt
'"l"C"U

wh
r$loce
*re
atf
ctncwt)
o".l
e,r^

We gt {he natcx ecuotlan

(f -u)z[) =o
hrs
whh

slisfi"s
t+fl
hr
sol,fr'ons

(
!,'f x -w"U) = o

q
polyromlal
Ths ls
N*t otc
in
of
Fr.1wr.ctcs
Norr*al
For the
t
obo.vt
*he
osc-lltlon

elurltbcrr]nt

(Nt-hr) (rt- t^l;) --- (d"- t,i) =

wz
f-\

potrr #

l"

qno\
ac f[afrans

Exo-del
-f

-The

Nor^^l Mdes

Dorble P.nrlu*
l, =,to = .[

,_

'

V-te hove sho\dn pcevoo"l/

th"ft

Lntcps"r

+r)u!

/ fttru't")o'q
/

-Tq
*
ntcos(o,
*
rnl"!,t
-")
ei
|=
^t

ut

Def"f rnns
K
qnol *lre Yrornt^l
fryusnclsS...

qnd
Nocrn^l Modes
Co,, ed Osolldtions
Pendulo*
the
Exoo,ple I
b"!1"
\q
*
rn.ts(q-e.)q
o*:":
J=
rng:,t
lot\
' bt
cosz
[,] = -Ztg Lco, -rngg
t

.r:
a.-

s
K,
Kr=

#1"=

ffi

L^glcsql"= Z*oI

=v\gcoso"t" =mg[

o
=#,1"=
K" =#a"4;
ol
oJ
rn
mql
K
lz
tz
lZr:
=
=
- L tJ 'nto
a,r'!
'^l.tJ
y/L
Krr

rnro.3

M".'#
Mu
zmo"
=
=
U:
*[

a
rn-r''Lt
U

i]

h'"lul =

nl'F

rn

e'

ng

rtraol

qn
O;itlffo^s
Nortul
CapleJ

f',los

Norrr..^l Coordinctes
The
pon{

*o
coordindtes close
lr"u the

"Vutlon

on

c;u'yl
er,.uilb

vnoTo'l
of

r1

--

$ r

o=F

q=

(T,,qtr,

n.,It =H

dF
51
*h{
fou'd'
ir
*hc
F
$/dtetrl ve can
nof'rnql modes

have
h,e,
Onc,

de'ine
.

%=

3,

(+)
','r
l;

Non"l

rorr.ol
The

Sc

Goord"ots

cooccttnotel rrq
com Pldt
lre v'\rfion dP the Syslem,

bosb

E7rnllns

rF Mtion wth

Normql Coor tn"'fs

ir

U(

T("T, 1/)

S.\

T)
\

J
lvl.
=
r''

?zT-

+i\ryq.=o
.-b

K,,

V=-T:,+')
2O

Md=
l

'|F rFl
K

tdz=

FK)d'=
(r"g
I

Plga"o,\lZe

hlf)
r./
It^rl, ^l#,
/
*
1",
{, /e)
tA,,
-/

?#''

fh

ID

on Nort"l

Cou le Osc

Three

Mo,"g

Coupld Penduturrrs

t\

r$,

\,/rltc

rnqss

[.nd\

,R

6Pnt9

down *he Logconglqn n

*er-s dF , , t .

-the
Us
mqll ongle ^qppfo(rn cftiono

ond

t't.'
clloo untisren.QJi ;
nocmal
anot
cnol
+l'te
U
-F'rayon
K
I
-tertte
el1,

c)

Dtrrnrne

-therr\.

the

qrr
sKctch
rnodes
rrql

te.l Oscilltons onc Nor'nql

4aCes

qn
lvlqss
5 pdngs
Kr

q)

Lhooe
wclte

c)

Fi"/

frr

er"ltal
en

the

qnol
coocchnAfeS

Lofanran

U '"4
flr=zn

5
ffz = ff)

K,=

tK

K
K=

Kr=ZK

'the
fr%."^ciEs
Fin.l

:Ef
d)

-bi.e
har
nYo'
*oe61.
horw\\

df
hta

oscllaho",

qrs
+h
whal

Os.iliqlions
,oupleol

N Jrbn -

Exorfe:

Pentlorhs
o.rpled

L
1

oppca

'{rrrlI!i

rdtton

I
3

n4

7
6
0

Tor!n 5pfi,r3 eradls

,!!tZ

9.

Vlul

vl*

tocron

r" U-t-r

ohltorye -X(*, -#

The K'ti encfgy i:

Alo'13

Arts
3.t
Ll3.rrt

l-

T= Z's'.[i
;. N'3

The p"t$l"l ensfgy

N

Q= Arner

ls:

cos+J

tl-l

,c' hav

-u)'+
x(+,
x(.-,,)'
-t
t

?"ix(f*

-#J'

Logrbnglon

L = Zt

""

#i*

rne

t'r!*) -.x

!."

d'

C*ob Grithtio,.s

q
consler
Ldtt3
!c

l<.(

'^dJle'
in
th
pondulrm

*() 'r"{*
=

<N

mez
=

(!*,
- m9 r, sln!d t X

-+l - X

CQ,

-)

(h-!-',X*
mg!,sn{r=Q
-!*),rn 02
-J.[(+*
,

:-

de:

#*

This
'+: =f,
wotKs

Lr{ts

^e-fQ,'-!")
or d.=

{lr

N f

o\=f

'*"*

hfe

I"f

!"

Gntnun\
+lt
Lir^*
{qK"

N?*

i.f
T["n
fitr
t

(Q'-0.'"tt"+.
-

L?

Xa=d,AL

.-,0J
=
t+
+,, +",{r,

ctbo,t
\^rh.rt

(*

!tr),F,-, 0

(vJ

!("

.tf
Mrtr.,',s?
o)te Eyatr^

Os"ithlot
,Coopleo\

lw" lerns

$c",+l
&1!o?

qre,

Vq

tu"idQq
*ttn""ol 7-7
t^tzsl"

Cohslec

tco.-u)
!.-$.

{ttO'

(Q.-
-

3
-r
*l***AL
{c*l-"cx-a#3
{'.-Q,

[c+"

*lxd
Q{x**-!(*) =

(" - J]

AL

? AL [*1,.+o.- oP*t"ofl

-zf *1,.
5o
Vlh'cre

- #0r" -!l -(Q.-.-'I ? _J{DL)

tngt ->

a
_.r
\'t

'r*'alp.f

cr"

# 0s#

.^oqyq

a$

4-

""C:og-artg
qol$!o"e
a
uublJo aq{- ||v! ,\

uoro0g uorfuqg hle"l

luVosu.,p

l+t ?!'l- sl |ttll

e=
+
t"'*
+f?-

+cts

!r IT.
Jq-

e
=
Q'rr"m

*
p
*
s$,1l-

'$

al .frt[ qto{t\i+$ e4# LrT.

Os'itl.tio"

The

solo-tlns
t'5s
Ard.gr;tta^
Kle!.-

"f {he

ftr^
c*,+l
f

d'

ptovteo\ E" =

ftlovgr

*",

L;lf+

llorcc

l !,,.*n

C.,rtK'
+
t$"

q
ts
Tt
Ndt Secpflsln$,-.
h"'s

(t-tcxJ

lgwf

av"ti

qnol

5t,'c-6oran orrdhb"

trors

llaear wau

-hr^vllu5 rnrJc cto*hts.

The
R.EI,^MKABLYI

solu*lons o {tn ftcY"'

#.'
A

r{
(
orcler,
e-u"*'v})ts)
Cx$ =
qJ,^aj*'rt-u*)*)
- 4

J=#
*wrr+. fiu^

Solfo',* +t'tt
-to 3 21r
0

#=o

System of Pendulums: A Realization of the

Sine-Gordon Model
time

-5.2
velocity parameter
distance between the pendulums
solution

soliton

soliton-soliton collision

soliton-antisoliton collision

breather

A row of pendulums hang from a rod and are coupled by torsion springs. This system can be
described by a nonlinear differential equation called the sine-Gordon equation. The solutions
can exhibit different types of behavior, involving solitons, antisolitons, and their interactions.
THINGS TO TRY