Part - I I

Vibrat ions and w aves

V. Sat ya Nar ayana M ur t hy
A217
BITS Pi l ani Hyder abad
Campus
Hyder abad
Topics t o be covered
Kl eppner & Kol enkow
Ch 10 Har moni c osci l l at or
A P Fr ench
Ch 3 Fr ee vi brat i ons of a physi cal syst em
Osci l l at i ons i nvol vi ng massi ve spr i ngs
Ch 4 For ced vi brat i ons and r esonance
The power absor bed by a dr i ven osci l l at or
Ch 2 Super posi t i on of per i odi c mot i ons
Ch 5 Coupl ed osci l l at ors & nor mal modes
Ch 6 Nor mal modes of cont i nuous
syst ems
Fr ee vi brat i ons of a st r et ched st r i ng
Super posi t i on of modes on a st r i ng
For ced har moni c vi brat i ons of a
st r et ched st r i ng
Ch 7 Pr ogr essi ve waves
Nor mal modes and t ravel l i ng waves
Pr ogr essi ve waves
Di spersi on, phase and gr oup vel oci t y
The ener gy i n a mechani cal wave
The Harmonic Oscillat or
Kl eppner & Kol enkow (CH 10)
A P Fr ench (CH - 3 & 4)
Topics t o be covered
Per i odi c mot i ons
Si mpl e har moni c mot i on
Damped har moni c osci l l at or
For ced har moni c osci l l at or
The power absor bed by a dr i ven osci l l at or
Osci l l at i ons i nvol vi ng massi ve spr i ngs
In ever y day l i f e we come acr oss var i ous
t hi ngs t hat move
The mot i on of physi cal syst ems can be
cl assi f i ed i nt o 2 br oad cat egor i es
1 Transl at i onal mot i on
2 Vibrat ional mot ion
Periodic mot ions
Vibrat ory / Oscillat ory mot ions
SHM
Periodic mot ions
A movement t hat r epeat s w i t h per i odi ci t y
Ex:
The pat t er n t hat r epeat s may be si mpl e or
compl i cat ed
Vibrat ory / oscillat ory mot ion
W hat is t he dif ference bet w een oscillat ory
and vibrat ory mot ion?
A body i n per i odi c mot i on moves back and
f or t h over t he same pat h
In osci l l at i on t i me t aken t o compl et e one cycl e
i s const ant , i n vi brat i on i t may not be
Osci l l at i ons occur i n physi cal or bi ol ogi cal
syst ems
Vi brat i ons occur i n mechani cal syst ems
Ever y osci l l at or y mot i on i s per i odi c
but ever y per i odi c mot i on need not be
osci l l at or y
EX. t he osci l l at i ons of a pendul um
t he vi brat i ons of a st r i ng of a gui t ar
Uni f or m ci r cul ar mot i on
i s a per i odi c mot i on, but
i t i s not osci l l at or y
Simple Harmonic M ot ion / Sinusoidal M ot ion
Si mpl e per i odi c mot i on
In many syst ems a smal l di spl acement (x)
f r om t he equi l i br i um posi t i on set s up SHM
Rest or i ng f or ce = -kx
Wher e k i s a const ant
(st i f f ness or spr i ng
const ant )
SHM No f r i ct i on f or ce
l
dl
x
In equi l i br i um net
f or ce act i ng on t he
mass, F = -k dl = M g
Now M i s di spl aced
f r om equi l i br i um
posi t i on by a
di st ance x
M g
M g
Tot al net f or ce act i ng on M i s
F
net
= -k (dl + x) M g = -kx
Vert ical spring mass syst em
F
net
The equat i on f or t he mot i on of SHM i s:
) 1 ( = + 0 x
m
k
x

kx x m =

How t o sol ve?
kx F =
The sol ut i on f or t hi s equat i on i s of t he f or m:
t Ccos x
o
=
Anot her possi bl e sol ut i on i s :
t Bsin x
o
=
Ther ef or e t he most general sol ut i on w i l l be
) 2 ( + = t Ccos t Bsin x
o o
) 3 ( + = ) t Acos( x
0
Equ. (2) can be w r i t t en i n conveni ent f or m as
Rot at ing vect or represent at ion
SHM can be r epr esent ed as geomet r i c
pr oj ect i on of uni f or m ci r cul ar mot i on
Acos x =
If we t ake count er cl ock w i se di r ect i on as +ve
t hen =
0
t +
) 3 ( + = ) t Acos( x
0
The val ue of o i s det er mi ned f r om t he val ue
of x at t =0
e
0
t Ccos t Bsin x
o o
+ = ) 2 (
) t Acos( x
0
+ = ) 3 (
Acos C =
Asin B =
or
w her e
) t cos( A x
0
2
0
+ =

) 4 ( = + 0 x x
2
0

Compar i ng eq. (1) & (4)
) 5 ( =
m
k

0
) t Acos( x
0
+ = ) 3 (
0 x
m
k
x = +

) 1 (
Examples of SHM
Simple pendulum
l
m
mgcos
s
mgsin
u
mg
u
For smal l angul ar di spl acement s
sin ~
l
S
l S = =
Eq. Of mot i on i s
mgsin S m =

(6) 0 gsin S = +

and
0 S
l
g
S = +

) 6 (
l
g

0
=
kx x m =

Oscillat ions of f loat ing bodies
When a body i s i n equi l i br i um,
t he wei ght i s bal anced by t he
buoyant f or ce
x g x m A =

m
Ag

0
=
m
Di spl ace t he body f r om i t s
equi l i br i um posi t i on by an
amount x
t he ext ra buoyancy f or ce i s
gi ven by:
mg
F
b
x
Harmonic oscillat ions of an LC circuit
L
C
K
sour ce
vol t age acr oss capaci t or
2
2
dt
q d
L
dt
di
L v = =
vol t age acr oss i nduct or
C
q
v =
q L
C
q

=
0 q
LC
1
q = +

LC
1

0
=
Nomenclat ure
) t Acos( x
0
+ = ) 3 (
x = i nst ant aneous di spl acement of t he
par t i cl e at t i me t
A = ampl i t ude (maxi mum di spl acement )

o
= angul ar f r equency = 2t/ T
o = phase f act or or phase angl e
A and o ar e f i xed by i ni t i al condi t i ons
Let at t = 0, t he posi t i on of t he mass i s x(0)
and i t s vel oci t y i s v(0)
cos ) 0 ( A x =
sin ) 0 (
0
A v =
|
|
.
|

\
|

=

) 0 (
) 0 (
tan
0
1
x
v

2
0
2
) 0 (
) 0 (

+ =

v
x A
How t o calculat e A and ?
Energy of an oscillat or
The t ot al ener gy (pot ent i al +ki net i c) i s a
const ant f or an undamped osci l l at or
2 2
mv
2
1
kx
2
1
K U E + = + =
( ) ( ) t sin A m
2
1
t cos kA
2
1
E
0
2 2
2
0 0
2 2
+ =
2
kA
2
1
E =
The i ndi vi dual val ues of P.E and K.E w i l l
var y w i t h t i me
Time average values
f (t )
t
1
t
2
f
What i s t i me average?
( )dt t f
2
1
t
t

What i s ar ea under t he
cur ve bet ween t
1
and
t
2
?
( ) ( )dt t f t t f
2
1
t
t
1 2

=
( )dt t f
t t
1
f
2
1
t
t
1 2

=
or
Exampl es
0 1 2 3 4 5 6
-1.0
-0.5
0.0
0.5
1.0


S
i
n

(

)
(radian)
( ) 0 sin = t
0 1 2 3 4 5 6
0.0
0.2
0.4
0.6
0.8
1.0


(radian)
S
i
n
2
(

)
( )
2
1
sin
2
= t
( )
2
1
) ( sin
2
sin
2
0
2 2
= =

dt t t
M at hemat i cal l y
What i s t he t i me average val ues of P.E. or
K.E. over one per i od?
( )
2 2 2
4
1
sin
2
1
. . kA t kA E P = + =
( )
2 2 2
4
1
cos
2
1
. . kA t kA E K = + =
. . . . E P E K =
Ti me average val ue
When f r i ct i on i s pr esent , t hi s i s no l onger
t r ue
Calculat ing
0
or T f rom E
Spring mass syst em
m
2 2
x m
2
1
kx
2
1
K U E + = + =
Si nce E i s const ant 0
dt
dE
=
0 x
m
k
x = +

m
k

0
=
k
m
2 T =
Simple pendulum
m
s
l -y
y
u
m
l
( )
2 2
2
2 2
y 2ly s
y l s l
=
+ =
For smal l u
s y <<
2l
s
y
2
~
mgy mv
2
1
E
2
+ =
2
2
dt
ds
v
|
.
|

\
|
=
( )
2
2
s
l
mg
2
1
s m
2
1
E + =

2l
s
y
dt
ds
v
2
2
2
=
|
.
|

\
|
=
Si nce E i s const ant 0
dt
dE
=
0
dt
dE
=
0 s
l
g
s = +

l
g

0
=
g
l
2 T =
mgy mv
2
1
E
2
+ =
Simple pendulum
E i nt er ms of u
l cos
m
s
u
m
y
l
dt
d
l
dt
ds
v = =
2
2
2
mgl
2
1
dt
d
ml
2
1
E +
|
.
|

\
|
=
0
dt
dE
= 0
l
g
= +

l
g

0
=
For smal l u
( )
2

l cos 1 l y
2
= =
Recap
Per i odi c mot i on
Vi brat or y / Osci l l at or y mot i on
Equ. of mot i on f or di f f er ent SHO
How t o guess a sol ut i on f or second or der
di f f er ent i al equ. havi ng const ant coef f i ci ent s
Ti me average val ues of KE & PE
Today' s t opics
Compl ex numbers
Damped har moni c osci l l at or
Equ. of mot i on
Li ght l y damped
Heavi l y damped
Cr i t i cal l y damped
Ener gy
Qual i t y f act or
Complex numbers
) t Acos( x
0
+ = Sol . of a SHM
) t ( sin A x
0 0
+ =

) t cos( A x
0
2
0
+ =

To si mpl i f y t he cal cul at i ons we use compl ex
numbers
What i s t he use of compl ex numbers i n
har moni c osci l l at or ?
Compl ex numbers ar e r epr esent ed by
z = x + i y
x i s t he r eal par t and y i s t he i magi nar y par t
Graphi cal r epr esent at i on of compl ex numbers
y
x
u
A
A cos
A si n
Imagi nar y axi s
Real axi s
z = x + i y = A (cos + i si n )
z = x + i y = A (cos + i si n )
z = A e
i
y
x
u
A
xy - compl ex pl ane
vect or of l engt h A makes an angl e u w i t h
t he r eal axi s
Geomet r i cal l y
w hat i s t he
meani ng?
O
X
Y
( )
) ( i ) ( i
2 1
1 1 2
e e A A z
+
+ =
t
2 1 1
Add vect or of l engt h A
2
at angl e (o
2
- o
1
) t o A
1
1
Tur n i t by an angl e
(et + o
1
)
O X
A
1
A
2
1 2

1
+ t
A
1
1 2

A
2
) t Acos( x
0
+ =
How t o r epr esent i n compl ex f or m ?
) t sin( A y
0
+ =
Consi der t he i magi nar y component
) t sin( A i ) t ( cos A Z
0 0
+ + + =
) t ( i
0
e A Z
+
=
Cal cul at i on
becomes
si mpl er
Real par t r epr esent s
t he equ. of SHM
Real par t r epr esent s
t he equ. of SHM
) t ( i
0
e A Z
+
=
) t ( i
0
0
e i A Z
+
=

) t ( sin A x
0 0
+ =
Real par t
) t ( i 2
0
0
e A Z
+
=

) t cos( A x
0
2
0
+ =
Real par t
Damped Harmonic Oscillat or
SHM No f r i ct i on f or ce
What i s t he ef f ect of f r i ct i on on t he har moni c
osci l l at or ?
Assume a speci al f or m of f r i ct i on f or ce
vi scous f or ce vel oci t y f = - bv
Condi t i on: Vi scous f or ce ar i ses w hen an
obj ect moves t hr ough a f l ui d at speeds
w hi ch ar e not so l ar ge t o cause t ur bul ence
b = coef f i ci ent of dampi ng f or ce
Tot al f or ce act i ng on m i s F = F
spr i ng
+ f
bv kx F =
x b kx x m

=
0 x x x
0 x
m
k
x
m
b
x
2
0
= + +
= + +


Equ. of mot i on i s
In compl ex f or m
0
2
0
= + + x x x

How t o sol ve ?
To conver t i nt o compl ex f or m use t he
compani on equat i on
0
2
0
= + + y y y

0
2
0
= + + z z z

The sol ut i on w i l l be of t he f or m,
t
e z z
0
=
Subst i t ut i ng t he sol ut i on back i nt o t he
or i gi nal equat i on gi ves us:
0
2
0
2
0
= + + ) ( e z
t
0
2
0
= + + z z z

2
0
2

=
The most general sol ut i on w i l l be:
t
B
t
A
2 1
e z e z z + =
Her e z
A
and z
B
ar e const ant s and
1
and
2
ar e t he t wo r oot s
0
2
0
2
0
= + + ) ( e z
t
2
0
2
2 1
4 2

=
t
B
t
A
e z e z z
2 1
+ =
2
o
2

<<
2
o
2

>
2
o
2

=
Case (i ) Case (i i ) Case (i i i )
2
o
2

<<
Case ( i)
Li ght Dampi ng
or
Under Dampi ng
2
2
4
o

i s i magi nar y
1
2
2
o
i
2

i
2

= =
( )
t i
2
t i
1
t/2
1 1
e z e z e z

+ =
The sol ut i on t o t he di f f er ent i al equat i on i s:
( ) t Csin t Bcos e x
1 1
t/2
+ =

Real par t of x i s
( ) ( ) t A(t)cos t cos Ae x
1 1
2
t
+ = + =

or
The sol ut i on i s osci l l at or y, but w i t h a r educed
f r equency and t i me var yi ng (exponent i al l y
decayi ng) ampl i t ude
4

2
2
o 1
=
2
o
2

<<
0 1
~
( ) ( ) t A(t) t Ae x
t
+ = + =

1 1
2
cos cos
2
o
2

>
Case ( ii)
Heavy Dampi ng
or
Over Dampi ng
2
o
2

i s r eal
2
2
o

4
1
2

=
Bot h r oot s ar e negat i ve
Thi s r epr esent s non-osci l l at or y behavi or
The act ual di spl acement w i l l depend upon
t he i ni t i al condi t i ons
t t
2 1
Be Ae x

+ =
Real par t of t he sol ut i on i s
t t
e z e z z
2 1
2 1

+ =
Sol ut i on i s
0 1
<<
2
o
2

>
2
o
2

=
Case ( iii)
Cr i t i cal Dampi ng
( )t /2
Ce x

=
The sol . t o a 2
nd
or der di f f er ent i al equ.
shoul d have t wo i ndependent const ant s
w hi ch ar e t o be f i xed by t he i ni t i al condi t i ons
2

=
Sol . i s
The sol ut i on i s i ncompl et e Why?
sol ut i on w i l l be of t he f or m
( )
t
e Bt A x
) 2 / (
+ =
( )
t
e Bt A x
) 2 / (
+ =
t t
2 1
Be Ae x

+ = ( ) t Ae x
t
+ =

1
2
cos
Ai r
Thi ck
oi l
Wat er
Li ght
Heavy
Cr i t i cal
Energy of a Damped Harmonic Oscillat or
( ) ( )
friction
W 0 E t E + =
Fr om wor k ener gy t heor em
W
f r i ct i on
= wor k done by t he f r i ct i on f or ce
f r om t i me 0 t o t
f = -bv
opposes t he mot i on

=
x(t)
x(0)
f
fdx W

=
t
0
2
dt bv
0 <
Fr i ct i on f or ce di ssi pat es ener gy
E(t ) decr eases w i t h t i me
2 2
2
1
2
1
x m kx K (t) U (t) E (t)

+ = + =
For t he l i ght l y damped osci l l at or
) t t/2)cos( Aexp( x
1
m + =
) t ( t)sin exp(
2
m A
mv
2
1
K(t)
1
2
2
1
2
2
m + = =
can be negl ect ed

+ + + =
|
.
|

\
|

) t cos(
2

) t sin( Ae v
1
1
1
t
2

1
1
2

1
<<
2
o
2

<<
0 1
~
( ) ) t ( cos e kA
2
1
kx
2
1
t U
1
2 t 2 2
+ = =

( )
| | ) t ( kcos ) t ( sin m e A
2
1
t E
1
2
1
2
2
1
t 2
+ + +
=

For l i ght dampi ng

m
k

2
0
2
1
= ~
( )
t 2
e kA
2
1
t E

=
At t =0
2
0
kA
2
1
E =
In general
( )
t
0
e E t E

=
0 1 2 3 4 5 6 7
0
1
2
3
4
5
E
time(s)
The decay i s charact er i zed by a t i me ,
dampi ng t i me, dur i ng w hi ch t he ener gy
f al l s t o e
-1
of i t s i ni t i al val ue
( )
t
0
e E t E

=
( )
0
0
0.368E
e
E
t E = =
When
1 =
Time const ant
Recap
Compl ex numbers
Damped har moni c osci l l at or
Equ. of mot i on
x b kx x m

=
2
0
2
2 1
4 2

=
t
B
t
A
e z e z z
2 1
+ =
2
o
2

<<
2
o
2

>
2
o
2

=
Case (i ) Case (i i )
Case (i i i )
( )
t
e Bt A x
) 2 / (
+ =
t t
2 1
Be Ae x

+ =
( ) t Ae x
t
+ =

1
2
cos
Li ght Heavy Cr i t i cal
( )
t
0
e E t E

=
0 1 2 3 4 5 6 7
0
1
2
3
4
5
E
time(s)
( )
0
0
0.368E
e
E
t E = =
1 =
Ener gy of a l i ght l y damped har moni c
osci l l at or
Ti me const ant (t)
Todays t opics
Q f act or of DHO
For ced Har moni c osci l l at or
Undamped FHO
Equ. Of mot i on
Sol ut i on
Resonance
+ve and ve aspect s
Qualit y fact or
The dampi ng can be speci f i ed by a
di mensi onl ess paramet er Q
radian per dissipated energy
oscillator the in stored energy
Q =
Rat e of change of ener gy
E e E
dt
dE
t
0
= =

Ener gy di ssi pat ed i n a t i me T i s
ET T
dt
dE
=
E(t )
T = 2t / e
1
osci l l at es t hr ough 2t radi ans
Ener gy di ssi pat ed per radi an i s
1

E
E
Q
0 1
1
~ = =
Li ght dampi ng Q>>1
Heavy dampi ng Q i s l ow
Undamped osci l l at or Q i s i nf i ni t e
ET T
dt
dE
=
Ener gy di ssi pat ed i n 2 t
radi ans
t ~ t =
0 1
Q
1 =
Example 10. 2
A musi ci ans t uni ng f or k r i ngs at A above
mi ddl e C, 440 Hz. A sound l evel met er
i ndi cat es t hat t he sound i nt ensi t y decr eases
by a f act or of 5 i n 4 s. What i s t he Q of t he
t uni ng f or k?
Solut ion
A440 or C523.3 St andar d Pi t ch / Concer t
Pi t ch - i s a uni versal f r equency or not e t hat
al l i nst r ument s ar e set t o
Thi s concer t pi t ch enabl es musi ci ans t o pl ay
i nst r ument s t oget her i n har mony
Not e f ( Hz) ( m)
A
3
220. 00 157.
A
#
3
/ B
b
3
233. 08 148.
B
3
246. 94 140.
C
4
261. 63 132.
C
#
4
/ D
b
4
277. 18 124.
D
4
293. 66 117.
D
#
4
/ E
b
4
311. 13 111.
E
4
329. 63 105.
F
4
349. 23 98. 8
F
#
4
/ G
b
4
369. 99 93. 2
G
4
392. 00 88. 0
G
#
4
/ A
b
4
415. 30 83. 1
A
4
440. 00
A t uni ng f or k i s nor mal l y used t o set t he pi t ch

Q
1
=
Gi ven - sound
i nt ensi t y
decr eases by
a f act or of 5 i n
4 s
M i ddl e C
sound i nt ensi t y i s pr opor t i onal t o t he ener gy
of osci l l at i on
4
4
(0)
e
E(0)e
E(0)e
5 = =

1
0.4sec
4
ln5

= =
Ener gy l oss due t o heat i ng of met al s
700
4 . 0
) 440 ( 2
~ = =

Q
1
( )
t
0
e E t E

=
In an exper i ment , a paper wei ght suspended
f r om a hef t y r ubber band had a per i od of
1.2 s and t he ampl i t ude of osci l l at i on
decr eased by a f act or of 2 af t er t hr ee
per i ods. What i s t he est i mat ed Q of t he
syst em?
2
t
Ae A(t)

=
Solut ion
3.6.6
(0)
Ae
Ae
2

=
ln2 1.8 =
1
0.39s

=
i s same but l ower Q f or t he r ubber band
Thi s i s because of t he hi gher f r equency of
t he t uni ng f or k
It goes t hr ough many cycl es i n a gi ven t i me
and l oses l ess of i t s ener gy per cycl e
13
1.2 * 0.39
2

Q
1
~ = =
Forced Harmonic Oscillat or
Undamped Forced Oscillat or
Equ. of mot i on of a SHO
t cos F kx x m
0
e + =

kx x m =

Dr i vi ng f or ce
t cos F kx x m
0
e = +

How t o sol ve?
Tr y t he sol ut i on
t cos A x e =
RHS of equ. has cos t
LHS of equ. must al so have cos t
t cos F kx x m
0
e = +

t cos A x e =
Equ. of mot i on
sol ut i on
( ) t F t A k m
o
cos cos
2
= +
2
m k
F
A
o

=
2 2
1

=
o
o
m
F
A
The sol ut i on i s
t
m
F
x

cos
1
2
2
0
0

=
Incompl et e sol ut i on ???
No ar bi t rar y const ant s
M ust abl e t o speci f y x
0
and v
0
Compl et e sol ut i on i s
) t Bcos( cos

1
m
F
x
0
2
2
0
0
+ +

= t
St eady st at e
sol ut i on
General sol ut i on of
undamped osci l l at or
0
2
0
= + x x

Resonance
2 2
1

=
o
o
m
F
A
0 A
e = 0 A i s f i ni t e
A
0
Resonance
0 20 40 60 80 100
-0.010
-0.005
0.000
0.005
0.010

0
A

2 2
1

=
o
o
m
F
A
0
0; A < >
0
0; A > <
The di spl acement i s opposi t e t o t he di r ect i on
of t he f or ce!
Ther e i s a phase di f fer ence of bet ween t he
di spl acement and t he appl i ed f or ce
0
; A =
-ve A ?
The phenomenon of r esonance has bot h +ve
and ve aspect s
+ve aspect s
Smal l dr i vi ng f or ce gi ves l ar ge ampl i t ude
Tuni ng radi os t o t he desi r ed f r equency
-w ave oven
f ood w i t h no wat er
cont ent cannot be
heat ed
Applied -wave f r equency i s equal t o t he
H
2
O mol ecul es (non zer o di pol e moment )
nat ural f r equency
-ve aspect s
To r educe r esponse at r esonance di ssi pat i ve
f r i ct i on f or ce i s needed - For ced Damped
Har moni c Osci l l at or
Recap

Q
0 1
~ =
t cos F kx x m
0
e = +

sol ut i on
t
m
F
x

cos
1
2
2
0
0

=
For ced Undamped osci l l at or
Q f act or of DHO
Compl et e sol ut i on i s
) t Bcos( cos

1
m
F
x
0
2
2
0
0
+ +

= t
St eady st at e
sol ut i on
General sol ut i on of
undamped osci l l at or
0
2
0
= + x x

2 2
1

=
o
o
m
F
A
0 20 40 60 80 100
-0.010
-0.005
0.000
0.005
0.010

0
A

-ve A ?
di spl acement i s opposi t e t o t he di r ect i on of
t he f or ce!
Ther e i s a phase di f fer ence of bet ween t he
di spl acement and t he appl i ed f or ce
t cos F kx x m
0
e = +

Todays t opics
For ced damped har moni c osci l l at or
Equ. Of mot i on
Sol ut i on
Resonance
Ener gy
Qual i t y f act or
Forced Damped Harmonic Oscillat or
Undamped FHO
driving spring
F F F + =
t cos F kx x m
0
e + =

SHM
spring
F F =
kx x m =

Act ual mot i on i s t he super posi t i on of
osci l l at i ons at t wo f r equenci es e and e
0
Transi ent behavi or Transi ent behavi or
driving viscous spring
F F F F + + =
Damped FHO
t cos F bv - kx x m
0
e + =

In t he i ni t i al st age t ransi ent st at e exi st s
Af t er a suf f i ci ent l y l ong t i me t he nat ural
osci l l at i ons di es out because of t he dampi ng
f or ce
Now t he osci l l at or osci l l at es at t he f r equency
of t he dr i vi ng f or ce St eady st at e
t
m
F
x x x
o
o
cos
2
= + +

Wi l l x =A cos t sat i sf y t hi s di f f er ent i al equ.?
No!
The vel oci t y t er m gi ves si n t
t cos F bv - kx x m
0
e + =

t cos
m
F
x
m
k
x
m
b
x
0
= + +

t
m
F
x x x
o
o
cos
2
= + +

How t o f i nd t he sol ut i on?
Wr i t e t he above equat i on i n compl ex f or m
t i
e
m
F
z z z


0
2
0
= + +

Sol ut i on w i l l be of t he f or m z = z
o
e
i t
Real par t of z = z
o
e
i t
gi ves t he sol ut i on t o
For ced damped har moni c osci l l at or
Subst i t ut i ng z = z
o
e
i t
i n compl ex equat i on



i
m
F
z
e
m
F
i e z
t i t i
+
=
= + +
2
2
0
0
0
0
2
0
2
0
1
) (
i
1
m
F
z
2
2
0
0
0
+
=
In
pol ar
f or m
|
|
.
|

\
|

+
= =
=

2
0
2
1
2
1
2 2 2
2
0
0
*
0 0
0
tan
) ( ) (
1
Re

m
F
z z R
z
i
2 2 2
2
0
2
2
0 0
) ( ) (
i (
m
F
e +

=
)
2 2 2
2
0
i
0
) ( ) (
e
m
F
e +
=
o
Real par t
The compl et e sol ut i on i s z = z
o
e
i t
( ) t i t i i
Re e Re z
+ e
= =
) cos( + = t R x
( ) ( ) | |
1/2
2
2
2 2
o
o

1
m
F
R A
+
= =
|
|
.
|

\
|

=

2 2
1
tan
o

Phase di f f er ence bet ween

t he dr i vi ng f or ce
and t he di spl acement
( ) ( ) | |
1/2
2
2
2 2
o
o

1
m
F
R A
+
= =
A i s const ant f or a gi ven f r equency
0
dt
dA
=
2
1
2
0 m
2Q
1
1
|
|
.
|

\
|
=
At e = e
max
For l i ght dampi ng, A i s maxi mum f or e = e
o
and t he ampl i t ude at r esonance i s:

o
o
o
m
F
A = ) (
The behavi or of A and o as f unct i ons of e,
depends on t he rat i o / e
o
( ) ( ) | |
1/2
2
2
2 2
o
o

1
m
F
R A
+
= =
1
0
<<

1 >> ~ =

Q
0 1
( ) ( ) | |
1/2
2
2
2 2
o
o

1
m
F
A
+
=
2
1
2
0 m
2Q
1
1
|
|
.
|

\
|
=
As i ncr eases, t he maxi mum ampl i t ude occurs
at a f r equency l ess t han t he r esonant f r equency
1
0
~

2
1
2
0 m
2Q
1
1
|
|
.
|

\
|
=
( ) ( ) | |
1/2
2
2
2 2
o
o

1
m
F
A
+
=
g
|
|
.
|

\
|

=

2 2
1
tan
o

0 20 40 60 80 100
-0.010
-0.005
0.000
0.005
0.010

0
A

Undamped FHO Damped FHO

( ) ( ) | |
1/2
2
2
2 2
o
o

1
m
F
A
+
=
|
|
.
|

\
|

=

2 2
1
tan
o

2 2
1

=
o
o
m
F
A
Energy
For st eady st at e mot i on ampl i t ude i s const ant
i n t i me
( ) + = t A x cos
( ) + = t A v sin
) sin(
2
1
2
1
) (
2 2 2
+ = = t A m mv t K
) ( cos
2
1
2
1
) (
2 2 2
+ = = t kA kx t U
2 2
4
1
A m K =
2 2
4
1
A k U =
( ) ( )

+
+
=
2
2
2 2
2 2 2
) (
4
1


o
o o
m
F
E
) ( mA
4
1
E
2
0
2 2
+ =
2 2
4
1
A m K =
2 2
4
1
A k U =
St eady st at e
Light Damping
<<e
0
( ) ( )

+
+
=
2
2
2 2
2 2 2
) (
4
1


o
o o
m
F
E
St eady st at e
Repl ace by
o
( ) ( ) | |
2 2
2
2 /
1
8
1
+
=
o
o
m
F
E
Resonance cur ve or l or ent zi an
( ) ( ) | |
2 2
2
2 /
1
8
1
+
=
o
o
m
F
E
maxi mum
hei ght
2
4

Fal l s t o one hal f maxi mum

( )
2
2
0
2
|
.
|

\
|
=


|
.
|

\
|
=
2
0

For ced damped har moni c osci l l at or
t cos F bv - kx x m
0
e + =

Recap
Equ. Of mot i on
( ) + = t A x cos St eady st at e sol ut i on
( ) ( ) | |
1/2
2
2
2 2
o
o

1
m
F
R A
+
= =
|
|
.
|

\
|

=

2 2
1
tan
o

g
A i s const ant f or a gi ven f r equency
2
1
2
0 m
2Q
1
1
|
|
.
|

\
|
=
( ) ( ) | |
1/2
2
2
2 2
o
o

1
m
F
R A
+
= =
|
|
.
|

\
|

=

2 2
1
tan
o

St eady st at e
( ) ( ) | |
2 2
2
2 /
1
8
1
+
=
o
o
m
F
E
Todays t opics
Power absor bed by an osci l l at or
Si mi l ar i t y bet ween t he power and
ener gy cur ves
Q f act or cal cul at i on f r om r esonance
cur ves
Osci l l at i ons i nvol vi ng massi ve spr i ngs
Pow er absorbed by an oscillat or
How t o mai nt ai n t he ampl i t ude of a f or ced
har moni c osci l l at or const ant l y?
Rat e at w hi ch ener gy i s suppl i ed t o a dr i ven
osci l l at or t o mai nt ai n i t s ampl i t ude
const ant l y i s
Fv
dt
dx
F
dt
dw
P = = =
t cos A x e =
2 2
1

=
o
o
m
F
A
w her e
t sin A x e e = = v

t 2 sin
2
AF
- t cos t sin AF P
0
0
e = e e e = = Fv
t cos F F
0
e =
Dr i vi ng f or ce
&
Undamped FHO
t 2 sin
2
AF
P
0
e = = Fv
t 2 sin P e
0 P = , (
Ener gy i s f ed i nt o t he syst em i n one hal f
cycl e and i s t aken out agai n dur i ng next
hal f cycl e
Damped FHO
) ( A x + = t cos
2 / 1 2 2 2 2
] ) ( ) [(
1
+
=
o
o
m
F
A
) ( A v + = t sin
) ( sin t cos + = = t A F Fv P
0
) sin( cos P
0
+ = = t t A F Fv
t cos ) sin A F (
t cos t sin ) cos A F (
2
0
0
e o e
+ e e o e =
Average val ue i s zer o
o e = , ( sin A F
2
1
P
0
sin
2
1

0
A F P = , (
( ) ( )
2
2
2 2
0
2 2
0

1
m
F
2
1
P
+
= , (
For l i ght dampi ng e
0
= e
( )
2
2
0
2
0
2

1
m
F
8
1
P
|
.
|

\
|
+
= , (
( ) ( )
2 2
0
2
0
/2
1
m
F
8
1
P
+
= , (
( ) ( ) | |
2 2
2
2 /
1
8
1
+
=
o
o
m
F
E
Average ener gy i s
Resonance cur ve or l or ent zi an
maxi mum
hei ght
2
4

Fal l s t o one hal f maxi mum

( )
2
2
0
2
|
.
|

\
|
=


|
.
|

\
|
=
2
0

( ) ( )
2 2
0
2
0
/2
1
m
F
8
1
P
+
= , (
( ) ( ) | |
2 2
2
2 /
1
8
1
+
=
o
o
m
F
E
E or P
e
|
.
|

\
|
=
2
0

e
0
e
-
e
+
Ae =
Ful l w i dt h at
hal f
maxi mum /
r esonance
w i dt h
hal f maxi mum
2
E, (
Wi dt h of t he cur ve
2
P, (
or
Qualit y fact or
curve resonance of width frequency
frequency resonance
= =

o
Q
Gi ves t he f r equency sel ect i ve pr oper t y of
an osci l l at or
Shar pness of r esonance
cur ve means t he syst em
w i l l not r espond unl ess
dr i ven ver y near i t s r esonance f r equency
Q = 10 i s mor e sel ect i ve
Response in t ime vs response in f requency
50 100 150
0.00
0.02
0.04
0.06
0.08
0.10
0.12


( ) E

FWHM
= A
( ) e P
Osci l l at ors w hi ch ar e ver y f r equency
sel ect i ve al so have weak dampi ng.
So such an osci l l at or does not r ecover f r om a
di st ur bance or does not r espond qui ckl y.
The dampi ng t i me t and t he r esonance cur ve
w i dt h obey
1 = A
Thi s r el at i on i s cl osel y r el at ed t o one f or m of
t he Hei senber g Uncer t ai nt y pr i nci pl e
1 = t
Oscillat ions involving massive springs
m
k M
Tot al ener gy i s a const ant
2
2
1
kx U =
E = K + U = Const ant
K = K
spr i ng
+ K
mass
l
0 =
dt
dE
How t o cal cul at e t he KE of t he spr i ng ?
What i s t he f r equency of osci l l at i on?
The spr i ng osci l l at i ons ar e not so l ar ge t hat
t hey cause t he spr i ng coi l s t o bump i nt o each
ot her
St r et chi ng f or ce i s same at al l poi nt s al ong
t he spr i ng
Al l t he poi nt s i n t he spr i ng under go
di spl acement s pr opor t i onal t o t hei r di st ances
f r om f i xed end St at i c ext ensi on
Vel oci t y i s t he same f or al l t he el ement s of
t he spr i ng
Assumpt ions
l / 3 l / 3 l / 3
m
m
x
3
2x
3
x
l
m
s
ds
ds
l
M
dM =
2
2
1
(dM)dv dK =
dt
dx
l
s
dv =
x
l
s
=
Di spl acement
of ds
2
2
2
1
2
1
|
.
|

\
|
|
.
|

\
|
= =
dt
dx
l
s
ds
l
M
(dM)dv dK
ds s
dt
dx
l
M
dK
2
2
3
2
|
.
|

\
|
=

|
.
|

\
|
=
l
spring
ds s
dt
dx
l
M
K
0
2
2
3
2
2
6
|
.
|

\
|
=
dt
dx M
K
spring
E = PE
spr i ng
+ KE
spr i ng
+ KE
mass
2 2
2
2
1
6 2
1
|
.
|

\
|
+
|
.
|

\
|
+ =
dt
dx
m
dt
dx M
kx E
0 =
dt
dE
3
M
m
k

+
=
3
M
m
k

+
=
Suppose m = 0
M
k 3
=
The above cal cul at i on i s not exact Why?
Because of t he assumpt i ons
(i ) Ext ensi on of t he spr i ng i s pr opor t i onal
t o t he di st ance f r om t he f i xed end
(i i ) Vel oci t y (dx/ dt ) i s t he same f or al l t he
el ement s of t he spr i ng
Is onl y an appr oxi mat i on
It w i l l hol d i f M << m
In t hi s case t he st r et chi ng f or ce does not
var y appr eci abl y w i t h di st ance al ong t he
spr i ng and can be t r eat ed as r oughl y
const ant
3
M
m
k

+
=
Recap
Power absor bed by an osci l l at or
0 P = , (
Undamped FHO
( ) ( )
2 2
0
2
0
/2
1
m
F
8
1
P
+
= , (
( ) ( ) | |
2 2
2
2 /
1
8
1
+
=
o
o
m
F
E
Average ener gy i s
Damped FHO
Q f act or cal cul at i on f r om r esonance cur ves
Osci l l at i ons i nvol vi ng massi ve spr i ngs
E or P
e
e
0
e
-
e
+
Ae =
Ful l w i dt h at
hal f
maxi mum /
r esonance
w i dt h
m
M ,k,l
3
M
m
k

+
=
Todays t opics
Vi brat i on el i mi nat or
Super posi t i on pr i nci pl e
Super posi t i on of vi brat i ons of equal
f r enquency
Super posi t i on of vi brat i ons of di f f er ent
f r enquency
Example 10. 5 Vibrat ion Eliminat or
Pi st ons suppor t ed
by ai r pr essur e
To r educe t he ef f ect of f l oor vi brat i ons on a
del i cat e apparat us such as sensi t i ve bal ance
or opt i cal syst em
Aut omobi l e vi brat i on el i mi nat or
M any vi brat i on el i mi nat ors use spr i ngs
i nst ead of ai r suspensi on
The f or m of equat i on of mot i on i s same f or
ai r or spr i ng vi brat i on el i mi nat ors
Ar ea of t he ai r col umn = A
At st at i c equi l i br i um
A P Mg A P
atm
+ =
0
h
M
0
P
0
at m
P
at m
M ost l y
A P Mg
atm
>> Mg A P
0
=
Equi l i br i um hei ght
M ass i t suppor t s = M
Equi l i br i um hei ght
Di spl acement of M
f r om equi l i br i um
Now consi der di spl acement of M
Di spl acement of t he l ower end of t abl e l eg
h
x
y
M
Iner t i al f rame
Equat i on of mot i on of M Mg PA x M =

Inst ant aneous pr essur e
y
h
g
x
h
g
x = +

Af t er si mpl i f i cat i on
The f l oor vi brat es
t y y cos
0
=
t y
h
g
x
h
g
x cos
0
= +

Undamped f or ced osci l l at or
Sol ut i on of t he equat i on i s x = x
o
cost
h
g
and


y x
0
2
2
0
2
0
0 0
=

=
The obj ect of t he ai r suspensi on i s t o make
t he rat i o x
0
/ y
0
as smal l as possi bl e
2 2
2

=
o
o
o
o
y
x
For <<
o
x
o
= y
o
vi brat i on i s t ransmi t t ed w i t hout r educt i on
For >>
o
2
2

o
o
o
y
x
=
For t he vi brat i on el i mi nat or t o be successf ul -
The r esonance f r equency must be l ow
compar ed t o t he dr i vi ng f r equency
h
g

0
= Tabl e must have l ong l egs!
2 2
2

=
o
o
o
o
y
x
Ampl i t ude of vi brat i ons i s r educed
To avoi d t hi s probl em, dampi ng i s r equi r ed
by means of a dashpot
h
M
x

Dashpot
0
=
Vi brat i on ampl i f i er 2 2
2

=
o
o
o
o
y
x
Dampi ng
t er m bv
w her e v i s
r el at i ve
vel oci t y of
i t s ends
( ) y x b


( )
2
1
2
2
2
2
0
2
4
0
0
0

+
+
=
(
(
y
x
0
To make x
0
smal l r el at i ve
t o y
o
, r educe
e
0
bel ow e
Pract i cal ai r
t abl es have e
0
of 1 Hz or l ess
Coi l Spr i ngs ar e used i n
aut omobi l es t o i sol at e t he
chassi s f r om r oad vi brat i ons.
Dampi ng i s pr ovi ded by Shock
absor bers (dashpot s).
For a smoot h r i de, one shoul d
have a massi ve and weak
spr i ngs (smal l k) so t hat t he
r esonance f r equency i s l ow.
ht t p:/ / w w w.acoust i cs.sal f or d.ac.uk/
f eschool s/ waves/ shm4.ht m