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Ft mat
mg sin( ) m
or
g sin( ) 0
(1)
o The solution of this differential equation describes the movement of the pendulum for
any initial conditions.
o Equilibrium Positions: These are found by setting 0 in the differential equation of
motion (1). Hence, the pendulum has two equilibrium positions: eq 0, .
o Linearized Equation of Motion: eq 0
df
f d
o Hence, the approximate linear equation of motion for small motions about 0 is
g 0
o The solution of this differential equation describes small movements of the pendulum
about 0 .
e e
a cos( ) e a sin( ) e
am a A am / A a0 i
o The differential equation of motion of the pendulum may be found by summing forces
in the tangential (e t ) direction. Referring to the free body diagram, we write
Ft mat
mg sin( ) m a0 cos( )
g sin( ) a cos( ) 0
0
o The solution of this differential equation describes the movement of the pendulum for
any initial conditions.
o Equilibrium Positions: As before, these are found by setting 0 . Hence, the
g
cos( ) 12 sin( )
eq
eq
by
linearizing
1.118
the
function
o The approximate linear equation of motion for small motion about 26.57o is
1.118
o The solution of this differential equation describes small movements of the pendulum
about 26.57o .
Kamman ME 3600 page: 2/2