Dynamics of the bouncing ball

Sijo K. Joseph
Nonlinear Dynamics, Chaos and Complex Systems Group,
Departamento de Fsica, Universidad Rey Juan Carlos,
Tulipan s/n, 28933 Mostoles, Madrid,Spain

Miguel A.F. Sanjuan

Nonlinear Dynamics, Chaos and Complex Systems Group,
Departamento de Fsica, Universidad Rey Juan Carlos,
Tulipan s/n, 28933 Mostoles, Madrid, Spain
(Dated: January 12, 2010)

Abstract
Nowadays the bouncing ball system is an attractive physical system because of its rich dynamical behav-
ior. This is one of the important systems which shows period doubling route to chaos. Several papers have
been publishing about this physical system. We are making a short review about different kinds of bouncing
ball models. We mainly focus on the two dimensional map based approach, and also examine different kind
of approximations.

PACS numbers: 05.45.Ac,05.45.Df,05.45.Pq

sijo.joseph@urjc.es

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I. INTRODUCTION

In 1949 Enrico Fermi [1] proposed an acceleration mechanism of cosmic ray particles interact-
ing with the time dependent magnetic field. But later Ulam proposed that this mechanism can be
explained in terms of a simple classical model in which a ball is bouncing between two walls and
one of them is vibrating sinusoidaly. So this kind of model became popular as the Fermi-Ulam
model[2]. After that, several modified versions of this model is proposed because of the interesting
dynamical properties. In the different models, the most simplest type is the system with one ball
bouncing on a vibrating table. This system is widely known as the bouncing ball system. It is well
known that the bouncing ball system is one of simplest system which show chaotic behavior.
Most bouncing ball systems are under investigation to identify the condition under which the
Fermi acceleration occurs and due to the rich dynamical behavior of the system. Fermi accel-
eration is an unlimited acceleration of a particle when the particle is subjected to a potential and
forcing. Carval[4] had studied the dynamical properties of stadium billiard under periodic time de-
pendent boundaries and analized the fermi acceleration. Nonlinear map based approach is widely
used to solve bouncing ball systems. But to get a simplified map we have to use different kind
of approximations. If we closely look into the bouncing ball models we can see three major cat-
egories. The first and simplest one is simple bouncing ball system, this system consists of a ball
which is bouncing under the action of gravity on a vibrating table. The second class of model
is called Fermi-Ulam model which consists of a ball bouncing between two table and one of the
table is vibrating. Again there are two type of Fermi-Ulam model, the first one will not consider
the frictional effect of the medium between the two tables. In second case we will consider the
frictional effect of the medium, this kind of models are called frictional Fermi-Ulam models[5].
There are other strange class of models in which the vibration of the table will be a different func-
tion rather than usual sine or cosine function. Some models have analyzed the system even with
an accelerating table[8]. In the simple bouncing ball model a ball is bouncing on a sinusoidally
vibrating table. We can calculate the impact time of the ball. Let x(t) be the position of the ball
with respect to the ground reference frame. Then we have the series x(t0 ), x(t1 ), x(t2 ), ..., x(tn ).
This is the impact time position series of the ball. Let Vk be the velocity of the ball with respect
0
to the fixed reference frame, just after the time of impact tk and Vk be the velocity just before the
impact time tk . If the impact between table and the ball is inelastic we have

0
Vk = Vk , (1)

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Where is the coefficient of restitution 0 1. When = 1 the collision is completely
elastic. Our interest is in the quantities which are in the ground frame of reference. So we have
the equations

Vk = Vk Uk (2)
0 0
Vk = Vk Uk (3)
(4)

Considering the k + 1 collision, consequently we will get

0
Vk+1 = Vk+1

Vk+1 = Vk+1 Uk+1 (5)

0 0
Vk+1 = Vk+1 Uk+1 .

Here U is the velocity of the vibrating table. Substituting the Eq. (5) and Eq. (5) in Eq. (5) we get
0
Vk+1 Uk+1 = (Vk+1 Uk+1 )
0
(6)
Vk+1 = (1 + )Uk+1 Vk+1

Here t is the time interval between two adjacent collisions (tk t tk+1 ). Let x(t) be the
vertical position of the ball in the ground frame of reference, then according to newtons law the
instantaneous position of the ball is given by,
g
x(t) = xk + Vk (t tk ) (t tk )2 (7)
2
The velocity of the table is given by,
dx
Vk+1 = |t=tk+1 (8)
dt
Now we can solve impact velocity. The table position is given by s(t) = A sin(t + 0 ). So our
table velocity is given by
ds
Uk+1 = |t=t (9)
dt k+1
The instantaneous distance between the table and the ball is given by d(t) = x(t) s(t). We
can find the impact time by solving d(tk ) = 0 since impact occurs when the distance between the
table and the ball goes to zero. Therefore
1
xk + Vk (tk+1 tk ) g(tk+1 tk )2 A sin(t + 0 ) = 0 (10)
2

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The above equation is called time recurrence equation. If we substitute Uk = A cos(t + 0 )
0
and Vk+1 = Vk g(tk+1 tk ) in Eq. (6), we can obtain Eq. (11), which is the recurrence velocity
equation.
Vk+1 = (1 + )A cos(t + 0 ) [Vk g(tk+1 tk )] (11)

The complete recurrence equations are given by

1
xk + Vk (tk+1 tk ) g(tk+1 tk )2 A sin(t + 0 ) = 0 (12)
2

Vk+1 = (1 + )A cos(t + 0 ) [Vk g(tk+1 tk )] (13)

These are time equation and velocity equation respectively. To make a simplified map out of this
equation we have to make some assumptions. One of the important approximations is called the
high bounce approximation.

II. HIGH BOUNCE APPROXIMATION

In this approximation we assume that the bouncing height of the ball is large compared with
the vibration of the table. In other words the bouncing period of the ball is exactly equivalent to
the period of the table oscillation, i.e, xk = A sin(tk+1 + 0 ). So our Eq. (12) becomes

1
Vk (tk+1 tk ) g(tk+1 tk )2 = 0
2
2.Vk
tk+1 = tk + (14)
g
We can do the bouncing ball approximation in a different way also. Here we are assuming for k+1
th collision the velocity simply change its sign only. Therefore,
0
Vk+1 = Vk (15)
0
Vk+1 = Vk g(tk+1 tk ) (16)
2Vk
tk+1 = tk + (17)
g
In both cases we got the same equations. So the approximated equations are given by
2Vk
tk+1 = tk + (18)
g
Vk+1 = (1 + )A cos(t + 0 ) [Vk g(tk+1 tk )] (19)

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If we trasform Eq. (18) and Eq. (19) to make the dimensionless equation by changing variables as
Xk = tk + 0 , Yk = (2/g)Vk , = (2 2 A/g)(1 + )
we will get

Xk+1 = Xk + Yk (20)
Yk+1 = cos Xk+1 [Yk 2(Xk+1 Xk )] (21)

If we substitute the phase equation Xk+1 = Xk + Yk in the above Eq. (19) we will get

Yk+1 = Yk + cos Xk+1 (22)

The complete approximated equations are given by

Xk+1 = Xk + Yk (23)

Yk+1 = Yk + cos(Xk + Yk ) (24)

This is our bouncing ball map. If the coefficient of restitution is unity then this map reduces to the
standard map.

Xk+1 = Xk + Yk (25)
Yk+1 = Yk + cos(Xk + Yk ) (26)

In order to calculate the dissipation effect we have,

1 1
det(Df ) = det
sin(Xk + Yk ) + sin(Xk + Yk )

det(Df ) = + sin(Xk + Yk ) sin(Xk + Yk ) (27)

det(Df ) = (28)

It is already evident that is the dissipation coefficient so here gives the measure of the contrac-
tion of phase space.
1 1
f =
S + S

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Where S = sin(Xk + Yk ) Eigenvalues of the matrix is given by

2 .trace(f ) + det(f ) = 0 (29)

2 ( + S + 1) + = 0 (30)

p
trace(f ) trace(f )2 4.det(f )
= (31)
2
1 p
= [ (1 + + S) (1 + + S)2 4] (32)
2

Here is the Lyapunov exponent. If this value is positive then the phase space trajectories will
diverge exponentially, which inturn gives the chaos.

III. FERMI-ULAM MODEL

We have discussed about the simple bouncing ball model. In Fermi-Ulam model the ball is
bouncing in between two plates, and one of the plates is vibrating. We are going to consider
a hybrid model presented by Leonel in which the two walls are vibrating each other. In some
condition the hybrid model gives the exact Fermi-Ulam model. The system is determined by the
oscillation frequencies i and amplitude Ai of the two walls as well as the distance between the
walls at the equilibrium.It is appropriate to introduce a relevant dimensionless quantities
= Ai /w, r = L /R . We are choosing r = 1 ie L = R = Using the unit of length as
a spacing between the walls w and the the time unit 1 , the dynamical laws of the system can be
written as,

1
dn = + sin(tn + tn1 + n ) (33)
2
un = cos(tn + tn1 + n ) (34)
vn = vn1 + 2un (35)

Here dn is the time varing separation between the walls and un is the velocities of walls.The third
expression is obtained from the Eq. (6).
The time of flight is obtained by the implicit equation dn = xn1 + vn1 tn .
Leonal[3] had presented two kinds of approximation for Fermi-Ulam Model.

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 A. Static wall approximation

In this approximation we say that the velocity of the ball is very high, so the time of flight
between two successive collisions are completely dependent only on the velocity. It is equivalent
to say that the vibration of the wall is very small.Time of flight between two successive collision
are given by,

1
tn = (36)
vn1

So the Hybrid Fermi-Ulam bouncing ball map under static wall approximation is given by,

1
tn = tn (37)
vn1
vn = | vn1 + 2 cos(tn + n )| (38)

The above obtained equations are the Fermi-Ulam bouncing model map.So the static wall approx-
imation of the hybrid model naturally reduces to the Fermi Ulam bouncing ball model.

B. Hopping Wall Approximation

This is one of the approximation in which we consider the effect due to the movement of
the wall.We have to add a correction term to the movement of the wall in the above obtained
equation.In the below equation t gives the correction factor in the time of flight due to the wall
movement.

tn = tn1 + tn 1/vn1 (39)

.[sin(tn1 + n ) sin(tn2 + n1 )]
tn = (40)
vn1
vn = | vn1 + 2 cos(tn + n )| (41)

The above equations gives the two dimensional map of the system. This is more accurate than that
of the static wall approximation.

IV. FERMI-ULAM MODEL UNDER FRICTIONAL FORCE

This model is also proposed by Leonal[5]. In this model we consider a ball of mass m, confined
and bouncing between two walls,one of the walls is fixed and other is vibrating according to the

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equation xw = A cos(t), in addition to that the ball experiences a drag force, equivalent to being
immersed in a fluid of viscosity . The differential equation of the ball is given by,

0 dv
v = m (42)
dt

solving this equation we will get

vp (t) = vn et (43)

The position of the particle as

vn
xp (t) = A sin(t) + [1 et ]) (44)

0
dxp (t)
Here = m
and considering vp (t) = dt
There are different possibilities that arise in this model
depending on the initial conditions (initial velocity and initial time).
(a)The particle suffers an another collision with the moving wall before exiting the collision area
(b)The particle will exit the collision region without suffering a further collision. The collision
area is defined as the interval x [A A] within which it is possible for the particle to collide
with the time-varying wall.
In case (a) the condition of collision is obtained from, xp (t) = xw (t) and for xp A

vn
d(tc ) = A sin[(tn + tc )] A sin(tn ) [1 etc ] (45)

where tc is the smallest root of the equation for tc (0, 2/] The new velocity is given by
vn+1 = vn etc + 2vw (tn+1 ) where vw (tn+1 ) = Acos(t) For such a successive collision the
map is written as

tn+1 = tn + tc (46)

vn+1 = vn etc + 2 cos(tn+1 ) (47)

where A = if d(tc ) does not have solutions for the tc (0, 2/] we may conclude that the
particle leaves the collision area without suffering further collision, so that case (b) applies. Then
either of the two things will occur. (b1 ) the drag force dissipate the part of the energy of the particle
and after it hits the fixed wall and reflected backwards, it suffers another collision with the moving
wall or, (b2 ) the drag force dissipate all the energy of the particle. After leaving the collision
area, the particle traverse towards the fixed wall located at x = l, suffers an elastic collision and
is reflected towards the moving wall. During this part of its trajectory both the velocity and the

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position is described by the Eq. (43) and (44). We thus needed to calculate the velocity of the
particle and corresponding time mediately before it re-enters the collision region. By evaluating
the Eq.( 44) we can obtain the time spent in that part of trajectory by taking into consideration that
xp = 2l A. We then find that

1
tT = ln[1 (2l A A sin(tn ))] (48)
vn

The above equation is real only if vn > [2l A A sin(tn )]. For the condition vn [2l A
A sin(tn )] we can conclude that the case (b2 ) occurs, the drag force already dissipated the all of
the energy of the particle. Consequently the particle comes to rest. If the particle satisfy the above
equation then it re enters the collision zone and will suffer another collision with the moving wall.
Its velocity is obtained from Eq. (23) is given by

0
vp (tT ) = vn + 2l [1 + sin(tn )] (49)

We are taking the negative quantity of velocity since the wall located at x = l reverse the ball
velocity during collision. The time at which the particle suffers collision with the moving wall is
obtained from condition xp (tn +tT +t) = xw (tn +tT +t). Then we get the following transcendental
equation
vp (tT )
f (tc ) = A sin[(tn + tT + tc )] A (1 etc )[ ] (50)

2
where tc is the smallest solution of f (tc ) for tc [0
]. The map is then written as

tn+1 = tn + tT + tc (51)
vn+1 = vp (tT )etc + 2 cos(tn+1 ) (52)

V. CONCLUSION

We reviewed different types of bouncing ball models including the Fermi-Ulam model. Also
we described the system with the use of two dimensional-maps obtained, some of them are
obtained from the differential equation. For dissipative models the particles are captured by the
attracting region. We also observed the connection of the hybrid model to the Fermi-Ulam model.

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[1] Enrico Fermi, Physical Review, Vol.75, No.8 (1949).
[2] Anita Mehta and J.M Luck, Phys.Rev.Letters, Vol.65, No.4.
[3] Edson Leonel and P V E McClintock, J.Phys.A:Math. Gen.38 823, (2005).
[4] R. Egydio de Carvalho, F. Caetano Souza, and Edson D. Leonel, Phys. Rev. E 73, 066229, (2006).
[5] Edson Leonel and P V E McClintock, J.Phys.A:Math. Gen.39 11399, (2006).
[6] Edson D Leonel, J.Phys.A:Math.Theor.40 F1077-F1083, (2007).
[7] Edson D Leonel and Mario Roberto Silva, J.Phys.A:Math.Theor.41 015104,(2008)
[8] B.Alabi,T.A.O.Salau and S.A.Oke, Mechanica.Nr.1(69) ISSN 1392-1207, (2008)
[9] Joaquim J.Barroso et el, Physical Review E 79, 026206,(2009).

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