Chapter 5: A.P.

French: Coupled Oscillation

Tpoic :Coupled Pendulums :Two simple pendulums are coupled by a spring
of spring constant 'k'.
Differential equation of motion with referene to the figure:
d 2 x1 d 2 x1 x k
1st pendulum: m 2
  mg sin 1  k  x1  x2   2
 g . 1   x1  x2   0
dt dt l m
d 2 x1

dt 2
 
 02  c2 x1  c2 x2  0     1

d 2 x2 d 2 x2 x k
2nd pendulum: m 2
  mg sin  2  k  x2  x1   2
 g . 2   x2  x1   0
dt dt l m
d 2 x2
dt 2  
 02  c2 x2  c2 x1  0      2 

Equation 1 and  2  are coupled .

d2 g k  k
1   2   2  1
x  x2       x1  x2    x1  x2   0
dt  l m m
d 2 q1 d 2 q1

dt 2
2
0  2
c q1 
 2
q
c 1  0 
dt 2
 02 q1  0      3

1   2   2  x1  x2       x1  x2    x1  x2   0
d2 g k k
dt  l m m
d 2 q2 d 2 q2

dt 2
 2
0  2
c q2 
 2
q
c 2  0 
dt 2  
 02  2c2 q2  0      4 

g k
where, x1  x2  q1 and x1  x2  q2 ;  02 and  c2 .
l m

1: Chapter 5: Prof. Debashis Bandyopadhyay

Solun of the equation  3 : q1  C cos  0t  1 
Solun of the equation  4  : q2  D cos   ' t  2  where,  '  02  2c2
1 1 1
So, x1   q1  q2   C cos  0t  1   D cos   ' t  2 
2 2 2
1 1 1
and x2   q1  q2   C cos  0t  1   D cos   ' t  2 
2 2 2
Here, q1 and q2 and two normal modes; 0 and  ' are the two normal frequencies.

Different cases :
From the solutions :
1 1 1
x1  x A   q1  q2   C cos 0t  D cos  ' t
2 2 2
1 1 1
x2  xB   q1  q2   C cos 0t  D cos  ' t
2 2 2
Case I : If D  0 : Symmetry consideration I
1 1 1 1
x1   q1  q2   C cos 0t  D cos  ' t  C cos 0t
2 2 2 2
1 1 1 1
x2   q1  q2   C cos 0t  D cos  ' t  C cos 0t
2 2 2 2
 g
i.e. both the pendulums oscillate with the same frequency 0    . So, spring
 l 
has no role here. In coupled pendulum experiment in your Physics I lab, this is the
1st part of the experiment where frequency is almost constant  theoretically constant  .
Case II : If C  0 : Symmetry consideration II
1 1 1 1
x1   q1  q2   C cos 0t  D cos  ' t  D cos  ' t
2 2 2 2
1 1 1 1
x2   q1  q2   C cos 0t  D cos  ' t   D cos  ' t
2 2 2 2
 g k 
i.e. both the pendulums oscillate with the same frequency  '  = 02  2c2   2  .
 l m
In your lab, this is the 2nd part of the coupled pendulum experiment. Since expansion
or compression in the spring is function of its position , therefore, in this part , with the
increasing the position from top, c will increase. Hence you will get y  mx kind of graph.
Please not , in the lab, you have to consider moment of inertia, because it is a practical system.

2: Chapter 5: Prof. Debashis Bandyopadhyay

Case III : Energy transfer mode
dx A dxB
At t  0, let , x1  x A  A0 and x2  xB  0; Also,  0
dt dt
1 1 1 1 1 1
We have : x A   q1  q2   C  D  A0 and xB   q1  q2   C  D  0
2 2 2 2 2 2
1 1
 C  D  A0 ; x A  A0  cos 0t  cos  ' t  and xB  A0  cos 0t  cos  ' t 
2 2
   '     '      '    ' 0 
 x A  A0 cos  0 t  cos  0 t  and xB  A0 sin  0 t  sin  t
 2   2   2   2 
So, if amplitude of one pendulum is maximum, the other one will not oscillate and vise versa.
This is the 3rd part of the coupled pendulum experiment in lab.
Open the link to see this mode online.

3: Chapter 5: Prof. Debashis Bandyopadhyay

Topic : Normal frequencies : General Approach
Let us consider both the pendulums can oscillate with a single
normal frequency  with different amplitudes.
 x A  C cos t and xB  C 'cos t
d 2 xA d 2 xB
So,
dt 2
 2
0  2
cx A  2

x
c B  0 and
dt 2  
 02  c2 xB  c2 x A  0

Using the expressions of x A and xB :

  2

 02  c2 C  c2C '  0


c2C  2  02  c2 C '  0 
 2  02  c2 c2 C 
   0
 c2 2  02  c2  C '
2  02  c2 c2
    
2 2 2
  0  2  02  c2
c2   0  c
2 2 2 c

 2  02  c2  c2    0 and 02  2c2

c2
 
Now, 2  02  c2 C  c2C ' 
C

C ' 2  02  c2
C c2
For ,   0 ,   1  Solutions are : x A  C cos 0t and xB  C cos 0t
C ' 2  02  c2
C c2
and    ',   1  Solutions are : x A  D cos  ' t and xB   D cos  ' t
C ' 2  02  c2
C and D are the two amplitudes associated with two different normal modes.
Since the differential equations are linear, therefore, the sum of the two solutions is
also a solution.
 x A  C cos 0t  D cos  ' t and xB  C cos 0t  D cos  ' t
We may also write the solution in general form as :
x A  C cos  0t    and xB  C cos  0t     Lower mode
x A  D cos   ' t    and xB   D cos   ' t     Higher mode

4: Chapter 5: Prof. Debashis Bandyopadhyay

Topic : Forced vibration and reasonance for two coupled oscillator
Let us consider that the point of suspension of pendulum A is driven by
an external force : F  t   F0 cos t. So the differential equations become :
d 2 x A mg d 2 xA g k F
m 2
 x A  k  A B 0
x  x  F cos t  2
 x A   x A  xB   0 cos t
dt l dt l m m
d 2 xA

dt 2   F
 02  c2 x A  c2 xB  0 cos t    1
m
d 2 xB mg d 2 xB
m
dt 2

l
x B  k  x A  x B   0 
dt 2  
 02  c2 xB  c2 x A  0      2 

d2 F0 d 2 q1 F
1   2   2  x A  x B   2
0  x A  x B   cos t  2
 02 q1  0 cos t      3
dt m dt m
d2 d 2 q2
1   2  
dt 2  A 
x  xB   02  2c2  x A  xB  
F0
m
cos t 
dt 2
F
 '2 q2  0 cos t      4 
m
Equations  3 and  4  is like forced oscillation without damping force. Here, '2  02  2c2
F0 m F0 m
Steady state solutions : q1  C cos t  cos t and q2  D cos  ' t  cos t
 0  
2 2
  '2  2  
The variation of ampletudes C and D with ω show the following resonance behavior.

1 1 1 1 F0 m 1 F0 m
So, x1   q1  q2    C  D  cos t  A cos t; A   C  D   
2 2 2 2 0  
2 2
2 02  '2    
1 1 1 1 F0 m 1 F0 m
and x2   q1  q2    C  D  cos t  B cos t; B  C  D   
2 2 2 2 0  
2 2
2 02  '2    
 A  A    .

1 F0  '    0  
2 2 2 2
  
1 F0  '2  2  02  2
 . 
F0 02  c2  2

2 m  '2  2 02  2  
2 m  '2  2 02  2 
m  '2  2 02  2     
1 1 F0 m 1 F0 m F  2
B  B    C  D     0 c
2 2

2 0  2
2 0  
2

'2

m  '   02  2
2 2
   
F0 02  c2  2 F0 c2
 A    and B   

m  '2  2 02  2  
m  '2  2 02  2   

5: Chapter 5: Prof. Debashis Bandyopadhyay

 a  Amplitude of 1st pendulum A   with the driving frequency .
Section I: ω increasing from 0 to ω0 :Both numerator and denomerator
are positive. A   increases from some non  zero value to  (at , =0 ).
Section II: ω>ω0 but   02  c2 and  ' : A    0 from   (because 02  2 is negative).
Section III : ω>ω0 and 02  c2   1  say   : A      at    '  from zero  at   1  .
Section IV:ω>ω0 , 1 and  ' : A    0  at    ' from  .
 b  Amplitude of 2nd pendulum B   with the driving frequency .
Section I: ω increasing from 0 to ω0 :Denomerator is positive. B   increases from
some non  zero value to  ( for =0 ).
Section II+III: ω  ω' from =0 : B    from   to some non  zero negative value to   again.
Section IV: ω tending from ω' to from  : B    from  to 0 with the increase of .

6: Chapter 5: Prof. Debashis Bandyopadhyay

Topic : Many  N  coupled oscillators : N beads and string system
The practical system is : Beads on a massless string whosetwo ends are fixed as shown below.

Top: No vibration; Bottom: Under vibration

Let the angle at any intermediate  p  1 ,p th and  p  1
th th
points are  p 1 ,  p and  p 1
respectively.Let the tension in the string is T.Let us calculate the resultant vertical force
at p. The tenionT making an angle  p on the right side of p and  p 1 on the lefe side of p
with horizontal. So the resultant vertical forces acting on the p th point is:
 y p 1  y p y p  y p 1  T
Fp  T sin  p  T sin  p 1   T      2 y p  y p 1  y p 1 
 l l  l
d 2 yp T  2 y p  y p 1  y p 1  d 2 yp
 202 y p  02  y p 1  y p 1   0 ; Here,
T
     0   02
dt 2 m l  dt 2
ml

and Fp:Horizontal  T cos  p  T cos  p 1 

T 2
2
 
 p   2p 1  0 for small angle vibration.

7: Chapter 5: Prof. Debashis Bandyopadhyay

Case I: N=1, means single bead vibration: So, p  0  fixed po int on left  , 1  position of thebead  and
2  fixed point on right  . If y p is the displacement of the bead under transverse oscillation, then,
y0  0  fixed point on left  ; y1  y1 ( position of the bead ); y2  0  fixed point on right 
d 2 yp d 2 y1
  202 y p  02  y p 1  y p 1   0   202 y1  0 for N  1 and p  1
dt 2 dt 2
Similarly : For N  2 : p  0,1, 2 and 3
y0  0  fixed point on left  ; y1  y1 (displacement of the 1st bead );
y2  y2  displacement of the 2nd bead  , y3  0  fixed point on left  . So, the equations are
d 2 y1 d 2 y1
For 1st particle :  2 2
y
0 1  2
0  y 2  y0   0   202 y1  02 y2  0
dt 2 dt 2
d2y d 2 y2
and for 2nd particle : 2 2  202 y2  02  y3  y1   0  2
 202 y2  02 y1  0
dt dt
d 2 y1
1st bead : 2  202 y1  02 y2  0
dt
 for N  2 :Two particle system.
d 2 y2
2nd bead : 2  20 y2  0 y1  0
2 2

dt
Similarly for N  3
d 2 y1
1st bead : 2
 202 y1  02 y2  0
dt
d2y
2nd bead : 2 2  202 y2  02 y1  02 y3  0 for N  3 : where, p31 is fixed and so on.
dt
d2y
3rd bead : 2 3  202 y3  02 y2  0
dt

8: Chapter 5: Prof. Debashis Bandyopadhyay

Topic: Nature of Amplitudes and frequencies
The general differential equation of the p th particle is  as derived 
d 2 yp
2
 202 y p  02  y p 1  y p 1   0; Assume, y p  Ap cos t
dt
Substituing y p in the differential equation :
 Ap 2  202 Ap  02  Ap 1  Ap 1   0 for p th particle.
Changing p from 1 to N we have :
  2

 202 A1  02  A2  A0   0 for p  1

  2
 2  A    A  A   0 for p  2
2
0 2
2
0 3 1

  2
 2  A    A  A   0 for p  3
2
0 3
2
0 4 2

.
.
.
  2
 202 Ap  02  Ap 1  Ap 1   0 for p th particle.

.
.
.
  2

 202 AN  02  AN 1  AN 1   0 for N th particle.

9: Chapter 5: Prof. Debashis Bandyopadhyay

The general differential equation of the p th particle is  as derived 
d 2 yp
2
 202 y p  02  y p 1  y p 1   0; Assume, y p  Ap cos t
dt
Substituing y p in the differential equation :
 Ap 2  202 Ap  02  Ap 1  Ap 1   0 for p th particle.
Ap 1  Ap 1 2  202
   constant for a particular value of 
Ap 02
Let us take Ap  C sin p
Ap 1  Ap 1 s in  p  1   sin  p  1 
   2 cos 
Ap sin p
To find out , we can choose the end points, A0  AN 1  0 always.
Since, Ap  C sin p, so A0  0 always, because p  0 here.
n
When AN 1  0,sin  N  1   0   N  1   n   
N 1
 pn 
 Apn  C sin  
 N 1 
Therefore, if  is the permitted frequencies, then,
Ap 1  Ap 1 2  202  n  2
  2 cos   2 cos   2 2
Ap 02  N 1  0
  n   21 n 
 2  202 1  cos     40 sin  .
2

  N  1   2 N 1 
 1 n 
 n  20 sin  
 2 N 1 

10: Chapter 5: Prof. Debashis Bandyopadhyay

Numer of particles and number of modes:
General expression of amplitudes and number of modes are
 pn   1 n 
 Apn  C sin   and n  20 sin  
 N 1   2 N 1 
where, N  Total number of particle, n  1, 2,3.....integers and p is the position number
of the particles. So for a N particle system:p=0(fixed point),1,2,3,4....N+1(fixed point)
Case I: N=1,So, p=0,1,2
 1.n   n 
 Apn  A1n  C sin    C sin    A11  C  n  1 means 1st mode  ;
 11   2 
1  
and n  1 1st mode frequency   20 sin    20
 2 11 
A0n =0=A2n  Fixed points
Case II: N=2,So, p=0,1,2,3;0 and 3 are fixed points.
For 1st mode:n=1
 p   p 
 Ap1  Ap1  C sin    C sin  
 2 1   3 
 1.  3  2    3
 A11  C sin   C ; A21  C sin    C sin      C , A31  0
 3  2  3   3 2
1  
n  1  20 sin    20
 2 11 
Here, A11  Amplitude of the 1st bead under 1st normal mode
A21  Amplitude of the 2nd bead under 1st normal mode

11: Chapter 5: Prof. Debashis Bandyopadhyay

Topic : Another approach to calculate normal mode amplitides
and normal mod e frequencies

 pn   1 n 
In general Apn  A0 sin   and n  20 sin  
 N 1   2 N 1 
Case I: N=1: So,we have 1 particle: N=1,n=1, p=1
d 2 y1
Diff . equation : 2
 202 y1  0
dt
   1  
 Apn  A11  A0 sin    A11  A0  constant  and n  1  20 sin    20 .
 11   2 11 
Case II: N=2:We have 2 modes with the following sets:N=2,n=1,p=1,2; N=2,n=2,p=1,2
d 2 y1
For 1st Mode : N=2,n=1,p=1,2 : 2
 202 y1  02 y2  0
dt
    3 A0 
 A0 sin     
 p   A11   3   2   A11  A12  3 A0
Apn  Ap1  A0 sin  A  
 2  1   21   2    3 A0  2
 A0 sin     
  3   2 
 1 1. 
and 1  20 sin    20
 2 11 
d2y
For 2nd Mode : N=2,n=2,p=1,2 : 21  202 y1  02 y2  0
dt
  2    
 A0 sin     3 A0 
 2 p   A12    3   2  3 A0
Ap 2  Ap 2  A0 sin  A    A11   A12 
 2  1   22   4    3 A0  2
 A0 sin      
  3   2 
 1 2. 
and 1  20 sin    30
 2 2 1 

12: Chapter 5: Prof. Debashis Bandyopadhyay

Case III: N=3:We have 3 normal modes:
Different sets are:N=3,n=1,p=1,2,3; N=3,n=2,p=1,2,3;N=3,n=3,p=1,2,3
 np   1 n 
In general : Apn  A0 sin   and n  20 sin  
 N 1   2 N 1 

 2 2
For 1st Mode : N  3, n  1, p  1, 2,3  n  1  20 sin    20 .  2  2 0
 
8 2
  
 A0 sin     A0 
4   
 A1,1   2   A0 
 p   p      2     
Ap1  A0 sin    Ap1  A0 sin     A2,1    A0 sin      A0    2 A0 
 3 1   4    4  
 
 A3,1   A0   A0 
 3    
 A0 sin     2
  4 
 2  1
For 2nd Mode : N  3, n  2, p  1, 2,3 : n  2  20 sin    20 .  20
 8  2
  2  
 A0 sin   
 4 
 A1,2    A0 
 2 p      4    
Ap 2  A0 sin     A2,2    A0 sin      0 
 3  1       
4 
 A3,2      A0 
 6 
 A0 sin   
  4 
 3 
For 3rd Mode : N  3, n  3, p  1, 2,3 : n  3  20 sin    ??
 8 
  3  
 A0 sin     A0 
 4   
 A1,3   2   A0 
 3 p      6     
Ap 3  A0 sin     A2,3    A0 sin       A0     2 A0 
 3 1    4  
 
 A3,3    A0   A0 
 9    
 A0 sin     2 
  4  

13: Chapter 5: Prof. Debashis Bandyopadhyay

Topic: Properties of the normal modes of N-coupled oscillators
Let us write the frequency and amplitude of nth mode of p th particle
in the line in the following way :
 n   pn 
n  20 sin   and Apn  Cn sin  
 2  N  1   N 1 
The actual displacement of the p th particle in nth mode : y pn  Apn cos nt
By introducing a phase δn with individual modes, the above expression can be modified as:
y pn  Apn cos  nt  n 
From the above exp ression of n , as we move from n  1 to n  N ,
N number of different characteristic frequency can be found .
n
If we plot n  mode freequency  versus  which is basically reflecting the mode number n  .
2  N  1
one can get the following figure.

14: Chapter 5: Prof. Debashis Bandyopadhyay