Chapter V

Coupled Oscillators
and Normal Modes
Two, or more, oscillators coupled together
Examples

1. Two pendulums, coupled by a spring

2. A molecule

CO2 Molecule
3. A crystalline solid
4. An elastic medium, like a vibrating string
Two Simple Pendulums Coupled by
a Spring

m k m

x1 x2

Equations of Motion :
d 2 x1 x1
m 2   m g  k ( x1  x2 )
dt 
d2x 2 x2
m 2   mg  k ( x 2  x1 )
dt 
 d 2 x1 g k
2
 x1  ( x1  x2 )  0
dt  m

d2x 2 g k
2
 x 2  ( x 2  x1 )  0
dt  m

The above two differential equations are

coupled.
Decoupling
Adding and subtracting the above equations :
d 2q1 d 2q 2
2
 0 q1  0
2
; 2
 2
q2  0
dt dt
Where,
q1  x1  x2 ; q2  x1  x2

g 2k
 
2
0 ;   0 
2 2

 m

The solutions for q1 & q 2 are :

q1  A1 cos (0 t  1 )

q2  A2 cos(t  2 )
Initial Conditions on q1 & q 2 are obtained
from those of x1 & x 2

x1 & x 2 can then be obtained as :

1 1
x1  (q1  q2 ) ; x2  (q1  q2 )
2 2

q1 & q 2 are known as the normal

coordinates and 0 &  are known as normal
frequencies.
Normal Coordinates : New coordinates, that
are linear combinations of the original, in
which the equations of motion are
decoupled.

Normal Frequencies : Frequencies of

oscillation of the normal coordinates.
 Normal Mode Vibrations

Let the initial conditions be such that q 2

remains zero forever.

Thus, q1 ( t )  A1 cos(0 t  1 ) & q2 ( t )  0

For this to happen, the initial conditions
must be such that

q2 (0)  q 2 (0)  0

Or, x1 (0)  x 2 (0) ; x 1 (0)  x 2 (0)

Taking :
A
x1 (0)  x 2 (0)  ; x 1 (0)  x 2 (0)  0
2
 q1 ( t )  A cos 0 t & q2 ( t )  0

A
And, x1 ( t )  x 2 ( t )  cos 0 t
2
This mode of vibration is called a Normal
Mode Vibration
Normal Mode Vibration : A mode of vibration in
which only one normal coordinate is excited,
the other normal coordinates remaining zero.
First Mode for the Coupled Pendulums

t  T0 4
t 0

t  T0 2 t  3T0 4 t  T0
 Second normal mode vibration :
q1 ( t )  0
Required initial conditions :
q1 (0)  0 ; q 1 (0)  0
Or, x1 (0)   x 2 (0) & x 1 (0)   x 2 (0)
x2 (0)   x1 (0)  A & x1 (0)  x2 (0)  0
 q2 (0)   2 A ; q2 (0)  0
 q2 (t )   2 A cos t & q1 (t )  0

1 1
x1 (t )  q2 (t )   A cos  t x 2 ( t )  q 2 ( t )  A cos t
2 2
t0 t  T 4

t  T 2 t  3T 4 t  T
 General Motion (Both Modes Excited)

Initial Conditions :
x1 (0)  0 ; x 2 (0)  A

x 1 (0)  x 2 (0)  0
A
 q1 (0)  A & q2 (0)   A

q 1 (0)  q 2 (0)  0
 Solutions for q1 & q 2

q1 (t )  A cos 0t ; q2 (t )   A cos t

Solutions for x1 & x 2

A
x1 (t )  [cos 0t  cos  t ]
2
   0     0 
 A sin t  sin  t
 2   2 

    0      0 
x2 (t )  cos 0t  cos  ' t   A cos 
A
t  cos  t
2  2   2 
     0      0 
x1  A sin  t  sin  t
x1 ( t )  2   2 

    0      0 
x2 (t )  A cos  t  cos  t
x2 (t)  2   2 

t
In Phase

Out of Phase

Energy Transfer
 Summary
1. There exist normal coordinates, which
are such that, the equations of motion in
them, are decoupled
2. Each normal coordinate behaves like
a simple harmonic oscillation with its own
frequency, the normal frequency
3. With appropriate initial conditions, one
can excite only one normal coordinate, the
other remaining dormant. Such vibrational
modes are called normal mode vibrations.
4. In a normal mode vibration, each mass in
the coupled system, executes a SHO with
the same frequency, the corresponding
normal frequency. The amplitudes of motion
of the different masses, and their phases
are in general different.

5. In the most general motion, which results

from arbitrary initial conditions, the motion of
each mass is rather complicated. There is no
definite frequency of vibration. However, the
motion is a superposition of SHMs
General Approach for Finding Normal Modes
Back to Coupled Pendulums :

d 2 x1
2
  2
0 1x   s ( x1  x2 )  0
2

dt g k
  ; s 
2
0
2

d2x 2  m
2
 2
x
0 2  s ( x 2  x1 )  0
2

dt

Since in a normal mode vibration, all

masses execute SHM of a common
frequency, put :
 x1  A1 cos t ; x 2  A2 cos t

 (     ) A1   A2  0
2
0
2
s
2 2
s

 s2 A1  (02  s2  2 ) A2  0

In the matrix form :

 02  s2  2  2
  A1 
 s

2 
   0
   2
0  s     A2 
2 2
 s
For non-trivial solutions for A1 & A2
( Both A1 & A2 not zero ), the determinant of
the matrix must be zero :

          0
2
0
2
s
2 2 4
s

or         
2
0
2
s
2 2
s

     
2 2
0
2
s
2
s

1  0

2  02  2 s2
First Normal Mode
A1
1  0  1
A2

 x1  A cos 1t ; x 2  A cos 1t

This mode is called lower mode or in phase

mode
Second Normal Mode
A1
2    2  
2
0
2
s  1
A2

 x1  A cos 2 t ; x 2   A cos 2 t

This mode is called higher mode or out of

phase mode
Prob. 5.10
Consider the vertical motion k
of the system.
m

Find the normal mode m

frequencies and the ratio of the
amplitude of the two masses in
each mode
Equations of Motion:

d 2 x1
m 2   k x1  k ( x1  x2 ) x1 m
dt

d2x 2
m 2   k ( x 2  x1 )
dt m
x2
Or,
d 2 x1
2
 0 ( 2 x1  x 2 )  0
2

dt
k
  2
0
d2x 2 m
2
 0 ( x 2  x1 )  0
2

dt
Substituting : x1  A1 cos t ; x 2  A2 cos t

(2 02   2 ) A1  02 A2  0 .... (1)

 02 A1  (02   2 ) A2  0 ... (2)

Writing the above as a matrix equation and

setting the determinant to zero, we get :

2  
2 2
 2
0 0
0
 0
2
0  
2 2
 3  5  2
  3     0    
4 2
0
2 4
0
2
 0
 2 

From eq. (1), we get :

A1 02

A 2 2 02  2

3  5  5 1
   0  0
 2  2
Lower Mode :

3  5  2 1.24 cm
When   
2
 0
 2 
5 1 k
or 1  0  0.618
2 m 2 cm

A1 2 5  1 1.24
  
A2 5 1 2 2
Higher Mode :

3  5  2
When   
2
 0
 2  3.24 cm

5 1 k
or 2  0  1.618
2 m 2 cm

A1 2 5 1 3.24
  
A2 5 1 2 2
Prob. 5.9 The carbon
dioxide molecule can be
likened to a central
m1 m1
mass connected to two m2
other identical masses,
by identical springs of
spring constant k.

Set up the equations of motion, find the

normal frequencies and ratios of the
amplitudes in the normal modes
 x1 x3
x2
Equations of Motion :

d 2 x1
m1 2   k ( x1  x2 )
dt
d 2 x2
m2 2   k ( x2  x1 )  k ( x2  x3 )
dt
2
d x3
m1 2   k ( x 3  x 2 )
dt
Or,
d 2 x1 k
2
 ( x1  x 2 )  0
dt m1

d2x 2 k
2
 (  x1  2 x 2  x 3 )  0
dt m2

d2x 3 k
2
 (x3  x 2 )  0
dt m1

Substituting :
x1  A1 cos t ; x 2  A2 cos t ; x 3  A3 cos t
  k 2 k
    A1  A2  0
 m1  m1

k  2k 2 k
 A1      A2  A3  0
m2  m2  m2

k  k 2
 A 2      A3  0
m1  m1 

Setting the determinant of the coefficient

matrix to zero, the normal frequencies are
obtained as :
 k  1 2 
1  0 ; 2  ; 3  k  
m1  m1 m2 

From the equations for the coefficients, we

can find out ratio of the amplitudes A1 : A2 : A3
First mode 1  0
A1 : A2 : A3  1 : 1: 1
No oscillations, rigid shift of the molecule

A
A A
Second Mode k
2 
m1
A1 : A2 : A3  1 : 0 : 1
 Third Mode  1 2 
3  k   
 m1 m2 
m1
A1 : A2 : A3  1 :  2 : 1  1 :  2.7 : 1
m2
 Coupled and Driven Oscillators

g k
  ; s 
2
0
2

 m

x1
x2

d 2 x1 dx1 F0
2
   0 x1  s ( x1  x2 ) 
2 2
cos t
dt dt m
d 2 x2 dx2
2
    2
0 2x   s ( x2  x1 )  0
2

dt dt
 Adding and subtracting the equations

d 2q1 dq1 F0
  0 q1  cos t
2 g
dt 2
dt m  
2
0

d 2q 2 dq 2 F0  '2  02  2s2
2
   q 2  cos t
2

dt dt m

Steady-state solutions of the above

equations are :
q1 ( t )  A1 () cos (t  1 ) q2 ( t )  A2 () cos (t  2 )

q1  x1  x2 & q2  x1  x2
  x1 (t )  A1 ( ) cos(t  1 )  A2 ( ) cos (t   2 ) 
1
2
x2 (t )  A1 ( ) cos(t  1 )  A2 ( ) cos (t   2 ) 
1
2
F0 F0
A1( )  A2( ) 
m (0   )   
2 2 2 2 2 m (  ' 2
  2 2
)   
2 2

A1 ( )
A2 ()

0  
A
M
P
L
I
T
U
D
E

Driving Frequency
When the driving frequency matches one of
the two frequencies 0 &  , the
displacements of the two pendulums
become large.

There are, thus, two resonant frequencies,

corresponding to the two normal frequencies
at which the system can oscillate

At the lower resonance frequency, the

two pendulums are in phase. At the
higher one, they are totally out of phase.
 Prob. 5.12 Two identical masses are
connected to three identical springs on a
frictionless surface as shown

X x1 x2

k m k m k

The free end is driven with a displacement :

X  X0 cos t

Find and draw the graphs of the displacements

of the two masses.
 X x1 x2

k m k m k

Equations of Motion :
d 2 x1
m 2   k ( x1  X )  k ( x1  x2 )
dt

d 2 x2
m 2   k ( x2  x1 )  k x2
dt
d 2 x1
Or, 2
 2 2
x
0 1  2
x
0 2  0 X 0 cos t
2

dt

d2x 2
2
 2
x
0 1  2 0 x2  0
2

dt
Addition and subtraction of the two equations
gives us :

d 2q1 F0
2
 0 q1 
2
cos t
dt m

d 2q 2 F0
2
 3 0 q 2 
2
cos t
dt m

Where, q1  x1  x 2 , q2  x1  x 2 , F0  k X0
Steady-state solution :

1
x1 ( t )  [A1 ()  A2 ()] cos t
2

1
x 2 ( t )  [A1 ()  A2 ()] cos t
2

where,

 X02
 X0 2
A1 ()  2 0
; A2 ()  0
0  2
3  2 2
0
  2 0  
2 2

x1 ( t )  0 X 0  2
2
2 
cos t
 (0   ) (3 0   ) 
2 2

 1 
x 2 ( t )   X0  2
4
2 
cos t
 (0   ) (3 0   ) 
0 2 2

At a driving frequency   2 0 , the mass

nearer the end being driven, becomes
stationary
 Indefinite Number of Coupled Oscillators

N Light Beads Connected by Massless Rods

T 
m
Equilibrium

General State of Vibration

Equations of Motion for pth particle

T 2
T

1
y p1
yp
y p1

p-1 p p+1

d2 yp T
m 2
 T ( sin 2  sin 1 )  [( y p 1  y p )  ( y p  y p 1 )]
dt 
d2 yp T
Or, 2
  (  y p 1  2 y p  y p1 )  0
2
0  
2
0
dt m
d2 yp p  1, 2, ........., N
2
 02 (  y p 1  2 y p  y p1 )  0
dt

It is assumed that there are two mass points,

at p  0 and p  N  1 , which are
permanently fixed. y0 ( t )  y N1 ( t )  0
Normal Modes
Substitute : yp  Ap cos t

   Ap1  (2   ) Ap   Ap1  0

2
0
2
0
2 2
0

Boundary Conditions : A0  A N  1  0
 A p1  A p1 202  2
 with A0  AN 1  0
Ap 02

The amplitudes A p must depend upon the

discrete index p in such a manner that the
ratio on the left above is independent of p
and the boundary condition is satisfied.

A clever guess :
Ap  C sin p (C & , cons tan ts)

A p1  A p1
 2 cos 
Ap
 
   2 0 sin
2
For the boundary conditions to be satisfied,
we must have :
n
sin ( N  1)   0    n  1, 2, ........, N
( N  1)

Each of the above possible values for 

leads to a normal mode frequency :
 n 
n  2 0 sin  n 1, 2, ........, N
 2( N  1) 
 th
The amplitudes of the p mass point in
th
the n normal mode is :
 np 
Apn  Cn sin   p  1, ......., N ; n  1,........, N
 N 1 
Cn defines the amplitudes with which the
particular mode n is excited.
The actual displacement of pth particle when
the entire collection of particles is oscillating in
nth mode

 y pn (t )  Apn cos nt

 Three Particles
 
1  2 0 sin 
8
 p 
Ap1  C1 sin  
 4 
 
2  2 0 sin  
4
 p 
Ap 2  C2 sin  
 2 
 3 
3  2 0 sin 
 8 
 3p 
Ap 3  C3 sin  
 4 
How many normal modes are there for N
number of particles?
Answer: N
  N  1 
 N 1  2 0 sin   20
 2( N  1) 

  ( N  1) p 
Ap ( N 1)  C N 1 sin    C N 1 sin p  0 for all p
 N 1 
No vibration of particles
  N  2   2 sin   N   
N 2  2 0 sin   

0 N
 2( N  1)   2( N 1) 
  np 
Apn  Cn sin  
 N 1 
 np   nx 
 Cn sin    Cn sin  
 N  1   L  x  p
 Apn  An ( p),
 nx 
or An ( x)  C sin  
 L 

This is amplitude of particle at x distance from

left end of the string in nth mode.
The First Mode
    x 
1  2 0 sin  A1 ( x )  C sin  
 2( N  1)   L
The Second Mode

    2x 
2  2 0 sin  A( x )2  C sin  
 ( N  1)   L 
General Solution
N
np
y p ( t )   Cn sin cos (n t  n ) p  1, ......., N
n 1 N 1
 Longitudinal oscillations
1 2 3 4

k m k m k

Equation of motion of pth particle

d 2 p
 02 (  p 1  2 p   p 1 )  0
dt 2

Motion of the pth particle in nth normal mode

 np 
 pn (t )  Cn sin  cos nt
 N 1 
 n 
where n  2 0 sin 
 2( N  1) 
Prob. 5.16 (Resonance in N coupled
Oscillators)
Consider a system of N coupled oscillators
driven at a frequency  . Forcing is done at
the extreme end such that
y N1 ( t )  h cos t

Find the resulting amplitudes of the particles.

 h cos t

Equations of Motion :

d2 yp
2
 02 (  y p 1  2 y p  y p1 )  0 p  1, 2, ........., N
dt

Boundary Conditions :

y0 ( t )  0 ; y N1 ( t )  h cos t
In the steady state, each particle will oscillate
with the driving frequency.
yp  Ap () cos t

Boundary Conditions : A0  0 ; A N1  h

Here,  is the driving frequency, and

hence, given
Substituting the above into the equations of
motion, we get :
A p1  A p1 202  2

Ap 02
Solution : Ap  C sin p

A p1  A p1 202  2

  2 cos  
Ap 02

Second boundary condition requires :

h
C sin ( N  1)   h  C 
sin ( N  1)

h sin( p ) 202  2
 A p ()  , Where, cos  
sin ( N  1)  2 02
The amplitudes blow up whenever

sin ( N  1)   0

n
Or, 
N 1

This happens when the driving frequency is

such that : n 22  2
cos  0
N 1 2 02

 n 
Or,   2 0 sin 
 2( N  1) 
Amplitudes of oscillations become large when
the driving frequency is one of the normal
mode (natural) frequencies

Most general solution of the driven oscillators :

N
np h sin( p )
y p ( t )   Cn sin cos (n t  n )  cos t
n 1 N 1 sin ( N  1) 

Transient Steady State