THE MAIN MEAN MOTION COMMENSURABILITIES

IN THE PLANAR CIRCULAR AND ELLIPTIC PROBLEM

MICH]~LE MOONS AND A L E S S A N D R O MORBIDELLI

D~partement de math~matique FUNDP
8, Rempart de la Vierge, B-5000 Namur, Belgique

Abstract. We study the motion of asteroids in the main mean motion commensurabilitiesin the frame
of the planar restricted three-body problem. No assumption is made about the size of the eccentricity
of the asteroid. At small to moderate eccentricity, we recover existing results (shape of the phase
space and location of secondary resonances). We also provide global pictures of the dynamics in
the region of secondary resonances. At high eccenlricity, the phase space portraits of the integrable
part of the Hamiltonian show new families of stable orbits for the 3"2 and 2:1 cases and the secular
resonances u5 and u6 are located.
Key words: mean motion resonances, secondary resonances, secular resonances, planar circular and
elliptic restricted problem, action-angle variables, surfaces of section

1. Introduction

The motion of asteroids in a mean motion commensurability with Jupiter has been
studied many times these last years and extensive references to that subject can
be found in Yoshikawa (1989) and in Henrard (1988). In this work, we revisit the
dynamics in the main mean motion commensurabilities (3:2, 2:1, 7:3, 5:2, 3:1 and
4:1) in the frame of the planar restricted three-body problem Sun-Jupiter-Asteroid.
Our perturbation method makes use of Arnold action-angle variables, which
we introduce and manipulate in a semi-numerical way, following Henrard (1990).
Moreover, we compute the averaged Hamiltonian and its derivatives in closed
form, namely avoiding expansions in the eccentricity of the asteroid. The variables
we introduce are non singular at e = 0 (following Ferraz-Mello and Sato, 1989).
In this way we are able to recover the existing results on the location of the main
secondary resonances at moderate eccentricity (Lemai'tre and Henrard, 1990), as
well as to locate the secular resonances u5 and u6 at large eccentricity; these play
a fundamental role as soon as the perturbation of Saturn on Jupiter's orbit is taken
into account and they are the subject of a specific paper (Morbidelli and Moons,
1993). Furthermore, we compute Poincar6 sections of the averaged elliptic problem
(in closed form with respect to e and e'), in order to investigate the chaotic zone
originated by the secondary resonances at moderate eccentricity. The existence
of this (bounded) chaotic layer has been indicated first by Murray (1986), using
a low-order truncated model, and later by Wisdom (1987), computing Lyapunov
exponents of pure numerical integrations in the planar elliptic problem. Here, we
provide global pictures of the dynamics in this region.

Celestial Mechanics and Dynamical Astronomy 57: 99-108, 1993,

© 1993 Kluwer Academic Publishers, Printed in the Netherlands.
100 MICHI~.LEMOONS AND ALESSANDRO MORBIDELLI

2. The H a m i l t o n i a n

To study the mean motion resonances between asteroids and Jupiter, we take the
well-known Hamiltonian of the restricted three-body problem (see, for instance,
Szebehely, 1967)

= L' 1 -/z (]~ 1 rf~

2a ~ - r, t r, 3 j (1)

and introduce canonical variables appropriate to the resonance involved. For the
(p + q)/p resonance, these variables are (Schubart, 1968)

P + qA' PA ~ S L G
q q
-u - P + q A ' - -P A - w ' , N - P+qL - G (2)
q q P
AI , AI = LI P + qL
P

with L = ~/(1 - #)a and G = Lv/1 - e2 and the usual notations A (resp. A'),
~v (resp. w'), a (resp. a') and e (resp. e/) for the mean longitude, the longitude of
pericenter, the semi-major axis and the eccentricity of the asteroid (resp. Jupiter).
We choose as units the universal gravitational constant, the total mass of the Sun-
Jupiter system and the semi-major axis of Jupiter. The Hamitonian is averaged
with respect to the fast frequencies and takes the form

H(cr, S, u, N ) -
-
12a#
( 1
P +p q ~/(1 - #)a - / z k [r - r'l
rlr"~
~-~ ] (3)

This Hamiltonian is composed of an integrable part H0(cr, S, N ) and a pertur-

bation proportional to the eccentricity of Jupiter.
Having in mind a study of the dynamics at high eccentricity, we do not perform
the classical developments in power series of the eccentricity nor in Fourier series
of the resonance variables. Following Ferraz-Mello and Sato (1989), we compute
the value of the averaged Hamiltonian (3) using Poincarr-type variables which
are non-singular for small eccentricities. The explicit form of this Hamiltonian,
however, is not known, but its value can be computed with accuracy for any given
value of the phase space variables ((r, S, u, N).

3. The Circular Problem

The integrable approximation H0((r, 5', N ) of the Hamiltonian (3) can be consid-
ered as a one-degree of freedom Hamiltonian in (or, S) depending on a parameter
N. The phase space portraits of such an Hamiltonian are well-known for small
 MEAN MOTION COMMENSURABILITIES IN THE PLANAR AND ELLIPTIC PROBLEM ] 01

I . . . . , " " " " "

• , t . . . . I . . . . i , , ,

-0.5 0.0 O.S -0.5 0.0 0.5

k k

• " ' ' . . . . I . . . . , . . . .

tt~

-0.5 0.0 0.5 -d.5 0.0 0.5

k k

Fig. 1. Phase space portraits of the circular part of the Hamiltonian for the 3:2 (top left),
the 2:1 (top right), the 5:2 (bottom left) and the 3:1 (bottom right). See text for comments.

values of the eccentricity of the asteroid (see, for instance, Lema~tre and Henrard,
1990, and Lemai'tre, 1984). We show in figure 1 the evolution of these phase space
portraits when the eccentricity increases. Each picture is composite and represents
the phase space in Poincarr-type variables (k = e cos or, h = e sin or) for four
different values of the parameter N. The central zone of these target-like pictures
corresponds to the smallest value of N and we recognize there the usual three
different topological regions: internal counterclockwise circulation, libration and
external clockwise circulation for the angle or. From the center to the edge of the
targets, we can follow the evolution of the libration zone when the parameter N
increases: the mean value of the eccentricity in the libration zone also increases, but
the maximal amplitude of its variation decreases and the libration zone becomes
102 MICH~LE MOONS AND ALESSANDRO MORBIDELLI

++..

1.0 0.0 1.0 .I,0 0,0 I.~ T.O 0,0 1.0 -i.a o.o ,.o
l l l

Fig. 2. Periodic trajectories of the non-averaged circular problem in rotating coordinates:

Jupiter is at (1,0). From the left to the right: periodic orbit at ~r = 0 in the 2:1 case, periodic
orbit at (r = 7r in the 2:1 case, periodic orbit at (r = 0 in the 3:2 case and periodic orbit at
c~ = 7r in the 3:2 case.
thinner and thinner. Conversely, the libration amplitude, measured in semi-major
axis, increases with large N; this gives to the resonance the well-known V-shaped
form in a diagram (a, e).
Excluding the difference of width, the phase space of most resonances is the
same for high values of N as for small ones. This is not the case, however, for the
3:2 and the 2:1 resonances, where, for high values of N, we see the apparition of a
new libration zone about cr = 7r. This corresponds, in the non-averaged problem,
to orbits the aphelion distance of which is greater than 1: they cross the orbit
of Jupiter but, due to the resonance, never collide. The mechanism of protection
from collisions becomes more clear if we consider the librating trajectories in a
frame rotating with Jupiter. Figure 2 shows, in such a frame, periodic trajectories
at cr = 0 (resp. ~r = 70 of the non-averaged problem; the amplitude of libration
is zero and the direction of pericenter (resp. apocenter) stays aligned with the
direction of conjunction. For librating trajectories about cr = 0 (resp. (r = 7r)
with non-zero amplitude of libration, the direction of pericenter (resp. apocenter)
oscillates about the direction of conjunction with a maximal amplitude determined
by the initial conditions in semi-major axis and eccentricity; in this way, a lot of
librating trajectories avoid collision with Jupiter, even if they cross Jupiter's orbit.
The integrable part H0(cr, S, N ) of the two-degree of freedom Hamiltonian (3)
can be reduced to a function I(o(J1, +/2) by the introduction of suitable Arnold
action-angle variables. These are defined for each periodic trajectory of H0 as
(Henrard, 1990)

•1 -~ - - t J1 = S da
T1 (4)
~2 = v - P(¢I, gl, .]2) , J2 : N

where f denotes the integration along the considered trajectory, t being the time, T1
the period and P(~hl, J1, J2) a periodic function. Let us recall that, as the topology
of the phase space associated to Ho is not uniform, there is a discontinuity in the
 MEAN MOTION COMMENSURABILITIES IN THE PLANAR AND ELLIPTIC PROBLEM 103
~ i-~r~r-[-'r'T, i, v ¢'V, ~ , i , r , v, i, "l",
d

8eJ

t. i . , L, 1 "
• i.i,t
0.25 O..;'d 0.77 0.78 O.dl 0.~2 0.63 0.6,1 0.,~ 0.¢.2~6 0 . 0 " ~ 0.,~800 0.¢,802 0.,l~0~ 0.4B06 0 . ~ 0.~8'I0
• • a

Fig. 3. Secondary resonances ~ox/a;2 = 1,2, 3,4, 5 (denoted by 1, 2, 3, 4, 5) in the 3:2 (on
the left), the 2:1 (at the centre) and the 3:1 (on the right) cases.

definition of the action-angle variables when crossing the separatrix of the first
degree of freedom. The canonical transformation (4), however, can be considered as
a global transformation of the phase space as it conserves its topological structure.

4. The Elliptic Problem

When the action-angle variables (4) are introduced into the Hamiltonian (3), this
latest takes the form

I( = Ko(J1, J2) -F Z etnKn(~;l' J1, ~2, J2) (5)

n>l
where each term K,~ admits the Fourier decomposition

I(n(~)l, J1, ~)2, J2) = ~ Cn,ra(J1, J2, Ct) COS(Tf/'@I-[- n~2)" (6)
7"IZ

Therefore, any commensurability ra¢l + n~)2 = 0 is associated to a secondary

resonance the strength of which is proportional to e I~. In order to locate these
secondary resonances, we compute the unperturbed frequencies (Henrard, 1990)

OKo 27r OKo _ 1 ~oTa OHo

aJ1 = ~31 -- O J1 - T1 ' 6d2 = ~2 - O J2 T1 - ~ dt (7)

by numerically integrating along the periodic trajectories of the integrable Hamil-

tonian H0(~r, S, N).
We have plotted in figure 3 the location of the main secondary resonances
(COl/aJ2 = 2, 3,4, 5) as functions of the initial conditions of integration (a, e, cr =
or*) where a* = 7r/2 for the 3:1 and a* = 0 for the other cases; for the set of
initial conditions we have chosen, there are no colliding trajectories with Jupiter.
For the 7:3, the 5:2 and the 4:1 cases these secondary resonances are very close
to the separatrix of the first degree of freedom. Similar results have been found
104 M1CH~LE MOONS AND ALESSANDRO MORB1DELLI

,o
0 . . ..... -. ,

, .,,'°°= ""-, /"" ",

C~

Ca

¢q

<5

5 .............. ~
0.73 0.7,~ 0.'75 0.76 0.77 0.78 0.79 0.61 0.62 0.63 0.6,~ 0.65
A A

C) I i I i I i I J If* I I I t f I I ~ Cjl I . . . . I ' " " ' . . . . I

L~
,5
,., .._.,. ......................... / "''''''''"% ,"
,"
...... ......

"', "%

.a
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c~
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,5

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a a

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'o.
0

d
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O. Z;70 O. ~;75 0.~8C, O. ~85 O. ~90 0.393 O. 39~; O. 395 O. 396 O. 3P7 0.3P8 O. 399 O..'CO
a

Fig. 4. Secular resonances us (solid line) and//6 (dashed line).

 MEAN MOTION COMMENSURABILITIES IN T H E P L A N A R A N D ELLII:rI'IC P R O B L E M ~ 05

~5

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0.61 0.62 0.63 0.64 0.65 -0.2 -0.1 0.0 0.1 0.2
a • cos (~,)

Fig. 5. On the left: the surfaces H=constant where we have computed Poincar6 sections
(or = u = 0); the dashed areas denote the location of the chaotic layers at u = 0. On the
right: the Poincar6 section on level a.

by Lemai'tre and Henrard for the 2:1 and the 3:2 cases (Lemai'tre and Henrard,
1988 and 1990) and by Henrard and Caranicolas (1990) for the 3:1 case, using
an analytic model truncated at degree 8 in eccentricity (degree 2 for the 3:1); the
agreement is very good at low eccentricity for the 2:1 commensurability.
Moreover, since our model is in closed form with respect to the eccentricity, we
can look for resonances at large e. As a matter of fact, the resonance with m = 0
and n = 1 can be found, and this can be expected to be a relevant one, since it
is proportional to e r. This resonance corresponds to the corotation of the asteroid
longitude of perihelion w with that of Jupiter w I. If we consider that the rotation of
wl can be described by the superimposition of two modes, with frequencies 95 and
96 (respectively 4.257 and 28.246 arcsec/year) induced by Satum's perturbation,
this resonance splits into the two secular resonances u5 (w2 = - ( ~ ) + 95) and
u6 (~2 --- - ( ~ ) + 96). The location of these two secular resonances is given in
figure 4, and their dynamical effect is the subject of a specific paper (Morbidelli
and Moons, 1993) where the secular resonance//16 between the nodes is moreover
taken into account at non-zero inclination. In each picture of figure 4, the two
thick lines and the central line denote respectively the separatrices and the family
of stable equilibrium points of the averaged circular problem H0.

5. Chaotic Motion at Moderate Eccentricity

In 1986, Murray, on the basis of a truncated model at degree 2 in eccentricity,
pointed out the existence of a chaotic layer at moderate eccentricity in the 2:1
commensurability. Henrard and Lemai'tre (1986) with additions in (Lema~tre and
106 MICHI~LE MOONS A N D A L E S S A N D R O M O R B I D E L L I

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-',
(5 ,..., .....:.... ? . . - : , , . ~ ...... . , : . , .:..: . . . . . . . , .
' " ".. '.'::.'.::'.Z.-" "= ":-"-'Y..-".'.'-"'-';- ~.-, " "
' l i" "l'. I l .~ I' f '.~,' ' "I -]/ ~ I:,l~ }'" Tl'~ ~ ~ ~.,'+;"" i ,.i'~ I I I , , t " [ , , - ~ " r . i ; " ,.';.'.';'r'.~::,..;'.',.'l , , . . ; . , I , ,"
-0.2 -0.1 0.0 0.1 0.2 -0.2 -0.1 0.0 0.1 0.2
e COs(v) e cos(v]
Fig. 6. Poincar6 sections on levels b , c, d , e , f , g .
 MEAN MOTION COMMENSURABILITIES IN THE PLANAR AND ELLIPTIC PROBLEM 107

Henrard, 1990) have pointed out that such a chaotic layer is in the region where
the main secondary resonances are present (see figure 3). Finally, Wisdom (1987)
determined in the (a, e) plane at cr = 0, u -- 0 the shape of the chaotic layer,
by computing LCEs on numerical integrations in the planar elliptic three-body
problem. However, a global picture of the dynamics, showing regular islands and
chaotic regions produced by these resonances, has never been obtained, up to now.
This is due to the fact that the averaged models (which, being two-dimensional,
are the only ones which allow to compute Poincar6 sections) were all truncated in
the eccentricity, and therefore not completely reliable (see Lemai'tre and Henrard,
1990, for a complete discussion of this problem).
The recent work by Ferraz-Mello and Sato (1989), allows to compute the
averaged Hamiltonian in closed form with respect to e; however, since the model is
expanded up to degree 2 in e t, it is not suitable to investigate secondary resonances
of higher order like the ones in figure 3. Moons (1993) extended their work in
order to obtain an averaged Hamiltonian in closed form with respect to e~ also,
which is thus perfectly suitable to study numerically secondary resonances of any
order. This is what we use here for the computation of Poincar6 sections. In short,
we have an Hamiltonian H(~r, S, u, N, e') with e ~ = 0.0485, and we compute the
section at cr = 0, ~Y< 0.
The picture on the left in figure 5 shows the 9 energy surfaces we have investi-
gated, on a a, e diagram at cr = 0 and u --- 0, the thick lines denote the stable family
of equilibrium points and the separatrices of the averaged circular problem H0. The
picture on the right in figure 5 and those in figure 6 are the Poincar6 sections on
the levels a, b, c, d, e,f, g respectively (on levels h and i the dynamics turns out to
be perfectly regular). One can easily recognize the regular islands corresponding
to the main secondary resonances.
In the left picture of figure 5 we have qualitatively reported the location of the
chaotic layer as measured on the axis u = 0 in the different Poincar6 sections.
The two "holes" are given by the regular islands of the 2/1 and 4/1 secondary
resonances. This result is in very good agreement with that of Wisdom (1987).

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