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Cantilever linear oscillations

Study of a cantilever oscillation is a rather science - intensive problem. In many cases the general solution to the cantilever equation of motion can not be obtained in an analytical form. However, if cantilever deflections from the equilibrium position are small, oscillations of the system will be described by well-known theories. In chapter 2.1.1 it is shown that the Hooke's law properly describes the cantilever beam deflections from the equilibrium position. That is why small amplitude oscillations of the cantilever with one clamped end are qualified as oscillations of the spring pendulum having stiffness k and some effective mass meff [1]. The difference between the effective mass meff and the real cantilever mass is that not all cantilever oscillates with the same amplitude. The largest deflection takes place near the free end with a decay to zero at the clamped end. Chapter 2.1.6 presents calculations of the effective mass of the cantilever with given dimensions. In this chapter we consider in detail problems of possible cantilever linear oscillations modeling it as a spring pendulum. Oscillatory systems described by linear motion equation are called linear. 2.3.1 Natural oscillations Consider the oscillating properties of the spring pendulum, which is a point mass m, suspended from a motionless support by a massless spring having stiffness k (Fig. 1.1).

Fig.1.1. Spring pendulum.

Let l0 be the unstretched spring length. If mass m is attached to the spring, the latter will stretch due to gravity and its length will be l. If both the mass and the spring are in equilibrium (as shown in Fig. 1.1b) the gravity is balanced by elastic force Fel = –k(l – l0). Let the material point coordinate be the displacement of the mass from the equilibrium position z = 0. Then the equation of motion can be written in the form [2 – 4]: 2 z + ω0 z = 0 , (1.1) where ω 0 = k / m — frequency of natural undamped oscillations or the natural frequency. The cantilever eigenfrequency ω0 has been calculated in chapter 2.1.6. Solution of equation (1.1) with initial conditions z t =0 = z0 and dz dt t=0= v0 is given by

1

the character of oscillations in the presence of the frictional force is described by a periodic function with exponentially decreasing amplitude. Equation (2. α = δ 2 − ω 0 .2) is given by: 2 z (t ) = e −δ t Aeα t + Be−α t .2 Oscillations in the presence of friction In chapter 2. The frictional force acting on a body moving in a homogeneous viscous media depends only on the velocity. time for different ratios between parameters δ and ω0. the solution to equation (2. 2.5) where independent constants A and B are determined as before by initial conditions. If energy losses are not compensated outside.z (t ) = Z cos(ω 0t + ϕ 0 ) . the solution to equation (2. 2. natural oscillations are harmonic (1. in this case oscillations do not occur. a critical damping takes place.2). (2. In case of external forces absence.1 will be written as [1-3]: 2 z + 2δ z + ω 0 z = 0 . In real systems there always takes place the dissipation of energy. If ω0 > δ.1). the oscillation will damp in time and eventually stop. (2.1) in chapter 2. In case δ and ω0 are equal.1 shows the plot of the oscillation amplitude vs.4) v + δ z0 Z= + 0 .3) where independent constants A and B are determined from initial conditions. ϕ 0 = − arctg ( v0 ω z0 + δ ω ) ω In this case. Let us consider the spring pendulum oscillations in a viscous medium. (2.3. ω = ω 0 − δ 2 . Taking into account the frictional force (2.1) where β – constant positive factor. ϕ 0 = − arctg(v0 / z0ω 0 ) .2) . Summary: 1. At small velocities the frictional force can be approximated as: Fтр = − β v . Fig. Small cantilever oscillations are described by the oscillation law of the spring pendulum with given stiffness and effective mass. 2 . ( ) (2. As can be seen. If δ > ω0 (case of large resistance). which is put out of balance and left alone.1 natural oscillations of the cantilever in the absence of external forces are considered. 2 Z = z0 + 2 ω0 2 v0 (1. Such motion regime is called the aperiodic.2) is written as: 2 z (t ) = Z e −δ t cos(ω t + ϕ 0 ) . The amplitude and initial phase of free oscillations are determined by starting conditions for the coordinate and velocity while frequency of natural undamped oscillations is a parameter of an oscillating system. the motion equation of the spring pendulum instead of (1.3.3. 2 z0 2 (2. The considered type of oscillations is usually called free oscillations because they occur in an oscillating system. 2.2) where δ = β/2m – damping factor.2) solution reads: z (t ) = e −δ t ( A + Bt ) .

Summary: 1. at ω0 > δ oscillations are periodic with exponentially decreasing amplitude (4). Frequently.1. the "quality" of an oscillatory system is characterized by dimensionless parameter Q called the quality.7) Q≈ π ω ω0 = ≈ . in accordance with formulas (2. 2. In the presence of a frictional force.2.8) Thus. δ T 2δ 2δ (2.3 Oscillations in the presence of external periodic driving force Let the external periodic force act on a ball of the spring pendulum: F (t ) = F0 cos Ωt (3.6) and (2. Then.1) In this case the displacement of the ball from its equilibrium position is defined instead of equation (2. the Q-factor characterizes the rate of the energy transformation in a system. 2.6) ∆ET In case of small damping (ω0 >> δ) the total energy as a function of time is: E (t ) = E0e −2δ t . The quality factor of an oscillating system is a very important parameter characterizing dissipative processes in a system.2 by the following equation: 3 .2) in chapter 2. It is proportional to the ratio between stored energy E(t) and energy loss over the period ∆ET = E(t) – E(t + T) [3]: 2π E (t ) Q= . the type of natural oscillations is determined by the ratio between δ and ω0.or Q-factor. at δ = ω0 the regime of critical damping (5) exists. At δ > ω0 aperiodic regime (3) takes place. Notice that the Q-factor not only defines the oscillations damping but is also an important quantity that determines parameters of forced oscillations under external periodic force (see chapter 2. by the order of magnitude the quality factor is nothing but the number of a system oscillations over its characteristic damping time τ = 1/δ. (2. On the other hand.3).7) 2 2 where E0 = mω0 Z /2 — initial magnitude of the oscillator total energy.3. Dependence z(t) for different ratios between natural frequency ω0 and damping factor δ.3.3.Fig. (2.

The phenomenon of oscillations amplitude unlimited growth under the periodic external force is called the resonance phenomenon.5) reads [1-3]: z (t ) = zs (t ) + Z 0 cos(Ωt + ϕ ) . Firstly. the last factor should be considered in more detail. as a rule. factor δ depends on the function ϕ(Ω) derivative in the following way: ∂ 2δΩ = δ −1 (3. is no longer the linear one.8) 2 Ω2 − ω0 As it arises from formula (3.3.2 z + ω 0 z = A0 cos Ωt . the equation of motion is written as: 2 z + 2δ z + ω 0 z = A0 cos Ωt . Parameters of these oscillations: frequency is equal to the driving force frequency Ω. the system can not experience a periodic oscillation. when oscillations amplitude becomes large enough.4) ω0 Such motion can be considered as an oscillation whose amplitude increases linearly with time. Due to the friction. ϕ 0 = −arctg ( −C1 C2 ) . amplitude is Z0 and phase shift is φ: A0 Z0 = . The coordinate z evolution in time will be described by the following formula: At z (t ) = Z cos(ω 0t + ϕ 0 ) − 0 sin(ω 0t ) .5) solution in the absence of external force (oscillator natural damped oscillations (2.7) 2 2 2 2 2 (ω 0 − Ω ) + 4δ Ω .9) arctg 2 2 Ω =ω ∂Ω ω0 − Ω 0 tgϕ = 2δ Ω 4 .5) where δ – damping factor defined in chapter 2.2).3. A general solution of (3. Thus.8). The first summand in (3.4). the frictional forces. (3. In an extreme case of frequencies Ω and ω0 coincidence.6) where zs(t) – equation (3. Therefore.3) describes free oscillations while the second . the oscillator. (3. the amplitude and the initial phase of oscillations depend not only on initial conditions but on the force parameters. 2 ω0 − Ω m(ω 0 − Ω 2 ) C2 = v0 / ω 0 . (3. The solution of equation (1) at ω0 ≠ Ω is easily written down as [1-3]: z (t ) = Z cos(ω 0t + ϕ 0 ) + Z 0 cos Ωt (3.2. the condition δ > 0 is met and natural oscillations are damped: zs(t) → 0 at t → +∞.2) where A0 = F0/m. (3.3) A F0 2 2 Z = C1 + C2 . (3. C1 = x0 − .2. were not taken into consideration. Therefore. It should be emphasized that the resonance growth of the forced oscillations amplitude beyond all bounds is an idealization of the system. while defining equation (3. over the time t >> 1/δ only forced oscillations will present in the system which are described by the second summand in (3. Secondly.5) in chapter 2. which damp oscillations.1) acts on an oscillator with friction. where Z0 = 2 0 2 . Forced oscillations in the presence of friction If driving force (3.6). It is important to realize that parameters of forced oscillations are independent on starting conditions.the so called forced oscillations with amplitude A0. if a driving force is acting. (3.3) – (2.

η. δ3/ω0 = 0. Ω = ω0.8. At small δ its magnitude is ∆Ω = 2δ. 2Q 2 (3. the forced oscillations amplitude decays rapidly as frequency goes far from the resonance one.3.1a). In particular.1 shows relations Z0(Ω) and φ(Ω) for some characteristic values of δ.η= 2 ΩR ω 0 − 2δ 2 (3.3. the forced oscillations are no longer of the resonant character while the oscillator motion is still oscillatory. 3.3. Then the quality factor defined by formula (2. the maximum of the forced oscillations amplitude A0 corresponds to the frequency Ω = 0. The upper bound of forced oscillations amplitude (7) is given by A0 2 A0Q .11) on the assumption of δ ≤ ω 0 / 2 . the less is the resonance peak width.13) Thus. As follows from 5 . Hence.e.2. this frequency shifts to lower values (see Fig.4. The more is the oscillating system quality factor.2 is related to the resonant width as: Q = ω 0 ∆Ω . a б Fig.1b. Graph of phase shift φ between driving force and system oscillations depending on driving frequency (PFC). As it is seen from formula (3. Previously it was pointed out that the regime of free oscillations aperiodic damping takes place only if δ > ω0. i. 3. for light damping δ. As δ increases. Resonance curves (AFC) of the linear oscillator for different values of the friction coefficient: δ1/ω0 = 0. = Z max = 2 2 2 2 2δ ω 0 − δ ω 0 4Q − 1 The corresponding resonance frequency amounts to: 1 2 Ω R = ω 0 − 2δ 2 = ω 0 1 − . δ2/ω0 = 0. This in fact means that the resonance vanishes. Fig. If the forcing frequency is equal to the natural frequency. (3.7).1a. Fig. At δ > ω 0 / 2 . the resonant width is determined by the quality factor and the natural frequency. it decreases 2 times at the following Ω values: Ω( ± ) = Ω R 1 ± 2 ω0 − δ 2 2δ . in the range ω 0 / 2 < δ < ω 0 .12) The quantity ∆Ω = Ω(+) – Ω(–) is called the resonant width.The case under study differs from the case of the forced oscillator without friction in the phase shift φ between driving force and oscillations. the phase shift is π/2 independently on the degree of damping. δ4/ω0 = 0. In case of light damping (δ << ω0) the resonance frequency is approximately equal to the oscillator natural frequency ω0. Another sufficient consequence of damping is the qualitative change in the resonance curve shape.10) (3.8) in chapter 2.

k = k − Fts .3) and taking into account (4.6) will exist in the system after time t >> τ.8). only forced oscillations described by the second term in (3.3. (4.3.13).4) m Changing z(t) in equation (4.2. 3.4) gradually increases. For small oscillations we can take Taylor of Fts(z) at point z0 corresponding to the equilibrium position: dF (4.formula (3.7) and phase shift (3.6) (chapter 2. the resonance phenomenon occurs. (4. The equation of motion in this case is written as 2 z + 2δ z + ω 0 z = A0 cos Ωt + Fts ( z ) m . Fts = dFts dz . Ω = ω0.1) (chapter 2.3. Oscillations of forced oscillatory system are described by periodic function.6) 6 .e. the oscillatory system Q-factor as well as the damping factor can be estimated from experimental amplitude-frequency characteristic (AFC) of an oscillator.5) ' ' where ω = k m . i. an external force Fts(z) acts on an oscillator. If forcing frequency Ω and natural frequency ω0 are the same.5) is identical to (3.e. i. the amplitude and initial phase of oscillations being dependent not only on the starting conditions but on the driving force (3.3).2) Fts ( z ) = Fts ( z0 ) + ts ( z0 ) z (t ) + o( z (t ) 2 ) . δ – damping factor determined in chapter 2.3. Note that we can neglect the second order and higher terms in equation (4.5) in chapter 2. 2.2) only if the following condition is met A0 >> 2 d 2 Fts Z 0 . we get z + 2δ z + ω 2 z = A0 cos Ωt . (4. Summary: 1.13). If frequencies coincide.3) parameters.4 Cantilever small oscillations in a force field Consider the case when in addition to the driving force (3. Parameters of the forced oscillation do not depend on initial conditions. 4. (4. 2. the qualitative feature of oscillations is the same as in (3. the system oscillations amplitude (3.1) by z (t ) in accordance with (4. The resonant width is determined by the quality factor and the natural frequency (3. m dz 2 (4. the phase shift is equal to π/2 independently on the degree of damping.3. As can be seen. These equations differ in the introduction of the other spring stiffness k and new equilibrium position z0.3). equation (4. These oscillations have the frequency of driving force Ω and are characterized by amplitude (3.4).3) and z0 is determined from the following condition F (z ) 2 ω 0 z0 = ts 0 . In case of forced oscillating system with friction. dz where z (t ) is expressed through z(t) and z0 as follows: z (t ) = z (t ) − z0 . Force Fts(z) action results in the change of the oscillator equilibrium position about which the oscillations occur.1) Because Fts(z) depends only on spatial coordinates.3.

1 shows ' AFC and PFC at different values of Fts . (3.11) 2k From expression (4. (4.10) If 2 ω0 k Ω2 R ' Fts ≤ 1 . where Z max = 2 A0Q 2 ω 2 2 ≈ ω2 – oscillations amplitude at resonant frequency Ω R . we can take Taylor of the radicand in formula (4. corresponds to the frequency ∆Ω ≈ − ω0 ' Fts 7 .2) are to be taken into consideration.8) in chapter 2. However.3.8) it follows that the force gradient results in the PFC shift so that its inflection point.7). 4.8) in chapter 2.2.3. Similarly to formulas (3. AFC – (a) and PFC – (b) at different values of Fts .9) (4.10) in chapter 2. Resonant frequency Ω R in the presence of external force can be written.8) 4Q − 1 force gradient results in an additional shift of a vibrating system AFC and PFC.3.1. Fig.3.10) to obtain: (4.7) tgϕ = Q Ω2 − ω 2 ( ω0 Ω ) .where Z0 – oscillations amplitude at frequency ω0 determined by formula (4. the a) b) ' Fig. oscillations amplitude Z 0 and phase shift ϕ in the presence of external forces gradient is given by Z0 = A0 (ω 2 − Ω ) A0Q 2 2 ω 2Ω2 + 02 Q ≈ Z max ω Ω ω Ω 1 + Q2 − Ω ω 2 . the additional shift of the AFC is ω2 ' ∆Ω = Ω R − Ω R = Ω R 1 − 02 Fts − 1 kΩR (4. as ' 2 ' Fts 1 2 ω 0 Fts Ω R = ω0 1 − − = ΩR − k 2Q 2 k Hence.3 and (2. ' there are cases when Fts = 0 and the higher order terms in (4. by analogy with formula (3. (4. Thus. at which the phase value is π/2.7) below.

8) becomes: k ϕ (ω 0 ) = arctg (4.7) at frequency ΩA (see Fig.18) ∆A ≈ ∆Ω 0 ( Ω A ) ≈ − max Fts dΩ 3 3k 8 . 4.2) π Q ' ∆ϕ = ϕ (ω 0 ) − ≅ − Fts 2 k Consider now the amplitude change ∆A under the force gradient (see Fig. the additional phase shift due to the force gradient is (see Fig.ω = ω0 1 − and ' Fts k (4.13) is the same as formula (4. the phase shift is ϕ = π/2. 4. 4. formula (4.3.11) is given by 2Z Q ' dZ (4.3). Variation of the oscillations phase with resonant frequency.9) variation.2.14) as follows Q ' Fts 2 k Hence. ϕ (ω 0 ) ≈ π − (4.3) due to the force gradient in accordance with formulas (4. If oscillations occur under the driving force at frequency ω0.11).7) and (4.15) (4. the phase shift in accordance with (4. To these frequencies corresponds the maximum slope of the tangent to the AFC curve (linear portion of AFC): 1 ' 1 (4. k If condition ' Fts ≤ 1 is met.17) Ω A = ω 0 1 − Fts 1 ± k 8Q The change in oscillations amplitude (4. 4. 4. Variation of the oscillations amplitude with resonant frequency. The maximal change of ∆A in case of the resonant frequency (4.13) Let us determine the phase shift ∆ϕ if there is force gradient present. k (4. we can make a Taylor’s expansion of expression (4. takes place at certain frequencies Ω of the driving force.16) Fig.12) F' ∆ω = ω − ω 0 = ω 0 1 − ts − 1 .14) QF ' ts If k ' QFts ≥ 1 . Fig. In case of the force gradient presence.

2.3. As shown in chapter 2. phase and amplitude of oscillations is proportional to the external force gradient and is determined by formulas (11).1). Typical appearance of the tip-sample interaction potential. 3. A The system oscillations obey the law which is the same as in the absence of the external force.The considered oscillations mode is widely used in AFM. To study the force interaction of an oscillating cantilever with a sample.1.5.16) of oscillations and then. 5. gives rise to the change in resonance properties of the cantilever-sample oscillating system. 9 . according to obtained data. amplitude (4.4.3. render the force Fts(z) value (see. As shown in chapter 2.11). the presence of external force dependent on spatial coordinates. in particular. Fig. the intermolecular interaction called the Van-der-Waals force predominates.2. the tipsample interaction potential has a characteristic appearance depicted in Fig. As the cantilever touches the sample and deforms its surface.7. one can examine the change in resonant frequency (4.5 Cantilever small oscillations in a force field Consider cantilever oscillations near a sample surface. for example. the force of elastic repulsion prevails.1. The change in resonant frequency. Summary: 1. 2. At the tip-sample separation on the order of a few tens of angstrom. (18).18) and phase (4.1. chapter 2. External force Fts(z) action (if condition (6) is met) results only in the change of the oscillator effective stiffness (resonant frequency) and equilibrium position about which the oscillations occur. (16).

3) Change in the resonant frequency 2k ∂z where k – cantilever stiffness. A0 – cantilever oscillations amplitude in the absence of external force. in some cases. Ω0 – resonant frequency in the absence of the external force gradient. The tip-to-sample approach curves. one can render the derivative appearance and.5. the interaction force itself. phase or amplitude on the tip-sample separation.2. 10 . measuring dependence of the oscillations resonant frequency.2). The corresponding experimental curves are called the approach curves (see Fig. Change in the oscillations phase ∆ϕ ≈ Fig. Q – oscillating system Q-factor. A0 – amplitude of the cantilever oscillations at resonant frequency. 5.2) 3 3k ∂z 1 ∂F ∆ω0 ≈ − ω0 (5.1) k ∂z 2 A Q ∂F Change in the oscillations amplitude ∆A ≈ 0 (5. Thus.Q ∂F (5.

Mechanics. Kirichenko N. D. 2003. – 574 pp. – 496 pp. waves..E.References 1. Hikin.V. (in Russian). (in Russian). (in Russian). 2. Mechanics. – 576 pp.A. – Moscow: Nauka. 3. structures. Oscillations. Carlov N. – Moscow: OGIZ. Sivukhin. – Moscow: PHYSMATLIT. 1989. 1947. 11 . S.V.

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