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David A. Agbayani
Equilibrium
point
I. Simple Harmonic Motion
• This relationship is described
by the equation
𝐹 = −𝑘𝑥
where 𝐹 is the magnitude
of the force,
𝑥 is the length of the
stretch, and
𝑘 is the spring 𝑥
constant.
𝑊 = 𝑚𝑔
I. Simple Harmonic Motion
• By Newton’s Second Law, we can express force as
𝐹 = 𝑚𝑎
𝑑𝑣 𝑑𝑣
𝐹=𝑚 , 𝑎=
𝑑𝑡 𝑑𝑡
𝑑2 𝑥 𝑑𝑥 𝑑2 𝑥
𝐹=𝑚 2
, 𝑣= , 𝑎= 2
𝑑𝑡 𝑑𝑡 𝑑𝑡
where 𝑚 is the mass of the object attached at the end of the
spring,
𝑎 is the acceleration, 𝑣 is the velocity, and 𝑥 is the
distance/position of the object.
Case 1. Undamped Vibrations
• When a spring is released, it may continue to oscillate forever if there is
no resistant force present. This force is called the damping force.
• If there is no damping force, our equation is simply
𝐹 = −𝑘𝑥
𝑑2𝑥
𝑚 2
= −𝑘𝑥
𝑑𝑡
𝑑2𝑥
𝑚 2
+ 𝑘𝑥 = 0
𝑑𝑡
𝑑2 𝑥 𝑘
2
+ 𝑥=0
𝑑𝑡 𝑚
• We now have a second order differential equation.
Case 1. Undamped Vibrations
• To solve this differential • Writing the auxiliary equation,
equation, we assign a constant 𝐷2 𝑥 + 𝛽2 𝑥 = 0
that lumps together the 𝑘Τ𝑚 𝐷2 + 𝛽2 𝑥 = 0
coefficient, i.e. 𝛽 2 = 𝑘Τ𝑚
𝑚2 + 𝛽 2 = 0
𝑑2 𝑥 𝑘 𝑚 = 0 ± 𝛽𝑖
2
+ 𝑥=0
𝑑𝑡 𝑚
𝑥 = 𝑐1 cos 𝛽𝑡 + 𝑐2 sin 𝛽𝑡
𝑑2 𝑥 2
2
+ 𝛽 𝑥=0
𝑑𝑡
Case 1. Undamped Vibrations
• For initial conditions, 𝑡 = 0, 𝑥 = 𝑣0
𝑥0 , 𝑣 = 𝑣0 , we can solve for = −𝛽𝑐1 sin 𝛽 0 + 𝛽𝑐2 cos 𝛽 0
𝑐1 and 𝑐2 .
• When 𝑡 = 0, 𝑥 = 𝑥0 : 𝑣𝑜 = 𝛽𝑐2
𝑥 = 𝑐1 cos 𝛽𝑡 + 𝑐2 sin 𝛽𝑡 𝑣0
𝑐2 =
𝑥0 = 𝑐1 cos 𝛽(0) + 𝑐2 sin 𝛽(0) 𝛽
𝑐1 = 𝑥0
𝑑𝑥
• When 𝑡 = 0, 𝑣 = 𝑣0 = : • Particular solution is therefore
𝑑𝑡 𝒗𝟎
𝑥 = 𝑐1 cos 𝛽𝑡 + 𝑐2 sin 𝛽𝑡 𝒙 = 𝒙𝟎 𝐜𝐨𝐬 𝜷𝒕 + 𝐬𝐢𝐧 𝜷𝒕
𝑑𝑥 𝜷
= −𝛽𝑐1 sin 𝛽𝑡 + 𝛽𝑐2 cos 𝛽𝑡
𝑑𝑡 where 𝛽 = 𝑘Τ
𝑚
Case 2. Damped Vibrations
• Most springs are not ideal, meaning there is resistance present in
the spring such that it would not oscillate forever when released.
• This resistant force may be in the form of friction, air resistance,
etc.
• We let that resistant force be 𝑅, proportional to the velocity 𝑣 =
𝑑𝑥
.
𝑑𝑡
𝑑𝑥
𝑅=𝛾
𝑑𝑡
where 𝑅 is the resistance, and
𝛾 is some proportionality constant.
Case 2. Damped Vibrations
• The equation from Hooke’s Law • Writing the auxiliary equation,
now becomes 𝐷2 𝑥 + 2𝛼𝐷𝑥 + 𝛽2 𝑥 = 0
𝑑𝑥 𝐷2 + 2𝛼𝐷 + 𝛽2 𝑥 = 0
𝐹 = −𝑘𝑥 − 𝛾
2 𝑑𝑡 𝑚2 + 2𝛼𝑚 + 𝛽2 = 0
𝑑 𝑥 𝑑𝑥
𝑚 2
+𝛾 + 𝑘𝑥 = 0
𝑑𝑡 𝑑𝑡
𝑑 2 𝑥 𝛾 𝑑𝑥 𝑘 −2𝛼 ± (2𝛼)2 −4(𝛽2 )
+ + 𝑥=0 𝑚=
𝑑𝑡 2 𝑚 𝑑𝑡 𝑚 2
𝛾 𝑘
• If we let 2𝛼 = and 𝛽 = , 2
𝑚 𝑚
2
𝑑 𝑥 𝑑𝑥 𝑚 = −𝛼 ± 𝛼 2 − 𝛽2
+ 2𝛼 + 𝛽 2𝑥 = 0
𝑑𝑡 2 𝑑𝑡
Case 2. Damped Vibrations
• Case 2b: If 𝛼 = 𝛽, the roots of the
𝑚 = −𝛼 ± 𝛼 2 − 𝛽2 auxiliary equation will be real and
equal.
𝑚 = −𝛼, 𝑚 = −𝛼
• Case 2a: If 𝛼 > 𝛽, the roots of 𝑥 = 𝑐1 + 𝑐2 𝑡 𝑒 −𝛼𝑡
the auxiliary equation will be
real and distinct. • Case 2c: If 𝛼 < 𝛽, the roots of the
𝑟1 = −𝛼 + 𝛼 2 − 𝛽2 auxiliary equation will be complex
and distinct.
𝑟2 = −𝛼 − 𝛼 2 − 𝛽2
𝑚 = −𝛼 ± 𝛽2 − 𝛼 2 𝑖
𝑥 = 𝑐1 𝑒 𝑟1 𝑡 + 𝑐2 𝑒 𝑟2 𝑡 𝑥
= 𝑒 −𝛼𝑡 ቂ𝑐1 cos 𝛽2 − 𝛼 2 𝑡
+ 𝑐2 sin 𝛽2 − 𝛼 2 𝑡ቃ
Case 2. Damped Vibrations
• For Case 2c, 𝑒 −𝛼𝑡 is called the
damping factor.
• The period of one vibration is
given by
𝑇 = 2𝜋 𝛽2 − 𝛼 2
𝑑𝑥
𝑣0 =
𝑑𝑡
= −16𝑐1 sin 16(0) + 16𝑐2 cos 16(0)
8 = 16𝑐2
1
𝑐2 =
2
Example 2
• A 2-lbf weight is attached to a
spring with spring constant
𝑙𝑏𝑓
6 . From the equilibrium
𝑓𝑡 𝑙𝑏𝑓
point, the spring is pulled with 𝑘=6
𝑓𝑡
𝑓𝑡
a downward velocity of 12 . If
𝑠
air resistance contributes to a
force that is 0.02 times the
velocity, find the equation of
motion.
2 𝑙𝑏𝑓
• Step 1: Visualize.
𝑓𝑡ൗ
12 𝑠
Example 2
• Step 2: Set up the differential
equation.
• Since it is stated in the problem
that air resistance is present, we 𝑙𝑏𝑓
𝑘=6
proceed with Case 2, where the 𝑓𝑡
vibration is damped.
𝑑2 𝑥 𝑑𝑥 2𝑥 = 0
+ 2𝛼 + 𝛽
𝑑𝑡 2 𝑑𝑡
𝛾 𝑘
where 2𝛼 = , and 𝛽 = . 2
𝑚 𝑚
• From the problem, we know that
𝑅 = 0.02 𝑣 2 𝑙𝑏𝑓
or 𝛾 = 0.02.
𝑓𝑡ൗ
12 𝑠
Example 2
• To solve for the mass 𝑚, • Step 3: Solve for the general
𝑊 = 𝑚𝑔 solution to the differential
𝑓𝑡 equation.
2 𝑙𝑏𝑓 = 𝑚 32 • Write the auxiliary equation.
𝑠 2 + 0.32𝐷 + 96 𝑥 = 0
𝑚 = 0.0625 𝑙𝑏 𝐷
𝑚2 + 0.32𝑚 + 96 = 0
• The equation is now
2
𝑑 𝑥 0.02 𝑑𝑥 6 • Using the quadratic formula,
+ + 𝑥 = 0 𝑚 = −0.16 ± 9.797𝑖
𝑑𝑡 2 0.0625 𝑑𝑡 0.0625
• This gives us a general solution
2 of
𝑑 𝑥 𝑑𝑥 𝑥
+ 0.32 + 96𝑥 = 0
𝑑𝑡 2 𝑑𝑡 = 𝑒 −0.16𝑡 (𝑐1 cos 9.797𝑡
+ 𝑐2 sin 9.797𝑡)
Example 2
• Step 4: Use initial conditions to solve for the constants.
• At 𝑡 = 0, 𝑥0 = 0, 𝑣0 = 12 𝑓𝑡Τ𝑠 .
𝑥 = 𝑒 −0.16𝑡 (𝑐1 cos 9.797𝑡 + 𝑐2 sin 9.797𝑡)
0 = 1 𝑐1 + 𝑐2 0
𝑐1 = 0
𝑑𝑥
𝑣=
𝑑𝑡
−0.16𝑡
=𝑒 −9.797𝑐1 sin 9.797𝑡 + 9.797𝑐2 cos 9.797𝑡
− 0.16𝑒 −0.16𝑡 (𝑐1 cos 9.797𝑡 + 𝑐2 sin 9.797𝑡)
12 = 1 0 + 9.797𝑐2 − 0.16(1)(0 + 0)
𝑐2 = 1.225
𝑐2 = 0.00004808
𝒅𝑸
𝒊=
𝒅𝒕
= 𝒆−𝟖𝟎𝟎𝒕 −𝟎. 𝟎𝟒𝟑𝟑 𝐬𝐢𝐧 𝟔𝟎𝟎𝒕 + 𝟎. 𝟎𝟐𝟖𝟖 𝐜𝐨𝐬 𝟔𝟎𝟎𝒕
− 𝟖𝟎𝟎𝒆−𝟖𝟎𝟎𝒕 𝟎. 𝟎𝟎𝟎𝟎𝟕𝟐𝟏𝟐 𝐜𝐨𝐬 𝟔𝟎𝟎𝒕 + 𝟎. 𝟎𝟎𝟎𝟎𝟒𝟖𝟎𝟖 𝐬𝐢𝐧 𝟔𝟎𝟎𝒕
+ 𝟎. 𝟎𝟐𝟖𝟖 𝐜𝐨𝐬 𝟔𝟎𝟎𝒕 + 𝟎. 𝟎𝟒𝟑𝟑 𝐬𝐢𝐧 𝟔𝟎𝟎𝒕
Exercise*
• An inductance of 0.02 𝐻, a resistance of 40 Ω, and a capacitance of
5× 10−5 𝐹 are connected in series with an electromotive force of
60 𝑉. If the charge 𝑄 and current 𝑖 are both zero when 𝑡 = 0, find
the current at any time 𝑡 > 0.