5

CHAPTER

COUPLED OSCILLATIONS
INTRODUCTIONN (Oct. 16)
A to and fro motion of a body about its mean or equilibrium position
is known as an oscillatory motion. And if oscillatory motion repeats after
a regular interval of time then it is called as simple harmonic motion.
Consider two oscillating systems and if motion of one system
influence that of the other, then the two systems are said to be coupled
to each other, and the oscillations are called, coupled oscillations. The
extent to which motion of one body influences that of other is called
coupling' of the system. The coupled system may be mechanical or
electrical.
5.1 FREQUENCIES OF COUPLED OSCILLATORYSYSTEM
(Oct. 16, April 17)
of
Consider a system of two identical pendulums coupled by means a

of
spring. If the masses of bobs of simple pendulum and lengths strings
are said to be identical.
are exactly equal then the two simple pendulums
with other pendulum at rest. The
Suppose one pendulum oscillates first
transferred to the second and it alters
energy from first pendulum gets
first pendulum has maximum
between the two periodically. When
and vice-versa. We shall
amplitude, the second has zero amplitude
restrict to the in which the coupling is weak.
systems
Rigid support

6m
mo-

Fig. 5.1: Coupled oscillatory systems

(5.1)
 Let be the length of each pendulum, m be the mass of each
ach h.
bob
and k be the force constant of the spring. Let the spring be unstretche
hed
when the two bobs are in the equilibrium position.
Rigid support

m m

vmg X2 mg
Fig. 5.2:A system of two identical simple pendulums coupled by a
horizontal spring
At some instant t, let x1 and xz
represent the displacements of the two
bobs from their equilibrium positions.
Let us assume that the motion is undamped and displacements are
small. Then the restoring force due to mg will be

X
-

mg sin 6 =-
mg

' m gs i n 6 7

Im 0mg cose

mg
Fig. 5.3:Components of mg

Restoring torce, for first pendulum is mg and for second

pendulum is - m g
 1of X, be greater than Xi l.e. Xz > X1 As X1 and x2 are not equal, the

an is.
spring is stretched by an amount (2- X1) and hence supplies elastic force

to k (X2
-

X1).
qual
The equations of motion for the two pendulums are written as

mX1
mg
X1 + k (x2 - x)
.. (5.1)

mg
mx2= X2- k (X2 X1)
-

and
The elastic force k (X2 - X1) due to stretching, pulls the first bob awway

from the equilibrium and second bob towards the equilibrium position.
Therefore the elastic force k (x2
-

X1) has opposite signs in the above two

equations.
It is second order differential equation w.r.t. time,
hence general
functions.
solution must be combination of cosine and sine
Let us asume that the solution
ot + Q1 sin ot
X1= P1 COS

and X2 P2 cos ot + Q2 sin ot

constants.
Here P, Q, P2 and Q2 are arbitrary
frequency of each of the two
where is assumed to be the angular
Dendulums (0 = 2tn).
time
Differentiating twice with respect to
ot -

Q1 sin ot
X1
=
-

Pz0 cos

and X2 - P 2 w
cos ot Qw sin ot
(5.1), we get
and x2 in equation
DStituting values of X, X2, X1
mg (Pi cos wt +Q1 sin ot)
m-P cosot -Q10 sin ot) =
-*
sin ot)]
t + Q2 sin wt) -

(P1 cos ot +Q1

cos
+k [(P2
mg sin ot)
and sin ot) =
-

( P 2 Cos t +
Q
m-Pzw cos ot Q w sin ot)]
(P1 cos ot + Q1
sin ot)
-

k [(P2 cos ot + Q2
 Above two equations hold good at all instants. Therefore
ore, the
coefficients of cosine and sine on the two sides of these equations
ns ma
must
be equal.
Equating coefficients of cosine in the above two equations and then
en
coefficients of sine in the above two equations, we get,

mg
-mP=-"P+k (P2- P) ()
-

mP20 =
p-k (Pa -P)

mg
-

mQi =
- Q1 + k (Q2- Q1) . (ii)

- mQa==-mg
2 - k (Q2- Qd .(iv)
Above equations (i), (ii), (ii) and (iv) can be written as.

k
Po PPP)
Pa -PmP-P) M

k
Q Q- Q2-Q m

Rearranging, we have

Po-PmPmP=0 m

and k

QuQm 0 m

or
-P P2 =0
 P-9

and -m 0
--=0
m

From for P1 and P2 we will have non-trivial solution if

equations
lar when we solve first two equations for P1 and P2 and last two equations

Q and Q2 the condition is the determinant of coefficients must be

or
zero).

k
- m
0
k
m - m

--m-
m -o

or
m m/

or

then for ,
lf and 2 are the two values of o,

- m m

or -7 m m

2k
m

2
or m

2k
m
or
and for
k
m m

o-=0
or

Substituting the value of in the equation of Pi and P2

9--mPP =0
PmP0
M

P+ P2) =
0

as
m0P +Pa =0
P1-PP2
2
Substituting the value of h in the equation of Qi and Q2

2m 9ao-o
m

k k
Q1+Q2 = 0
m m

k (Q1 + Q2) = 0
m

as
k #0
m Q1 +Q2 =00
Q1 = - 2

2
Now substituting the value of o in the equation of Pi and P2, we get

k
m P m P2 = 0
 K
m-P1 + P2) = 0

k #0
as m

- Pi+ P2 =
0
P1 P2
2
of o in the equation of Q1 and Q2, we get
substituting the value

-
k k Q2 = 0
m1 m

k
-Q1
m
+ Q) =0

Since
m
#0, .-Q1 +Q2 =0
Q1 Q2

Thus,
and Q1 =-Q2
For P1 = P 2
Q2
P1 P 2 and Q
=

For 2 be written as
now
solution can
The general sin ot
P1 COS t + Q1
D sin ot
=
X1 C cos t +
+
t + B sin ot
= A cos

X2= P2 COS ot + Q2 sin ot + D sin o^t

and +C cos ot
t
-

B sin @t
=
-
A cos
both the angular
of each of
solution is dependent c a n be
evaluated from
Thus, each c o n s t a n t s of
integration
and o . The
Trequencies
of the two pendulums.
conditions
or
the initial states
COORDINATES

NORMAL
M O D E S AND motion in
together in
. 2 NORMAL two pendulums
coupled
set
It is possible to
involved.
or o) is
one frequency ( )
Such a way that only are given by
and x2
solutions, X1
rom the general
wt + C cos t + D sin t
t + B sin .. (5.2)
X1= A cOs

+ C cos t + D sin ot|

B sin t
X2= -A
cos mt -
 Let us define normal co-ordinates X1 and X2
as

sin t
X1 = X1 + X2 2C cos @t + 2D =
.(5.3)
X2 X1 X2
= 2A cos at + 2B sin ot
- = . (5.4)
The modes of oscillations given by X1 and X2 are called normal modes
of oscillations because X1 = X1 + X2 and X2 = X1 - X2 involve only one

frequency or h respectively.
This is in contrast to the general solution [equation (5.2)] which
involves both the frequencies ( and n). i.e. trom equations (5.3) and
(5.4), the normal co-ordinates are independent of each other.
Symmetric mode of oscillations (Oct. 16)
Rigid support

m m

IX
mg
ymg
m m
m m
OR
2 X
Here x2 =
X, and f =0 (in phase)
Fig.5.4 Symmetric mode, ) = 0 (in phase), (x1 =
X2)
2
If X1 X2 =
0 then X2 =
0 and motion is
Hence motion of
angular frequency, represented by X1 alone.

0
is present only
For
symmetric mode (x1 =
X2
0), hence the two
=
identical. They oscillate pendulums must D e
as if they are free. The
compress or elongate at any time.
In
coupling spring does
oscillate with the same symmetric mode, penduiui
In order to excite
frequency 2 and are in phase.
theirequilibrium positions
a
symmetric mode, the two
then released. by equal amounts in masses are pulled troom
the same direction nd
a
Antisymmetric mode of oscillations (Oct. 16)
IfX= x2 then X = 0 and the motion is represented by X2 alone.

Thus motion involves only frequency = \/7+ Here the two

m

pendulums have same frequency but they are out of phase ().
Angular frequency involves the force constant k of the spring.
It implies that the spring is compressed or elongated and exerts a
restoring force.
Rigid support

XqI UOUUUUU
mgv mg
m m m
m
OR
X2

Fig. 5.5: Antisymmetric mode, o = 180° (out of phase), (x2 =

- Xi)

V m

should be pulled apat

For antisymmetric mode, the two masses
released. From the expressions for
equally in opposite direction and then
2. i.e. antisymmetric
mode has higher
h and 02, it is clear that >
mode.
frequency of oscillation than the symmetric
not have to do work
It is because in symmetric mode the spring does
but in antisymmetric mode the spring has to do work.
during oscillations,
execute simple
In both the modes of oscillations, both the pendulums
(m or ).
harmonic motion since they vibrate with only one frequency
be
two coupled oscillators will
a
In general, the motion of
modes.
Superposition of symmetric and antisymmetric
defined as,
The normal co-ordinates (X1 and X2) are

and X2 = X1-X2
X1= X1 + X2
 For symmetric mode, For antisymmetric mode

X1 X2 X1 X2
X1 + X2 = 2x1 X - X2 = 2x2

X+X2 and X2 (-X2)

2
X1 2

Differentiating twice w.r.t. time (t),

X1 and X2 2
2

Substituting values of X, X2, X1, Xx2 in equation (5.2),

m(XtX) - mg K * 2 _

kX . (5.5)
2 2

and mX-X,)
2
- mg =A2 kx . (5.6)
2

Adding equations (5.5) and (5.6),

mg
+ X X -X) =22X+0
+

mX = - mg X

or +x = o ... (5.7)

Subtracting equation (5.6) from (5.5),

- , - , *) mg
+X2 - X1 + X) - kX2 - kX2

(2x) = mg
(2X)- 2kX
mX2 =- mg X22kX2
 Divide by m,
m

,-(9x 0
. (5.8)
Equation (5.7) represents the normal mode
simple harmoniC oscillations, in terms
(symmetric mode) of
of normal co-ordinates, with
frequency 2 =*

And equation (5.8) represents normal mode

simple harmonic oscillations,
(antisymmetric mode)
of
in terms. of normal coordinates with

frequency = 2k
m
5.3 ENERGY OF COUPLED OSCILLATIONS (Oct. 16, April 17)
The total energy of the coupled pendulum
system is partly potential
and partly kinetic or the total energy of the
system of coupled pendulums
(E) is sum of two parts:
(a) Kinetic energy (T), and
(b) Potential energy (V).
Total energy = Kinetic energy + Potential energy
E = T+V ... (5.9)
The kinetic energy (T) is given by
T =m?12
T mxi +5mx2
1
T mi+ . (5.10)

The potential energy is due to two things:

) the raising of the pendulum bobs against gravity, and
i) extension of the spring.
The potential energy due to raising of the pendulum bobs against
gravity is:
2
X1 2
mg dx+ mg mg 2 mg
2
2
X+x)
Jdx=
0
2 2
 The potential energy due to extension of the spring is

2-X1
Joxdx kx_k
2
0

Hence, the total potential energy of the system is

mg 2 k
V=2 + X) +
« -X) . (5.11)

Adding equations (5.10) and (5.11), we get

E=m 2 mg k -x
2+ x +
(5.12)

The kinetic energy and potential energy can be expressed in terms of

the. normal coordinates using equations,
X1 = X1 +X2 and X2 = X1 - X2

We have X1 + X2 = 2x1 and X1 -X2 = 2x2

or X1 X+X) and x2
y. -
X-X)
2 2

X1 2
and x2 =
2

Now equation of K.E i.e. equation (5.10) becomes

1
T
mi +)
1
m

T m1 2XX+ -2X4 +X|

4

1
mzx+2x
1
T m .. (5.13)
 Now equation of potential energy i.e. equation (5.11) becomes:

21
mg 2XX+ 4
-2X +%|,
4

ex-2x]
V mg+ + x . (5.14)

Using equations (5.13) and (5.14) in equation (5.9), we get

E T+V

E m +*)+K+x+5
This is the total energy of coupled oscillations in the normal
cO-ordinate form.

5.4 ENERGY TRANSFER IN COUPLED

OSCILLATORY SYSTEM
Consider a of two pendulums. Let us study the
coupled system
another in
mechanism of energy transfer from one coupled partner to
the two
this system. In coupled pendulums, energy alters between
pendulums.
Suppose that initially (at t =
0) the first pendulum bob is at rest

X1 0) and is from its equilibrium position (X1

at distance a a) (a is the =

bob is at rest
amplitude of oscillations) and the second pendulum
x2 0) in its equilibrium position (x2 =0)
Therefore, the initial conditions are:

att 0; X1 = a and X2 =0

and X1 0 and x2 = 0

x1 and x2 are velocities and both velocities are zero).

 General solution given by x1 and x2 are:
X1 = A cos t + B sin ht +C cos D>t + D sin ^ t

and x2 = - A cos Mt - B sin t + C cos >t + D sin nt

Substituting t = 0, X1 = a and x =0 in the general solution given by

X1 and x2
a = A + C

and 0 -A + C
A =C
a = A+A

or 2A a

A2
or A = C =

Now determine x and xz by differentiating equations of xi and xa

X1 - A o sin m t + B a cos t - Co2 sin o>t + D o cos %t

and X2 = + AM sin mt - Bo cos 0 t - Co sin wt + D> cos Dt

Substituting t = 0, X1 = 0, X2 = 0 in above equations, we get

O Ba + Do2
and 0 - B + Do
Adding 0 2Do
Do=0
As 2 # 0, D=0

Using the value of D i.e. D =

0 in either of above two
equations,
0 = Ba0 + 0

or Bo=0
as 0 0, B =00
B D =0
 Using values of A = C = 5and B D = 0 in the general solution

equations of X and x2, we get

ie.
a
X1 cos ot + 2 t

a
and -5cos ot +cos t

X1 ( c o s t +COS t )

and X2 (cos t - cos 2t)

Using trigonometric identities,

4+B
cosA + cos B -
2 cos| COS
2

and cos A- cos B =- 2 sin

. (A-B
sin

For above equations of X1 and x2, we have

Ot +
X =2cos 2. cos0 t2- t
and = (t02 t sin
x- 2sin2tsin2
-02

X1 = a cos
o+ tcos t
2 2
If the coupling between the two pendulums is weak, o and 2 will
not be much different from each other. Consider the two frequencies are

exactly equal and denote it by o, therefore, +02

2 = o', then

X1 = acOs W't cOS

2

and X2 a sin ø't sin

t
2
Above equations show that X1 and X2 are oscillating with angular
trequency o and the amplitude of X1 and x2 are slowly varying. The
variation is according to a sine factor for x2 and a cosine factor for X1. As
the angle increases, the sine factor increases and the cosine factor
decreases (for 0 < e < 90°). This shows that the amplitudes and hence the
energies change in such a way that the energy of the first pendulum
decreases while that of the other increases as the angle -2
2
increases. Thus, the energy alters between the two pendulums. The
energy transter is periodic and has the period
2T
TheThe angular frequency
2T 4T
-02 ( 2)
2

2k
where + and
V m