Chapter Three: Oscillations Dr. Intesar H.

Hashim ‫ميكانيك تحليلي‬

3.1 Introduction
Everywhere around us we see systems engaged in a periodic motion: the small
oscillations of a pendulum clock, a child playing on a swing, the rise and fall of
the tides, the swaying of a tree in the wind and the vibrations of the strings on a
violin. The essential feature that all these phenomena have in common is
periodicity, a pattern of movement or displacement that repeats itself over and
over again.
‫ التذبذبات الصغيرة لساعة البندول و تأرجح الطفل وهو‬:‫في كل مكان حولنا نرى أنظمة تعمل بحركة دورية‬
.‫يلعب على أرجوحة وصعود وانحدار المد والجزر وتمايل االشجار في الريح واهتزازات أوتار الكمان‬
‫ والتي هي نمط من الحركة أو االزاحة الذي‬،‫الميزة األساسية التي تشترك فيها كل هذه الظواهر هي الدورية‬
.‫وتكرارا‬
ً ‫مرارا‬
ً ‫يعيد نفسه‬

3.2 Linear Restoring Force, Harmonic Motion

One of the most important cases of rectilinear motion is that produced by a
linear restoring force. This force whose magnitude is proportional to the
displacement of the particle from the equilibrium position and whose
direction is always opposite to that of the displacement. Such a force is exerted
by a spring obeying Hooke’s law.
‫ هذه القوة التي يتناسب مقدارها‬.‫واحدة من أهم حاالت الحركة على خط مستقيم تلك التي تحدثها قوة معيدة خطية‬
‫ قوة كهذه يسببها وتر أو نابض‬.‫مع إزاحة الجسم من موضع التوازن اتجاهها يكون دائما ً عكس اتجاه ااالزاحة‬
.‫يخضع لقانون هوك‬
𝑥 = 𝑋 − 𝑎 … … (1)
Eq. (1) represents the displacement of the Equilibrium
Position
spring from its equilibrium length.
X
X is total length
a x
a is upstretched (zero) length of the spring
m
Elastic force exerted by a spring obeying
Hooke's law
𝐹𝛼−𝑥
𝐹 = −𝑘𝑥 ……(2) Restoring Force (Hooke's law)
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Chapter Three: Oscillations Dr. Intesar H. Hashim ‫ميكانيك تحليلي‬

where k is called Stiffness (Spring Constant) ‫معامل المرونة‬

Sub. Eq.(1) in Eq.(2)
∴ 𝐹 = −𝑘 (𝑋 − 𝑎) … … (3)
Let the same spring be held vertically. The total force acting on the particle is:
𝐹 = −𝑘𝑥
𝐹 = −𝑘 (𝑋 − 𝑎) + 𝑚𝑔 … … (4)
𝑚𝑔
Equilibrium 𝑎+
where the positive direction is downward: 𝑘
Position
𝑚𝑔 X
𝑥 = 𝑋 − (𝑎 + )
𝑘
𝑚𝑔 x
is the change in displacement due to body weight.
𝑘
𝑚𝑔 m
∴𝑥 =𝑋−𝑎−
𝑘
𝑚𝑔
𝑋−𝑎 =𝑥+ … … (5)
𝑘

Sub. Eq. (5) in Eq. (4)

𝑚𝑔
∴ 𝐹 = −𝑘 (𝑥 + ) + 𝑚𝑔
𝑘
𝑘𝑚𝑔
𝐹 = −𝑘𝑥 − + 𝑚𝑔
𝑘

This give again:

∴ 𝐹 = −𝑘𝑥
−𝑘𝑥 = 𝑚𝑥̈
∴ 𝑚𝑥̈ + 𝑘𝑥 = 0 … … (6)
Eq. (6) is second order differential Eq. with constant coefficients of the
harmonic oscillator or linear oscillator. As equation 𝑦′′ + 𝑝𝑦′ + 𝑞𝑦 = 0, so, to
solve such equation we shall employ the trail method in which the function
(𝐴𝑒 𝑞𝑡 ) is the trail solution, where (q) is a constant to be determined.

‫ ويتم‬.‫) هي معادلة تفاضلية من الدرجة الثانية ذات معامالت ثابتة لمذبذب توافقي أو مذبذب خطي‬6( ‫معادلة‬
.‫( ثابت‬q) ‫استخدام طريقة التجربة لحل المعادلة والذي فيه نجرب الحل ) 𝑡𝑞 𝑒𝐴( حيث ان‬

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Chapter Three: Oscillations Dr. Intesar H. Hashim ‫ميكانيك تحليلي‬

𝑥 = 𝐴𝑒 𝑞𝑡 … … (7)
𝑑𝑥
= 𝑥̇ = 𝐴𝑞𝑒 𝑞𝑡 … … (8)
𝑑𝑡
𝑑2𝑥
= 𝑥̈ = 𝐴 𝑞2 𝑒 𝑞𝑡 … … (9)
𝑑𝑡 2

Sub. Eq. (7) and (9) in Eq. (6)

𝑚 𝑞2 𝐴 𝑒 𝑞𝑡 + 𝑘𝐴 𝑞𝑞𝑡 = 0 ] ÷ 𝐴 𝑒 𝑞𝑡
𝑚𝑞2 + 𝑘 = 0
𝑚𝑞2 = −𝑘
𝑘
𝑞2 = −
𝑚

̅ √−𝑘 = +
∴𝑞=+ ̅ 𝑖√ 𝑘
𝑚 𝑚

𝑘
where 𝑖 = √−1 , √ = 𝑤0
𝑚

𝑞=+ ̅ 𝑖𝑤0 … … (10)

Sub. Eq. (10) in Eq. (7)
∴ 𝑥 = 𝐴𝑒 +̅𝑖 𝑤0 𝑡 … … (11)
For a linear differential eqs., solution are additive, so, the general solution is:
𝑥 = 𝐴+ 𝑒 𝑖𝑤0 𝑡 + 𝐴− 𝑒 −𝑖𝑤0 𝑡 … … (12)
using Euler’s formula
𝑒 𝑖𝑢 = cos 𝑢 + 𝑖 sin 𝑢
So we can rewrite Eq. (12) in the form:
𝑥 = 𝐴+ (cos 𝑤0 𝑡 + 𝑖 sin 𝑤0 𝑡) + 𝐴− (cos 𝑤0 𝑡 − 𝑖 sin 𝑤0 𝑡)
= 𝐴+ cos 𝑤0 𝑡 + 𝑖 𝐴+ sin 𝑤0 𝑡 + 𝐴− cos 𝑤0 𝑡 − 𝑖 𝐴− sin 𝑤0 𝑡
= (𝐴+ + 𝐴− ) cos 𝑤0 𝑡 + (𝑖𝐴+ − 𝑖𝐴− )𝑠𝑖𝑛𝑤0 𝑡
𝑥 = 𝑎 sin 𝑤0 𝑡 + 𝑏 cos 𝑤0 𝑡 … … (13)
where 𝑎 = 𝑖 𝐴+ − 𝑖 𝐴− 𝑎𝑛𝑑 𝑏 = 𝐴+ + 𝐴−
The real solution of Eq. (13) is:
𝑥 = 𝑏 cos 𝑤0 𝑡
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Chapter Three: Oscillations Dr. Intesar H. Hashim ‫ميكانيك تحليلي‬

or 𝑥 = 𝐴 cos(𝑤0 𝑡 + 𝜃𝑜 ) … … (14) Sinusoidal Oscillation of Displacement x

where: 𝑤𝑜 is angular frequency ‫التردد الزاوي‬

A is amplitude (the maximum value of x) )‫السعة (اعظم قيمة لالزاحة‬

Equation (14) represent cosine function for two angle
So, Acos(𝑤0 𝑡 + 𝜃𝑜 ) = 𝐴(𝑐𝑜𝑠𝑤0 𝑡 𝑐𝑜𝑠𝜃𝑜 + 𝑠𝑖𝑛𝑤0 𝑡 𝑠𝑖𝑛𝜃𝑜 )
Let 𝑎 = 𝐴𝑐𝑜𝑠𝜃𝑜 , 𝑏 = 𝐴𝑠𝑖𝑛𝜃𝑜
𝑎2 + 𝑏2 = (𝐴𝑐𝑜𝑠𝜃𝑜 )2 + (𝐴𝑠𝑖𝑛𝜃𝑜 )2 = 𝐴2 (𝑐𝑜𝑠 2 𝜃𝑜 + 𝑠𝑖𝑛2 𝜃𝑜 )
𝐴 = (𝑎2 + 𝑏2 )1\2
𝑏 𝐴𝑠𝑖𝑛𝜃𝑜
= = 𝑡𝑎𝑛𝜃𝑜
𝑎 𝐴𝑐𝑜𝑠𝜃𝑜

𝑏
𝜃0 = tan−1 ( ) … … . (15) Initial Phase
𝑎

To ≡ Time period of the oscillation (time required for one complete cycle); that
is, the period is the time for which the product (wt) increase by just (2π)
2𝜋 𝑚 ‫زمن الذبذبة الزمن الالزم لدورة كاملة‬
𝑇𝑜 = = 2𝜋√ … … (16)
𝑤0 𝑘

𝑤0 = 2𝜋𝑓0 … … (17)

θo
x To To
x

A+
A+

0 t t
0
A- A-

θo

𝑥 = 𝐴𝑐𝑜𝑠(𝑤𝑜 𝑡 + 𝜃𝑜 ) 𝑥 = 𝐴𝑠𝑖𝑛(𝑤𝑜 𝑡 + 𝜃𝑜 )

𝑓0 ≡ Linear frequency of oscillation (is the number of cycles in unit time)

1 1 𝑘 ‫التردد الخطي للمتذبذب والذي يمثل عدد الدورات لوحدة الزمن‬
𝑓0 = = √ … … (18)
𝑇0 2𝜋 𝑚

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Chapter Three: Oscillations Dr. Intesar H. Hashim ‫ميكانيك تحليلي‬

Example:
A light spring is found to stretch an amount b when it supports a block of mass
m. if the block is pulled downward a distance 𝑙 from its equilibrium position
and released at time t=0 , find the resulting motion as a function of t.

Solution:
In the static equilibrium
𝐹 = −𝑘𝑏 = −𝑚𝑔
𝑚𝑔
∴𝑘=
𝑏

𝑘 𝑚𝑔 𝑔
𝑤0 = √ = √ = √
𝑚 𝑚𝑏 𝑏

Now find the constants for the equation of motion

𝑥 = 𝐴 cos(𝑤0 𝑡 + 𝜃0 )
𝑎𝑡 𝑡 = 0 , 𝑥=𝑙 and 𝑥̇ = 0
𝑥̇ = −𝐴 𝑤0 sin(𝑤0 𝑡 + 𝜃0 )
𝑥̇ = −𝐴 𝑤0 sin(𝑤0 (0) + 𝜃0 ) = 0
𝐴 𝑤0 ≠ 0 , 𝐴 = 𝑙 𝑖𝑠 𝑠𝑝𝑟𝑖𝑛𝑔 𝑙𝑒𝑛𝑔𝑡ℎ, 𝑤0 = 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑓𝑟𝑒𝑞𝑢𝑛𝑐𝑦
𝐴 = 𝑙 = 𝑋𝑚𝑎𝑥
∴ sin(𝜃0 ) = 0 ⇒ 𝜃0 = 0
𝑥 = 𝐴 cos(𝑤0 𝑡)
𝑔
∴ 𝑥 = 𝑙 cos (√ 𝑡)
𝑏

3.3 Energy Consideration in Harmonic Motion

Consider a particle moving under a linear restoring force= −𝑘𝑥. Let us
calculate the work done by an external force fa in moving the particle from the
equilibrium position x=0 to some position x.
‫ لنقل‬fa ‫ نحسب الشغل المنجز بواسطة قوة خارجية‬−𝑘𝑥 ‫نفترض جسيم يتحرك تحت تأثيرقوة معيدة خطية‬
x ‫ إلى موضع ما‬x = 0 ‫الجسم من موضع التوازن‬
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Chapter Three: Oscillations Dr. Intesar H. Hashim ‫ميكانيك تحليلي‬

𝐹 = −𝑘𝑥 … … (1)
𝐹𝑎 = −𝐹 = 𝑘𝑥
𝑥 1
∴ 𝑊 = ∫ 𝐹𝑎 𝑑𝑥 = ∫0 𝑘𝑥 𝑑𝑥 = 𝑘𝑥 2
2

The work W is stored in the spring as potential energy ‫الشغل يخزن في النابض كطاقة كامنة‬
1
∴ 𝑉 (𝑥 ) = 𝑊 = 𝑘𝑥 2 = 𝐸𝑝 … … (2)
2

Total spring energy

𝐸 = 𝐸𝑘 + 𝐸𝑝
1 1 2
𝐸 = 𝑚𝑥̇ 2 + 𝑘𝑥 2 … … (3) ∗
2 2 𝑚

2𝐸 𝑘
= 𝑥̇ 2 + 𝑥 2
𝑚 𝑚
2𝐸 𝑘
𝑥̇ 2 = − 𝑥2
𝑚 𝑚

2𝐸 𝑘 1/2
2
𝑥̇ = ( − 𝑥 ) … … (4)
𝑚 𝑚

This can be integrated to give (t) as function of x

𝑑𝑥 𝑑𝑥
𝑥̇ = ⇒ 𝑑𝑡 =
𝑑𝑡 𝑥̇
𝑑𝑥
𝑡 = ∫ 𝑑𝑡 = ∫ 2𝐸 𝑘 1/2 … … (5)
( 𝑚 − 𝑚𝑥 2 )

 Derive the Eq. of time

When 𝒙 = 𝑨 𝒄𝒐𝒔 𝜽
Rewrite Eq.(5)
𝑑𝑥
𝑡=∫ 𝑘 2𝐸 1/2
(𝑚)[ 𝑘 −𝑥 2 ]

𝑚 𝑑𝑥 𝑚 𝑑𝑥
=√ ∫ =√ ∫√ … … (6)
𝑘 2𝐸
√ −𝑥 2 𝑘 𝐴2 −𝑥 2
𝑘

2𝐸
where 𝐴 = √ ≡ amplitude
𝑘

𝑥 = 𝐴 cos 𝜃 … … (7)
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Chapter Three: Oscillations Dr. Intesar H. Hashim ‫ميكانيك تحليلي‬

∴ 𝑥 2 = 𝐴2 cos 2 𝜃
∴ 𝐴2 − 𝑥 2 = 𝐴2 − 𝐴2 cos 2 𝜃
= 𝐴2 (1 − cos 2 𝜃)
𝐴2 − 𝑥 2 = 𝐴2 sin2 𝜃
√𝐴2 − 𝑥 2 = 𝐴 sin 𝜃 … … (8)
From Eq.(7)
𝑑𝑥 = −𝐴 sin 𝜃 𝑑𝜃 … … (9)
Sub. Eqs.(8) and (9) in Eq. (6)
𝑚 𝐴 sin 𝜃
𝑡 = −√ ∫ 𝐴 sin 𝜃 𝑑𝜃
𝑘

𝑚
𝑡 = − √ ∫ 𝑑𝜃
𝑘

𝑚
𝑡 = − √ 𝜃 + 𝑐 … … (10)
𝑘

∵ 𝑥 = 𝐴 cos 𝜃
𝑥 𝑥
∴ cos 𝜃 = ⇒ 𝜃 = cos −1 ( ) … … (11)
𝐴 𝐴

Sub. Eq.(11) in Eq. (10)

𝑚 𝑥
𝑡 = −√ cos −1 ( ) + 𝑐 … … (12)
𝑘 𝐴

When 𝒙 = 𝑨 𝒔𝒊𝒏 𝜽
𝑥 𝑥
∴ sin 𝜃 = ⇒ 𝜃 = sin−1 ( ) … … (𝑎)
𝐴 𝐴

𝑑𝑥 = 𝐴 cos 𝜃 𝑑𝜃 … … (𝑏)
𝐴2 − 𝑥 2 = 𝐴2 − 𝐴2 sin2 𝜃 = 𝐴2 (1 − sin2 𝜃)
𝐴2 − 𝑥 2 = 𝐴2 cos 2 𝜃
√𝐴2 − 𝑥 2 = 𝐴 cos 𝜃 … … (𝑐 )
Sub. Eqs. (b) and (c) in Eq. (6)

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Chapter Three: Oscillations Dr. Intesar H. Hashim ‫ميكانيك تحليلي‬

𝑚 𝐴 cos 𝜃
𝑡=√ ∫ 𝐴 cos 𝜃 𝑑𝜃
𝑘

𝑚
𝑡=√ 𝜃 + 𝑐 … … (𝑑 )
𝑘

Sub. Eq. (a) in Eq. (d)

𝑚 𝑥
𝑡 = √ sin−1 ( ) + 𝑐 … … (13)
𝑘 𝐴

2𝐸
The value of x must lie between ±𝐴 ( ±√ ) in order for 𝑥̇ to be real
𝑘

V(x
)

E2

E1
x
Potential energy function of the harmonic oscillator.

1) at the upper point

𝑥 = 𝑋𝑚𝑎𝑥 , 𝑣 = 0
1 1
∴𝐸= 𝑚𝑣 2 + 𝑘𝑥 2
2 2
1 2
𝐸 =0+ 𝑘 𝑋𝑚𝑎𝑥
2

𝑋𝑚𝑎𝑥 = 𝐴
1 2𝐸
∴ 𝐸 = 𝑘𝐴 2 → 𝐴 = √
2 𝑘

2) at the lower point

𝑥 = 0 , 𝑣 = 𝑣𝑚𝑎𝑥

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Chapter Three: Oscillations Dr. Intesar H. Hashim ‫ميكانيك تحليلي‬

1 2
∴𝐸= 𝑚 𝑣𝑚𝑎𝑥
2
1 2 1
𝑚 𝑣𝑚𝑎𝑥 = 𝑘 𝐴2
2 2

2 𝑘 𝐴2
𝑣𝑚𝑎𝑥 =
𝑚

𝑘
𝑣𝑚𝑎𝑥 = √ 𝐴 = 𝐴𝑤0 Maximum Velocity for Harmonic Oscillator
𝑚

𝑣𝑚𝑎𝑥
𝐴=
𝑤0

As the particle oscillates, the kinetic and

potential energies continually change. The
constant total energy is entirely in the form of
kinetic energy at the center, where 𝑥 = 0 and
𝑥̇ = ±𝑣𝑚𝑎𝑥 and it is all potential energy at
extrema, where 𝑥 = ±𝐴 and 𝑥̇ = 0.

‫ تكون الطاقة الكلية ثابتة حيث تكون بشكل‬.‫ تتغير الطاقة الكامنة والحركية باستمرار‬،‫عندما يتأرجح الجسيم‬
‫طاقة حركية في المركز و طاقة كامنة عند النهايات‬

3.4 Damped Harmonic Motion

The foregoing analysis of the harmonic oscillator is idealized in that we didn't
take into account frictional forces. These are always present in any mechanical
system. Consider an object is supported by a spring of stiffness k and there was
a viscous retarding force varying linearly with the speed such as air resistance.

‫التحليل السابق لمتذبذب توافقي مثالي ألنه لم ياخذ بنظر االعتبار قوة االحتكاك والتي تكون دائما موجودة في‬
‫ وكانت هناك قوة معيقة لزجة متغيرة‬k ‫ لنفترض أن جس ًما ما معلقا ً بنابض معامل مرونته‬.‫أي نظام ميكانيكي‬
.‫خطيا ً مع السرعة مثل مقاومة الهواء‬

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Chapter Three: Oscillations Dr. Intesar H. Hashim ‫ميكانيك تحليلي‬

𝐹 = −𝑘𝑥 … … (1) (𝒓𝒆𝒔𝒕𝒐𝒓𝒊𝒏𝒈 𝒇𝒐𝒓𝒄𝒆)

𝐹 = −𝑐 𝑥̇ … … (2) (𝒓𝒆𝒕𝒂𝒓𝒅𝒊𝒏𝒈 𝒇𝒐𝒓𝒄𝒆)
Equilibrium
Position
Equation of motion then: x −𝑘𝑥 −𝑐𝑥̇
∴ −𝑘𝑥 − 𝑐𝑥̇ = 𝑚𝑥̈ … … . (3)

𝑥̇

𝑚𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 0 … (4) Differential Eq. of Motion for Damped Harmonic Oscillator
Use trail method to solve Eq. (4)
𝑥 = 𝐴 𝑒 𝑞𝑡
𝑑2 𝑑
∴ 𝑚 ( 𝑞𝑡 ) + 𝑐
2 𝐴𝑒
(𝐴 𝑒 𝑞𝑡 ) + 𝑘 𝐴 𝑒 𝑞𝑡 = 0 𝑎𝑥 2 + 𝑏𝑥 + 𝑐 = 0
𝑑𝑡 𝑑𝑡

𝑚 𝑞2 𝐴 𝑒 𝑞𝑡 + 𝑐𝑞 𝐴 𝑒 𝑞𝑡 + 𝑘 𝐴 𝑒 𝑞𝑡 = 0] ÷ 𝐴𝑒 𝑞𝑡 ̅ √𝑏2 − 4𝑎𝑐1
−𝑏+
𝑥=
𝑚𝑞2 + 𝑐𝑞 + 𝑘 = 0 … … (5) Auxiliary Equation 2𝑎
̅ √𝑐 2 − 4𝑚𝑘
−𝑐+
𝑞= … … (6)
2𝑚
 𝑐 2 > 4𝑚𝑘 (Over Damping)
Here q will be real and negative and the motion will be nonoscillatory
𝑞1 ≠ 𝑞2 and (x) decaying to zero exponentially with time.
‫ 𝑐 يحدد نوع التذبذب‬2 − 4𝑚𝑘 ‫المقدار‬
𝛾1 𝐴1 𝑒 −𝛾1 𝑡 ‫حالة 𝒌𝒎𝟒 > 𝟐𝒄 تمثل حالة فوق التضاؤل‬
𝑞 = − {𝛾 ⇒ 𝑥 = {
2 𝐴2 𝑒 −𝛾2𝑡 ‫ تمتلك قيمتين حقيقيتين سالبتين‬q ‫وعندها‬
The general solution for displacement is: ‫مختلفتين لذلك تكون الحركة غير تذبذبية‬
‫ أسيا ً الى الصفرمع‬x ‫وتهبط فيها قيمة االزاحة‬
−𝛾1 𝑡 −𝛾2 𝑡
𝑥 = 𝐴1 𝑒 + 𝐴2 𝑒 … … (7) ‫الزمن‬
 𝑐 2 = 4𝑚𝑘 (Critical Damping)
Here q will be real also, and negative and the motion will be
nonoscillatory. (x) decaying to zero exponentially with time but in shorter
time.
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Chapter Three: Oscillations Dr. Intesar H. Hashim ‫ميكانيك تحليلي‬

𝑐
𝑞1 = 𝑞2 = −
2𝑚

𝐴1 𝑒 −𝛾𝑡
𝑞 = −𝛾 ⇒ 𝑥 = {
𝐴2 𝑡𝑒 −𝛾𝑡 Over Damping

The general solution for displacement is:

𝑥 = 𝐴1 𝑒 −𝛾𝑡 + 𝐴2 𝑡 𝑒 −𝛾𝑡 … … (8) Critical Damping
𝑥 = 𝑒 −𝛾𝑡 (𝐴1 + 𝑡𝐴2 ) … … (9)

‫ تمتلك قيمتين حقيقيتين سالبتين‬q ‫حالة 𝒌𝒎𝟒 = 𝟐𝒄 تمثل حالة التضاؤل الحرج وعندها‬
‫ أسيا ً الى الصفرمع الزمن‬x ‫متساويتين لذلك تكون الحركة غير تذبذبية وتهبط فيها قيمة االزاحة‬

 𝒄𝟐 < 𝟒𝒎𝒌 (Under Damping)

Here q will be complex; the real part of its value gives an oscillatory
motion.
̅ √𝑐 2 −4𝑚𝑘
−𝑐+
𝑞=
2𝑚
2 2
̅ √(𝑐 2 ∙ 4𝑚2−4𝑚𝑘∙ 4𝑚2 )
−𝑐+
4𝑚 4𝑚 𝑐 𝑐2
𝑞= 𝛾= → 𝛾2 =
2𝑚 2𝑚 4𝑚2
2 2 𝑘
̅ √4𝑚2 ( 𝑐 2− 𝑘 )
−𝑐+ ̅ 2𝑚 √( 𝑐 2− 𝑘 )
−𝑐+ , 𝑤0 = √
4𝑚 𝑚 4𝑚 𝑚 𝑚
𝑞= =
2𝑚 2𝑚

̅̅̅2𝑚 √𝛾2 −𝑤0 2

−𝑐+
𝑞=
2𝑚
𝑐
𝑞= − ̅ √𝛾 2 − 𝑤0 2
+
2𝑚
𝑐
𝑞1,2 = − ̅ 𝑖 𝑤1 Complex Conjugates Roots
+ 𝑖 √𝑤0 2 − 𝛾 2 = − 𝛾+
2𝑚

where 𝑤1 = √𝑤0 2 − 𝛾 2 is Natural Frequency

𝑞1 = − 𝛾 + 𝑖 𝑤1
𝑞2 = − 𝛾 − 𝑖 𝑤1
The Displacement then:
∴ 𝑥 = 𝐴+ 𝑒 (−𝛾+𝑖 𝑤1 )𝑡 + 𝐴− 𝑒 (−𝛾−𝑖 𝑤1)𝑡 … … (10)

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Chapter Three: Oscillations Dr. Intesar H. Hashim ‫ميكانيك تحليلي‬

∴ 𝑥 = 𝑒 −𝛾𝑡 (𝐴+ 𝑒 𝑖 𝑤1 𝑡 + 𝐴− 𝑒 −𝑖𝑤1 𝑡 )

𝑒 𝑖 𝑢 = cos 𝑢 𝑡 + 𝑖 sin 𝑢 Euler’s Formula
𝑥 = 𝑒 −𝛾𝑡 [(𝑖 𝐴+ − 𝑖 𝐴− ) sin 𝑤 𝑡 + (𝐴+ + 𝐴− ) cos 𝑤1 𝑡 ]
𝑥 = 𝑒 −𝛾𝑡 ( 𝑎 sin 𝑤1 𝑡 + 𝑏 cos 𝑤1 𝑡 )
where 𝑎 = 𝑖 (𝐴+ − 𝐴− ), 𝑏 = 𝐴+ + 𝐴−
or 𝑥 = 𝐴 e−𝛾𝑡 cos(𝑤1 𝑡 + 𝜃0 ) … … . (11)
𝑏
where 𝜃0 = tan−1
𝑎

𝐴 = (𝑎2 + 𝑏2 )1/2

𝑥 = +𝐴e−𝛾𝑡
A

𝑥 = −𝐴e−𝛾𝑡

Equation (11) shows that the two curves are given by 𝑥 = +𝐴e−𝛾𝑡 and 𝑥 =
+𝐴e−𝛾𝑡 form an envelope of the curve of motion because the cosine factor
takes on values between +1 and -1, including +1 and -1, at which points the
curve of motion touches the envelope. Accordingly, the points of contact are
separated by a time interval of one-half period.

‫في حالة 𝒌𝒎𝟒 < 𝟐𝒄 والتي تمثل حالة دون التضاؤل عندها نحصل على قيمتين غير حقيقيتين‬
.‫ والحركة هنا تكون تذبذبية والسعة تتضائل اسيا ً مع الزمن‬q‫(خيالية) لـ‬

‫ = 𝑥 يشكالن غالفا ً لمنحنى‬+𝐴e−𝛾𝑡 ‫ = 𝑥 و‬+𝐴e−𝛾𝑡 ‫) وجود منحنيتين هما‬11( ‫تظهر المعادلة‬

‫ والتي يمس فيها منحنى‬، 1- ‫ و‬1+ ‫ بضمنها‬، 1- ‫ و‬1+ ‫الحركة ألن عامل الجيب تمام يأخذ القيم بين‬
.‫ لذلك تنفصل نقاط التماس بفترة زمنية مقدارها نصف مدة الذبذبة‬، ‫ وفقًا لذلك‬.‫ الغالف‬، ‫الحركة‬

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Chapter Three: Oscillations Dr. Intesar H. Hashim ‫ميكانيك تحليلي‬

3.5 Energy Consideration for Damped Harmonic Oscillator

The total energy of the damped harmonic oscillator is given by the sum of the
kinetic and potential energies ‫الطاقة الكلية للمتذبذب التوافقي المضمحل في اية لحظة هي‬
‫مجموع للطاقات الحركية والكامنة‬
𝐸𝑡 = 𝐸𝑘 + 𝐸𝑝
1 1
𝐸𝑡 = 𝑚 𝑥̇ 2 + 𝑘 𝑥 2 … … (1)
2 2

To find time rate of change of 𝐸𝑡 , we have to differentiate 𝐸𝑡 with respect to t:

𝑑𝐸𝑡 1 𝑑𝑥̇ 1 𝑑𝑥
= 2𝑚𝑥̇ + 2𝑘𝑥
𝑑𝑡 2 𝑑𝑡 2 𝑑𝑡

= 𝑚𝑥̈ 𝑥̇ + 𝑘𝑥̇ 𝑥
𝑑𝐸𝑡
= (𝑚𝑥̈ + 𝑘𝑥 )𝑥̇ … … (2)
𝑑𝑡

We have the Eq. of motion for the damped harmonic oscillator

𝑚𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 0
𝑚𝑥̈ + 𝑘𝑥 = −𝑐𝑥̇ … … (3)
Sub. Eq. (3) in Eq. (2)
𝑑𝐸𝑡
∴ = −𝑐𝑥̇ 2 … … (4)
𝑑𝑡

This equation represents the rate at which the energy 𝐸𝑡 dissipated as frictional
heat by virtue of the viscous resistance to the motion.
ً ‫هذه المعادلة تمثل معدل تبدد الطاقة الكلية الى حرارة بسبب االحتكاك وهي مقدار سالب دائما‬

3.6 Forced Harmonic Motion (Resonance)

In this section, we study the motion of a damped harmonic oscillator that is
subjected to a periodic driving force by an external agent.
Consider a damped harmonic oscillator motion affected by an external force
(𝐹𝑒𝑥𝑡 ) that varying as a cosine wave with time t, the angular frequency w and
amplitude (𝐹0 ) such that ‫هنا ندرس حركة المتذبذب التوافقي المضمحل المدفوع بقوة‬
‫ اي قوة تتغير بدالة جيبية مع الزمن‬.‫خارجية توافقية‬
𝐹𝑒𝑥𝑡 = 𝐹0 cos(𝑤𝑡 + 𝜃) … … (1)
𝐹𝑒𝑥𝑡 = 𝐹0 𝑒 𝑖(𝑤𝑡+𝜃) … … (2)
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Chapter Three: Oscillations Dr. Intesar H. Hashim ‫ميكانيك تحليلي‬

There are three forces attached on the body: :‫هناك ثالث قوى مؤثرة في الجسم‬
1. Elastic restoring Force = −𝑘𝑥 (−𝑘𝑥) ‫ قوة معيدة مرنة‬
(−𝑐𝑥̇ ) ‫ قوة لزوجة مضمحلة‬
2. The viscous damping force = −𝑐𝑥̇
(𝐹𝑒𝑥𝑡 ) ‫ قوة خارجية‬
3. External force = 𝐹𝑒𝑥𝑡
‫عليه تكون القوة الكلية المؤثرة على الجسم‬
So, total force is: ‫مجموع لهذه القوى الثالث‬
∴ −𝑘𝑥 − 𝑐𝑥̇ + 𝐹𝑒𝑥𝑡 = 𝑚𝑥̈ … … (3)
𝑚𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 𝐹𝑒𝑥𝑡 = 𝐹0 𝑒 𝑖(𝑤𝑡+𝜃) … … (4)
Eq.(4) represent differential damped harmonic oscillator motion affected by an
external force (𝐹𝑒𝑥𝑡 ). Suggested solution of this equation as:
′
𝑥 = 𝐴 𝑒 𝑖(𝑤𝑡+𝜃 ) … … (5) ‫) تمثل معادلة الحركة لمتذبذب توافقي‬4( ‫معادلة‬
(𝐹𝑒𝑥𝑡 ) ‫مضمحل تحت تأثير قوة خارجية‬
𝑑𝑥 𝑑 ′)
𝑥̇ = = 𝐴 𝑒 𝑖(𝑤𝑡+𝜃
𝑑𝑡 𝑑𝑡
′
𝑥̇ = 𝑖 𝐴 𝑤 𝑒 𝑖(𝑤𝑡+𝜃 ) = 𝑖𝑤𝑥 … … (6)
𝑑2 𝑥 𝑑2 𝑖(𝑤𝑡+𝜃 ′)
𝑥̈ = = 2𝐴𝑒
𝑑𝑡 2 𝑑𝑡
′
𝑥̈ = 𝑖 2 𝐴 𝑤 2 𝑒 𝑖(𝑤𝑡+𝜃 ) = 𝑖 2 𝑤 2 𝑥 = −𝑤 2 𝑥 … … (7)
Sub. Eqs.(5) ,(6) and (7) in Eq. (4).
′ ′ ′ ′)
[−𝑚𝐴𝑤 2 𝑒 𝑖(𝑤𝑡+𝜃 ) + 𝑐𝐴𝑤𝑖 𝑒 𝑖(𝑤𝑡+𝜃 ) + 𝑘𝐴𝑒 𝑖(𝑤𝑡+𝜃 ) = 𝐹0 𝑒 𝑖(𝑤𝑡+𝜃) ] * 𝑒 −𝑖(𝑤𝑡+𝜃
′)
∴ −𝑚𝐴 𝑤 2 + 𝑖𝑤𝑐𝐴 + 𝑘𝐴 = 𝐹0 𝑒 𝑖(𝑤𝑡+𝜃) . 𝑒 −𝑖 (𝑤𝑡+ 𝜃
′
−𝑚𝐴𝑤 2 + 𝑖𝑤𝑐𝐴 + 𝑘𝐴 = 𝐹0 [𝑒 𝑖𝑤𝑡 𝑒 𝑖𝜃 𝑒 −𝑖𝑤𝑡 𝑒 −𝑖𝜃 ]
′)
−𝑚𝐴𝑤 2 + 𝑖𝑤𝑐𝐴 + 𝑘𝐴 = 𝐹0 𝑒 𝑖(𝜃−𝜃
−𝑚𝐴𝑤 2 + 𝑖𝑤𝑐𝐴 + 𝑘𝐴 = 𝐹0 [cos(𝜃 − 𝜃 ′ ) + 𝑖 sin(𝜃 − 𝜃 ′ )]
where 𝜑 = (𝜃 − 𝜃 ′ ) ≡ 𝑃ℎ𝑎𝑠𝑒 𝑑𝑖𝑓𝑓𝑒𝑟𝑒𝑛𝑐𝑒 (𝑷𝒉𝒂𝒔𝒆 𝒂𝒏𝒈𝒍𝒆)
Separation between real and imaginary terms, we get:
−𝑚𝐴 𝑤 2 + 𝑘𝐴 = 𝐹0 cos(𝜃 − 𝜃 ′ ) = 𝐹0 cos 𝜑
𝑖𝑤𝑐𝐴 = 𝑖𝐹0 sin(𝜃 − 𝜃) = 𝑖 𝐹0 sin 𝜑
𝐴(𝑘 − 𝑚𝑤 2 ) = 𝐹0 cos 𝜑 … … (8)
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Chapter Three: Oscillations Dr. Intesar H. Hashim ‫ميكانيك تحليلي‬

𝑐𝑤𝐴 = 𝐹0 sin 𝜑 … … (9)

Dividing Eq. (9) on Eq. (8)
𝑐𝑤 𝐹0 sin 𝜑
2 = = tan 𝜑 … … (10)
𝑘−𝑚𝑤 𝐹0 cos 𝜑
𝑐 𝑐
𝑐
𝑤 =𝛾 ∴ = 2𝛾
𝑚 2𝑚 𝑚
∴ tan 𝜑 = 𝑘
−𝑤 2 𝑘
𝑚 𝑤0 = √
𝑚
2𝛾 𝑤
∴ tan 𝜑 = ( )
2 … … 11
𝑤0 2 −𝑤

Squaring and adding Eqs. (8) and (9)

𝐴2 (𝑘 − 𝑚𝑤 2 )2 + 𝑐 2 𝑤 2 𝐴2 = 𝐹02 (cos 2 𝜑 + sin2 𝜑) = 𝐹02 … … (12)
𝐴2 [(𝑘 − 𝑚𝑤 2 )2 + 𝑐 2 𝑤 2 ] = 𝐹02

2
𝐹02
𝐴 =
(𝑘 − 𝑚𝑤 2 )2 + 𝑐 2 𝑤 2
𝐹0
∴𝐴= … … (13)
√(𝑘−𝑚𝑤 2 )2 +𝑐 2 𝑤 2

by dividing the numerator and denominator on m

𝐹0
𝑚
𝐴=
2 2 2 2
√( 𝑘 −𝑚𝑤 ) +𝑐 𝑤
𝑚 𝑚 𝑚

So, in term of 𝛾 and 𝑤0

𝐹0 /𝑚
𝐴= … … (14) Steady State Oscillation Amplitude
√(𝑤02 −𝑤 2 )2 +4𝛾2 𝑤 2

Eq. (14) represent the amplitude (A) as a function of the driving frequency (w).
The maximum value of amplitude valid only at (𝑤 = 𝑤0 ) (Resonance
Frequency). To find this frequency equal differential amplitude equation by
zero.
(𝑤 = 𝑤0 ) ‫ القيمة القصوى للسعة تتحقق فقط عند‬.)w( ‫) كدالة للتردد الدافع‬A( ‫) تمثل السعة‬14( ‫معادلة‬
.)‫(تردد الرنين‬
𝑑𝐴 𝑑 𝐹0 /𝑚
= [ ]
𝑑𝑤 𝑑𝑤 √(𝑤02 −𝑤 2 )2 +4𝛾2 𝑤 2

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Chapter Three: Oscillations Dr. Intesar H. Hashim ‫ميكانيك تحليلي‬

1
𝐹0 𝑑
= [ (𝑤02 − 𝑤 2 )2 + 4𝛾 2 𝑤 2 ]−2
𝑚 𝑑𝑤
1
𝐹0 𝑑
= [ 𝑤04 + 𝑤 4 − 2𝑤02 𝑤 2 + 4𝛾 2 𝑤 2 ]−2
𝑚 𝑑𝑤
3
𝑑𝐴 𝐹0 −1 2 −2
= ( )[ 𝑤04 +𝑤 − 4
2𝑤02 2
𝑤 + 4𝛾 𝑤 ] 2
∙ [0 + 4𝑤 3 − 4𝑤02 𝑤 + 8𝛾 2 𝑤]
𝑑𝑤 𝑚 2

𝐹0 −1 4 𝑤 3 −4𝑤02 𝑤+8𝛾2 𝑤
= ( )3
𝑚 2
√ (𝑤02 −𝑤 2 )2 +4𝛾2 𝑤 2

−𝐹0 4 𝑤 3 −4𝑤02 𝑤+8𝛾2 𝑤

=
2𝑚 3
√ (𝑤02 −𝑤 2 )2 +4𝛾2 𝑤 2

𝑑𝐴 −𝐹0 4 𝑤 3 −4𝑤02 𝑤+8𝛾2 𝑤 −𝑚

= ]∗
𝑑𝑤 2𝑚 3√ 2 2𝐹0 𝑤
(𝑤02 −𝑤 2 ) +4𝛾2 𝑤 2

𝑑𝐴 𝑚𝐹0 4𝑤 (𝑤 2 −𝑤02 +2𝛾2 ) (𝑤 2 −𝑤02 +2𝛾2 )

= =
𝑑𝑤 4𝑚𝐹0 𝑤 3 3
√ (𝑤02 −𝑤 2 )2 +4𝛾2 𝑤 2 √ (𝑤02 −𝑤 2 )2 +4𝛾2 𝑤 2

𝑑𝐴
=0
𝑑𝑤

∴ 𝑤 2 − 𝑤02 + 2𝛾 2 = 0
𝑤 2 = 𝑤02 − 2𝛾 2
𝑤 = 𝑤𝑟 = (𝑤02 − 2𝛾 2 )1\2 … … (15) Resonant Frequency Equation
where 𝑤𝑟 = resonant frequency for maximum amplitude.
In case of weak damping, that is, when 𝑐 ≪ 2√𝑚𝑘 𝑜𝑟 𝛾 ≪ 𝑤0
Then 𝑤0 −
̃ 𝑤𝑟
From Eq. (14) and (15) we can find Amax in Resonant frequency.
𝑤 2 = 𝑤02 − 2𝛾 2 … … (16)
∴ 2𝛾 2 = 𝑤02 − 𝑤 2 … … (17)
Sub. Eq. (16) and (17) in Eq. (14)
𝐹0 /𝑚
𝐴=
√(2𝛾2 )2 +4𝛾2 (𝑤02 −2𝛾2 )

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Chapter Three: Oscillations Dr. Intesar H. Hashim ‫ميكانيك تحليلي‬

𝐹0 /𝑚
𝐴=
√4𝛾4 +4𝛾2 𝑤02 −8𝛾4

𝐹0 /𝑚
𝐴=
√4𝛾2 𝑤02 −4𝛾4

𝐹0 /𝑚
𝐴=
√4𝛾2 (𝑤02 −𝛾2 )

𝐹0 /𝑚
∴ 𝐴𝑚𝑎𝑥 = … … (18)
2𝛾√(𝑤02 −𝛾2 )

In other form:
𝐹0
𝐴𝑚𝑎𝑥 −
̃
2𝑚𝛾√(𝑤02 −𝛾2 )

𝐹0 𝑐
𝐴𝑚𝑎𝑥 −
̃ … … (19) 2𝑚
=𝛾 ∴ 𝑐 = 2𝑚𝛾
𝑐√(𝑤02 −𝛾2 )

2
In weak damping 𝛾 ≪ 𝑤0 then γ can be neglect
𝐹0 𝐹0
𝐴𝑚𝑎𝑥 −
̃ = … … (20)
2𝛾𝑚𝑤0 𝑐𝑤0

𝐹0 −
̃ 2𝐴𝑚𝑎𝑥 𝛾𝑚𝑤0 = 𝐴𝑚𝑎𝑥 𝑐𝑤0
Sub. Eq. (20) in Eq. (14)
𝐴𝑚𝑎𝑥 𝛾
𝐴= … … (21)
√(𝑤0 −𝑤)2 +𝛾2

when |𝑤0 − 𝑤| = 𝛾
or 𝑤 = 𝑤0 ∓ 𝛾
Then
𝐴𝑚𝑎𝑥 𝛾
𝐴=
√(𝑤0 −𝑤0 +𝛾)2 +𝛾2
𝐴𝑚𝑎𝑥 𝛾 𝐴𝑚𝑎𝑥 𝛾 𝐴𝑚𝑎𝑥 𝛾
𝐴= = =
√𝛾2 +𝛾 2 √2𝛾2 √2 𝛾
1
𝐴2 = 𝐴2 𝑚𝑎𝑥 … … (22)
2

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Chapter Three: Oscillations Dr. Intesar H. Hashim ‫ميكانيك تحليلي‬

This means that 𝛾 is a measure of the width of the resonance curve. Thus, 2𝛾 is
the frequency difference between the points for which the energy is down by a
factor of from the energy at resonance because the energy is proportional to A2.

‫ تمثل فرق التردد بين النقطتين اللتين تنخفض‬2𝛾 ‫ لذلك‬.‫هذا يعني أن 𝛾 هو مقياس لعرض منحنى الرنين‬
A2 ‫فيهما الطاقة بمقدار نصف طاقة الرنين ألن الطاقة تتناسب مع‬

Another way of designating the sharpness of the resonance peak for the driven
oscillator is in terms of the parameter (Q) called Quality Factor of the resonant
system.
‫) الذي‬Q( ‫هناك طريقة أخرى لتعيين حدة قمة الرنين للمتبذب القسري وهي من خالل حساب المعامل‬
.‫يسمى معامل النوعية للرنين‬
𝑤𝑟
𝑄= … … (23)
2𝛾

In the case of weak damping ‫في حالة التضاؤل الضعيف‬

𝑤0
𝑄≈ … … (24)
2𝛾

The total width ∆𝑤 at the half energy points is approximately

𝑤0
∆𝑤 = 2𝛾 ≈ … … (25)
𝑄

𝑤 = 2𝜋𝑓
∆𝑤 ∆𝑓 1
∴ = ̃ … … (26)
−
𝑤0 𝑓0 𝑄

giving the fractional width of the resonance peak, ‫العرض الجزئي لقمة الرنين‬
𝑄 = 104 [ quartz oscillators ]
18 | P a g e
Chapter Three: Oscillations Dr. Intesar H. Hashim ‫ميكانيك تحليلي‬

Example:
Determine the resonance frequency and the quality factor for the damped
𝑤0
oscillator if the damping frequency = . Then find the phase angle 𝜃 if the
4
𝑤0
applied frequency is
2

Solution:
𝑤𝑟 = (𝑤0 2 − 2𝛾 2 )1/2
2𝑤0 2 1/2
= (𝑤0 2 − )
16

7 𝑘 7
= 𝑤0 √ = √ √
8 𝑚 8

7 1/2
𝑤𝑟 𝑤0 (8) 7
𝑄= = 𝑤 = 2√ = 1.87
2𝛾 2( 40 ) 8

2𝛾 𝑤
tan 𝜑 =
(𝑤02 −𝑤 2 )

𝑤 2
𝑤 𝑤
2 0 0 2 80
4 2
= 𝑤 = 2
𝑤0 −( 20)2
2 𝑤
𝑤02 − 0
4
1 2 1
𝑤 1 4 1
4 0 4
= 1 = 3 = ∙ =
𝑤02 (1−4) 4
4 3 3

1 1
tan 𝜑 = ⇒ 𝜑 = tan−1 ( ) = 18.50
3 3

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