Chapter 13 periodic motion

Collapse of the Tacoma Narrows suspension bridge in America in 1940 (p 415)

oscillation
SHM
Damped oscillation Forced oscillation

dynamics

kinematics

Dynamic equation

Kinematics equation

Circle of reference

Energy

Superposition of shm

Chapter 13 periodic motion

Key Terms: periodic motion / oscillation restoring force Amplitude cycle Period Frequency angular frequency simple harmonic motion harmonic oscillator circle of reference Phasor phase angle simple pendulum

Key Terms: physical pendulum Damping Damped oscillation Critical damping overdamping underdamping driving force forced oscillation natural angular frequency resonance chaotic motion chaos

1. Dynamic equation
1) dynamic equation

Ideal model: A. spring mass system

T T T F ! ma !  kx 2T T d x d2x k m 2 !  kx  x!0 2 dt m dt

d2x  [ 2x ! 0 2 dt

k [! m

2T T! [

x ! A cos( [t  J )

B. The Simple Pendulum

Ft ! ma t d 2s  mg sinU ! m 2 dt s ! LU dU  g sinU ! L 2 dt
Small angle approximation sinU}U
2

d 2U g  U !0 2 L dt

g [ ! l
2

U ! U 0 cos([t  J )

C. physical pendulum P409

X ! IE
d 2U  mgd sinU ! I 2 dt d 2U mgd ! U 2 dt I mgd 2 [ ! I

Example: Tyrannosaurus rex and physical pendulum All walking animals, including humans, have a natural walking pace, a number of steps per minute that is more comfortable than a faster or slower pace. Suppose this natural pace is equal to the period of the leg, viewed as a uniform rod pivoted at the hip joint. A) How does the natural walking pace depend on the length L of the leg, measured from hip to foot? B) Fossil evidence shows that Tyrannosaurus rex, a two-legged dinosaur that lived about 65 million years ago at the end of the Cretaceous period, had a leg length L = 3.1 m and a stride length (the distance from one foot-print to the next print of the same foot ) S = 4.0 m. Estimate the walking speed of Tyrannosaurus rex. (page 410 EX13-10) Solution:

Solution:

2( 3.1m ) 2L ! 2T ! 2.9 s T ! 2T 2 3(9.8m / s ) 3g

S 4.0m v! ! ! 1.4m / s T 2.9 s

Conclusion: Equation of SHM

2

d x  [2 x ! 0 dt 2

Solution:

x ! A cos( [t  J )

Example: A particle dropped down a hole that extends from one side of the earth, through its center, to the other side. Prove that the motion is SHM and find the period. Solution: F !  GmM g 2
'

r e R,

r 4 3 Tr !  3 M M ! 4 R TR 3 3 3
'

Fg
O

GmM d r Fg !  r !m 2 3 R dt 2 [ 2 d r GM  r !0 2 3 dt R

d2x  [2 x ! 0 2 dt

Example: An astronaut on a body mass measuring device (BMMD), designed for use on orbiting space vehicles, its purpose is to allow astronauts to measure their mass in the weight-less condition in earth orbit. The BMMD is a spring mounted chair. if M is mass of astronaut and m effective mass of the BMMD, which also oscillate, show that

M ! (k

4T

)T 2  m 2

Example: the system is as follow, prove the block will oscillate in SHM Solution:

mg  T1 ! ma (T1  T2 ) R ! IE T2 ! kx a ! ER
2

(1) ( 2) ( 3) ( 4)
o

We have

d y ky  !0 2 dt m  RI2

Alternative solution

1 1 2 1 2 1 2 mgy ! k ( l  y )  kl  I[  mv 2 (1) 2 2 2 2

v ! [R

(2) (3)

mg ! kl

Take a derivative of y with respect to t

d2y ky  !0 2 I dt m  R2

2. kinematics equation
2.1 Equation

d2x [2x ! 0 dt 2

Solution:

x ! A cos([t  J )
dx v! !  A[ sin([t  J ) dt
d2x a ! 2 !  A[ 2 cos([t  J ) dt

2.2 The basic quantityamplitude period, phase A. Basic quantity: A,[ and J are three constants. They can describe SHM completely. 1) Amplitude (A) : the maximum magnitude of displacement from equilibrium. (+, Unite: m) 2) Angular Frequency ([) . (+, Unite: rad/s)

k ![2, [ ! m

[ 1 k ! , f ! 2T 2T m

k 1 , T! ! 2T m f

m k

Caution: [ is angular frequency rather than velocity. It depends on the system.

3) Phase angle ( U =[ t+J ): the status of the object.

x ! A cos([t  J )
Suppose there are two SHMs with same [:

x1 ! A cos( [t  J 1 ),
Phase difference:

x 2 ! A cos( [t  J 2 ) "0 !0 0 !T
x2 is front of x1 x2 and x1 are in phase x2 is behind of x1 x2 and x1 are inverse phase

(U ! J 2  J 1

QUESTION: which one is ahead?

T v !  A[ sin( [t  J ) ! A[ cos( [t  J  ) 2 2 2 2 a ! [ A cos( [t  J ) ! [ A cos( [t  J  T ) ! [ x

x ! A cos( [t  J )

x ! A cos( [t  J ) v !  A[ sin( [t  J ) 2 2 a !  A[ cos([t  J ) ! [ x

x1 x2

x1

x2

(U ! U 2  U 1 ! 2 kT k ! 0 ,s1 ,s2 .
In phase

(U ! U 2  U 1 ! ( 2k  1)T k ! 0,s1,s2.
Inverse phase

 The Motion of Harmonic Oscillator at Any Time Depends on Phase (U= [t+J )

x ! A cos( [t  J ),

v !  A[ sin( [t  J )

([ t+J )=0, x=A,Y=0 maximum positive ([ t+J ) the first quadrant, x>0, Y < 0 ([ t+J )=+T/2, x=0, Y <0 equilibrium ([ t+J ) the second quadrant, x<0, Y <0 ([ t+J )=T , x= -A, Y =0 maximum negative ([ t+J) the third quadrant, x<0,Y >0 ([ t+J )= 3T/2, x=0, Y >0 equilibrium ([ t+J ) the fourth quadrant, x>0, Y >0 ([ t+J )=2T , x=A,Y =0 maximum positive

B. The formula to solve: A, [, J 1) [ is predetermined by the system.

d2x  [2 x ! 0 dt 2

x ! A cos( [t  J )

v !  A[ sin( [t  J )

2) A and J are determined by initial condition: if t=0, x=x0, v=v0

then , x0 ! A cos J , v0 !  A[ sin J

v0 2 A! x ( ) [
2 0

v0 tg J !  [ x0

P 399

Caution: J is fixed by initial condition.

Example: An object of mass 4kg is attached to a spring of k=100N.m-1. The object is given an initial velocity of v0=-5m.s-1 and an initial displacement of x0=1.0m. Find the kinematics equation Solution:

x ! A cos([t  J0 )
3[! k m 100 ! ! 5, @ A ! 4
2 v0 2 x0  2 [

! 1. 4 m

v0 3 tgJ !  !1 [x0

and v0

T 0 @J ! 4

T @ x ! 1.4 cos(5t  ) 4

C. Phasor Method equilibrium(+T/2)

x ! A cos([t  J )

Q Maximum negative(T) O

Maximum ([ t+J) positive (0) x P x

equilibrium(-T/2)

Circle of reference method

v !  A[ sin( [t  J ) x ! A cos( [t  J )

a ! A[ 2 cos( [t  J )

From above, SHM is the projection of uniform circular motion (UCM) onto a diameter. Compare SHM with UCM SHM Amplitude Angular Frequency Displacement Phase in the first quadrant in the third quadrant in the fourth quadrant UCM Radius Angular Speed Projection on x-axis Angle that OQ makes with +x x(+), v(-), a(-) x(-), v(+), a(+) x(+), v(+), a(-)

A [ x U

in the second quadrant x(-), v(-), a(+)

Example: Find the initial phase of the two oscillation

x(m) 0.8
o 1

x(cm) 6 3 t(s)
o 1

t(s)

-6 o

6 x

T J0 !  2

T J0 !  3

Example:SHM: x-t graph, try to find U0 , Ua , Ub , and equation for the displacement. Solution: From x-t graph, A ! 2 m
x (m)

2
2

t ! 0 , x ! 2 m , v " 0 draw rotating vector,

T T T 3T @ U0 !  , U a ! , U b ! or (  ) 4 2 2 2
t !t a
2 2

a
1

b
t (s)

0 -2

for (U ! [(t

T T t ! 0 , U !  , and t ! 1 , U ! , 4 2

t !t b

t !0

T T @ [( 1  0 ) !  (  ), 2 4 3T T @ x ! 2 cos( t ) 4 4

3T @[ ! 4

Example: A horizontal spring-mass system moves in SHM. The force constant is k=200N/m, and the spring is attached to a body with mass m=0.50kg, We give the body an initial displacement of +0.015m and initial velocity of +0.40m/s. a) Find the period, amplitude, and phase angle of the motion. b) Write equation for the displacement, velocity, and acceleration as functions of time.

Solution:
3 [! 200 k ! ! 20 , 0.50 m

 0.025

x 0.015 J P 0.025
Q

2T @T ! ! 0.31 s [

2 v0 @A! x  2 [ 2 0

! 0.025 m

0.015 J !  cos ( ) ! 53 0 ! 0.93 rad 0.025

1

@ x ! 0.025 cos( 20 t  0.93 )m

[
x 0.015 J P 0.025
Q

@ v ! 0.5 sin( 20t  0.93)m / s

@ a ! 10 cos(20t  0.93)m / s
2

 0.025

3.Energy in SHM
Kinetic energy:

1 2 1 1 2 2 2 2 2 K ! mv ! m [ A sin ([t  J ) ! kA sin ([t  J ) 2 2 2

Potential energy:

1 2 1 U ! kx ! kA2 cos 2 ([t  J ) 2 2

Total energy of the system:
1 2 1 2 2 2 K  U ! kA sin ([t  J )  cos ([t  J ) ! kA 2 2

Example: Horizontal SHM: k=200N/m, m=0.50kg, and the oscillator is released from rest at x=0.02m. a) Find the vmax and vmin attained by the oscillator; b) Compute the amax; c) Determine the v and a when the body has moved halfway to the center from its original position; d) Find the total energy, potential energy, and kinetic energy at this position. e) at what point U=K. Solution:

k [! ! 20 , m

A ! 0.02 m , ( J ! 0 )
v min !  A[ ! 0.40 m / s

a) v max ! A[ ! 0.40 m / s ,

b) a max ! A[ 2 ! 8.0 m / s 2 ,

c) v hal !  A[ sin( [t  J )!  A[ sin T ! 0.35 m / s

a hal T !  A[ cos ! 4.0 m / s 2 3
2

d) E ! 1 kA 2 ! 1 mv 2 ! 0.04 J max
2 2

U hal

1 2 ! kA cos 2 ( [t  J ) ! 0.01J 2

1 2 K hal ! kA sin 2 ( [t  J ) ! 0.03 J 2 1 2 e) 3 K ! U ! kA ! 0.02 J 4

@ x ! s0.014 m

Example: Spring mass system. particle move from left to right, amplitude A1. When the block passes through its equilibrium position, a lump of putty dropped vertically on to the block and stick to it. Find the kinetic equation suppose t=0 when putty dropped on to the block. Solution:

1 1 2 2 Mv 1 ! kA1 , 2 2
1 1 2 2 ( M  m )v 2 ! kA2 , 2 2

Mv 1 ! ( M  m )v 2 ,
A2 ! A1 M M m

k [! mM

T J0 !  2

k M O X

x ! A2 cos([t  J0 )

v1

Example: A wheel is free to rotate about its fixed axle,a spring is attached to one of its spokes a distance r from axle.assuming that the wheel is a hoop of mass m and radius R, spring constant k. a) obtain the angular frequency of small oscillations of this system b) find angular frequency and how about r=R and r=0

4. Superposition of SHM
4.1 mathematics method

x1 ! A1 cos([t  J1 )

x 2 ! A2 cos([t  J 2 )

x ! x1  x 2 ! A cos([t  J )
A!
A1 sin J1  A2 sin J 2 A1  A2  2 A1 A2 cos(J 2  J1 ) J ! arctg A1 cos J1  A2 cos J 2
2 2

(J ! J 2  J1 ! 2kT (J ! J 2  J1 ! ( 2k  1)T

A ! A1  A2  2 A1 A2 ! A1  A2 ! Amax

A ! A1  A2  2 A1 A2 ! A1  A2 ! Amin

4.2 circle of reference

x1 =A1cos([ t+N1 ) x2 =A2cos([ t+N2 )

M M2

x= x1+x2= Acos([ t+N )

A ! A1  A2  2 A1 A2 cos(N 2  N 1 ) A 2
N2 N N1 x1 x2 x
2 2

A
A1 M1

A2 (N2-N1)

A1 sin N 1  A2 sin N 2 tg N ! A1 cos N 1  A2 cos N 2

Find x=x1+x2
x(m)
3 3

x(m)

x2 3
O
2

t(s)

4 3 O

x1
x(m)

T T x ! 7 cos( t  ) 2 2 t(s) x1 2 x2 T T x ! cos( t  ) 2 2 x1 t(s) 2 x2

X A2 X A1
4 3 O

X A1

T T x ! 6 cos( t  ) 2 6

Example: x1=3cos(2Tt+T)cm, x2=3cos(2Tt+T/2)cm, find the superposition displacement of x1 and x2. Solution: Draw a circle of reference,

X A X A1 3

X A2

x
O 3

x ! x1  x 2 ! A cos( [t  U )
3T ! 3 2 cos( 2Tt  )cm 4

5*.Damped Oscillations
5.1 Phenomena: p411 5.2 Equation

F ! ma ! kx  bv
d2x dx m 2 !  kx  b dt dt

If damping force is relative small

x ( t ) ! Ae
k b  m 4m 2
2

 bt

2m

cos([ d J ) t
underdampi ng critical damping overdampin g ( x ! c1e  a1t  c2e  a2 t )

[d !

k b  m 4m 2

"0 !0 0

1.0 0.8 0.6 0.4 0.2 0.0 -0.2 -0.4 -0.6 -0.8 0.0

x ( t ) ! Ae

 bt

2m

cos([ d J ) t

overdamping No oscillation

[d 0 !
Critical damping

underdamping
Amplitude decrease

0.5

1.0

1.5

2.0

6*.Forced Oscillations
drive an oscillator with a sinusoidally varying force:

d 2x dx m 2 !  kx  b  F0 sin [t dt dt
The steady-state solution is

x ( t ) ! A cos([t  J ) F0 A! [ [
2

m b[  m
2

2 2 0

where [0=(k/m) is the natural frequency of the system. The amplitude has a large increase near [0----- resonance.