Harmonic and periodic motions

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Harmonic and periodic motions

One-dimensional harmonic motion of a particle can be described by a sine (or cosine) function of time in the form u(t) = u0sin t+

(5.1)

where u(t) is the displacement measured in u0 is amplitude of motion t is angular frequency is time [s], [m], [m],

[rad/s], [rad].

is an initial phase, phase constant or epoch

The angular frequency

is related to the cyclic frequency f by =2 f (5.2)

where f has the dimension [1/s]. When the harmonic motion is related to the rotary motion we can consider f as revolutions per second and define n = 60f [1/min] (5.3)

as R.P.M. or revolutions per minute. If we add T to t, then the value of u(t) must remain unaltered. This requires that the argument of the sine
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Harmonic and periodic motions

has been increased by 2

. From it follows that

T=2

. The quantity T is called period and is

T=

[s].

(5.4)

The velocity and acceleration of a harmonic motion are given by derivatives of displacement with respect to time

(t) = u0

cos

t+

and

(t) = - u0

sin

t+

(5.5)

where u0

and u0

are amplitudes of velocity and acceleration respectively.

The motion is harmonic if it is described by a sine or cosine function in time. The motion is periodic if it has the same pattern after a period T or after its integer multiples. For the function describing it we can write u(t) = u(t + kT), for k = 0,1,2,3,... Combination (superposition) of two harmonic motions being expressed by u1 = u10sin t+ and u2 = u20sin t+

(5.6)

gives a simple harmonic (sinusoidal) wave if and only if their angular frequencies are the same, i.e. = . In such a case

u = u1 + u2 = u0sin

t+

(5.7)

where

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Harmonic and periodic motions

u0 =

u102 + u202 + 2 u10u20cos(

(5.8)

= arctan

(5.9)

The sum of two harmonic motions with different angular frequencies is not harmonic, i.e. u = u1 + u2 u0sin t+ . It could, however, be periodic if the ratio of frequencies is a rational number.

A special case of interest is when the frequencies are slightly different. Let us consider the motion in the form u = u1 + u2 = u10sin( t) + u10sin ( + )t .

(5.10)

Simple trigonometric manipulation reveals that

u = U sin

t = 2 u10cos

sin

(5.11)

The resulting motion could be considered as a sine wave with angular frequency with varying amplitude U = 2 u10cos

/2 and

t/2 . Every time the amplitude reaches a maximum, there is .

said to be a beat. Beats are well pronounced if the difference of frequencies is small, i.e. if

Read carefully the following Matlab program VHMharpoh1a.m. Observe the results shown in Fig. 5.1, Fig. 5.2 and Fig. 5.3. Observe what happens as the input parameters are varied.
clear u10=10; u20=20; om1=0.3; om2=1.05; fi1=0.1; fi2=0.4; t=0:pi/64:12*pi; u1=u10*sin(om1*t+fi1); u2=u20*sin(om2*t+fi2); uv=u1+u2;

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Harmonic and periodic motions

figure(1) subplot(3,1,1); plot(t,u1,'k'); axis('off') subplot(3,1,2); plot(t,u2,'k'); axis('off') subplot(3,1,3); plot(t, uv,'k'); title('sum of two periodic motions','fontsize',13); xlabel('does not generally give a periodic motion','fontsize',13); print VHMharpohf1.eps -deps

Figure 5.1:Harmonic and periodic motions

om1=2; om2=4; u1=u10*sin(om1*t+fi1); u2=u20*sin(om2*t+fi2); uv=u1+u2; figure(2) subplot(3,1,1); plot(t,u1,'k'); axis('off'); subplot(3,1,2); plot(t,u2,'k'); axis('off'); subplot(3,1,3); plot(t, uv,'k') title('if the frequency ratio is an integer','fontsize',13); xlabel('then the resulting motion is periodic','fontsize',13) print VHMharpohf2.eps -deps

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Harmonic and periodic motions

Figure 5.2:Periodic motions Two wave motions with 'close' frequencies lead to the well-known phenomenon of beat frequencies.
om1=4.1; om2=4.8; u1=u10*sin(om1*t+fi1); u2=u10*sin(om2*t+fi2); uv=u1+u2; figure(3) subplot(3,1,1); plot(t,u1,'k'); axis('off') subplot(3,1,2); plot(t,u2,'k'); axis('off') subplot(3,1,3); plot(t, uv,'k') title('superposition of close frequencies - beats','fontsize',13) print VHMharpohf3.eps -deps

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Harmonic and periodic motions

Figure 5.3:Beats If a particle performs harmonic motions in two mutually perpendicular directions, say u = u0sin t w = w0sin t+

(5.12)

then as a resulting motion we get interesting patterns, known as Lissajouse figures. Their appearance depends on the ratio of frequencies and the phase difference. Simple trigonometrical manipulation shows that for the same frequencies we obtain a tilted ellipse, which in some cases could degenerate into a circle or a straight line. See program VHMlissa1.m showing how (see Fig. 5.4) this effect could be employed for the phase
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Harmonic and periodic motions

identification.
clear t=0:0.001:8; om1=2; om2=2; u0=1; w0=1; fi=pi/2; i=0; figure(1) for fi=0:pi/34:pi u=u0*sin(om1*t); w=w0*sin(om2*t+fi); i=i+1; subplot(6,6,i); lab=['fi = ' num2str(fi)]; plot(u,w,'k'); axis('square'); axis('off') end text (-11,-2,'Lissajouse with a phase shift','fontsize',13) print VHMlissa1.eps -deps

Figure 5.4:Lissajouse pattern - the influence of a shift If the ratio of frequencies is not a rational number we obtain curves that are generally not closed. An example of such a curve is generated by the program VHMlissa2.m - see Fig. 5.5.

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Harmonic and periodic motions

clear t=0:0.001:1; om1=102; om2=203; u0=1; w0=1; fi=0; figure(1) u=u0*sin(om1*t); w=w0*sin(om2*t+fi); plot (u,w,'k'); axis('off') print VHMlissa2.eps -deps

Figure 5.5:Lissajouse pattern - just for fun

up Next: Phase and group velocities Up: Vibrations Previous: Introduction to vibration Contents marcel 2001-08-14

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