CHAPTER 2

OSCILLATION WITH TWO DEGREE OF FREEDOM

d
2
x/dt
2
= a x
2
+ b x + c (not linear & not homogeneous)
d
2
x/dt
2
= b x + c (linear but not homogeneous)
d
2
x/dt
2
= b x (linear homogeneous)
linear homogeneous equations have important property :
the sum of any two solutions is itself a solution
if x
1
and x
2
are solutions of the equation,
x
3
= ( x
1
+ x
2
) is also a solution
Linear Homogeneous Equation
Example : d
2
x/dt
2
= - k x
solution :
x
1
= A sin et
x
2
= B cos et
Proof that x
3
= A sin et + B cos et is also its solution
is x
4
= x
1
+ x
2
+ x
3
also its solution ?
F
1
= - k x
1
F
2
= + k (x
2
- x
1
)
F
3
= - k (x
2
- x
1
)
F
4
= - k x
2
system with two degrees of freedom
x
1
x
2
k k k
F
1
F
2
F
3
F
4
m m
m m
(1) m d
2
x
1
/dt
2
= F
1
+ F
2
= - k x
1
+ k (x
2
- x
1
)

d
2
x
1
/dt
2
= - (2k/m) x
1
+ (k/m) x
2
(2) m d
2
x
2
/dt
2
= F
3
+ F
4
= - k (x
2
- x
1
) - k x
2

d
2
x
2
/dt
2
= - (2k/m) x
2
+ (k/m) x
1

x
1
= A cos et
x
2
= B cos et
d
2
x
1
/dt
2
= - e
2
x
1

d
2
x
2
/dt
2
= - e
2
x
2
(3) (2k/m - e
2
) x
1
k/m x
2
= 0
(4) - k/m x
1
+ (2k/m - e
2
) x
2
= 0
2k/m - e
2
- k/m
- k/m 2k/m - e
2

x
1

x
2
=
0
0
Simultaneous
equation
(2k/m - e
2
) - k/m
- k/m (2k/m - e
2
)
= 0 (2k/m - e
2
)
2
(k/m)
2
= 0
(2k/m - k/m) x
1
- k/m x
2
= 0
k/m x
1
k/m x
2
= 0
x
1
= x
2

e
1
2
= k/m mode 1
e
2
2
= 3k/m mode 2
(2k/m - 3k/m ) x
1
k/m x
2
= 0
-k/m x
1
- k/m x
2
= 0
x
1
= - x
2

substitute e
2
on the equation (3) or (4) with k/m and 3k/m :

(3) (2k/m - e
2
) x
1
- k/m x
2
= 0
mode 1 :
mode 2 :
X
1
X
2
X
1
X
2
mode-1 : x
1
= x
2
X
1
X
2
X
1
X
2
mode-2 : x
1
= - x
2
If only the mode-1 exist :
x
1
= A
1
cos (e
1
t)
x
2
= A
2
cos (e
1
t)
e
1
2
= k/m
A
1
= A
2
If only the mode-2 exist :
x
1
= A
1
cos (e
2
t)
x
2
= A
2
cos (e
2
t)
e
2
2
= 3k/m
A
1
= - A
2
+
1
+
2
( )
( )
( )
( )
1 2 2
2
2
2
1 2 2
2
2
2
1 2 1
2
1
2
1 2 1
2
1
2

m
k
sin
L
g
dt
d
kL sin mg
dt
d
mL 2.

m
k
sin
L
g
dt
d
kL sin mg
dt
d
mL 1.
=
=
+ =
+ =
Coupled
pendulum
Approximation : sin + = +
( )
( )
2 1
2
2 1
2
2 2
2
2
2
1
2 1
2
2
2
1 2 2
2
2
2
1
2
1 2 1
2
1
2

m
2k
L
g
: 2 mode

L
g
: 1 mode
0
m
k

m
k
L
g
0
m
k
L
g

m
k
- 2.
0
m
k

m
k

L
g
1.

m
k

L
g
dt
d
2.

m
k

L
g
dt
d
1.
= + =
= =
=
|
.
|

\
|

|
.
|

\
|
+
=
|
.
|

\
|
+ +
=
|
.
|

\
|
+
= =
= + =
mode 1
mode 2
If only the mode-1 exist :
+
1
= A
1
cos (e
1
t)
+
2
= A
2
cos (e
1
t)
e
1
2
= g/L
A
1
= A
2
If only the mode-2 exist :
+
1
= A
1
cos (e
2
t)
+
2
= A
2
cos (e
2
t)
e
2
2
= g/L + 2k/m
A
1
= - A
2
Y
1
Y
2
a
0
a
0
a
0
a

a

a

k

k

k

m

m

Exercise
Find the normal modes for transversal movement of the system
shown below
a L : n oscillatio small
~
- 2
L
Y
) a k(L
L
Y
) a k(L
L
) Y - (Y
) a k(L
dt
Y d
m 2.
L
Y
) a k(L
L
Y
) a k(L 2
L
) (Y
) a k(L
L
Y
) a k(L
)sin a k(L )sin a k(L
dt
Y d
m 1.
1
0
2
0
1 2
0
2
2
2
2
0
1
0
1 2
0
1
0
2 0 1 0
2
1
2
L
Y
) a k(L
2
0

=
=
+ =

+ =
=
Y
)
a
a
(1
m
3k
: 1 mode
)
a
a
(1
m
k
: 1 mode
)
a
a
(1
m
k
- )
a
a
(1
m
2k
)Y
a
a
(1
m
2k
)Y
a
a
(1
m
k
Y 2.
)Y
a
a
(1
m
k
)Y
a
a
(1
m
2k
Y 1.
0
2
2
0
2
1
2
0
2
2
0
2
0
1
0
2
2
2
0
1
0
1
2
=
=
(

=
(

=
+ =
Mode 1
Mode 2
Mode-1 Mode-2
Mode-3 Mode-4
k

k

k

m

m

m

m

k

k