Coupled Harmonic

Oscillators
Scott Burchfield
Chad O’Melia
Simple Harmonic Oscillators
𝑚𝑥ሷ = −𝑘𝑥

https://www.colorado.edu/physics/phys1140/phys1140_fa00/Experiments/M5/M5.html
Random kick
Net forces
netforce cart 1 = −𝑘1 𝑥1 + 𝑘2 𝑥2 − 𝑥1 = − 𝑘1 +𝑘2 𝑥1 + 𝑘2 𝑥2
netforce cart 2 = −𝑘2 𝑥1 − (𝑘2 + 𝑘3 )𝑥2

1 2 3
Coupled Harmonic Oscillators
Hooke’s law still applies for coupled harmonic oscillators
𝑴 ∙ 𝒙ሷ = −𝑲 ∙ 𝒙
𝑚1 0 𝑘1 + 𝑘2 −𝑘2
𝑴= 𝑲=
0 𝑚2 −𝑘2 𝑘2 + 𝑘3
Coupled Oscillator Dynamics
❏ Dynamics cannot be determined by simple inspection
❏ Similar to Fourier series, we can beat the problem into things we know
❏ The things we know are known as Normal Modes
Normal Modes
First Normal Mode
Second Normal Mode
Normal Mode Derivation
𝑲 − 𝜔2 𝑴 ∙ 𝒂 = 0
Since we know 𝑎Ԧ is nonzero, we know the matrix equals zero.
det 𝑲 − 𝜔2 𝑴 = 0

Use the equation above and solve for omega. This should give two solutions,
which are the two normal frequencies that describe the two normal modes of the
system.

Now the two normal frequencies are found.

Equation of Motion First Normal Mode
Using first normal frequencies, first normal mode equations of motion can be
found
Take normal frequencies and substitute into
𝑲 − 𝜔2 𝑴
to find an eigenvalue equation.

Using 𝑲 − 𝜔2 𝑴 ∙ 𝒂 = 0 , where 𝐶 = 𝑐𝑜𝑛𝑠𝑡 and 𝑎1 = 𝐴𝑒 −𝑖𝛿 solve for

eigenvector 𝒂 , then we find the equations of motion are:

𝑧1 (𝑡) 𝑎1 𝑖𝜔 𝑡 𝐴 𝑖(𝜔1𝑡−𝛿)
𝒛 𝑡 = = 𝑎 𝑒 1 = 𝑒
𝑧2 (𝑡) 2 𝐶𝐴
Equation of Motion Second Normal Mode
Likewise, use second normal frequency to find second normal mode equations of
motion
𝑥1 (𝑡) 𝐴
𝒙2 𝑡 = = cos 𝜔2 𝑡 − 𝛿2 .
𝑥2 (𝑡) 𝐷𝐴
General Solution
We can combine the normal mode equations of motion to obtain a general
solution
1 1
𝒙 𝑡 = 𝐴1 cos 𝜔1 𝑡 − 𝛿1 + 𝐴2 cos 𝜔2 𝑡 − 𝛿2
𝐶 𝐷
Equal Masses Equal Springs
The spring-constant matrix and the mass matrix are defined below as
𝑚 0
𝑴=
0 𝑚
𝑘+𝑘 −𝑘 2𝑘 −𝑘
𝑲= =
−𝑘 𝑘+𝑘 −𝑘 2𝑘
● The normal frequencies can then be found using the process defined earlier
in the section. The derivation is shown below.
2
𝑑𝑒𝑡 𝑲 − 𝜔2 𝑴 = 𝑑𝑒𝑡 2𝑘 − 𝑚𝜔 −𝑘
−𝑘 2𝑘 − 𝑚𝜔2
= 2𝑘 − 𝑚𝜔2 ∗ 2𝑘 − 𝑚𝜔2 − −𝑘 ∗ −𝑘
= 2𝑘 − 𝑚𝜔2 2 − 𝑘 2 = 𝑘 − 𝑚𝜔2 3𝑘 − 𝑚𝜔2 = 0
Finding the first normal mode

𝑘
𝜔1 =
𝑚
The first normal frequency gives the eigenvector of values
1
𝒂 𝑡 = .
1
Using this eigenvector for the first normal mode, the equations of motions are
𝑥1 (𝑡) 𝐴
𝒙1 𝑡 = = cos 𝜔1 𝑡 − 𝛿1 .
𝑥2 (𝑡) 𝐴
Finding the second normal mode

3𝑘
𝜔2 =
𝑚
For the second normal mode, the eigenvector is
1
𝒂 𝑡 = .
−1
The second normal mode equation from this eigenvector is shown below.
𝑥1 (𝑡) 𝐴
𝒙2 𝑡 = = cos 𝜔2 𝑡 − 𝛿2 .
𝑥2 (𝑡) −𝐴
Thus, the combined equation of motion is
1 1
𝒙 𝑡 = 𝐴1 cos 𝜔1 𝑡 − 𝛿1 + 𝐴2 cos 𝜔2 𝑡 − 𝛿2 .
1 −1
Weakly Coupled System
Weakly Coupled System
𝑚 0 𝑘 + 𝑘2 −𝑘2
𝑴= 𝑲=
0 𝑚 −𝑘2 𝑘 + 𝑘2
2 𝑘 + 𝑘2 − 𝑚𝜔2 −𝑘2
𝑑𝑒𝑡 𝑲 − 𝜔 𝑴 = 𝑑𝑒𝑡
−𝑘2 𝑘 + 𝑘2 − 𝑚𝜔2
= 𝑘 − 𝑚𝜔2 𝑘 + 2𝑘2 − 𝑚𝜔2 = 0
Solving for the normal frequencies
𝑘
𝜔1 =
𝑚

𝑘 + 2𝑘2
𝜔2 =
𝑚
Equations of motion
To find the equations of motion do the same steps as before. The summation of
the normal mode equations for the system of the system now become
1 𝑖 𝜔0−𝜖 𝑡 1 𝑖 𝜔0+𝜖 𝑡
𝒛 𝑡 = 𝐶1 𝑒 + 𝐶2 𝑒
1 −1
Taking the real parts gives the position equation defined below, which is the
same equation found earlier.
1 1
𝒙 𝑡 = 𝐴1 cos 𝜔1 𝑡 − 𝛿1 + 𝐴2 cos 𝜔2 𝑡 − 𝛿2
1 −1
Weakly Coupled System
Lagrangian
Follows what we learned about the Lagrangian from earlier in the semester.
1 1 1 1 1
● 𝐿 = 𝑇 − 𝑈 = 2 𝑚𝑥1ሶ 2 + 2 𝑚𝑥2ሶ 2 − 2 𝑘𝑥1 2 − 2 𝑘2 𝑥2 − 𝑥1 2 − 2 𝑘𝑥2 2
● This gives:
𝑑
● 𝑥1ሶ =(−(𝑘1 +𝑘2 )∗𝑥1 +𝑘2∗𝑥2 )/m1
𝑑𝑡
𝑑
● 𝑥2ሶ =((𝑘2 )∗𝑥1 −(𝑘2 + 𝑘3 )∗𝑥2 )/m1
𝑑𝑡
Steps to solving a problem with the eigenvector
approach
Evaluate Newton’s second law for the system
Determine a mass matrix and a spring constant matrix
Evaluate determinate of 𝑲 − 𝜔2 𝑴 and set equal 0
Solve for normal frequencies
Substitute normal frequencies into 𝑲 − 𝜔2 𝑴 in order to find eigenvectors for
that matrix
Determine equations of motion for each normal mode
Substitute eigenvectors into general equation.
Issues with the eigenvector approach
Acknowledgements
Dr. Pontius

Dr. Rupright

Professor Rhoades
References
Lay, David C. Linear Algebra and Its Applications. Vol. 5, Addison Wesley, 2003.

Schwartz, Matthew. “Lecture 3: Coupled Oscillations.” Physics Harvard.

users.physics.harvard.edu/~schwartz/15cFiles/Lecture3-Coupled-Oscillators.pdf.

Taylor, John R. Classical Mechanics. University Science Books, 2002.

Questions?