Coupled Oscillations

Coupled Oscillators

NON-
INTITUTIVE!
 Coupled Oscillators

Equations of motion are


m x1  kx1  k '  x2  x1  Simultaneous coupled
differential equation

m x2  kx2  k '  x2  x1 
 Matrix equation of coupled oscillator

 
m x1   kx1  k  x2  x1  m x2  kx2  k '  x2  x1 
'

d  x1   k  k
2 '
k   x1 
'
m 2  ' 
x
dt  2   k '
k  k   x2 

d 2
 X   [K ]  x1   k  k '
 X    x  ,[ K ]   '
k' 
m 2 X   2  k
'
k  k 
dt
 d  x1   k  k
2 '
k   x1 
'
m 2  ' 
x
dt  2   k '
k  k   x2 

 
2
d  X   0  c
2

2
 c 2

X 

dt 2 
  c
2

 0 2  c 2 


k k'
Trial solution  X   V  e t 0 2 
m
, c 2 
m

 x1  V1   t
 x   V  e
 2  2
  2

d  X   0  c
2

2
 c 2

X   X   V  e
t

dt 2 
  c
2

 0 2  c 2 




  0 2  c 2  c 2

V   
2  V 

  c
2

 0 2   c 2 





  0 2  c 2  c 2 
 V    2  I V   0

  c
2

 0 2   c 2 


 A    I V   0
Following the procedure of getting Eigen values and Eigen vectors
Finding the energy eigen values λ
of [A]

 A    I V   0
determinant: A   I  0
Finding an axis for which L is parallel to ω for the given [I]

C T
E
 
IMPOSING THE CONDITION   

L
I   
L
TO THE GIVEN [I]

CO  2 1

E
I  
 1 2

R
 

BY IMPOSING THIS CONDITION AND FINDING THE UNKNOWNS λ AND

ω GIVE INFORMATION ABOUT THE AXIS FOR WHICH L AND ω ARE
PARALLEL FOR THE UNKNOWN RIGID BODY
Finding an axis for which L is parallel to ω for
the given [I]
[ 𝑰 ] 𝝎 − 𝝀𝝎=𝟎
=0

Theorem: If [A][x]=0, then [A] is non-invertible. This implies A-1 does not exist

Hence, |A|=0.

2 1
0 We can
1 2 find
relations
Characteristic Equation  2  4  3  0 btw and

1  1, 2  3,
  A    I V   0
Finding Eigen values of [A]


  0 2  c 2  c 2 
 A   

  c
2

 0 2   c 2  


find the eigen values  , i.e. ( 2 )

  A    I   0

 0  c 2 2
  2
c 2

0
c 2 
 0 2   c 2   2 
Characteristic equation:
     
2
2
 2 02  c2  2  04  2 02  c2  0

Eigen values of [A]

     
2
2 2 2 2 2
2    2    4  1 [04  2 02  c2 ]
  
2 0 c 0 c

2
      
2
2 2 2 2 2
2    2    4 1 [04  2 02  c2 ]
  
2 0 c 0 c

  
2 02  c2  22 04  c4  202c2  4  1 04  8 02  c2   
  
2


2 02  c2  2c2 
 2
 
2
 
  02  c2  c2

Eigen values of [A]

1  i0 ,  2  i0 ,  3  i 02  2c2 ,  4  i 02  2c2

Find the eigen vectors of [A]
Finding an axis for which L is parallel to ω for
the given [I]

T
• 1, 2 are called the Eigen values
C
L E
which satisfies the equation
L
• []’s are E
O
C the Eigen vectors.
called
R
• For each Eigen values, Eigen vector can be
found.
 Finding Eigen vectors of [A]

Substitute each values of 2 in the Eigen value equation

 A    I V   0
Putting 12 in the Eigen value equation to get first set of
Eigen vectors


 
  0 2  c 2  12 c 2  V  1 
 1  0

 c 2
 2
 0   c 2
 2  V 1
 1   2 
 2
Substituting 1  0



 
  0 2  c 2  0 2 c 2
 V  1 
 1  0

 c
2

 0 2   c 2  2  V 1
 0   2 

1 1
V1 V
2

1 2
Eigen vector corresponding the eigen value  =  is   1
1
 2
Substituting 2  0


2 1
Eigen vector corresponding the eigen value  =  is  
2
1
 Finding Eigen vectors of [A]
Substitute each values of 32 in the Eigen value equation

 A    I V   0
Putting 32 =-(02+2c2 ) in the Eigen value equation


  
  0 2  c 2  02  2c2  c 2  V 3 
 1  0

 c
2

 0 2  c 2   2 2  V 3
 0  2c   2  

V13  V23

1 2
Eigen vector corresponding the eigen value  =  is   3
 1
 
Substituting 4
2
   0 c
 2
 2 2

2 1
Eigen vector corresponding the eigen value  =  is  
4
 1
  2
d  x1    0  c
2
2
 c 2
x 
 1
2   
dt  x2  
  c
2

 0 2   c 2 
  x2 

 x1  V1   t
 x   V  e
 2  2
1  i0 ,  2  i0 ,  3  i 02  2c2 ,  4  i 02  2c2

1 1 1 1

1 1  1  1
     
 d 2  x1    k  k ' k '   x1 
m 2 
S dt  x2   k '
 
 k  k '   x2 
U
M
 x1  V1   t
M  x   V  e
A  2  2
R
  0 2  c 2  c 2 
Y   V    2  I V   0

  c
2
 0
2
  c 
2 

1  i0 ,  2  i0 ,  3  i 02  2c2 ,  4  i 02  2c2

1 1 1 1

1 1  1  1
     
 1  i0 ,  2  i0 ,  3  i 02  2c2 ,  4  i 02  2c2

1 1 1 1

1 1  1  1
     

 x1  V1   t
 x   V  e
 2  2

 x1  1 i0t 1  i0t 1 i 02  2c2 t  1  i 02  2c2 t

 x   a1 1 e  a2 1 e  a3   e  a4   e
 2    1  1
 x1  1 i0t 1  i0t 1 i 02  2c2 t  1  i 02  2c2 t
 x   a1 1 e  a2 1 e  a3   e  a4   e
 2    1  1

 i0t
 x1  a1e  a2e
 i0 t
 a3e
i 02  2c2 t
 a4 e 
 i 02  2c2 t

x    
 2   a1ei0t  a2 e i0t  a3ei 02  2c2 t
 a4 e
 i 02  2c2 t 


Let’s recapitulate……
 (Underdamping)
 t i t  i t
x(t )  e  Ae  Be   Complex !!!!

C T
LL E
x(t )  e  t  A  B  cos  t   i  A  B  sin  t 

O
Mathematically this gives a complex solution!

C
A and B also could be complex!

E
R
But position x(t) cannot be complex!
Is there any real solution?

Solution can be made real by choosing

appropriate constants
 x(t )  e  t  A  B  cos  t   i  A  B  sin  t 

C T
E
Need to make it real and get the form of familiar Harmonic

x(t ) LC cos t   

Oscillator

 CO 
L  
E
x(t )  C cos  cos t  C sin  sin t
R    
x(t )  C1 cos t  C2 sin t

How to do it?
A  B  C cos  , i ( A  B )  C sin 
 How to do it?
ei  e i
A B  C ,
2
ei  e  i
i ( A  B )  C ( )
2i
ei  e  i
A B  C ,
2
ei  e  i
A  B  C( )
2
i  i
e e
We get A and B as AC ,B C
2 2

x(t )  Ce  t
cos  cos  t   sin  sin  t 
REAL x(t)
 REAL SOLUTION FOR UNDER DAMPED
HARMONIC OSCILLATOR
 t i t  i t
x(t )  e  Ae  Be   Complex !!!!

x(t )  Ce  t
cos  cos  t   sin  sin  t 
x(t )  Ce  t
cos  t   

NO Damping here
  i0t
 x1  a1e  a2e
 i0 t
 a3e
i 02  2c2 t
 a4 e 
 i 02  2c2 t

x    
 2   a1ei0t  a2 e i0t  a3ei 02  2c2 t
 a4 e
 i 02  2c2 t 


 x1   A1 cos(0t  1 )  A2 cos( 0  2c t  2 ) 

2 2

x    
 2   A1 cos(0t  1 )  A2 cos( 02  2c2 t  2 ) 
 Oscillations to Waves

RECAP
 What we did?

 x1  V1   t
 x   V  e
 2  2

1  i0 ,  2  i0 ,  3  i 02  2c2 ,  4  i 02  2c2

1 1 1 1

1 1  1  1
       

 x1   A1 cos(0t  1 )  A2 cos( 0  2c t  2 ) 

2 2

x    
 2   A1 cos(0t  1 )  A2 cos( 0  2c t  2 ) 
 2 2

x x The frequencies 0 , and 02  2c2

X1  1 2
2 are the normal modes
x x
X2  1 2
2
are defined as normal co-ordinates
 x
 1  A cos( t   )  A cos(  2
 2 2
t   ) 
1 0 1 2 0 c 2
x    
 2   A1 cos(0t  1 )  A2 cos( 0  2c t  2 ) 
 2 2
 x
 1  A cos( t   )  A cos(  2
 2 2
t   ) 
1 0 1 2 0 c 2
x    
 2   A1 cos(0t  1 )  A2 cos( 0  2c t  2 ) 
 2 2

= +
The frequencies 0 , and 02  2c2 are the normal modes
Plots: Amplitude v/s time

x1(t) v/s t
x2(t) v/s t
x1  A1 cos(0t  1 ) 
A2 cos( 02  2c2 t  2 )

x2  A1 cos(0t  1 ) 
A2 cos( 02  2c2 t  2 )
 A1 cos(0t  1 )

A2 cos( 02  2c2 t  2 )

 Normal Coordinates
Can we get some co-ordinates which will
oscillate with one pure frequency??

Try by just adding x1 and x2 and subtracting

x1 and x2
 Normal Coordinates
x
 1  A cos( t   )  A cos(  2
 2 2
t   ) 
1 0 1 2 0 c 2
x    
 2   A1 cos(0t  1 )  A2 cos( 0  2c t  2 ) 
 2 2

X 1  A1 cos(0t  1 )
X 2  A2 cos( 02  2c2 t  2 )
x1  x2
X1  Inverse x1  X 1  X 2
2
transfor
x1  x2 x2  X 1  X 2
X2  mation
2
 Why Normal Co-ordinates?
• This will help in knowing 2 different frequencies
independently

• If you plot X1(t) and X2(t) v/s time you get nice cosine
graph

• x1(t) and x2(t) v/s time was erratic in nature

• Out of phase and in-phase motion cannot get visualized

though!
Is there any alternative way of solving the
coupled differential equation?
 Alternate way of deriving….

Equations of motion are


m x1  kx1  k '  x2  x1  Simultaneous coupled
differential equation

m x2  kx2  k '  x2  x1 
 Equations of motion are

m x1  kx1  k '  x2  x1 
…….. (1)

m x2  kx2  k '  x2  x1  …….. (2)
d2
(1)+(2) m 2  x1  x2   k  x1  x2 
dt

2
d
(1)-(2) m 2  x1  x2   k  x1  x2   2k '  x1  x2 
dt

X 1  x1  x2
X 2  x1  x2
 X 1  x1  x2
X 2  x1  x2
2
d X1
m 2  kX 1
dt …….. (3)
2
d X2
m 2
  k  2k ' X 2 …….. (4)
dt

X 1  A1 cos(0t  1 )
X 2  A2 cos( 02  2c2 t  2 )

BACK TO NORMAL CO-ORDINATES AND NORMAL MODES

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TO
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3-masses coupled
oscillator
3-masses coupled oscillator

x1 x2 x3
d 2 x1
m 2  kx1  k  x2  x1 
dt
d 2 x2
m 2   k  x2  x1   k  x3  x2 
dt
2
d x3
m 2   kx3  k  x3  x2 
dt
3-masses coupled oscillator

2
 x1   2k k 0   x1 
d      
m 2  x2   k 2k k   x2 
dt   
 x3   0 k - 2k   x3 
  x1   2k
2
k 0   x1 
d      
m 2  x2   k 2k k   x2 
dt   
 x3   0 k - 2k   x3 

 x1  V1 
 x   V  e t
 2  2
 x3  V3  T
3 U
EIGEN T
VALUES = 3 O
NORMAL Characteristic equation R
MODES I
& A
3 Eigen values and Eigen vectors
L
EIGEN
VETORS
Normal modes and Normal co-ordinates
Solving eigen values and eigen vectors for n-
Coupled mass system
 n-masses coupled oscillator

What will be the equation of motion for ith

mass?
d 2 xi
m 2   k  xi  xi 1   k  xi 1  xi 
dt
d 2 x2
Recollect m 2  k  x2  x1   k  x3  x2 
dt
 N-masses coupled oscillator

What will be the equation of motion for ith

mass?

d 2 Si
m 2  k  Si  Si 1   k  Si 1  Si 
dt

d 2 Si
m 2  kSi 1  2kSi  kSi 1
dt
 Solving n coupled masses equation
. 
.   
  . 
.   Si 1 
 Si 1   
   Si 
 Si  S 
S   i 1 
 i 1  . 
.  . 
.   
 
.    .   
.   
   
 .   
   
 Si 1  Vi 1  will have n values  Si 1  Vi 1  ω
    t      it will
 Si   Vi  e hence n normal  Si   Vi  e Have
modes will be n
 Si 1  Vi 1   Si 1  Vi 1 
present values
       
.    .   
.    .   
       
 Few scattered thoughts on oscillations leading to
waves

One Normal mode & One resonance

frequency

Two Normal modes and therefore

two resonance frequency

 x1   A1 cos(0t  1 )  A2 cos( 0  2c t  2 ) 

2 2

x    
 2   A1 cos(0t  1 )  A2 cos( 02  2c2 t  2 ) 

Any motion of the masses can be represented by a linear

combination of two modes!
 Few scattered thoughts on oscillations leading to
waves
N Normal modes and
therefore
N resonance frequencies
.   
.   
   
 Si 1  Vi 1 
d 2 Si      it
m 2  kSi 1  2kSi  kSi 1
dt  Si   Vi  e
 Si 1  Vi 1 
   
.   
.   
   

Any oscillatory motion of the masses can be represented

by a linear combination of N orthogonal modes!
Oscillations to Waves
How are they related?
 Oscillations to Waves
How are they related?
A wave can be thought of as a disturbance or oscillation that travels through
space-time, accompanied by a transfer of energy.

If the direction of wave propagation is parallel to the direction it oscillates then

its called as Longitudinal waves.

Longitudinal waves generated in a coupled oscillator

A wave does not move mass in the direction of propagation; it transfers energy.
Longitudinal waves
Longitudinal waves
 Oscillations to Waves
Longitudinal waves could be generated in a coupled oscillator
An external driving Impulse can generate a disturbance
to n coupled Oscillator

or efficient energy transfer driving impulse frequency should be matched

with
normal frequency/normal modes
Looking for space dependence of amplitude!
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