Physics 211: Lecture 24

Today’s Agenda



 Introduction to Simple Harmonic Motion

 Horizontal spring & mass (no gravity)
 The meaning of all these sines and cosines
 they are solutions to the differential equation
 Vertical spring & mass (gravity)
 The energy approach
 The simple pendulum
 The rod pendulum

Physics 211: Lecture 24, Pg 1

 statics
 Forces
 Nothing is moving
 Nothing is set in motion
 Torques
 Nothing is rotating
 Nothing is induced to rotate

Physics 211: Lecture 24, Pg 2

 Lecture 21, Act 1
Solution
 Consider the torque about the hinge between the strut & the wall:

 total  MgL  T1 sin 30  L  0

due to gravity due to wire

Free body diagram
r x F, why 30 degrees?
Calculate forces and torques
T1
T1 MgL  T1 sin  L  L
2
Mg
30 0 T1   2 Mg
sin 

L does not depend on length of

massless beam!
M
What happens when is small?
Physics 211: Lecture 24, Pg 3
 Hinged Beams...
lecture 21 y

 What we want to find: x

 (Ax,Ay) and (Bx,By) these are forces
Ay
acting on beams at A & B.
These keep the beams from moving
 What we know: Ax
 Sum of forces in x and y directions is
zero
 Torque around any axis (A, B and C) is
also zero By
 m2g
 WHY?? C
 No rotation! It’s static… Bx
m1 g
L

Physics 211: Lecture 24, Pg 4

 Identify the forces
Calculate force and
torque equations ( = 0)

What about the cross product?

Physics 211: Lecture 24, Pg 5

 Simple Harmonic Motion (SHM) Horizontal
Spring
 We know that if we
stretch a spring with a
mass on the end and let it
go, the mass will oscillate k
back and forth (if there is m
no friction).

 This oscillation is called k

m
Simple Harmonic
Motion, and is actually
very easy to understand...
k
m

Physics 211: Lecture 24, Pg 6

 SHM Dynamics

 At any given instant we know F = -kx

that F = ma must be true.
k a
 But in this case F = -kx m
and ma =
d2x
m 2
 So: -kx = ma = dt x
d 2x equilibrium position
m 2
dt

d2x k
2
  x a differential equation for x(t)!
dt m
Our job is to find x(t)

Physics 211: Lecture 24, Pg 7

 SHM Dynamics...

d2x k k
2
  x define 
dt m m

d2x Where  is the angular

2
  2 x
dt
frequency of motion

Try the solution x = A cos(t)

dx
 A sin  t 
dt
d2x
2
   2
A cos   t     2
x
dt
This works, so it must be a solution!
Physics 211: Lecture 24, Pg 8
 Movie (shm)
SHM Dynamics... Shadow

 But wait a minute...what does angular frequency  have to

do with moving back & forth in a straight line ??

y = R cos  = R cos (t)

y
1 1
2 1 2

3 3

0 
x 
4 2
6 -1 4 6
5 5

Physics 211: Lecture 24, Pg 9

 SHM Solution
d2x
We just showed that (which came from F = ma)
  2
x


has the solution x = A cos(t) .

2
 This is not a unique solution, though. x = A sin(t) is also a solution. dt
 The most general solution is a linear combination of these two solutions! x = B sin(t)+ C cos(t)

dx
 B cos  t   C sin t 
dt
d2x
2
 2 B sin t   2C cos  t   2 x ok
dt
Physics 211: Lecture 24, Pg 10
 Derivation:
We want to use the most general solution:

x = A cos(t + ) is equivalent to x = B sin(t)+ C cos(t)

x = A cos(t + )

= A cos(t) cos - A sin(t) sin

= C cos(t) + B sin(t)

where C = A cos() and B = A sin()

It works!

So we can use x = A cos(t + ) as the most general solution!

Still two parameters to specify, amplitude and phase…

Physics 211: Lecture 24, Pg 11

 SHM Solution...

 Drawing of A cos(t )
 A = amplitude of oscillation

T = 2/

    
A

Physics 211: Lecture 24, Pg 12

 SHM Solution...

 Drawing of A cos(t + )

    

Physics 211: Lecture 24, Pg 13

 SHM Solution...

 Drawing of A cos(t - /2) = A sin(t)

=
/2

    

= A sin(t)!

Physics 211: Lecture 24, Pg 14

 Meaning of the solution to SHM Solution...
 Drawing of A cos(t + )

    

 What does this really mean?

 Just that the amplitude and phase are both able to be set
Physics 211: Lecture 24, Pg 15
 Lecture 24, Act 1
Simple Harmonic Motion
 If you added the two sinusoidal waves shown in the top plot,
what would the result look like?

1.00

0.50

1000
0.00
100

200

300

400

600

700

800

900
500
0

-0.50

-1.00

0.60

0.40

0.20

(a)

1000
0.00
100

200

300

400

600

700

800

900
500
0

-0.20

-0.40

-0.60

2.00
1.50
1.00

(b)
0.50

1000
0.00
100

200

300

400

600

700

800

900
500
0

-0.50
-1.00
-1.50
-2.00

0.6

0.4

(c) 0.2

1000
0
100

200

300

400

500

600

800

900
700
0

-0.2

-0.4

-0.6

Physics 211: Lecture 24, Pg 16

 Lecture 24, Act 1
Solution
 AB  AB
 Recall your trig identities: cos A   cos B   2 cos  cos 
 2   2 

So cos t   cos t     a cos t  b 


b
Where 2
 
a  2 cos 
2

 The sum of two or more sines or cosines having the same

frequency is just another sine or cosine with the same frequency.
 The answer is (b).
Prove this with Excel

Physics 211: Lecture 24, Pg 17

 What about Vertical Springs? Vertical
Spring
 We already know that for a vertical spring
1 j
U  ky 2 if y is measured from
2 the equilibrium position

 The force of the spring is the negative k

derivative of this function: dU
Fy     ky
dy
 So this will be just like the horizontal case:
d2y y=0
-ky = ma = m 2
dt F = -ky
Which has solution y = A cos(t + ) m

k
where 
m
Physics 211: Lecture 24, Pg 18
 160
140
U of Spring + Gravity UNET = UG + US
120

U 100
US = 1/2ky2
80
60
40
UG = mgy
20
0
-20-10 -8 -6 -4 -2 0 2 4 6 8 10

-40 y
-60
ye 0

shift due to mgy term

Physics 211: Lecture 24, Pg 19

 What about Vertical Springs?
Alternate treatment
d2y
 For a massless spring the force is just F   ky  m
where y is the displacement from the dt 2
equilibrium position
 For a massless spring with a F  ky  mg
weight attached, the force on the
mass must include both the  mg  d2y
spring displacement force and  k  y  m 2
the force of gravity:  k  dt

mg
 Introduce a simple change of variables u  y 
k
 Recover the same form without explicit gravitational force
same frequency!!! 2 different zero point
d u
F   ku  m 2
dt
Physics 211: Lecture 24, Pg 20
 SHM So Far

 The most general solution is x = A cos(t + )

where A = amplitude
 = angular frequency
 = phase
k
 For a mass on a spring  
m
 The frequency does not depend on the amplitude!!!
 We will see that this is true of all simple harmonic
motion!
 The oscillation occurs around the equilibrium point where
the net force is zero!

Physics 211: Lecture 24, Pg 21

 Simple
The Simple Pendulum
Pendulum
 A pendulum is made by suspending a mass m at the end
of a string of length L. Find the angular frequency of
oscillation for small displacements. z

  t    MAX cos t   
L

This  is the angular frequency

mg

Physics 211: Lecture 24, Pg 22

 Aside: sin  and cos  for small 

 A Taylor expansion of sin  and cos  about  = 0 gives:

3 5 2 4
sin       ... and cos   1    ...
3! 5! 2! 4!

So for  << 1, sin    and cos   1

Physics 211: Lecture 24, Pg 23

 The Simple Pendulum...

 Recall that the torque due to gravity about the rotation (z)
axis is  = -mgd. z
d = Lsin Lfor small 

so  = -mg L
d 2
 mgL  mL 2

dt 2 L
 But  = II=mL2
d 2 g
  2
where 
dt 2 L

m
Differential equation for simple harmonic motion!
d
 = 0 cos(t + ) mg

Physics 211: Lecture 24, Pg 24

 Lecture 24, Act 2
Simple Harmonic Motion
 You are sitting on a swing. A friend gives you a small push
and you start swinging back & forth with period T1.
 Suppose you were standing on the swing rather than sitting.
When given a small push you start swinging back & forth
with period T2.

 Which of the following is true:

(a) T1 = T2
(b) T1 > T2
(c) T1 < T2

Physics 211: Lecture 24, Pg 25

 Lecture 24, Act 2
Solution
g
 We have shown that for a simple pendulum  
L

2 L
Since T T  2
 g

 If we make a pendulum shorter, it oscillates faster (smaller period)

Physics 211: Lecture 24, Pg 26

 Lecture 24, Act 2
Solution
Standing up raises the CM of the swing, making it shorter!

Since L1 > L2 we see that T1 > T2 .

L2
L1

T1 T2
Physics 211: Lecture 24, Pg 27
 The Rod Pendulum

 A pendulum is made by suspending a thin rod of length L

and mass m at one end. Find the angular frequency of
oscillation for small displacements.
z


xCM
L
mg

Physics 211: Lecture 24, Pg 28

 The Rod Pendulum...

 The torque about the rotation (z) axis is

 = -mgd = -mg(L/2)sin-mg(L/2)for small 

z
1
 In this case I  mL2 d
I  
3  L/2
2 d 
2
L 1
 So  = Ibecomes  mg   mL
2 3 dt 2 
xCM
d L
d 2 3g mg
2
  2
 where 
dt 2L

Physics 211: Lecture 24, Pg 29

 Lecture 24, Act 3 Physical
Period Pendulum
 What length do we make the simple pendulum so that it
has the same period as the rod pendulum?

LS
LR

3 2
L
(a) S  LR (b) LS  LR (c) LS  LR
2 3

Physics 211: Lecture 24, Pg 30

 Lecture 24, Act 3
Solution

g 3g
S  R 
LS 2 LR
LS
LR

2
S = P if LS  LR
3

Physics 211: Lecture 24, Pg 31

 Recap of today’s lecture

 Introduction to Simple Harmonic Motion (Text: 14-1)

 Horizontal spring & mass
 The meaning of all these sines and cosines
 Vertical spring & mass (Text: 14-3)
 The energy approach (Text: 14-2)
 The simple pendulum (Text: 14-3)
 The rod pendulum

 Look at textbook problems Chapter 14: # 29, 45, 65, 93

Physics 211: Lecture 24, Pg 32