(1)
(2)
Also
2 2
1
, cos
2
T ml V mgz mgl u u = = =
and
2 2
1
cos
2
E T V ml mgl u u = + =
(3)
Equation (1)a gives the tension applied by the rob
2
2 3
cos cos
2
T ml mg E mgl
l
u u u
| |
= + = +
|
\ .
(4)
We can show that
3
0, if
2
T E mgl u > >
Equation (1)b gives the equation of motion sin
g
l
u u =
or
2
0 0
si / n 0, g l u e u e = = +
(5)
T
T>0 or T<0
T
Pendulum with rob
T
Pendulum with fiber
T
T>0
T<0
0
l
z
x
e
r
e
0
I. Bocyio:p, Acvoniko oco:pno:o, Bi/vvp 2009
The integral of the O.D.E.
This is a 2
nd
order ODE, autonomous, nonlinear and its integral is obtained as
(5)
2 2
0
1
sin 0 cos 0
2
d
dt
uu uu u e u
| |
+ = =
|
\ .
2 2
0
1
cos const
2
E u e u = =
(6)
The potential ( ) V V u = of (5) is
2 2
0 0
2
0
sin sin ( ) cos
dV
V
d
V d e u e u u u u u e
u
= = = =
}
(7)
Equilibrium points : sin0=0
2
0 0
2
0 0
0, 2 , 4 ,... '' 0 cuotu0ciu
, 3 , 5 ,... '' 0 otu0ciu
V
V
u t t e
u t t t e o
= = >
= = <
Remark: We observe that the ODE of motion is invariant under the translation
2 , k k u u t + eZ
,
consequently, the system can be studied in the interval 0 2 u t s < or t u t < s .
0
- 2 -2
0
0
V(0)
d0/dt
I. Bocyio:p, Acvoniko oco:pno:o, Bi/vvp 2009
The phase space portrait
2 2
0 0
cos
S
E e t e = =
Width of Separatrix
max
2 u u A =
max 0
2 4 u u e A = =
The three types of motion.
- Aikvioci (Librations)
S
E E < (v)
- Hcpiotpoc (Rotations)
S
E E > (v)
- Aiuepiotikq kuauq
(Separatrix)
S
E E = (v)
Amplitude of libration
For
max
(0) , (0) 0 u u u = =
we get
2
0 max
cos E e u =
or
max min 2
0
arccos ,
S
E
E E u u
e
| |
= = <
|
\ .
Period of librations
From the energy integral we get
2
2 2
0
2
0
2
0
1 1
cos cos
2 2
2( cos )
d
dt
d
d
E
E E
t
u
e u
u
u e u e u
| |
= = +
|
=
. + \
(8)
Considering the motion from
1
( ) 0 t u = to
2 max
( ) t u u = , the integration of (8) gives
max
2 1
2 0
0
2( cos )
d
t t
E
u
u
e u
=
+
}
(9)
Subsequently, due to the symmetry of motion, we get
max
2 0
0
4
2( cos )
d
T
E
u
u
e u
=
+
}
PND01.NB
-2
-1
0
1
2
.
max
Es
10 20 30 40
t
-6
-4
-2
2
4
6
O
0=0
0=0
max
0=0
min
I. Bocyio:p, Acvoniko oco:pno:o, Bi/vvp 2009
Approximations
2 2
0 0
sin , ( ) cos V u e u u e u = =
( )
2 3 4
0 0 0 0 0 0 0 0
1 1
sin sin cos ( ) sin ( ) cos ( ) ( )
2 6
O u u u u u u u u u u u u u = + +
kui upe uao to 0
0
=0 (stable equilibrium)
3
1
sin ...
6
u u u ~ +
- The 1
st
order ( linear) approximation
2 2 2
0 0
1
, ( )
2
V u e u u e u = =
0 0 0 0 0 0 0
( ) cos( ) sin( ), (0), (0) / , t t p t p u u e e u u u e = + = =
0 0
2 / T t e =
- The approximation up to 3
rd
order
2
2 3 2 2 2 4 0
0 0 0
1 1
, ( )
6 2 24
V
e
u e u u u e u e u = + =
-3 -2 -1 1 2 3
-1
-0.75
-0.5
-0.25
0.25
0.5
0.75
1
The potential of the original system, the 3
rd
order approximation and the linear approximation.
0
V(0)
I. Bocyio:p, Acvoniko oco:pno:o, Bi/vvp 2009
Approximate solution using Taylor series
- We expand the solution 0(t), with initial conditions 0(0)=0
0
and
0
(0) p u =
, as
series around t=0 up to 3
rd
order
(3)
2 3 4
0 0
(0) (0)
( ) ( )
2 2
t p t t t O t
u u
u u + + + +
- Replace the above solution to the 3
rd
order approximation of the ODE
2 2
2 3 2 2 (3) 2 0 0
0 0 0 0 0 0 0 0
(0) ( ) ( ) 0
6 2
p p t O t
e e
u e u u e u u + + + + =
We keep terms up to 1
st
order (with respect to t) because they are sufficient to determine the
quantities (0) u
and (0) u
- Put on the same order terms
2
2 3 0
0 0 0
2
2 2 (3) 0
0 0 0 0 0
(0) 0
6
0
2
p p
e
u e u u
e
e u u
+ =
+ =
namely
2 2
2 (3) 2 0 0 0 0
0 0
(0) ( 6), (0) ( 2)
6 2
p e u e
u u u u = =
We replace (0) u
and
(3)
(0) u in the solution and we
2 2
2 2 2 3 4 0 0
0 0 0 0 0 0
( ) ( 6) ( 2) ( )
12 12
t p t t p t O t
e e
u u u u u = + + + +
Remark. The above solution is a valid approximation only in a small time interval
0 , 1. t t t < s A A
In order to construct an approximate solution in an interval
0 1
( , ) t t we proceed step by
step applying the series solution for a small time step.
PND02.NB
I. Bocyio:p, Acvoniko oco:pno:o, Bi/vvp 2009
The analytic solution
1. The modern way
deq=''[t]+0^2 Sin[[t]]0;
sol=DSolve[deq,,t]
Solve ::ifun : Inverse functions are being used by Solve , so
some solutions may not be found ; use Reduce for complete solution information . More
Function{t],2JacobiAmplitude
1
2
_
(20
2
C[1])(tC[2])
2
,
40
2
20
2
C[1]
,
Function{t],2JacobiAmplitude
1
2
_
(20
2
C[1])(tC[2])
2
,
40
2
20
2
C[1]
We obtain that the solution is given by the special function
JacobiAmplitude(u,m),
which takes two arguments , u and k :
u
1
2
20
2
C1tC2
2
m
40
2
20
2
C1
C[1] and C[2] are the arbitrary constants of integrations which are related to initial
conditions. But if we solve the initial value problem
DSolve[{deq, [0]0, '[0]d0}, , t]
we get
{}
2. The analytic procedure (Librations)
The solution is based on the elliptic integral of 1
st
kind
*
(EllipticF[,k])
2 2
0
( , )
1 sin
dz
u F k
k z
= =
}
k: modulo of u k=modu
: amplitude of u =am(u,k) : JacobiAmplitude[u,k
2
]
- Elliptic trigonometric functions are defined through the amplitude :
sn(u,k)=sin(), cn(u,k)=cos()
*
Harold Davis, Introduction to nonlinear differential and Integral equations, Dover publ. , 1960.
I. Bocyio:p, Acvoniko oco:pno:o, Bi/vvp 2009
Considering a libration of amplitude
max
u , i.e. an orbit of energy
2
0 max
cos E e u = , the
energy integral gives
( )
2 2 2 2 2
0 0 max 0 max
1
cos cos 2 cos cos
2
E u e u e u u e u u = = =
0
max
2
cos cos
d
dt
u
e
u u
=
(10)
We proceed to transformations of the left part of (10) in order to integrate it.
a)
2
cos 1 2sin ,
2
u
u = thus
2 2 max
max
cos cos sin sin
2 2
u u
u u =
b)
max
: sin sin , sin
2 2
k k
u u
u = = (11)
Note that
max
sin( / 2)
1 1
sin( / 2)
u
u
s s and
max
0 0, / 2 u u u t = = = =
Thus
2 2 2 2 ma
x
x
ma
2 sin sin 2 cos cos 2 cos sin
2 2
k k k
u
u u
u
= = = (12)
By differentiating the transformation formula :
2
1 2 cos 2 cos
cos cos
2 2 cos( / 2)
1 sin ( / 2)
k k
d k d d d d
u
u u
u
u
= = =
2 2
2 cos
1 sin
k
d d
k
(13)
Substituting (12) and (13) in (10), we get
0
0 0 0 0 0
2 2 2 2
( )
1 sin
, ( )
1 sin
d
dt t
d
t t
k k
|
|
e | |
= =
=
}
(14)
- - - - - - - - - - - - - - - - - - - - -
a) Integration of (14) by using the expansions :
2
4 6
2
1 1 3 1 3 5
1 .... ( sin )
2 2 4 2 4 6
1
x
x x x k
x
= + + + + =
2 4
0 0
1 1
sin ( cos sin ), sin (12 8sin 2 sin 4 ), .
2 32
d d etc
| |
| | | | | | = = +
} }
/ 2
2
0
1 3 5 (2 1)
sin
2 4 6 2 2
n
n
d
n
t
t
=
}
I. Bocyio:p, Acvoniko oco:pno:o, Bi/vvp 2009
b) use of elliptic integrals
Let consider initial conditions
0
(0) 0 | | = = i.e. (0) 0, (0) 0 u u = >
2
0 0 0
2 0
( , ) ( , )
1 sin
am t F
d
t k k t
k
|
| e
| e e
= = =
}
or
( )
( ) 2 s sin sin
2
in t ArcSin k k u
u
| | = =
(15)
or ( )
0
( ) 2 sn( , ) t ArcSin k t k u e =
where
max
sin
2
k
u
=
Period of librations
We recall that
0
0
1
( , ) ( , ) F k t t F k | e |
e
= =
max
0 0, / 2 u u u t = = = = , thus
0 0
1
( , ) 4 ( )
2
4
F k T K k
t
e e
= =
K(k)=F(a/2,k) : The complete elliptic integral of 1
st
kind (EllipticK[k
2
])
PNDan.NB
PNDnum.NB
Exercise: Show that the solution of the separatrix trajectory is given by the formula
0 0
0
4arctan tan , (0)
4
t
e
e
u t
u t u u
| + | | |
= =
| |
\ . \ .