I.

Bocyio:p, Acvoniko oco:pno:o, Bi/vvp 2009

G. Voyatzis, dept. of Physics, University of Thessaloniki

H AYAAMIKH 1OY AHAOY EKKPEMOY2
The dynamics of the simple pendulum







Analytic methods of Mechanics + Computations with Mathematica

Outline
1. The mathematical description of the model
2. The qualitative description of the dynamics
3. Approximate solutions
4. The analytic solution




I. Bocyio:p, Acvoniko oco:pno:o, Bi/vvp 2009
The mathematical
description of the model

, , m mg = = + = r F F B T B k

2
( ) (2 )
cos sin
r
r
r
r r r r
mg mg
T
u
u
u u u
u u
= + +
=
=
r e e
B e e
T e



2
cos ( )
sin ( )
ml mg T a
ml mg b
u u
u u
=

(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

| + | | |
= =
| |
\ . \ .