Chapter V

Coupled Oscillations
Two, or more, oscillators coupled together
Examples
1. Two pendulums, coupled by a spring
2. A molecule
Molecule
2
CO
3. A crystalline solid
~
4. Coupled electrical oscillators
5. An elastic medium, like a vibrating string
A wave in a medium is a continuum of
coupled oscillators
Two Simple Pendulums Coupled by a Spring
1
x 2
x
m
m
k
Equations of Motion :
) x x ( k
x
g m
dt
x d
m
1 2
1
2
1
2
+ =

) x x ( k
x
g m
dt
x d
m
1 2
2
2
2
2
=

0 ) x x (
m
k
x
g
dt
x d
1 2 1
2
1
2
= +

0 ) x x (
m
k
x
g
dt
x d
1 2 2
2
2
2
= + +

The above two differential equations are

coupled.
Adding and subtracting the above equations :
Decoupling
0 q
dt
q d
1
2
0
2
1
2
= e +
0 q
dt
q d
;
2
2
2
2
2
= e' +
1 2 2 2 1 1
x x q ; x x q = + =
Where,
m
k 2
;
g
2
0
2 2
0
+ e = e
'
= e

The solutions for are :

2 1
q & q
) t ( cos A q
1 0 1 1
| + e =
) t cos( A q
2 2 2
| + e
'
=
2 1
x & x can then be obtained as :
) q q (
2
1
x
2 1 1
=
) q q (
2
1
x ;
2 1 2
+ =
2 1
q & q
are known as the normal
coordinates and are known as normal
frequencies.
e
'
e &
0
Initial Conditions on are obtained
from those of
2 1
x & x
2 1
q & q
Normal Coordinates : New coordinates, that
are linear combinations of the original, in
which the equations of motion are
decoupled.
Normal Frequencies : Frequencies of
oscillation of the normal coordinates.
Let the initial conditions be such that
remains zero forever.
2
q
0 ) 0 ( q ) 0 ( q
2 2
= =

Or,
) 0 ( x ) 0 ( x ; ) 0 ( x ) 0 ( x
2 1 2 1

= =
Normal Mode Vibrations
Thus,
0 ) t ( q & ) t cos( A ) t ( q
2 1 0 1 1
= | + e =
For this to happen, the initial conditions
must be such that
0 ) t ( q & t cos A ) t ( q
2 0 1
= e =
t cos
2
A
) t ( x ) t ( x
0 2 1
e = =
And,
Taking :
0 ) 0 ( x ) 0 ( x ;
2
A
) 0 ( x ) 0 ( x
2 1 2 1
= = = =

This mode of vibration is called a Normal
Mode Vibration
Normal Mode Vibration : A mode of vibration in
which only one normal coordinate is excited,
the other normal coordinates remaining zero.
First Mode for the Coupled Pendulums
0 t =
4 T t
0
=
2 T t
0
=
4 T 3 t
0
=
0
T t =
Second normal mode vibration :

0 ) t ( q
1
=
) 0 ( x ) 0 ( x & ) 0 ( x ) 0 ( x
2 1 2 1

= =
Required initial conditions :
0 ) 0 ( q ; 0 ) 0 ( q
1 1
= =

Or,
Complete solution :
t cos A ) t ( q
2
1
) t ( x
2 1
e
'
= =
0 ) 0 ( x ) 0 ( x ; A ) 0 ( x ) 0 ( x
2 1 1 2
= = = =

0 ) 0 ( q ; A 2 ) 0 ( q
2 2
= =

t cos A 2 ) t ( q
2
e
'
=
t cos A ) t ( q
2
1
) t ( x
2 2
e
'
= =
0 t =
4 T t ' =
2 T t ' = 4 T 3 t ' =
T t ' =
General Motion (Both Modes Excited)
A
Initial Conditions :
A ) 0 ( x ; 0 ) 0 ( x
2 1
= =
0 ) 0 ( x ) 0 ( x
2 1
= =

A ) 0 ( q ) 0 ( q
2 1
= =
0 ) 0 ( q ) 0 ( q
2 1
= =

t cos A ) t ( q ; t cos A ) t ( q
2 0 1
e
'
= e =
Solutions for
2 1
q & q
Solutions for
2 1
x & x
] t cos t [cos
2
A
) t ( x
0 1
e
'
e =
|
.
|

\
|
e + e
'
|
.
|

\
|
e e
'
= t
2
sin t
2
sin A
0 0
|
.
|

\
|
e + e
'
|
.
|

\
|
e e
'
= t
2
cos t
2
cos A ) t ( x
0 0
2
) t ( x
2
t
) t ( x
1
t
Summary
1. There exist normal coordinates, which
are such that, the equations of motion in
them, are decoupled
2. Each normal coordinate behaves like
a simple harmonic oscillation with its own
frequency, the normal frequency
3. With appropriate initial conditions, one
can excite only one normal coordinate, the
other remaining dormant. Such vibrational
modes are called normal mode vibrations.
4. In a normal mode vibration, each mass in
the coupled system, executes a SHO with
the same frequency, the corresponding
normal frequency. The amplitudes of motion
of the different masses, and their phases
are in general different.
5. In the most general motion, which results
from arbitrary initial conditions, the motion of
each mass is rather complicated. There is no
definite frequency of vibration. However, the
motion is a superposition of SHMs
No Class on Saturday
Combined Class for Both Sections
On
Sunday (25/11)
At
10.00 AM
In
Room No. 5102
General Approach for Finding Normal Modes
Back to Coupled Pendulums :
0 ) x x ( x
dt
x d
1 2
2
s 1
2
0
2
1
2
= e e +
0 ) x x ( x
dt
x d
1 2
2
s 2
2
0
2
2
2
= e + e +
Since in a normal mode vibration, all
masses execute SHM of a common
frequency, put :
m
k
;
g
2
s
2
0
= e = e

t cos A x ; t cos A x
2 2 1 1
e = e =
0 A A ) (
2
2
s 1
2 2
s
2
0
= e e e + e
0 A ) ( A
2
2 2
s
2
0 1
2
s
= e e + e + e
In the matrix form :
0
A
A
2
1
2 2
s
2
0
2
s
2
s
2 2
s
2
0
=
|
|
.
|

\
|
|
|
.
|

\
|
e e + e e
e e e + e
For non-trivial solutions for
( ), the determinant of
the matrix must be zero :
2 1
A & A
zero not A & A Both
2 1
( ) 0
4
s
2 2 2
s
2
0
= e e e + e
Or,
2
s
2
0 0
2 or e + e e = e
First Normal Mode
1
A
A
2
1
0 1
= e = e
t cos A x ; t cos A x
1 2 1 1
e = e =
Second Normal Mode
1
A
A
2
2
1
2
s
2
0 2
= e + e = e
t cos A x ; t cos A x
2 2 2 1
e = e =
Normal Coordinates
0 x x
2 1
= +
First Mode :
0 x x
2 1
=
Second Mode :
Since, in the second normal mode vibration,
the first normal coordinate is identically zero
2 1 1
x x q + =
Since, in the first normal mode vibration, the
second normal coordinate is identically zero
1 2 2
x x q =
Prob. 5.10
m
m
k
k
Consider the vertical motion
of the system.
a) Find the normal mode
frequencies and the ratio of the
amplitude of the two masses in
each mode
1
x
2
x
m
m
Equations of Motion :
) x x ( k x k
t d
x d
m
1 2 1
2
1
2
+ =
) x x ( k
t d
x d
m
1 2
2
2
2
=
Or,
0 ) x x 2 (
t d
x d
2 1
2
0
2
1
2
= e +
0 ) x x (
t d
x d
1 2
2
0
2
2
2
= e +
Substituting :
t cos A x ; t cos A x
2 2 1 1
e = e =
0 A A ) 2 (
2
2
0 1
2 2
0
= e e e
0 A ) ( A
2
2 2
0 1
2
0
= e e + e
Writing the above as a matrix equation and
setting the determinant to zero, we get :
0
2
2 2
0
2
0
2
0
2 2
0
=
e e e
e e e
Or,
2
0
2
2
5 3
e
(

= e
We have :
2 2
0
2
0
2
1
2 A
A
e e
e
=
First Mode :
1 5
2
A
A
2
1

=
Second Mode :
1 5
2
A
A
2
1
+
=
2 cm
1.23 cm
2 cm
3.23 cm
First Mode
Second Mode
b*) Find the normal coordinates
First Mode :
( ) 0 x 2 x 1 5
2 1
= +
Second Mode :
( )
2 1 1
x 2 x 1 5 q + =
( )
2 1 2
x 2 x 1 5 q + =
( ) 0 x 2 x 1 5
2 1
= +
c*) If the lower mass is pulled down a
distance A, while the upper mass is held
fixed, and the system released, describe the
subsequent motion.
0 ) 0 ( q ) 0 ( q ; A 2 ) 0 ( q ; A 2 ) 0 ( q
2 1 2 1
= = = =

) t ( cos A ) t ( q
1 1 1 1
| + e =
We have :
) t ( cos A ) t ( q
2 2 2 2
| + e =
Initial Conditions :
) t cos( B 2 ) t cos( A 2 ) t ( x
2 2 1 1 1
| + e + | + e =
) t cos( B ) 1 5 ( ) t cos( A ) 1 5 ( ) t ( x
2 2 1 1 1
| + e + + | + e =
One can directly write down the complete
solutions for , without requiring to
obtain the normal coordinates .
2 1
x & x
2 1
q & q
When B is zero, the system oscillates in
the first mode with the requisite ratio of
amplitudes, and, so is the other way
around.
t cos A 2 ) t ( q
1 1
e =
t cos A 2 ) t ( q
2 2
e =
Now,
) q q (
5 2
1
x
2 1 1
+ =
( )
2 1 2
q ) 1 5 ( q ) 1 5 (
5 4
1
x + =
Prob. 5.9 The carbon
dioxide molecule can be
likened to a central
mass connected to two
other identical masses,
by identical springs of
spring constant k.
a) Set up the equations of motion, find the
normal frequencies and ratios of the
amplitudes in the normal modes
2
m
1
m
1
m
Equations of Motion :
) x x ( k
dt
x d
m
1 2
2
1
2
1
=
) x x ( k ) x x ( k
dt
x d
m
2 3 1 2
2
2
2
2
+ =
) x x ( k
dt
x d
m
2 3
2
3
2
1
=
1
x
2
x 3
x
Or,
0 ) x x (
m
k
dt
x d
2 1
1
2
1
2
= +
0 ) x x 2 x (
m
k
dt
x d
3 2 1
2
2
2
2
= + +
0 ) x x (
m
k
dt
x d
2 3
1
2
3
2
= +
Substituting :
t cos A x ; t cos A x ; t cos A x
3 3 2 2 1 1
e = e = e =
0 A
m
k
A
m
k
2
1
1
2
1
=
|
|
.
|

\
|
e
0 A
m
k
A
m
k 2
A
m
k
3
2
2
2
2
1
2
=
|
|
.
|

\
|
e +
0 A
m
k
A
m
k
3
2
1
2
1
=
|
|
.
|

\
|
e +
Setting the determinant of the coefficient
matrix to zero, the normal frequencies are
obtained as :
|
|
.
|

\
|
+ = e = e = e
2 1
3
1
2 1
m
2
m
1
k ;
m
k
; 0
From the equations for the coefficients :
1
2
1 1
3 2 1
m
k
:
m
k
:
m
k
A : A : A
|
|
.
|

\
|
e =
First mode
1 : 1 : 1 A : A : A
3 2 1
=
No oscillations, rigid shift of the molecule
Second Mode
1 : 0 : 1 A : A : A
3 2 1
=
A
A
A
Third Mode
1 :
m
m
2 : 1 A : A : A
2
1
3 2 1
=
1 : 7 . 2 : 1 =
Coupled and Driven Oscillators
t cos
m
F
) x x ( x
dt
dx
dt
x d
0
1 2
2
s 2
2
0
2
2
2
2
e = e + e + +
0 ) x x ( x
dt
dx
dt
x d
1 2
2
s 1
2
0
1
2
1
2
= e e + +
Adding and subtracting the equations
t cos
m
F
q
dt
dq
dt
q d
0
1
2
0
1
2
1
2
e = e + +
t cos
m
F
q
dt
dq
dt
q d
0
2
2
2
2
2
2
e = e
'
+ +
Steady-state solutions of the above
equations are :
) t ( cos ) ( A ) t ( q
1 1 1
o e e =
) t ( cos ) ( A ) t ( q
2 2 2
o e e =
| | ) t ( cos ) ( A ) t cos( ) ( A
2
1
) t ( x
2 2 1 1 1
o e e o e e =
| | ) t ( cos ) ( A ) t cos( ) ( A
2
1
) t ( x
2 2 1 1 2
o e e + o e e =
e
) ( A
1
e
) ( A
2
e
0
e
e
'
When the driving frequency matches one of
the two frequencies , the
displacements of the two pendulums
become large.
e
'
e &
0
There are, thus, two resonant frequencies,
corresponding to the two normal frequencies
at which the system can oscillate
At the lower resonance frequency, the
two pendulums are in phase. At the
higher one, they are totally out of phase.
Prob. 5.12 Two identical masses are
connected to three identical springs on a
frictionless surface as shown
The free end is driven with a displacement :
t cos X X
0
e =
Find and draw the graphs of the displacements
of the two masses.
X
1
x
2
x
m m k k k
X
1
x
2
x
m m k k k
Equations of Motion :
) x x ( k ) X x ( k
dt
x d
m
1 2 1
2
1
2
+ =
2 1 2
2
2
2
x k ) x x ( k
dt
x d
m =
Or,
t cos X x x 2
dt
x d
0
2
0 2
2
0 1
2
0
2
1
2
e e = e e +
0 x 2 x
dt
x d
2
2
0 1
2
0
2
2
2
= e + e
Addition and subtraction of the two equations
gives us :
t cos
m
F
q
dt
q d
0
1
2
0
2
1
2
e = e +
t cos
m
F
q 3
dt
q d
0
2
2
0
2
2
2
e = e +
Where,
0 0 2 1 2 2 1 1
X k F , x x q , x x q = = + =
Steady-state solution :
t cos )] ( A ) ( A [
2
1
) t ( x
2 1 1
e e + e =
t cos )] ( A ) ( A [
2
1
) t ( x
2 1 2
e e e =
where,
2 2
0
0
2
0
2
2 2
0
0
2
0
1
3
X
) ( A ;
X
) ( A
e e
e
= e
e e
e
= e
t cos
) 3 ( ) (
2
X ) t ( x
2 2
0
2 2
0
2 2
0
0
2
0 1
e
(

e e e e
e e
e =
t cos
) 3 ( ) (
1
X ) t ( x
2 2
0
2 2
0
0
4
0 2
e
(

e e e e
e =
At a driving frequency , the mass
nearer the end being driven, becomes
stationary
0
2 e = e
Indefinite Number of Coupled Oscillators
N Light Beads Connected by Massless Rods
Equilibrium
General State of Vibration

m
T
Equations of Motion
p
P+1 P-1
p
y
1 p
y

1 p
y
+
1
u
2
u
) sin sin ( T
dt
y d
m
1 2
2
p
2
u u = )] y y ( ) y y [(
T
1 p p p 1 p +
=

Or,
0 ) y y 2 y (
dt
y d
1 p p 1 p
2
0
2
p
2
= + e +
+
T
T
m
T
2
0
= e
0 ) y y 2 y (
dt
y d
1 p p 1 p
2
0
2
p
2
= + e +
+
N ........., , 2 , 1 p =
It is assumed that there are two mass points,
at and , which are
permanently fixed.
Normal Modes
Substitute :
t cos A y
p p
e =
0 A A ) 2 ( A
1 p
2
0 p
2 2
0 1 p
2
0
= e e e + e
+
0 p = 1 N p + =
Boundary Conditions : 0 A A
1 N 0
= =
+
0 ) t ( y ) t ( y
1 N 0
= =
+
2
0
2 2
0
p
1 p 1 p
2
A
A A
e
e e
=
+
+
The amplitudes must depend upon the
discrete index in such a manner that the
ratio on the left above is independent of p
and the boundary condition is satisfied.
p
A
p
A clever guess :
0 A A
1 N 0
= =
+
) ts tan cons , & C ( p sin C A
p
u u =
u =
+
+
cos 2
A
A A
p
1 p 1 p
For the boundary conditions to be satisfied,
we must have :
0 ) 1 N ( sin = u + N ........, , 2 , 1 n
) 1 N (
n
=
+
t
= u
Each of the above possible values for
leads to a normal mode frequency :
u
2
sin 2
0
u
e = e
|
|
.
|

\
|
+
t
e = e
) 1 N ( 2
n
sin 2
0 n
N ........, , 2 , 1 n=
The amplitudes of the mass point in
the normal mode is :
|
|
.
|

\
|
+
t
=
1 N
np
sin C A
pn
th
p
th
n
N ,........, 1 n ; N ......., , 1 p = =

p x
) 1 N (
x n
sin C
=
|
|
.
|

\
|
+
t
=
p x
L
x n
sin C
=
|
.
|

\
|
t
=
|
.
|

\
|
t
= =
L
nx
sin C ) x ( A , where ), p ( A A
n n pn

The First Mode
|
|
.
|

\
|
+
t
e = e
) 1 N ( 2
sin 2
0 1
|
.
|

\
|
t
=
L
x
sin C ) x ( A
1
The Second Mode
|
.
|

\
|
t
=
L
x 2
sin C ) x ( A
2
|
|
.
|

\
|
+
t
e = e
) 1 N (
sin 2
0 2
Three Particles
General Solution

=
| + e
+
t
=
N
1 n
n n n p
) t ( cos
1 N
np
sin C ) t ( y
N ......., , 1 p =
Prob. 5.16 (Resonance in N coupled
Oscillators)
Consider a system of N coupled oscillators
driven at a frequency . Forcing is done at
the extreme end such that
e
t cos h ) t ( y
1 N
e =
+
Find the resulting amplitudes of the particles.
t cos h e
0 ) y y 2 y (
dt
y d
1 p p 1 p
2
0
2
p
2
= + e +
+
Equations of Motion :
N ........., , 2 , 1 p =
Boundary Conditions :
t cos h ) t ( y ; 0 ) t ( y
1 N 0
e = =
+
In the steady state, each particle will oscillate
with the driving frequency.
t cos ) ( A y
p p
e e =
Here, is the driving frequency, and
hence, given
e
Substituting the above into the equations of
motion, we get :

2
0
2 2
0
p
1 p 1 p
2
A
A A
e
e e
=
+
+
Boundary Conditions :
h A ; 0 A
1 N 0
= =
+
Solution :
u = p sin C A
p
Second boundary condition requires :
h ) 1 N ( sin C = u +
u +
=
) 1 N ( sin
h
C
2
0
2 2
0
p
1 p 1 p
2
cos 2
A
A A
e
e e
= u =
+

+
u +
u
= e
) 1 N ( sin
) p sin( h
) ( A
p
2
0
2 2
0
2
2
cos
e
e e
= u
, Where,
The amplitudes blow up whenever
0 ) 1 N ( sin = u +
Or,
1 N
n
+
t
= u
This happens when the driving frequency is
such that :
2
0
2 2
0
2
2
1 N
n
cos
e
e e
=
+
t
Or,
|
|
.
|

\
|
+
t
e = e
) 1 N ( 2
n
sin 2
0
Amplitudes of oscillations become large when
the driving frequency is one of the normal
mode (natural) frequencies

=
| + e
+
t
=
N
1 n
n n n p
) t ( cos
1 N
np
sin C ) t ( y
Most general solution of the driven oscillators :
t cos
) 1 N ( sin
) p sin( h
e
u +
u
+
Transient Steady State