PHYS 211 Lecture 7 - Forced harmonic motion Lecture 7 - Forced harmonic motion Text: Fowles and Cassiday, Chap.

3 Demo: driven spring

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There are many situations in which a system may be driven by a regular or irregular external force. For example, machinery may vibrate its local enviroment; an electromagnet may vibrate the cone of a loudspeaker, an electrical current may drive the oscillator in a watch. Sometimes we may wish to suppress the vibrations, while in other situations we may wish to enhance them. Here, we consider the situation in which the driving force is periodic, although its frequency is not assumed to be the same as the natural frequency of the driven system. Driven oscillator without damping We represent the driving force by Fo cos( t). The equation of motion for an undamped oscillator (i.e., a spring) is then F = ma --> m(d 2x / dt 2) = Fo cos( t) - kx (1) Now, if the driving force has a low frequency, then the inertial effects of the mass will not be as important as the compression of the spring itself, and the spring may be forced to oscillate at the frequency of the driver. Thus, we might guess that x(t) = A cos( t - ) (2) is the solution to Eq. (1). A phase angle behind the driver. The second derivative of Eq. (2) gives: d 2 / dt 2 [cos( t - )] = - 2 cos( t - ) which, when substituted into Eq. (1), yields => Fo cos t - kA cos( t - ) = -mA 2 cos( t - ) => (k - m 2)A cos( t - ) = Fo cos t Because this expression is valid for all time, then = 0 or are the only allowed phase angles; values of other than this introduce two terms - sin and cos - on the left hand side. For these values of , = 0: --> --> (k - m 2)A = Fo A = Fo / (k - m 2) A = (Fo / m) / ( o2 is introduced to allow the spring to lag

where <
o

2 o

=k/m

Note that for positive A we require

2001 by David Boal, Simon Fraser University. All rights reserved; further copying or resale is strictly prohibited.

PHYS 211 Lecture 7 - Forced harmonic motion = : (k - m =>

2

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)A = -Fo
2 2

[from cos( ) = -cos ] > o.

A = (Fo / m) / ( - o ) Note that for positive A we require

Thus, we see that for a driving term with no damping

A

Fo / k
o o

When the driving frequency equals the natural frequency of the spring, the oscillations become arbitrarily large: energy can be added to the system without limit. However, when o, sometimes the driving force adds to the oscillator, sometimes it opposes the oscillator, with the net result that A remains finite. Note how the phase angle shifts right at = o. The large amplitude found at = o is referred to as resonance. Driven, damped harmonic oscillator We now add a damping term to the driving force. If there were no driving force at all, then any oscillation would simply die out exponentially with time. However, if energy is added continuously via the driving force, then the system will oscillate in a steady-state pattern independent of time. This doesnt mean that x(t) = constant, it just means that x(t) doesnt decay like exp(- t). The equation of motion for the driven, damped oscillator is m d 2x / dt 2 = -c (dx / dt) - kx + Fo exp(i t) where c is the usual damping constant. This looks a little ugly because of the complex part of the driving force, but we will show that the real part of the equation is satisfied by the same solution as the imaginary part. We do this by allowing x(t) to be complex as well, writing it as x(t) = A exp(i[ t - ]) A, are real. Substituting into the differential

Only the real part of x(t) has a physical meaning. equation gives [after multiplying by exp(-i t + i )] mA(i )2 2 = -ci A - kA + Fo exp(i )

2001 by David Boal, Simon Fraser University. All rights reserved; further copying or resale is strictly prohibited.

PHYS 211 Lecture 7 - Forced harmonic motion

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Collecting terms: Fo exp(i ) = kA - mA

+ ic A

Using the identity exp(i ) = cos + isin , we have expressions for both the real and imaginary parts of the equation Fo cos = kA - mA 2 (3) Fo sin = c A (4) Squaring and adding (3) and (4) to get rid of the : Fo2 (sin2 + cos2 ) = (kA - mA 2)2 + (c A)2 = A 2 [m 2( o2 - 2)2 + c 2 2] or A = Fo / [m 2( o2 - 2)2 + c 2 2]1/2 --> A = (Fo / m) / [( o2 - 2)2 + 4 2 2]1/2 where Clearly, we regain the undamped expression when The phase angle can be found by dividing (4) by (3) tan => tan = sin / cos = c A / (kA - mA = (c /m) / ( o2 - 2) = 2 / ( o2 - 2 )
2

= c / 2m, as before.

= 0.

) = c / (k - m

Lets compare the phase angle and amplitude with the undamped case. phase angle is an inverse tangent function: tan
o

First, the

/2

The width depends upon = c / 2m. The smaller c is, the smaller the range of - o over which the phase change occurs.

is, and the smaller

The amplitude has a resonance-like structure, but now there is no singular behaviour at = o because of the damping term.

2001 by David Boal, Simon Fraser University. All rights reserved; further copying or resale is strictly prohibited.

PHYS 211 Lecture 7 - Forced harmonic motion

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Amax

Fo / k close to o

The maximum in A, namely Amax , occurs close to Using A / = 0 at Amax A / = (Fo / m)(-1/2)[(

2 o

2 2

) +4

2 -3/2

[2(

2 o

)(-2 ) + 4 2(2 )]

The term in the second [ ] gives the condition on Amax -4 ( o2 - 2) +8 2 = 0 => o2 - 2 = 2 2 Hence, Amax occurs at the resonance frequency of 2 2 2 r = o - 2
r

This is similar, but not identical, to the damped (not driven) frequency of 2 2 2 . The corresponding Amax is d = o Amax = (Fo / m) / [(2 2)2 + 4 2( o2 - 2 2)]1/2 = (Fo / m) / [4 2( 2 + o2 - 2 2)]1/2 = (Fo / m) / [4 2( o2 - 2)]1/2 Notes: Amax diverges as 0. the full width at A = Amax /2 is about 2 - 3 ; see problems in Chap. 3.

2001 by David Boal, Simon Fraser University. All rights reserved; further copying or resale is strictly prohibited.