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215
k
x<0
x=0
x>0
The linear restoring force F exerted by a spring is proportional to the signed elongation X, briefly, F = kX.
The number k is called Hookes constant for the spring. In the model
of Figure 2, X = x(t) and k > 0. The minus sign accounts for the action
of the force: the spring tries to restore the mass to the equilibrium state,
so the vector force is directed toward the equilibrium position x = 0.
Newtons second law. Specialized to the model in Figure 2, Newtons
second law says:
216
Method of force competition. Hookes law F = kx(t) and Newtons second law F = mx (t) give two independent equations for the force
acting on the system. Equating competing forces implies that the signed
displacement x(t) satisfies the free vibration equation
mx (t) + kx(t) = 0.
It is also called the harmonic oscillator, especially in its equivalent
form
k
x (t) + 2 x(t) = 0, 2 = .
m
In this context, is the natural frequency of the free vibration. The
harmonic oscillator is said to describe a simple harmonic motion x(t),
known by the recipe to have the form x(t) = c1 cos t + c2 sin t.
c21 + c22 ,
c1 = A cos
and c2 = A sin .
x(t) = A cos(t ).
217
(c1 , c2 )
+ (c1 , c2 )
+ (c1 , c2 )
+ 2 (c1 , c2 )
in
in
in
in
quadrant
quadrant
quadrant
quadrant
I,
II,
III,
IV .
pen
paper
mass
motion
Applications
We will consider various incarnations of the pendulum. The illustrations
end with applications to auto suspension systems and rolling wheels.
(t) +
g
sin (t) = 0.
L
Because the mass m cancels from the equation, the pendulum oscillation
depends only upon the length of the string and not upon the mass!
218
m
m~g
The physical pendulum. The compound pendulum or physical pendulum is a rigid body of total mass m having center of mass C
which is suspended from a fixed origin O see Figure 6.
O
C
m~g
(t) + 2 (t) = 0,
mgd
.
I
219
The torque I = mL2 /3 and center of mass distance d = L/2 are routine
calculus calculations. Then mgd/I = 3mgL/2mL2 = 3g/2L. Applying
(4) gives the swinging rod
(t) +
(6)
3g
sin (t) = 0
2L
(t) + (t) = 0,
(7)
3g
.
2L
(8)
+ 0 (t) = 0,
.
I
Assume the car plus occupants has mass 1350 Kg. Let each coil spring
have Hookes constant k = 20000 Newtons per meter. The load is divided
1
Los Angeles patrol officers gave traffic citations to teenagers who disabled the
shocks on their cars. The extreme broncbuster ride distinguished the modified cars
cruising California boulevards.
220
among the four springs equally, so each spring supports m = 1350/4 Kg.
We will find the natural frequency of vibration . Then the number of
seconds for one complete oscillation is the period T = 2/ seconds.
The oscillation model for one spring is
1350
x (t) + 20000x(t) = 0.
4
In the harmonic oscillator form x + 2 x = 0, 2 =
therefore = 7.70, T = 2/ = 0.82 seconds.
20000(4)
1350
= 59.26 and
mx (t) +
2
kx(t) = 0.
3
2
2
4 m(x (t)) + 2 k(x(t)) = c. Differentiate this equation on t to obtain
3
221
Exercises 5.6
Simple harmonic motion. Deter-
7. x + 4x = 0, x(0) = 1, x (0) = 1
8. x + 4x = 0, x(0) = 1, x (0) = 1
9. x + 16x = 0, x(0) = 2, x (0) =
1
222
18. A pendulum clock with adjustable
length L loses 4 minutes per day
when L = 30 inches. What fineness length F is required for a