Recap

1
0

Q factor of DHO Q

Forced Undamped oscillator

mx kx F0 cost
F0
1
cos

t
solution x
2
m 0 2

 Complete solution is

F0
1
x
cos
t

Bcos(
t

)
0
2
m 0 2

Steady state
solution

General solution of
undamped oscillator
2

x 0 x 0

0.010

Fo
1
A
m o2 2
A

0.005

0.000

-0.005

-ve A ?

-0.010
0

20

40

60

80

100

displacement is
opposite to the
direction of the force!

Todays topics
Forced damped harmonic oscillator
Equ. Of motion
Solution
Resonance
Energy
Power
Quality factor

Forced Damped Harmonic Oscillator

SHO

F Fspring

mx kx

DHO F Fspring Fviscous mx kx - bv

Undamped FHO F Fspring Fdriving
mx kx F0 cost

Damped FHO

F Fspring Fviscous Fdriving

mx kx - bv F0 cost

Actual motion is the superposition of

oscillations at two frequencies and 0
Transient behavior
In the initial stage transient state exists
After a sufficiently long time the natural
oscillations dies out because of the damping
force
Now the oscillator oscillates at the frequency
of the driving force Steady state

mx kx - bv F0 cost

b
k
F0
x
x
x
cost
m
m
m

x x

2
o x

Fo

cos t
m

Will x =A cos t satisfy this differential equ.?

No!
The velocity term gives sin t

x x

2
o x

Fo

cos t
m

How to find the solution?

Write the above equation in complex form

F0 it
z z 0 z e
m
i

t
Solution will be of the form z = zo e
2

Real part of z = zo eit gives the solution to

Forced damped harmonic oscillator
Substituting z

= zo eit in complex equation

F0 it
z0 e ( i 0 ) e
m
F0
1
z0
2
2
m 0 i
it

2
2
F0
1
F0 (0 ) i
z0

2
2
2
m 0 i
m (0 2 )2 ( )2

-i

F0
e

2
m (0 2 ) 2 ( ) 2
z0 Re i

In
polar
form

1
R z0 z0
2
2 2
2
(0 ) ( )

1

tan 2
2

F0

1
2

The complete solution is z = zo eit

-i it

z Re e

Re

i t

Real part x R cos(t )

Fo
1
A R
m 2 2 2 2
o

tan 1 2
0 2

1/2

Phase difference between

the driving force
and the displacement

Fo
1
A R
m 2 2 2 2
o

1/2

A is constant for a given frequency

dA
0
dt

At = max

0 1
2
2Q

1
2

Fo
1
A R
m 2 2 2 2
o

1/2

For light damping, A is maximum for = o

and the amplitude at resonance is:
Fo
A(o )
mo

The behavior of A and as functions of ,

depends on the ratio / o

Fo
1
A
m 2 2 2 2
o

1/2

1
0
Q

1
0
m

0 1
2
2Q

1
2

Fo
1
A
m 2 2 2 2
o

1/2

0 1
2
2Q

1
2

1
0

As increases, the maximum amplitude occurs

at a frequency less than the resonant frequency

tan 2
2
o
1

Undamped FHO

Damped FHO
Fo
1
A
m 2 2 2 2
o

Fo
1
A
m o2 2

0.010

0.005

0.000

-0.005

-0.010
0

20

40

60

80

100

tan 2
2
o
1

+
+

1/2

Energy
For steady state motion amplitude is constant
in time

x A cost

v A sin t
1 2 1
K (t ) mv m 2 A2 sin(t )
2
2

1
2 2
K m A
4

1 2 1 2
2
U (t ) kx kA cos (t )
2
2

1 2 2
U k A
4

1
2 2
K m A
4
1 2 2
U k A
4
1
2
2
2
E mA ( 0 )
4
2
Fo

1
(
E
4 m 2
o

2
o )
2 2

Steady state

Light Damping

Steady state

<<0
2
Fo

1
(
E
4 m 2
o

2
o )
2 2

Replace by o
1 Fo2
1
E
8 m o 2 / 2 2

Resonance curve or lorentzian

1 Fo2
1
E
2
2
8 m o / 2

maximum
height

Falls to one half maximum

0
2

4
2

half maximum

E
2

0
2

Width of the curve

Full width at
half
maximum /
resonance
width

E
=

Recap
Forced damped harmonic oscillator
Equ. Of motion mx kx - bv F0 cost
Steady state solution x A cost
Fo
1
A R
m 2 2 2 2
o

1/2

tan 2
2
o
1

Fo
1
A R
m 2 2 2 2
o

1/2

A is constant for a given frequency

m

0 1
2
2Q

1
2

tan 2
2

2
Fo

1
1
E
8 m o 2 / 2 2

Steady state

half maximum

E
2

0
2

Width of the curve

Full width at
half
maximum /
resonance
width

E
=

Todays topics
Power absorbed by an oscillator
Similarity between the power and
energy curves
Q factor calculation from resonance
curves
Oscillations involving massive springs

Power absorbed by an oscillator

How to maintain the amplitude of a forced
harmonic oscillator constantly?
Rate at which energy is supplied to a driven
oscillator to maintain its amplitude
constantly is
dw
dx
P
F
Fv
dt
dt

Undamped FHO
Fo
1
x A cost where A m 2 2
o

Driving force F F0 cos t

x v A sin t
&
AF0
P Fv AF0 sin t cos t sin 2t
2

 AF0
P Fv
sin 2t
2

P sin 2t

P 0

Energy is fed into the system in one quarter

cycle and is taken out again during next
quarter cycle

Damped FHO

x A cos (t )
Fo
1
A
2
2 2
2 1/ 2
m [(o ) ( ) ]

v A sin (t )
P Fv F0 A cos t sin (t )

P Fv F0 A cos t sin(t )
(F0 A cos ) sin t cos t
2

(F0 A sin ) cos t

Average value is zero

1
P F0 A sin
2

1
P F0 A sin
2
2
0

tan 2
2

1 F
1
P
2
2
2
2
2 m
0

For light damping 0 =

2
F
1 0
P
8 m

1 F02
1
P
2
2
8 m 0 /2

1 Fo2
1
Average energy is E
8 m o 2 / 2 2

Resonance curve or lorentzian

1 F02
1
P
8 m 0 2 /2 2

1 Fo2
1
E
8 m o 2 / 2 2

maximum
height

Falls to one half maximum

0
2

4
2

half maximum

P
2

Width of the curve

Full width at
half
maximum /
resonance
width

or

E
2

0
2

E or P
=

Quality factor
o
resonance frequency
Q

frequency width of resonance curve

Gives the frequency selective property of

an oscillator
Q = 10 is more selective
Sharpness of resonance
curve means the system
will not respond unless
driven very near its resonance frequency

Response in time vs response in frequency

0.12
0.10
0.08
0.06
0.04
0.02

FWHM

0.00
50

100

150

Oscillators which are very

selective have weak damping

frequency

So such an oscillator does not recover from a

disturbance or does not respond quickly
The damping time and the resonance curve
width obey
1
1
This relation is closely related to one form of
the Heisenberg Uncertainty principle

http://www.acoustics.salford.ac.uk/
feschools/waves/shm4.htm

Coil Springs are used in

automobiles to isolate the
chassis from road vibrations
Damping is provided by Shock
absorbers (dashpots)
For a smooth ride, one should
have a massive and weak
springs (small k) so that the
resonance frequency is low

Problem

Chart Recorder

The displacement from equilibrium, x(t), of

the pen of a chart recorder can be modelled
as a damped harmonic oscillator

(a) Find the time evolution of the displacement

if the pen is critically damped and subject to
the initial conditions that at t=0, x = 0 and
velocity, V0
2

DHO x x 0 x 0

Critical Damping

2
o2
4

Solution x A Bt e ( / 2)t

Given x(t 0) 0
x (t 0) V0
Evaluate A & B
x(0) Ae 0
A0
x (0) Be
B V0

t
2

Given x(t 0) 0
x (t 0) V0

( A Bt )e
2

t
2

A B V0
2

The time evolution of the displacement

of the pen is
t

x V0te

V0te 0t

(b) Does x(t) change sign before it settles to its

equilibrium position?

x(t ) V0 te

0 t

x(t) does not change sign before it settles to

the equilibrium position

x(t ) V0 te
x

0 t

(c) Find the response of an overdamped pen

subject to the initial conditions that at t =0,
x = x0 and velocity is zero
x Ae

1 t

Be

2 t

4 o2

1 2
2 2

x Ae

t
2

Be

t
2

4o2
where
1 2
2

x Ae

t
2

Be

t
2

4o2
where
1 2
2

At t 0, x x0 , x 0
x ( 0) A B x 0

t
2

x(0) A e
B e
2

0 A B
2

t
2

A x0 1

2 2
1

B x0

2 2

Equation of motion for an overdamped pen is

1
x x0 1
2
1
x0
2

e
2

e
2

t
2

t
2

Over damped pen

Recap
Coil Springs are used in
automobiles to isolate the
chassis from road vibrations
Damping is provided by
Shock absorbers (dashpots)
For a smooth ride, one
should have a massive and
weak springs (small k) so
that
the
resonance
frequency is low

Oscillations involving massive springs

What is the frequency of oscillation?
Total energy is a constant
l
dE
0
dt

E = K + U = Constant

k M

1 2
U kx
2

K = K spring + K mass
How to calculate the KE of the spring ?

Assumptions
The spring oscillations are not so large that
they cause the spring coils to bump into each
other
Stretching force is same at all points along
the spring
All the points in the spring undergo
displacements proportional to their distances
from fixed end Static extension
Velocity is the same for all the elements of
the spring

M
dM
ds
l

l
l/3 l/3 l/3
m

Displacement s
x
of ds
l
s dx
dv
l dt
1
2
dK (dM)dv
2

m
x
3

2x
3

ds

1
1 M s dx
2
dK (dM)dv ds

2
2 l
l dt
2

M dx 2
dK 3 s ds
2l dt
K spring

M dx
3
2l dt

K spring

2 l
2

s ds
0

dx

dt

E = PE spring + KE spring + KE mass

1 2 M
E kx
2
6

dE
0
dt

dx 1 dx
m
dt 2 dt

k
M
m
3

Suppose m = 0

k
M
m
3

3k
M

The above calculation is not exact Why?

Because of the assumptions
(i) Extension of the spring is proportional
to the distance from the fixed end
(ii) Velocity (dx/dt) is the same for all the
elements of the spring

k
M
m
3

Is only an approximation
It will hold if M << m

In this case the stretching force does not

vary appreciably with distance along the
spring and can be treated as roughly
constant