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Chapter 13

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Periodic (Oscillatory) Motion

1. Describing Oscillatory Motion

2. Simple Harmonic Motion
3. Applications of Simple Harmonic Motion
4. Circular & Harmonic Motion
5. Energy in Simple Harmonic Motion
6. Damped Harmonic Motion
7. Driven Oscillations & Resonance

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Learning Outcomes
In this chapter, you’ll learn…
• how to describe oscillations in terms of amplitude, period,
frequency, and angular frequency.
• how to apply the ideas of simple harmonic motion to
different physical situations.
• how to analyze the motions of a pendulum.
• what determines how rapidly an oscillation dies out.
• how a driving force applied to an oscillator at a particular
frequency can cause a very large response, or resonance.

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Introduction
• Why do dogs walk faster than humans? Does it have
anything to do with the characteristics of their legs?
• Many kinds of motion (such as a pendulum, musical
vibrations, and pistons in car engines) repeat themselves.
We call such behavior periodic motion or oscillation.

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Dancers from the Bandaloop Project perform on vertical surfaces,

executing graceful slow-motion jumps.
What determines the duration of these jumps?

pendulum motion: rope length & g

Disturbing a system from equilibrium

results in oscillatory motion.

Absent friction, oscillation continues forever.

Examples of oscillatory motion:

Microwave oven: Heats food by oscillating H2O molecules in it.
CO2 molecules in atmosphere absorb heat by vibrating  global warming.
Watch keeps time thru oscillation ( pendulum, spring-wheel, quartz crystal, …)
Earth quake induces vibrations  collapse of buildings & bridges .

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What Causes Periodic Motion? (1 of 4)

• If an object attached to a spring is displaced from its equilibrium
position, the spring exerts a restoring force on it, which tends to
restore the object to the equilibrium position.
• This force causes oscillation of the system, or periodic motion.

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What Causes Periodic Motion? (2 of 4)

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What Causes Periodic Motion? (3 of 4)

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What Causes Periodic Motion? (4 of 4)

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Characteristics of Periodic Motion

• The amplitude, A, is the maximum magnitude of
displacement from equilibrium.
• The period, T, is the time for one cycle.
• The frequency, f, is the number of cycles per unit
time.
• The angular frequency, ω, is 2π times the frequency:
  2 f .
• The frequency and period are reciprocals of each
other: 1 1
f  and T  .
T f
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Simple Harmonic Motion (SHM) (1 of 2)

• When the restoring force is directly proportional to the
displacement from equilibrium, the resulting motion is called
simple harmonic motion (SHM).

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Simple Harmonic Motion (SHM) (2 of 2)

• In many systems, the restoring force
is approximately proportional to
displacement if the displacement is
sufficiently small.
• That is, if the amplitude is small
enough, the oscillations are
approximately simple harmonic.

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Simple Harmonic Motion Viewed as a Projection (1 of 2)

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Simple Harmonic Motion Viewed as a Projection (2 of 2)

• The circle in which the ball moves so

that its projection matches the motion
of the oscillating object is called the
reference circle.
• As point Q moves around the
reference circle with constant angular
speed, vector OQ rotates with the
same angular speed.
• Such a rotating vector is called a
phasor.

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13.1. Describing Oscillatory Motion

Characteristics of oscillatory motion:

• Amplitude A = max displacement from equilibrium.
• Period T = time for the motion to repeat itself.
• Frequency f = # of oscillations per unit time.

same period T same amplitude A 1

f  [ f ] = hertz (Hz) = 1 cycle / s
T

A, T, f do not specify an oscillation completely.

Describing Oscillatory Motion

Oscillations (whether sinusoidal or otherwise) have some

common characteristics:
1. They take place around an equilibrium position;
2. The motion is periodic and repeats with each cycle.

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Example 13.1. Oscillating Ruler

An oscillating ruler completes 28 cycles in 10 s & moves a total distance of 8.0 cm.
What are the amplitude, period, & frequency of this oscillatory motion?

Amplitude = 8.0 cm / 2 = 4.0 cm.

10 s
T  0.36 s / cycle
28 cycles

1 28 cycles
f    2.8 Hz
T 10 s

13.2. Simple Harmonic Motion

Simple Harmonic Motion (SHM):

F  k x

2nd order diff. eq  2 integration const.

d2x
m 2  k x x  t   A cos  t  B sin  t
dt
angular
dx frequency
  A sin  t  B  cos  t
dt
d2 x k
  2 A cos  t  B  2 sin  t  
  2 x m
d t2
 T  2
x t  T   x t   T  2
m
1  k
f  
T 2

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x  t   A cos  t  B sin  t

dx
v t     A sin  t  B  cos  t
dt
A, B determined by initial conditions

A 1
x  0  1  x  t   cos  t

v  0  0 B 0

( t )  2

x  2A

Amplitude & Phase

C = amplitude
x  t   A cos  t  B sin  t  C cos  t   
 = phase

C  A2  B 2
A  C cos 
 C  cos  t cos   sin  t sin    B
B  C sin     tan 1
A

Note:  is independent of
amplitude only for SHM.

Curve moves to the right for  < 0.

Oscillation

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GOT IT? 13.1.

Two identical mass-springs are displaced different amounts from equilibrium &
then released at different times.
Of the amplitudes, frequencies, periods, & phases of the subsequent motions,
which are the same for both systems & which are different?

Same: frequencies, periods

Different:
amplitudes ( different displacement )
phases ( different release time )

Example 13.2. Tuned Mass Damper

The tuned mass damper in NY’s Citicorp Tower consists of a 373-Mg (vs 101’s 3500
Mg) concrete block that completes one cycle of oscillation in 6.80 s.
The oscillation amplitude in a high wind is 110 cm.
Determine the spring constant & the maximum speed & acceleration of the block.

2 2

T  2
m  2   2  3.1416 
  373  103 kg  
 k m    3.18 105 N / m
k  T   6.80 s 

2 2  3.1416
   0.924 s 1
T 6.80 s

vmax   A   0.924 s  1.10 m   1.02 m / s

1

amax   2 A   0.924 s 1  1.10 m   0.939 m / s 2

2

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Characteristics of SHM (1 of 2)
• For an object of mass m vibrating by an ideal spring with a force constant k:

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Characteristics of SHM (2 of 2)

• The greater the mass m in a

tuning fork’s tines, the lower the
frequency of oscillation, and the
lower the pitch of the sound that
the tuning fork produces.

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Displacement as a Function of Time in SHM (1 of 5)

• The displacement as a function of time for SHM is:

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Displacement as a Function of Time in SHM (2 of 5)

• Increasing m with the same A and k increases the period of the

displacement vs time graph.

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Displacement as a Function of Time in SHM (3 of 5)

• Increasing k with the same A and m decreases the period of the

displacement vs time graph.

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Displacement as a Function of Time in SHM (4 of 5)

• Increasing A with the same m and k does not change the period of the
displacement vs time graph.

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Displacement as a Function of Time in SHM (5 of 5)

• Increasing ϕ with the same A, m, and k only shifts the displacement vs
time graph to the left.

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Graphs of Displacement and Velocity for SHM

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Graphs of Displacement and Acceleration for SHM

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Velocity & Acceleration in SHM

x  t   A cos  t   

|x| = max at v = 0
dx
v t     A  sin   t   
dt
 
 A  cos   t    
 2
|v| = max at a = 0
2
d x
a t     A  2 cos  t   
d t2
  2 x  t 

 A  2 cos  t     

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Figure 14.8

Energy Diagrams for SHM (1 of 2)

• The potential energy U and total mechanical energy E for an object in

SHM as a function of displacement x.

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Energy Diagrams for SHM (2 of 2)

• The potential energy U, kinetic energy K, and total mechanical energy

E for an object in SHM as a function of displacement x.

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Figure 14.15

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Figure 14.10

Energy in SHM
• The total mechanical energy E = K + U is conserved in SHM:
1 1 1
E mv x 2  kx 2  kA2  constant
2 2 2

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13.5. Energy in Simple Harmonic Motion

SHM: x  t   A cos  t v  t    A  sin  t

1 1
U k x 2  k A2 cos 2  t
2 2
1 1 1
K m v 2  m  2 A2 sin 2  t  k A2 sin 2  t
2 2 2
1
E  K U  k A2
2
= constant

Energy in SHM

13.3. Applications of Simple Harmonic Motion

• The Vertical Mass-Spring System

• The Torsional Oscillator
• The Pendulum
• The Physical Pendulum

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The Vertical Mass-Spring System

The Vertical Mass-Spring System

Spring stretched by x1 when loaded.

mass m oscillates about the new equil. pos.

k
with freq 
m

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Vertical SHM (1 of 2)

• If an object oscillates vertically from a spring, the restoring force has

magnitude kx. Therefore the vertical motion is SHM.

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Vertical SHM (2 of 2)

• If the weight mg compresses the spring a distance Δl,

mg
the force constant is k  .
l

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The Simple Pendulum

• A simple pendulum consists of a

point mass (the bob) suspended by a
massless, unstretchable string.
• If the pendulum swings with a small
amplitude θ with the vertical, its
motion is simple harmonic.

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The Simple Pendulum

• A simple pendulum consists of a
point mass (the bob) suspended by a
massless, unstretchable string.
• If the pendulum swings with a small
amplitude θ with the vertical, its
motion is simple harmonic.

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Figure 14.22

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Angular SHM
• A coil spring exerts a restoring torque
 z  K 

where K is called the torsion constant of the spring.

• The result is angular simple harmonic motion.

 K  I 
d 2 K
2
 
dt I
   cos(t   )

 K/I

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The Torsional Oscillator

     = torsional constant

 I

d 2
    I
dt 2



I

Used in timepieces

The Pendulum

d 2
 g   m g L sin   I
τT  0 dt 2

Small angles oscillation: sin   

d 2
I  m g L 
dt 2

mgL

sin    I

Simple pendulum (point mass m):

g L
I  m L2  T  
L g

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Example 13.3. Rescuing Tarzan

Tarzan stands on a branch as a leopard threatens.
Jane is on a nearby branch of the same height, holding a 25-m-long vine attached to a
point midway between her & Tarzan.
She grasps the vine & steps off with negligible velocity.
How soon can she reach Tarzan?

L
T  
g

Time needed:

1 25 m
T   5.0 s
2 9.8 m / s 2

GOT IT? 13.2.

What happens to the period of a pendulum if

no change (a) its mass is doubled,
doubles (b) it’s moved to a planet whose g is ¼ that of Earth,
doubles (c) its length is quadrupled?

L
T  
g

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The Physical Pendulum

• A physical pendulum is any real pendulum that uses an
extended object instead of a point-mass bob.
• For small amplitudes, its motion is simple harmonic.

 z  ( mgd ) sin 
d 2
 I z  I
dt 2
d 2 mgd
   2
dt 2 I

mgd

I

I
T  2
mgd

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Example 13.4. Walking

When walking, the leg not in contact of the ground swings forward,
acting like a physical pendulum.
Approximating the leg as a uniform rod, find the period for a leg 90 cm long.

mgL 1
 I  m  2L 
2

I 3

 4L
T  2
 3g

4   0.9 m 
 2  3.1416
3   9.8 m / s 2 

 1.6 s

Forward stride = T/2 = 0.8 s

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13.4. Circular & Harmonic Motion

Circular motion:

x  t   r cos  t 2  SHO with same A & 

y  t   r sin  t but  = 90

x=R x=R
x=0

Lissajous Curves

GOT IT? 13.3.

The figure shows paths traced out by two pendulums swinging with
different frequencies in the x- & y- directions.
What are the ratios x : y ?

1:2 3: 2
Lissajous Curves

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Example 13.7. A block with mass M rests on a frictionless surface

and is connected to a horizontal spring of force constant k. The
other end of the spring is attached to a wall (Fig. P14.68). A
second block with mass m rests on top of the first block is ms. The
coefficient of static friction between the blocks is μs. Find the maximum amplitude of
oscillation such that the top block will not slip on the bottom block

In simple harmonic motion (SHM) k

amax  A.
mtot

 
Applying  F  ma  fs  s n  s mg.

 Fx  ma x  s mg  ma ,
a  s g

 k 
amax  a    A.
M m
 k  s g ( M  m )
a  s g   A  A .
M  m k

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A
v0  k m  M 
m
 9.460 10 m  142.7 N m  7.870 10
2

  3
kg  4.648 kg 
 7.870 10 kg 
3

 309.8 m s

m m
T  2  2 
k1  k2 2k

f 
1 2k

k

125 N s
 5.43Hz xmax  Ae t  1
4
A  Ae t
2 m 2 2m 2 2  0.215kg 
ln4 ln 4
 t   20.3s
 0.06843s 1
   55T 
xmax  A  Ae
1
2

ln 2 f 5.43Hz
    ln 2  ln 2  0.06843s 1  0.0684 s 1
55T 55 55

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The human leg can be compared to a physical pendulum, with a "natural" swinging period at
which walking is easiest. Consider the leg as two rods joined rigidly together at the knee; the
axis for the leg is the hip joint. The length of each rod is about the same, 55 cm. The upper rod
has a mass of 7.0 kg and the lower rod has a mass of 4.0 kg.

Calculate the natural swinging period of the system.

The effect of a shorter leg is a shorter swinging period, enabling a faster "natural" stride.

I  I upper  I lower  13 M l 2  121 ml 2  m  23 l 2   13 M  73 m  l 2

M  12 l   m  23 l   12 M  23 m 
h  xCM     l
M m  M m 

T  2
I
 2
 13 M  73 m l 2

 2
 13 M  37 m l
mtotal gh
 M  m g  2
1
M  23 m   12 M  23 m g
l
 M m 

T  2
  7.0kg    4.0kg   0.55m   1.6495s  1.6s
1
3
7
3

  7.0kg    4.0kg   9.80 m s 

1
2
3
2
2

Vibrations of Molecules
• Shown are two atoms having centers a distance r apart,
with the equilibrium point at r = R0.
• If they are displaced a small distance x from equilibrium,
the restoring force is approximately
 72U 
Fr    2 0  x
 R0 
72U0
• So k  , and the motion is SHM.
R02

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Potential Energy Curves & SHM

Linear force: F  k x

 parabolic potential energy:

1
U   F d x  k x2
2

dU
Taylor expansion near local minimum: 0
dx x  xmin

1 d 2U
U  x   U  xmin    x  xmin    const  1 k  x  x 2
2

2 d x2 x  xmin 2
min

 Small disturbances near equilibrium points  SHM

Figure 14.20a

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Figure 14.20b

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Figure 14.20c

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Figure 14.20

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GOT IT? 13.4.

Two different mass-springs oscillate with the same amplitude & frequency.
If one has twice as much energy as the other, how do
(a) their masses & (b) their spring constants compare?
(c) What about their maximum speeds?

The more energetic oscillator has

(a) twice the mass
(b) twice the spring constant
(c) Their maximum speeds are equal.

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13.6. Damped Harmonic Motion

sinusoidal
oscillation

Damping (frictional) force:

dx
Fd  b v  b
dt

Damped mass-spring:

Amplitude
d 2x dx
exponential decay m  k x  b
d t2 dt
Ansatz:

x  t   A e t cos  t   
m  2   2    k  b 
v  t   A e t   cos  t      sin  t     
2m    b 
a  t   A e t  2   2  cos   t     2  sin   t    


b k k  b 
2
   2  
2m m 
m  2m 

b 2
x  t   A e t cos  t     k  b  2
   b 
2m 
m  2m   02   
 2m 
 At t = 2m / b, amplitude drops to 1/e of max value.

(a) For 0    is real, motion is oscillatory ( underdamped )

(c) For 0    is imaginary, motion is exponential ( overdamped )

(b) For 0    = 0, motion is exponential ( critically damped )

Damped & Driven

Harmonic Motion

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Example 13.6. Bad Shocks

A car’s suspension has m = 1200 kg & k = 58 kN / m.
Its worn-out shock absorbers provide a damping constant b = 230 kg / s.
After the car hit a pothole, how many oscillations will it make before the
amplitude drops to half its initial value?

2
b k  b 
x  t   A e t cos  t       
2m m  2m 

1 1 1 2m 2 1200 kg 
Time  required is e       ln  ln 2  ln 2  7.23 s
2  2 b  230 kg / s 
2
58000 N / m  230 kg / s   6.95 s 1 
  T  0.904 s
1200 kg  2 1200 kg   
 

 7.23 s
# of oscillations:  8 bad shock !
T 0.904 s

13.7. Driven Oscillations & Resonance

External force  Driven oscillator

Let Fext  F0 cos d t d = driving frequency

d 2x dx
m 2
 k x  b  F0 cos d t
dt dt

Prob 75: x  A cos d t    ( long time )

F0
A
2
 b d 
  02   
2 2
m d 
 m 

k
0  = natural frequency
m
Damped & Driven
Resonance: d  0 Harmonic Motion

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Forced (driven) oscillations and resonance

• A force applied “in synch” with a motion already in progress will resonate and
add energy to the oscillation (refer to Figure 13.28).
• A singer can shatter a glass with a pure tone in tune with the natural “ring” of
a thin wine glass.

Buildings, bridges, etc have natural freq.

If Earth quake, wind, etc sets up resonance, disasters result.

Collapse of Tacoma bridge is due to self-excitation

described by the van der Pol equation. Tacoma Bridge

Resonance in microscopic system:

• electrons in magnetron  microwave oven
• Tokamak (toroidal magnetic field)  fusion
• CO2 vibration: resonance at IR freq  Green house effect
• Nuclear magnetic resonance (NMR)  NMI for medical use.

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Forced (driven) oscillations and resonance II

• The Tacoma Narrows Bridge suffered spectacular structural failure after
absorbing too much resonant energy.

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