Lecture 1 - part I

• Simple harmonic motion

• Oscillating mass attached to a vertical spring
• Motion of the pendolum
• Damped oscillations
 Simple harmonic motion
x is the displacement from the equilibrium position
The block is moved on a frictionless horizontal surface. The
spring is displaced from its equilibrium position

Restoring force->
𝐹 =− 𝑘𝑥
acts against
motion

• Ideal case where the restoring force exerted by

the spring is the only force acting on the
system

• The movement is monodimentional and

parallel to the horizontal plane -> speed and
acceleration only have one component ( and )
 Simple harmonic motion
x is the displacement from the equilibrium position
The block is moved on a frictionless horizontal surface. The
spring is displaced from its equilibrium position

Restoring force-> No other force is acting

𝐹 =− 𝑘𝑥
acts against on the system
motion

Newton’s law
• Ideal case where the restoring force exerted by
the spring is the only force acting on the
𝑑 𝑥
2 system
𝐹 =− 𝑘𝑥=𝑚 𝑎 𝑥 =𝑚 2
𝑑𝑡
• The movement is monodimentional and
parallel to the horizontal plane -> speed and
acceleration only have one component ( and )
Simple harmonic motion
2
𝑑 𝑥
𝐹 =− 𝑘𝑥=𝑚 𝑎 𝑥 =𝑚 2
𝑑𝑡
Simple harmonic motion
2
𝑑 𝑥
𝐹 =− 𝑘𝑥=𝑚 𝑎 𝑥 =𝑚 2
𝑑𝑡
Simple harmonic motion
2
𝑑 𝑥 𝑘
+ 𝑥= 0
𝑑𝑡
2
𝑚

𝑥= 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)
Simple harmonic motion
2
𝑑 𝑥 𝑘
+ 𝑥= 0
𝑑𝑡
2
𝑚
Verifying the
solution
𝑥= 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)
Simple harmonic motion
2
𝑑 𝑥 𝑘
+ 𝑥= 0
𝑑𝑡
2
𝑚
Simple harmonic motion
2
𝑑 𝑥 𝑘
+ 𝑥= 0
𝑑𝑡
2
𝑚

𝑥= 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)

𝑑𝑥
=− 𝜔 𝐴𝑠𝑖𝑛( 𝜔 𝑡 + 𝛿)
𝑑𝑡
2
𝑑 𝑥 2
2
=− 𝜔 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)
𝑑𝑡
Simple harmonic motion
2
𝑑 𝑥 𝑘
+ 𝑥= 0
𝑑𝑡
2
𝑚

𝑥= 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)

𝑑𝑥
=− 𝜔 𝐴𝑠𝑖𝑛( 𝜔 𝑡 + 𝛿)
𝑑𝑡
2
𝑑 𝑥 2
2
=− 𝜔 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)
𝑑𝑡

2 𝑘
− 𝜔 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)+ 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)=0
𝑚
Simple harmonic motion
2
𝑑 𝑥 𝑘
+ 𝑥= 0
𝑑𝑡
2
𝑚

𝑥= 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)

𝑑𝑥
=− 𝜔 𝐴𝑠𝑖𝑛( 𝜔 𝑡 + 𝛿)
𝑑𝑡
2
𝑑 𝑥 2
2
=− 𝜔 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)
𝑑𝑡

2 𝑘
− 𝜔 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)+ 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)=0
𝑚

𝜔=
√𝑘
𝑚
Simple harmonic motion
𝑥= 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)
Simple harmonic motion
𝑥= 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)

A is the amplitude and is the

maximum displacement from
the equilibrium position
Simple harmonic motion
𝑥= 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)

Two blocks oscillating with

different amplitudes
A1 A2
Simple harmonic motion
phase
𝑥= 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)

A
• A is the amplitude and is the maximum
displacement from the equilibrium position
• The argument of cos (i.e. ) is the phase
Simple harmonic motion
phase constant
𝑥= 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)

A
• A is the amplitude and is the maximum
displacement from the equilibrium position
• The argument of cos (i.e. ) is the phase
• The phase constant depends on the
displacement position at t=0
Simple harmonic motion
𝑥1 = 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿1 )
𝑥 2= 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿2)
Simple harmonic motion
𝑥1 = 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿1 )
𝑥 2= 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿2)

Phase difference
∆ 𝛿=𝛿2 − 𝛿1
Simple harmonic motion
Angular frequency ()
𝑥= 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)

• A is the amplitude and is the maximum

displacement from the equilibrium position
• The argument of cos (i.e. ) is the phase
• The phase constant depends on the
displacement position at t=0
Simple harmonic motion
Angular frequency ()
𝑥= 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)

′
𝜔=2 𝜔
• A is the amplitude and is the maximum
displacement from the equilibrium position
• The argument of cos (i.e. ) is the phase
• The phase constant depends on the
displacement position at t=0
′
𝜔= 𝜔
Simple harmonic motion
Angular frequency ()
𝑥= 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)

• A is the amplitude and is the maximum

displacement from the equilibrium position
• The argument of cos (i.e. ) is the phase
• The phase constant depends on the
displacement position at t=0
• the frequency does not depend on the initial
displacement, but only on the spring
constant and the block mass
Simple harmonic motion
𝜔=
𝑘
𝑚√
𝜔
𝑓=
2𝜋

1
𝑇=
𝑓

Both the period (T) and the frequency do not depend on the
initial displacement from equilibrium
Simple harmonic motion
𝜔=
𝑘
𝑚√
𝜔
𝑓=
2𝜋

1
𝑇=
𝑓

Both the period (T) and the frequency do not depend on the
initial displacement from equilibrium
𝑥1 = 𝐴 1 𝑐𝑜𝑠( 𝜔 𝑡 + 𝛿)
𝑥 2= 𝐴 2 𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)
Different amplitudes but same phase
 Simple harmonic motion
Amplitude and phase constant can be obtained from the initial conditions, i.e. initial displacement
and initial velocity
 Simple harmonic motion
Amplitude and phase constant can be obtained from the initial conditions, i.e. initial displacement
and initial velocity
 Circular motion and Simple
harmonic motion
A circular motion with constant speed can be described as simple harmonic motion

⃗
𝑣
A
q
x
 Circular motion and Simple
harmonic motion
A circular motion with constant speed can be described as simple harmonic motion

y We are interested in the projection on the x-axis (x) of the point as

function of time
⃗
𝑣 Note that when -> -> largest x value
A
q
x
 Circular motion and Simple
harmonic motion
A circular motion with constant speed can be described as simple harmonic motion

y We are interested in the projection on the x-axis (x) of the point as

function of time
⃗
𝑣 Note that when -> -> largest x value
A
q As the point moves on the circular path, the angle q varies

x
 Circular motion and Simple
harmonic motion
A circular motion with constant speed can be described as simple harmonic motion

y We are interested in the projection on the x-axis (x) of the point as

function of time
⃗
𝑣 Note that when -> -> largest x value
A
q As the point moves on the circular path, the angle q varies

Angle with the x-axis

corresponding to the
initial position of the
point on the circle
 Circular motion and Simple
harmonic motion
A circular motion with constant speed can be described as simple harmonic motion

y We are interested in the projection on the x-axis (x) of the point as

function of time
⃗t=t’
𝑣 Note that when -> -> largest x value
A t=0
q d As the point moves on the circular path, the angle q varies

Angle with the x-axis

corresponding to the
initial position of the
point on the circle
 Circular motion and Simple
harmonic motion
A circular motion with constant speed can be described as simple harmonic motion

y We are interested in the projection on the x-axis (x) of the point as

function of time
⃗
𝑣 Note that when -> -> largest x value
A
q As the point moves on the circular path, the angle q varies

Angle with the x-axis

Angular speed corresponding to the
initial position of the
point on the circle
 Circular motion and Simple
harmonic motion
A circular motion with constant speed can be described as simple harmonic motion

y We are interested in the projection on the x-axis (x) of the point as

function of time
⃗
𝑣 Note that when -> -> largest x value
A
q As the point moves on the circular path, the angle q varies

𝑥= 𝐴𝑐𝑜𝑠 (𝜃) x

𝑥= 𝐴𝑐𝑜𝑠 ( 𝜃 ) = 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)
 Circular motion and Simple
harmonic motion
A circular motion with constant speed can be described as simple harmonic motion

y We are interested in the projection on the x-axis (x) of the point as

function of time
⃗
𝑣 Note that when -> -> largest x value
A
q As the point moves on the circular path, the angle q varies

𝑥= 𝐴𝑐𝑜𝑠 (𝜃) x

𝑥= 𝐴𝑐𝑜𝑠 ( 𝜃 ) = 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)

The projection on the x-axis of the position of the moving point

on a circular path can be described as simple harmonic motion
Simple harmonic motion
𝑥= 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)

• A is the amplitude and is the maximum

displacement from the equilibrium position
• The argument of cos (i.e. ) is the phase
• The phase constant depends on the
displacement position at t=0
• the frequency does not depend on the initial
displacement, but only on the spring
constant and the block mass
Potential and kinetic energy
Potential energy
The potential energy is
related to the displacement
from the equilibrium
position

Kinetic energy The kinetic energy is

related to the motion of
the system
Potential and kinetic energy
Potential energy

Mechanical energy
+
Kinetic energy
Potential energy
Potential energy

𝑥= 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿) The displacement from the equilibrium position varies over time

The potential energy is not constant during simple harmonic oscillations

Potential energy
Potential energy

𝑥= 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿) The displacement from the equilibrium position varies over time

The potential energy is not constant during simple harmonic oscillations

1 2 2
𝑈 = 𝑘 𝐴 𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)
2
Potential energy
Potential energy

𝑥= 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)

1 2 2
𝑈 = 𝑘 𝐴 𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)
2
Potential energy
Potential energy The position oscillates
around the equilibrium
position (displacement =0)
𝑥= 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)

1 2 2
𝑈 = 𝑘 𝐴 𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)
2
The potential energy
oscillates around = average
potential energy
Potential energy
Potential energy

𝑥= 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)
The potential energy
oscillates around = average
potential energy

1 2 2
𝑈 = 𝑘 𝐴 𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)
2
Potential and kinetic energy
Potential energy

Mechanical energy
+
Kinetic energy
Kinetic energy
Kinetic energy The kinetic energy oscillates
around = average kinetic
energy

𝑑𝑥
𝑣 𝑥= =− 𝜔 𝐴𝑠𝑖𝑛( 𝜔 𝑡 + 𝛿)
𝑑𝑡
Kinetic energy The kinetic energy oscillates
around = average kinetic
energy

𝑑𝑥
𝑣 𝑥= =− 𝜔 𝐴𝑠𝑖𝑛( 𝜔 𝑡 + 𝛿)
𝑑𝑡

𝜔=
√ 𝑘
𝑚
Potential energy vs Kinetic energy

1 2 2
𝑈 = 𝑘 𝐴 𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)
2
Potential energy vs Kinetic energy

1 2 2
𝑈 = 𝑘 𝐴 𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)
2

When the potential energy is minimum the kinetic energy is

maximum and viceversa
Potential energy vs Kinetic energy

1 2 2 1 2
𝑈 = 𝑘 𝐴 𝑐𝑜𝑠 ( 𝜔 𝑡 + 𝛿 )= 𝑘 𝑥
2 2

The potential energy is largest at the maximum

displacement and zero at the equilibrium
position (where the displacement x=0)
Potential energy vs Kinetic energy
The potential energy is largest at the maximum
displacement and zero at the equilibrium
position (where the displacement x=0)
1 2 2
𝑈 = 𝑘 𝐴 𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)
2

The kinetic energy is largest at the zero

displacement and zero at the maximum
displacement

When the potential energy is minimum the kinetic energy is

maximum and viceversa
Potential and kinetic energy
Potential energy

Mechanical energy
+
Kinetic energy
Potential and kinetic energy
Potential energy

Mechanical energy
+
Kinetic energy
1 2
𝐸= 𝑘 𝐴
2
Potential and kinetic energy

1 2
𝐸= 𝑘 𝐴
2
Potential and kinetic energy

1 2
𝐸= 𝑘 𝐴
2

U
Potential energy vs Kinetic energy
The potential energy is largest at the maximum
displacement and zero at the equilibrium
position (where the displacement x=0)
1
𝐸
1
2
2 2
𝑈 = 𝑘 𝐴 𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)
2

The kinetic energy is largest at the zero

displacement and zero at the maximum
displacement

1
𝐸
2

When the potential energy is minimum the kinetic energy is

maximum and viceversa
Simple harmonic motion
𝑥= 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿)

What if the movement is not horizontal?

Simple harmonic motion – vertical
spring
Two forces are acting on the system: restoring force from
the spring and downward force mg

The direction of motion is along the y-axis. This is also the

direction of the forces acting on the system.

y is the displacement from the equilibrium position for the

spring without the mass attached

y’ is the displacement from the new equilibrium position

once the mass is attached to the spring
Simple harmonic motion – vertical
spring
y is the displacement from the equilibrium position for the
spring without the mass attached

y’ is the displacement from the new equilibrium position

once the mass is attached to the spring

The equilibrium position with the mass attached is given by

−𝑘 𝑦 0=−𝑚𝑔
Simple harmonic motion – vertical
spring
y is the displacement from the equilibrium position for the
spring without the mass attached

y’ is the displacement from the new equilibrium position

once the mass is attached to the spring

When the mass is displaced

𝑚𝑔 from , it will start oscillating,
𝑦 0=
𝑘
around this position. The
oscillation is described by
Simple harmonic motion – vertical
spring
Simple harmonic motion – vertical
spring

′
−𝑘 𝑦 0 − 𝑘 𝑦 +𝑚𝑔=𝑚 𝑎 𝑦

′ 𝑑 𝑦′
−𝑘 𝑦 =𝑚
𝑑𝑡
Simple harmonic motion – vertical
spring

′
−𝑘 𝑦 0 − 𝑘 𝑦 +𝑚𝑔=𝑚 𝑎 𝑦

𝑑 𝑦′
′
−𝑘 𝑦 =𝑚
𝑑𝑡

The main difference with

′
𝑑𝑦
=−
𝑘 ′
𝑦 respect to the horizontal
𝑑𝑡 𝑚 case is that the mass
attached to the vertical
spring shifts the
′
𝑦 = 𝐴𝑐𝑜𝑠 (𝜔 𝑡 + 𝛿) equilibrium position from
zero to
Exercise 1
Exercise 2
Exercise 3
Exercise 4