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Solution to the equation for simple harmonic motion

The function x ( t ) = c 1 cos ( ω t ) + c 2 sin ( ω t ) can be written in the form x ( t ) = A sin ( ω t + ϕ ) , where A = c 1 2 + c 2 2 and tan ϕ = c 1 c 2 .

Note that when using the formula tan ϕ = c 1 c 2 to find ϕ , we must take care to ensure ϕ is in the right quadrant ( [link] ).

This figure is the graph of f(t) = sin 2t. It is a periodic, oscillating graph. The period of the graph is represented with a line pointing from one peak to the next. It is labeled with the period T = 2π/ω. The graph has a phase shift of ϕ/ω so that the sine curve has the value zero to the left of the origin.
A graph of vertical displacement versus time for simple harmonic motion with a phase change.

Expressing the solution with a phase shift

Express the following functions in the form A sin ( ω t + ϕ ) . What is the frequency of motion? The amplitude?

  1. x ( t ) = 2 cos ( 3 t ) + sin ( 3 t )
  2. x ( t ) = 3 cos ( 2 t ) 2 sin ( 2 t )
  1. We have
    A = c 1 2 + c 2 2 = 2 2 + 1 2 = 5

    and
    tan ϕ = c 1 c 2 = 2 1 = 2 .

    Note that both c 1 and c 2 are positive, so ϕ is in the first quadrant. Thus,
    ϕ 1.107 rad,

    so we have
    x ( t ) = 2 cos ( 3 t ) + sin ( 3 t ) = 5 sin ( 3 t + 1.107 ) .

    The frequency is ω 2 π = 3 2 π 0.477 . The amplitude is 5 .
  2. We have
    A = c 1 2 + c 2 2 = 3 2 + 2 2 = 13

    and
    tan ϕ = c 1 c 2 = 3 −2 = 3 2 .

    Note that c 1 is positive but c 2 is negative, so ϕ is in the fourth quadrant. Thus,
    ϕ 0.983 rad,

    so we have
    x ( t ) = 3 cos ( 2 t ) 2 sin ( 2 t ) = 13 sin ( 2 t 0.983 ) .

    The frequency is ω 2 π = 2 2 π 0.318 . The amplitude is 13 .
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Express the function x ( t ) = cos ( 4 t ) + 4 sin ( 4 t ) in the form A sin ( ω t + ϕ ) . What is the frequency of motion? The amplitude?

x ( t ) = 17 sin ( 4 t + 0.245 ) , frequency = 4 2 π 0.637 , A = 17

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Damped vibrations

With the model just described, the motion of the mass continues indefinitely. Clearly, this doesn’t happen in the real world. In the real world, there is almost always some friction in the system, which causes the oscillations to die off slowly—an effect called damping . So now let’s look at how to incorporate that damping force into our differential equation.

Physical spring-mass systems almost always have some damping as a result of friction, air resistance, or a physical damper, called a dashpot (a pneumatic cylinder; see [link] ).

This figure is a pneumatic cylinder. The cylinder is clear, and the piston can be seen.
A dashpot is a pneumatic cylinder that dampens the motion of an oscillating system.

Because damping is primarily a friction force, we assume it is proportional to the velocity of the mass and acts in the opposite direction. So the damping force is given by b x for some constant b > 0 . Again applying Newton’s second law, the differential equation becomes

m x + b x + k x = 0 .

Then the associated characteristic equation is

m λ 2 + b λ + k = 0 .

Applying the quadratic formula, we have

λ = b ± b 2 4 m k 2 m .

Just as in Second-Order Linear Equations we consider three cases, based on whether the characteristic equation has distinct real roots, a repeated real root, or complex conjugate roots.

Case 1: b 2 > 4 m k

In this case, we say the system is overdamped . The general solution has the form

x ( t ) = c 1 e λ 1 t + c 2 e λ 2 t ,

where both λ 1 and λ 2 are less than zero. Because the exponents are negative, the displacement decays to zero over time, usually quite quickly. Overdamped systems do not oscillate (no more than one change of direction), but simply move back toward the equilibrium position. [link] shows what typical critically damped behavior looks like.

This figure has two graphs labeled (a) and (b). The first graph is a decreasing curve with the horizontal axis as a horizontal asymptote. The second graph initially is a decreasing function but becomes increasing below the horizontal axis. Then, the horizontal axis is also a horizontal asymptote.
Behavior of an overdamped spring-mass system, with no change in direction (a) and only one change in direction (b).

Overdamped spring-mass system

A 16-lb mass is attached to a 10-ft spring. When the mass comes to rest in the equilibrium position, the spring measures 15 ft 4 in. The system is immersed in a medium that imparts a damping force equal to 5 2 times the instantaneous velocity of the mass. Find the equation of motion if the mass is pushed upward from the equilibrium position with an initial upward velocity of 5 ft/sec. What is the position of the mass after 10 sec? Its velocity?

The mass stretches the spring 5 ft 4 in., or 16 3 ft. Thus, 16 = ( 16 3 ) k , so k = 3 . We also have m = 16 32 = 1 2 , so the differential equation is

1 2 x + 5 2 x + 3 x = 0 .

Multiplying through by 2 gives x + 5 x + 6 x = 0 , which has the general solution

x ( t ) = c 1 e −2 t + c 2 e −3 t .

Applying the initial conditions, x ( 0 ) = 0 and x ( 0 ) = −5 , we get

x ( t ) = −5 e −2 t + 5 e −3 t .

After 10 sec the mass is at position

x ( 10 ) = −5 e −20 + 5 e −30 1.0305 × 10 −8 0 ,

so it is, effectively, at the equilibrium position. We have x ( t ) = 10 e −2 t 15 e −3 t , so after 10 sec the mass is moving at a velocity of

x ( 10 ) = 10 e −20 15 e −30 2.061 × 10 −8 0 .

After only 10 sec, the mass is barely moving.

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Source:  OpenStax, Calculus volume 3. OpenStax CNX. Feb 05, 2016 Download for free at http://legacy.cnx.org/content/col11966/1.2
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