Physics 116

ELECTROMAGNETISM AND
OSCILLATORY MOTION

Lecture 4
Pendulum motion
Damped SHM
Oct 4, 2011

R. J. Wilkes
Email: [email protected]
 Announcements
• Homework set 1 due Thursday by 5 pm
• Suggestion: Check the New York Times Tuesdays =
science page day
• Clickers: Registration web page is open
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All registered 116 students got an email yesterday with this link (to your @u address)
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if you did not get an email about this, and are registered for the course, see me
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• Typo in formula yesterday:
Yesterday:
Period for SHM
• Now that we know a(t), we can find period T without calculus:

F = ma → − kx = ma → − kx = −m Aω 2 cos (ω t ) { }
⎛ k⎞
So − Aω cos (ω t ) = − ⎜ ⎟ A cos (ω t )
2
⎝ m⎠
⎛ k⎞ k
ω2 = ⎜ ⎟ → ω=
⎝ m⎠ m

• We defined ω = 2π f = 2π ⎛ ⎞
1 Also: this meant “newton-meters”,
⎜⎝ ⎟⎠ not a minus sign!
T
⎛ 1⎞ m
• So T = 2π ⎜ ⎟ → T = 2π
⎝ω⎠ k
• This tells us that T increases for larger m, or smaller k

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 Lecture Schedule
(up to exam 1)

Today
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 SHM: The story so far…
F = ma → − kx = ma
⎛1⎞
ω = 2πf = 2π ⎜ ⎟
⎝T ⎠
k m
ω= → T = 2π
m k
x(t ) = A cos(ωt )
v(t ) = − Aω sin(ωt )
a (t ) = − Aω 2 cos(ωt )
1 2 1 1
U= kA cos 2 (ωt ), K = kA 2 sin 2 (ωt ), E = U + K = kA 2
2 2 2

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 Pendulum motion as example of SHM
• A pendulum oscillates about its rest position
IF its max displacement is small, this motion is SHM
• SHM occurs only when restoring force is F = -kx
• For small angles (you decide what’s small!),
sin θ ≈ θ → mg sin θ ≈ mgθ
So F is proportional to θ
(for larger θ, nonlinear so not exactly SHM)
Initial height (max angle) of bob determines E
U=mgh (h=initial height relative to rest position)
E swaps between K and U as with spring-mass
system:
K=mgh when bob is at h=0

“Galileo’s pendulum” demo

illustrates this… http://paws.kettering.edu/~drussell/Demos/Pendulum/Pendula.html

If m of string ~ 0 this is a simple pendulum

If we have to worry about m of the string or other support, it’s a physical pendulum
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 Examples / applications
• Similar triangles for string and vertical, and for mg components
• So for small displacements, θ = s / L
⎛ mg ⎞
Frestoring = − mgθ = −⎜ ⎟s Minus sign means:
⎝ L ⎠ Opposite displacement s

⎛ mg ⎞
k =⎜ ⎟
⎝ L ⎠
m L
T = 2π → T = 2π
k g
How long must a simple pendulum
be to have period T = 2 s?
(so it ticks every 1 second)
s θ
L
T = 2π
g

T = (2π )
2 2 L
→ L=
gT 2
=
( )
9.8m / s 2 (2 s )
2
= 0.994m
g (2π ) 2
(2π ) 2

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 Physical pendulum (review 114!)
• If mass of the bob’s support (string, rod, etc) is not negligible, we
have to take into account its moment of inertia
– The support itself is an extended object rotating about its pivot
• So if it has moment of inertia I about its pivot point
l I
T = 2π
g ml 2
where l = distance of CM of support from P
For a simple pendulum,
bob = a point mass ( I = m l 2), and l = L, so

L mL2 L
T = 2π = 2π
g mL2 g
If the pendulum is a solid rod, ( I = m L2 / 3), θ
and CM is located at its center ( l = L / 2)

L mL2
So rod has smaller T than simple
l I 2 3 2 L
T = 2π = 2π = 2π pendulum of same L
g ml 2 g ⎛L⎞
2
3 g Notice: m doesn’t matter!
m⎜ ⎟
⎝2⎠
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 Examples / applications
• Physical pendulum: Hoop on a peg
– recall: parallel axis theorem R
I = I (about some parallel axis) + mR2
Where R= distance between axes
(
I = mR 2 )
about center ( )
+ mR 2 = 2mR 2
l=R
l I R 2mR 2 2R
T = 2π = 2π = 2π
g ml 2 g mR 2 g
D
Notice : T = 2π
g
So period is same as simple pendulum with L=diameter of hoop
(but true only for this particular example!)
R
• Solid disk hung on a peg
⎛1 ⎞
Now : I = ⎜ mR 2 ⎟ ( 3
)
+ mR 2 = mR 2
⎝2 ⎠ about center 2
l I R 3mR 2 / 2 3R
T = 2π = 2π = 2π
g ml 2 g mR 2 2g

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 Examples / applications
• Physical pendulum: ballistic pendulum
– Method for measuring projectile speed
– Shoot bullet into wood block suspended by strings
1.45 kg wood block, L=0.745 m, 0.0095 kg bullet
v0
Block rises 0.124 m
Strategy: use energy considerations to find initial speed of block
Use momentum conservation (review114: inelastic collisions) to find v0
E = U + K = const → K bullet = K block → K block = U block
Always! At time of collision ( initial ) (at max height)

1
U = (m + M ) gh = K = ( m + M )v 2
2
Here, v = speed of bullet+block
v = 2 gh = 2(9.8m / s 0.124m = 1.56m / s
2
just after collision

mv0 = (m + M )v = Conservation of momentum in the collision

(m + M )v (0.0095 kg + 1.45 kg ) 1.56 m/s
v0 = = = 240 m/s (about 860 km/hr)
m 0.0095 kg

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 Examples / applications
• Spring-mass vs pendulum
– Mass m stretches spring (constant k) by distance L when attached
k
– What is period of mass-spring system?
m L
Fspring = kx = mg → kL = mg → = L
m
k g
m L
T = 2π = 2π
k g L
So spring-mass system has
same period as a simple m
pendulum with L =
displacement of mass when
attached to spring

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 Damped oscillations
• If friction is significant, total energy is not constant
E = U + K = ½ kA2 diminishes with time: oscillation gets damped out
Common case: friction force is proportional to speed
(example: air resistance) F = −b v
damping

For this case, amplitude A decreases exponentially with time

The exponential function imposes an
A(t ) = A(t 0 ) exp(−bt / 2m) envelope on the oscillations

– If damping is too great, we never get even the first half cycle
– If damping is just right (critical damping) we get just the 1st half cycle
– Critical damping is a desirable feature in many applications
• For example, car springs: shock absorbers (= dampers) are set to
provide critical damping for a comfortable ride

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 1.5
Damped oscillations Exponential “envelope”
1

• Underdamped (oscillates

displacement
0.5

several cycles) 0
exp(-bt/2m)

oscillator

-0.5

• Overdamped (quits -1
immediately)
1.5
Oscillator motion
-1.5
0 0.5 1 1.5
1
t / T = fraction of period
displacement

0.5
exp(-bt/2m)
0
oscillator

-0.5 1.5

-1
1

-1.5
displacement 0.5
0 0.1 0.2 0.3 0.4 0.5
exp(-bt/2m)
t / T = fraction of period
0
oscillator

-0.5

-1

• Critically damped -1.5

0 0.1 0.2 0.3 0.4 0.5
(smooth return to zero) t / T = fraction of period

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