MODULE OF INSTRUCTION___________________NSCI-6100 PHYSICS FOR ENGINEERS 1
VIBRATORY MOTION: OSCILLATION
Course Learning Outcomes:
By the end of the module, the students will be able to:
1. Understand the properties of Periodic motion.
2. Know the different types of Periodic motion.
3. Understand the different equation/formula stated in the module.
Periodic Motion
The motion of a body which repeats itself at regular intervals of time or period is
called Periodic Motion. Examples are the motion of a body attached to the end of a
vertical stretched spring; the motion of a piston of an engine at a constant speed;
motion of the pendulum, or the motion of the prongs of a tuning pork, vibrating spring
the revolution of planets around the sun, the rotation of the hands of the clock and
many others. Such kind of motion is also termed Harmonic Motion. Not all periodic
motion are simple. Many of them are complicated periodic or vibratory motions. But
like other kinds of motion, complicated vibration can be analyzed into components of
simple types of vibration.
Simple Harmonic Motion
When elastic bodies vibrate they simplest type of periodic motion.
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To understand the properties of periodic motion lets we consider the motion of an
elastic body.
Fig. 1 represents a body carried at the end of a vibrating spring. It
will be shown later that when the distance of the body from 0, is
plotted against time, a sine wave curve or harmonic curve will be
produced. Since the time to make one complete oscillation is
constant, the motion has been termed Simple Harmonic Motion
(SHM).
Suppose that at the end of a spring a mass is attached and then
pulled from the rest position to a distance r. Disregarding
resistance of any kind, the mass will vibrate up and down due to
its inertia and elasticity of the spring. The number f of complete
up-and-down motions that the mass will make in one second is
called the frequency or vibration per second vps or cycles per
second. The number of seconds it will require to make one
Fig. 1 Simple complete vibration or one up and down motion is called the
Harmonic Motion
period, T. Obviously,
1
𝑇= (1.1)
𝑓
Any distance of the mass below or above from the center position, or rest position is,
called displacement x. The maximum displacement is called the amplitude r. It will be
shown that the fundamental equation of SHM is
𝑎 = −𝑐𝑥 (1.2)
where a is the acceleration, x the displacement, and c is a constant. When displacement
x is positive, (above O) acceleration a is negative directed (downward) and when
displacement is negative (below O) acceleration is positively directed (upward). This
acceleration is continuously changing throughout the path since it varies with
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displacement. The acceleration is when the body is at the ends of its path, for at these
points, the displacement is maximum, and hence equal to the amplitude. At the center
of the path where displacement is zero, the acceleration is zero. Since the mass has
acceleration, then by Newton’s second law, there must be a force acting on it which is
proportional in magnitude and in the direction of the acceleration. Acceleration is
proportional to the displacement, Eq. (1.2), then the force must be proportional to the
displacement, that is,
𝐹 = −𝑘𝑥 (1.3)
where k is another constant, that of the spring, called force constant or stiffness
coefficient.
SHM as a Harmonic Curve. When displacement is plotted against time, the result
will be a harmonic cave. Imagine a radius vector like the minute hand of a clock to
revolve in a circle at constant speed, as in (Fig.2).
Fig. 2 Harmonic curve for SHM
Let us also imagine that the motion of the radius vector is counterclockwise. If
the vertical displacement of the end of the radius vector is plotted at every 1/12 of the
revolution, or 30°, starting from the initial line, the result will be a series of vertical
displacements whose terminal points are marked 1,2,3 etc. If a smoot curve is drawn
through those points, the result will be the sine curve or harmonic curve as shown.
When the cycle is repeated successively the result will be a series of waves. The period T
is the time to make one cycle, and this is constant if the radius vector revolves
uniformly. Hence the name SHM.
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From the drawing in (Fig. 2) we can deduce some mathematical properties of
SHM. If time is reckoned at the instant the radius vector is along the initial line, then the
displacement y at any interval of the time t. The time of the travel, is
𝑦 = 𝑟 sin 𝑎 (1.4)
Where r is the length of the radius vector and a is the angle of displacement, that is the
angle covered in time f measured from the initial line. Time, however, may be reckoned
at some position of the radius vector other than the initial line, such as 𝜑 from the initial
line. Then the equation will be
𝑦 = 𝑟 sin(𝑎 + 𝜑) (1.5)
Where 𝜑 is called phase constant. If 𝜔 with the angular velocity and f is frequency, then
2𝜋
𝜔= (1.6)
𝑇
𝑎 = 𝜔𝑡
= 2𝜋𝑓𝑡
2𝜋𝑓𝑡
= (1.7)
𝑇
𝜔 = 2𝜋𝑓
Then (eq.1.5) may be written
𝑦 = 𝑟 sin(𝜔𝑡 + 𝜑)
𝑦 = 𝑟 sin(2𝜋𝑓𝑡 + 𝜑) (1.8)
2𝜋𝑡
= 𝑟 sin( )+ 𝜑
𝑇
Eq. (1.8) is the expression for the instantaneous displacement of a body executing SHM.
Note that t and T, while they may be expressed in the same unit (seconds) are different.
The former t is the time during which the body has vibrated, while the latter T is the
period, the time to make one complete vibration.
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SHM and the Circle of Reference. (Fig 3) is shown a body moving uniformly around a
circle of radius r. Its projection P on the
horizontal diameter AA’ will move back and
forth along this path with the same period. From
this relation, SHM may also be defined as the
projection of uniform circular motion (UCM) on
a straight line. The plane or line where
projection is made need not necessarily be the
diameter, but for our purpose, the diameter AA’
is here selected. If f is the frequency (r.p.s.) of m Fig. 3 SHM and Circle of reference
it is also the frequency (v.p.s.) of P. With a radius r, then the linear velocity of m tangent
to the circle is
𝑉𝑚 = 2𝜋𝑓𝑡
2𝜋𝑓𝑡
= (1.9)
𝑇
= 𝜔𝑟
Where 𝜔 and T have the same significance as SHM as a harmonic curve. The velocity of
P(SHM) along the diameter at this instant is the component of 𝑉𝑚 parallel to the
diameter, AA’,
𝑣 = 𝑣𝑚 sin 𝑎
= (2𝜋𝑟𝑓) sin 𝑎 (1.10)
= 𝜔 √𝑟 2 − 𝑥 2
Obviously, when m is at B or B’ , where its motion is parallel to AA’, P will be at the
center and its velocity is maximum, equal to v m = 2πfr. When m is at the ends of the
diameter AA’, its velocity is perpendicular to this line, and therefore the projection P
which is also at these points as zero velocity because the normal velocity of m as no
component parallel to AA’. The zero velocity of P at A and A’ is to be expected because
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at these points it as to turn back, and before it can reverse its motion to it has to stop
first. Therefore, to generalize the above analysis, we can make these statements: the
velocity of SHM is maximum
𝑣 = 𝑣𝑚 = 2𝜋𝑟𝑓 (𝑎𝑡 𝑡ℎ𝑒 𝑐𝑒𝑛𝑡𝑒𝑟) (1.11)
and minimum
𝑣 = 0 (𝑎𝑡 𝑡ℎ𝑒 𝑒𝑛𝑑𝑠) (1.12)
What can we say about it acceleration?
The body m in its uniform motion around the circle has an acceleration,
according to a previous study
𝑣2
𝑎𝑐 =
𝑟
Which is directed towards the center, (Fig 3). Its component parallel to AA’ is the
acceleration of P, SHM.
𝑎 = 𝑎𝑐 cos 𝑎
𝑣2
= cos 𝑎
𝑟
𝑣2 𝑥
=
𝑟 𝑟
𝑣2
𝑎 = 2 𝑥,
𝑟
But 𝑣2
= 𝜔2 , ℎ𝑒𝑛𝑐𝑒
𝑟2
𝑎 = −𝜔2 𝑥, (1.13)
Where x is the displacement, r is the amplitude, a the linear acceleration of S.H.M. and
a has the same significance as defined in eq. (1.4) and eq. (1.5). We have to insert the
minus (-) sign, for reason that was already stated in SHM as a harmonic curve eq. (1.2).
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MODULE OF INSTRUCTION___________________NSCI-6100 PHYSICS FOR ENGINEERS 1
Therefore, if eq. (1.2) and eq. (1.13) are compared, we find that
𝑐 = 𝜔2 (1.14)
Eq. (1.13) is the proof of the principle that the acceleration in a simple harmonic motion
is proportional and opposite to the displacement, and conversely, any motion in which
the acceleration is proportional and opposite to the displacement is SHM.
For an easy determination of the velocity and acceleration of SHM, we have only
to refer to its circle of reference according to the above analysis. This can be illustrated
by an example.
Example:
A 50-gm mass hungs at the end of a vertical spring. From the rest position of the
mass it is pulled 10 cm and vibrates at 5 vps. (a) What are its velocity and acceleration at
the center of the path? (b) What are its velocity and acceleration at the ends of the
path? (c) What are its velocity and acceleration at a point 5 cm from the mean position?
Fig. 4 SHM as a projection of uniform circular motion
Solution:
Fig 4 shows the body (SHM) and its circle of reference.
Amplitude = 10 cm
f = 5vps
(a) Velocity at the center 0 by eq.(1.11),
𝑣 = 𝑣𝑚 = 2𝜋𝑟𝑓 = 2𝜋(10)5
= 100 𝜋 𝑐𝑚/ sec 𝐴𝑛𝑠.
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Acceleration at the center, where x = 0
𝑎 = −𝑐𝑥 = 0 Ans.
(b) Velocity at the ends of the path when m is at A or A':
V = 0 because vm has no component along AA’
Acceleration at the ends of the path:
𝑎 = −𝑐𝑥, 𝑥 = 10 𝑐𝑚, 𝑐 = 𝜔2 = (2𝜋𝑟𝑓)2 = 4𝜋 2 𝑓 2
𝑐𝑚
𝑎 = 4𝜋 2 (5)2 (10) = 1000𝜋 2 𝐴𝑛𝑠.
𝑠𝑒𝑐 2
𝑐𝑚
𝑎 = 100𝜋 2 𝑤ℎ𝑒𝑛 𝑖𝑡 𝑖𝑠 𝑎𝑡 𝐴′ 𝑠𝑖𝑛𝑐𝑒 𝑥 = −10 𝑐𝑚 𝑢𝑝𝑤𝑎𝑟𝑑
𝑠𝑒𝑐 2
𝑐𝑚
𝑎 = −100𝜋 2 𝑤ℎ𝑒𝑛 𝑎𝑡 𝐴′ 𝑠𝑖𝑛𝑐𝑒 𝑥 = 10 𝑐𝑚 𝑑𝑜𝑤𝑛𝑤𝑎𝑟𝑑
𝑠𝑒𝑐
Acceleration in both cases is towards center.
(c) Velocity at 5 cm from the center when m at point D.
5√3
𝑣 = 𝑣𝑚 sin 𝑎; sin 𝑎 =
10
𝑣 = 2𝜋𝑟𝑓 sin 𝑎
= 2𝜋(10)(5) sin 𝑎
5√3 𝑐𝑚
= 100𝜋 = 50𝜋√3 = 86.5 𝜋 . 𝐴𝑛𝑠.
10 𝑠𝑒𝑐
Acceleration at this point, x = 5cm,
𝑎 = −𝑐𝑥
𝑐𝑚
= −𝜔2 𝑥 = −(100𝜋 2 )5 = −500𝜋 2 𝐴𝑛𝑠.
𝑠𝑒𝑐 2
or
𝑎 = 𝑎𝑐 cos 𝑎;
but
𝑣 2𝑚 (100𝜋)2 𝑐𝑚
𝑎𝑐 = = = 1000𝜋 2
𝑟 10 𝑠𝑒𝑐 2
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5
𝑎 = −1000𝜋 2 ( ) = −500𝜋 2 𝑐𝑚/𝑠𝑒𝑐 2 𝐴𝑛𝑠.
10
or
𝑎 −𝑥 𝑎 5
= ; = ;
𝑎𝑐 −𝑟 1000𝜋2 10
𝑐𝑚
𝑎 = 500𝜋 2 𝐴𝑛𝑠.
𝑠𝑒𝑐 2
Vibratory Force and Period. By this time, we are ready to consider the force due to
vibration. In Simple Harmonic Motion and SHM and the Circle of Reference. We have
learned that the body in SHM has acceleration, given by Eqs. (1.2) and (1.3). Then there
must be force acting on a body in the magnitude
𝐹 = 𝑚𝑎
according to Newton's second law of motion. Since
𝑎 = −𝑐𝑥 (1.2)
then
𝐹 = −𝑚𝑐𝑥 (1.15)
Where mc is another constant which we may call k
Therefore (1.16)
𝐹 = −𝑘𝑥 𝑜𝑟
(1.3)
The constant k depends in the spring and is called the force constant of the
spring or the "coefficient of stiffness"
The force given in eqs.(1.15) and (1.16) is therefore the restoring force of the
spring or the force reaction of the body m. At this point we must recall the following
equations:
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1
𝑇= (1.1)
𝑓
𝑎 = −𝜔2 𝑥 (1.13)
𝑐 = 𝜔2 (1.14)
𝐹
𝑘= − (1.16)
𝑥
𝜔 = 2𝜋𝑓 (1.7)
Form eq.(1.15) F = -mcx and eq. (1.14) c = 𝜔2 , then
𝐹 = −𝑚𝜔2 𝑥
𝐹 = 4𝜋 2 𝑓 2 𝑚 𝑥 (1.17)
4𝜋 2 𝑓 2 𝑚 𝑥
𝐹=
𝑇2
are all expressions for the force acting on the body in SHM at a displacement x
expressed in absolute units. At a displacement x = r, the force is maximum since at this
position, acceleration is maximum.
Then we come to the period T which will be expressed in several forms.
1
𝑇= (1.1)
𝑓
but
𝜔 = 2𝜋𝑓
Then
2𝜋
𝑇= ,
𝜔
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From eq.(1.17)
−𝑚𝑥
𝑇 = 2𝜋√
𝐹
Since
−𝐹
𝑘= , 𝑡ℎ𝑒𝑛
𝑥
𝑚
𝑇 = 2𝜋√ ,
𝑘
−𝑥 (1.18)
𝑇 = 2𝜋√ ,
𝑎
1
𝑇 = 2𝜋√ ,
𝑐
Since
𝑐= 𝜔
and
𝑎 = −𝑐𝑥
Eqs. (1.18) give the different expressions for the period of vibration of UCM or SHM.
Example:
What force acts on the 50-gm mass in the above example when it is at a point 5
cm above the rest position, when the body is returning to the center? (Fig. 4)
Solution:
Eqs. (1.16) or (1.17) may be applied.
−4𝜋 2 𝑚𝑥
𝐹=
𝑇2
𝑚 = 50 𝑔𝑚, 𝑥 = +5 𝑐𝑚, 𝑇 = 1/5𝑠𝑒𝑐
−4𝜋 2 (50)(5)
𝐹=
(1/5)2
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MODULE OF INSTRUCTION___________________NSCI-6100 PHYSICS FOR ENGINEERS 1
𝐹 = −4𝜋 2 (50)(5)(25)𝑑𝑦𝑛𝑒𝑠
= −25000𝜋 2 𝑑𝑦𝑛𝑒𝑠
= −255.2𝜋 2 𝑔𝑟𝑎𝑚𝑠
= −2.52𝑘𝑔 𝐴𝑛𝑠.
Since the body is always acted on by a restoring force given by eq(1.16) the force
is downward towards the center, hence the minus sign.
The Simple Pendulum. A simple pendulum is a bob suspended from a very light
string or rod. When displaced a small angle a and allowed to fall it will swing to and fro
with simple harmonic motion as will be shown below. Therefore the period will be
−5
𝑇 = 2𝜋√
𝑎
Where s and a are linear displacement and linear acceleration respectively. But s = l a
and a = g sin a the acceleration on the arc s. Then substituting in eq.(1.18) and noting
that for small a it is nearly equal to sin a
𝑙
𝑇 = 2𝜋√ (𝑁𝑒𝑎𝑟𝑙𝑦) (1.19)
𝑔
The minus (-) sign disappears because when s is positive (+), a is
negative (-).
This result could be obtained if Newton's second law of
motion applied. In (Fig. 5), the force that causes the bob to
move along the arc is the component of its weight tangent to
arc
𝐹 = 𝑚𝑔 sin 𝑎
By equation(1.18)
−𝑚𝑠
𝑇 = 2𝜋√
𝐹
Fig. 5 The Simple
Pendulum
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Where s = la. But when s is (-) F is (+). Therefore
−𝑚𝑙 𝑎
𝑇 = 2𝜋√
−𝑚𝑔 sin 𝑎
For small values of a, sin a is nearly equal to a.
𝑙
𝑇 = 2𝜋√ (1.19)
𝑔
The formula shows that the period of a simple pendulum is independent of the weight
of the bob and amplitude of the arc for a very small arcs, but varies directly as the
square root of the length and inversely as the square root of the acceleration of gravity
at the place where it is swinging.
If the angle through which the pendulum swings is not small, sin a cannot be
replaced by a, and the period can be shown to be given by
𝑙 1 𝑎 9 𝑎
𝑇 = 2𝜋√ (1 + 𝑠𝑖𝑛2 + 𝑠𝑖𝑛4 + ⋯ ) (1.20)
𝑔 4 2 64 2
The term second pendulum applies to a pendulum that makes one swing every second,
therefore, its period is two seconds.
Example:
What is the period of a simple pendulum 100 cm long at a place where the
acceleration of gravity is 978.4 cm/𝑠𝑒𝑐 2?
Solution:
𝑙 100
𝑇 = 2𝜋√ = 2𝜋√ = 2.05 𝑠𝑒𝑐. 𝐴𝑛𝑠.
𝑔 978.4
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Angular Harmonic Motion. Consider a disc suspended at its center by means of a wire
as shown in Fig.1.6 . The disc is made to oscillate about a
vertical axis by applying a torque to the disc and then
letting it go afterwards. Then any point on the disc will
move along an arc back and forth through an angle 2𝜑,
where 𝜑 is the angle of displacement measured from the
mean position. The motion is repeated in the same length
of time and it is called angular harmonic motion. Here it is
evident that the restoring moment due to the twisted wire
of suspension is proportional to the angular displacement
or L = -k𝜑 . If a is the angular acceleration, then
Fig. 6 Angular Harmonic 𝑎 = −𝑐𝜑 (1.21)
Motion
The period of SHM is
𝑙
𝑇 = 2𝜋√
𝑐
Substituting Eq.( 1.21)
then −1
𝑇 = 2𝜋√
𝑎𝜑
or
𝜑
𝑇 = 2𝜋√− (1.22)
𝑎
The equation
𝑎 = −𝑐 𝜑 (1.21)
is the defining equation of angular harmonic motion. Compare eq.(1.21) with eq.(1.2). It
will be shown later that angular harmonic motion has some relation to the torsion
constant of the wire, which will be taken up in the study of dynamics of a rigid body.
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Example:
A torsion pendulum makes 2 rotary vibrations in 5 seconds and it turns through
an angle of 90° from the equilibrium position. What is its angular acceleration at the
limit of the swing?
Solution:
−𝜑
𝑇 = 2𝜋 √ ; 2𝜑 = 90°
𝑎
𝜋
𝜑 = 45° = 𝑟𝑎𝑑𝑖𝑎𝑛𝑠
4
2 𝜋/4 5
= 2𝜋 √ ; 𝑇 = 𝑠𝑒𝑐
5 𝑎 2
(4) × 4 𝜋 2 𝜋 4𝜋 3
𝑎= = 𝑟𝑎𝑑𝑖𝑎𝑛/𝑠𝑒𝑐 2
(4)25 25
𝑟𝑎𝑑
= 0.16𝜋 3 𝐴𝑛𝑠.
𝑠𝑒𝑐 2
Reference:
COMMITTEE ON PYHSICS (1962). College Pyhsics. Vibratory Motion: Oscillation, 10, 135-
[Link] City Philippines, :Royal Publishing house, INC.
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