+↓ Σ𝐹𝑦 =, 𝑚𝑎𝑦 ; −𝑊 − 𝑘𝑦 + 𝑊 = 𝑚𝑦

𝑦 + 𝜔𝑛 2 y = 0
 𝑥+𝑥 =0 𝑥 = sin 𝑡 𝑥 = cos 𝑡
𝑥 = cos 𝑡 𝑥 = − sin 𝑡
𝑥 = − sin 𝑡 𝑥 = − cos 𝑡
− sin 𝑡 + sin 𝑡 = 0 𝑥 = 𝐴 sin 𝑡 𝑥 = sin 𝜔𝑛 𝑡
− cos 𝑡 + cos 𝑡 = 0 𝑥 = 𝐵 cos 𝑡 𝑥 = cos 𝜔𝑛 𝑡 ⋅ 𝜔𝑛 = 𝜔𝑛 cos 𝜔𝑛 𝑡
𝑥 = 𝜔𝑛 − sin 𝜔𝑛 𝑡 ⋅ 𝜔𝑛 = −𝜔𝑛 2 sin 𝜔𝑛 𝑡
−𝜔𝑛 2 sin 𝜔𝑛 𝑡 + 𝜔𝑛 2 sin 𝜔𝑛 𝑡 = 0

𝑥 = 𝐴 sin 𝜔𝑛 𝑡 + 𝐵 cos 𝜔𝑛 𝑡 (22 − 3)

Here A and B represent two constants of integration. The block’s
velocity and acceleration are determined by taking successive time
derivatives, which yields
When Eqs. 22-3 and 22-5 are substituted into Eq. 22-1:
𝑥 + 𝜔𝑛 2 𝑥 = 0
The differential equation will be satisfied, showing that Eq. 22-3 is indeed the solution
to Eq. 22-1

Solve the integration constants of Eq. 22-3

Let x = x1 (to the right from its equilibrium position)
v = v1 (directed to the right)
t=0

𝑥1 = 0 + 𝐵 ; 𝑥1 = 𝐵
𝑥 = 𝐴 sin 𝜔𝑛 𝑡 + 𝐵 cos 𝜔𝑛 𝑡 (22 − 3)

𝑣 = 𝑥 = 𝐴𝜔𝑛 cos 𝜔𝑛 𝑡 − 𝐵𝜔𝑛 sin 𝜔𝑛 𝑡 (22-4)

𝑣 = 𝑣1
𝑣
𝑣1 = 𝐴𝜔𝑛 + 0 ; 𝐴 = 1 𝜔𝑛

𝑣1
𝑥= sin 𝜔𝑛 𝑡 + 𝑥1 cos 𝜔𝑛 𝑡 (22 − 6)
𝜔𝑛
 𝐴 = 𝐶 cos 𝜙 (22-7)
And
𝐵 = 𝐶 sin 𝜙 (22-8)
𝑥 = 𝐶 cos 𝜙 sin 𝜔𝑛 𝑡 + 𝐶 sin 𝜙 cos 𝜔𝑛 𝑡

sin 𝜃 + 𝜙 = sin 𝜃 cos 𝜙 + cos 𝜃 sin 𝜙

𝑥 = 𝐶 sin 𝜔𝑛 𝑡 + 𝜙 (22-9)

𝐶= 𝐴2 + 𝐵2 (22 − 10)

𝐵
𝜙 = tan−1 (22 − 11)
𝐴
Example No.1
Determine the period of oscillation for the simple pendulum
shown in figure. The bob has a mass m and is attached to a
cord of length l. Neglect the size of the bob.

SOLUTION

Free Body Diagram Equation of Motion

+↗ Σ𝐹𝑡 = 𝑚𝑎𝑡 ; −𝑚𝑔 sin 𝜃 = 𝑚𝑎𝑡 (1)

Kinematics
2
𝑎 =𝑑 𝑠
𝑡 𝑑𝑡 2 = 𝑠
𝑠 = 𝑙𝜃, 𝑠𝑜 𝑡ℎ𝑎𝑡 𝑎𝑡 = 𝑙𝜃
Substitute to Eq. 1
𝑔
𝜃 + 𝑙 sin 𝜃 = 0 (2)
For small displacements, sin 𝜃 ≈ 𝜃
𝑔
𝜃+ sin 𝜃 = 0 (3)
𝑙
Comparing Eq.3 to the Standard Form Equation
𝑥 + 𝜔𝑛 2 𝑥=0
𝑔
𝜔𝑛 =
𝑙
the period of time required for the bob to make one complete swing is
therefore

2𝜋 𝑔
𝜏= = 2𝜋
𝜔𝑛 𝑙
 Example No.2

A spring is stretched 175 mm by an 8-kg block. If the block is displaced 100 mm

downward from its equilibrium position and given a downward velociy of 1.5
m/s, determine the differential equation which describes the motion. Assume
that positive displacement is downward. Also, Determine the position of the
block when t = 0.22 s
SOLUTION
Free Body Diagram Equation of Motion

+↓ Σ𝐹𝑦 = 𝑚𝑎𝑦 ; 𝑚𝑔 − 𝑘 𝑦 + 𝑦𝑠𝑡 = 𝑚𝑦

Where kyst = mg
𝑘
𝑦+ 𝑦=0
𝑚
Hence
𝑘 𝑚𝑔
Where k = 𝑦 =
8⋅9.81
= 448.46 𝑁/𝑚
𝜔𝑛 = 0.175
𝑚 𝑠𝑡
 448.46
𝜔𝑛 = = 7.487
8

∴ 𝑦 + 7.487 2 𝑦 = 0 𝑦 + 56.06𝑦 = 0

The solution of the above differential equation is

𝑦 = 𝐴 sin 𝜔𝑛 𝑡 + 𝐵 cos 𝜔𝑛 𝑡 (1)
𝑣 = 𝑦 = 𝐴𝜔𝑛 cos 𝜔𝑛 𝑡 − 𝐵𝜔𝑛 sin 𝜔𝑛 𝑡 (2)

At t=0, y=0.1m and v = v0=1.50 m/s

From Eq.1
0.1 = 𝐴 sin 0 + 𝐵 cos 0 𝐵 = 0.1
From Eq.2
1.50
1.50 = 𝐴𝜔𝑛 cos 0 − 0 𝐴 = 7.487 = 0.2003
Hence
𝑦 = 𝐴 sin 𝜔𝑛 𝑡 + 𝐵 cos 𝜔𝑛 𝑡
𝑦 = 0.2003 sin 7.487𝑡 + 0.1 cos 7.487𝑡

At t = 0.22 s
𝑦 = 0.2003 sin(7.487 ∗ 0.22) + 0.1 cos( 7.487 ∗ 0.22)
𝑦 = 0.192 𝑚