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What effect does changing the diameter (0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.

9 /mm) of a nylon wire have on the


damping constant of a simple pendulum undergoing simple harmonic motion?

Physics HL | May 2021

Candidate code: 003877-0001(hrk101)


Introduction:

A simple pendulum consists of a mass that is hung by a string or wire to a pivot (a fixed point) (GDPR, n.d.).
When a simple pendulum is undergoing simple harmonic motion (SHM), it is understood that the pendulum
has a magnitude that is proportional to the displacement of the point-mass (bob) and has a restoring force
acting upon it which is the difference between the tension and the weight of the pendulum (GDPR, n.d.). The
direction of the force exerted on the pendulum always leads to the equilibrium position (Homer and Bowen-
Jones, 2014).

Theoretically, referring to the conservation of energy, a pendulum that is undergoing simple harmonic motion
(SHM) must stay in motion (W. Schnick, 2020). However, this phenomenon does not occur in real life. An
example of this is a swing. When a swing is moved away from its resting position at a displacement of X and
then released, it can be observed that the swing does not continuously stay in motion but rather starts to slow
down over time due to external forces, and eventually comes to a stop at its resting position. The amplitude
of the swing decreases with time along with the velocity (GDPR, n.d.). This spectacle is referred to as
damping.

There are three types of damping: under-damping, critical damping, and over-damping (Homer and Bowen-
Jones, 2014). In this experiment, we will be looking at under-damping. This occurs when there is light
damping. In this case, the envelope of curve that shows how displacement varies with time, has the shape of
an exponential decay curve and the period and frequency of the pendulum is to be relatively constant even
with a decrease in amplitude (Homer and Bowen-Jones, 2014).

The drag force acting upon the simple pendulum is said to be the main cause of damping. In most cases, the
drag force acting on the pendulum bob is taken into account rather than that of a wire as this is considered to
be negligible (Mohazzabi and P. Shankar, 2017). In this investigation, I will be seeing if the effect of the drag
force acting on a wire really is negligible with regards to wires of different diameters. As a preliminary trial, I
set up two pendulums side by side. Each of the pendulums were set up the same way. The only difference
was the diameter of the wire used. I displaced the bob of both pendulums the same displacement from the
equilibrium and released them while starting the stopwatch. This was done to mainly observe if there was a
difference in damping when different wire diameters are used. It was observed that the pendulum with the
wire of larger diameter damped faster than the pendulum with the wire of lower diameter. Obtaining only
qualitative data for an experiment based on a topic like this would be insufficient. These types of experiments

PAGE 1
require numerical/qualitative data of multiple trials for them to be considered as reliable. In order to collect
sufficient qualitative raw data, I designed an experiment that would eventually give me the damping constant
of the pendulums with different wire diameters. In this experiment, a 25.800 g brass bob with a diameter
17.766 mm was used. The damping constant, K, could be found by evaluating the following equation derived
from the homogenous second order linear differential equation: (Mohazzabi and P. Shankar, 2017)

𝜃 𝐾
ln (𝜃ₒ) = − 2 𝑡

Research question:

What effect does changing the diameter (0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9 /mm) of a nylon wire have on the
damping constant of a simple pendulum undergoing simple harmonic motion?

Hypothesis:

The increase in the diameter of the wire will cause the displacement to decrease. This decrease in
displacement indicates a decrease in amplitude of the pendulum. Due to these occurrences, we can say that
damping takes place. Hence, the damping constant will increase with an increase in the diameter of the wire.

Variables:

Independent variable:

Diameter of the wire: 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9 /mm. These diameters with an interval of 0.1 mm interval
were chosen in order to show the gradual change in damping constant. Seven different diameters were
experimented to show a proper correlation of how the diameter of the wire affects the damping constant of a
simple pendulum.

Dependent variable:

The displacement (cm) of the bob of the pendulum from its equilibrium position is being measured as well as
the time at an interval of 5 oscillations in order to find the amplitude, θ, in radians which is necessary to be
able to calculate the damping constant.

Controlled variable: Reason to control: Method of controlling:

PAGE 2
Temperature of the surroundings When temperature increases, the The lab was kept at the constant
length of the pendulum also temperature of 23°C.
increases due to thermal
expansion. This increase in
length affects the period of the
oscillations.
Mass of the bob As the mass of the increases, the The same brass bob with a mass
damping of the pendulum of 25.8 g was used throughout
occurs at a faster rate. Because the experiment.
this experiment is evaluating the
effect of string diameter on the
motion of the pendulum, the
mass of the bob should be kept
constant throughout this
experiment.
Length of the wire An increase in the length of the Throughout the experiment, the
pendulum will affect the motion length of the wire was
of a pendulum by increasing the constantly kept at 0.57 m.
period of oscillations.
Initial displacement of the pendulum The larger the initial The pendulum was always
displacement is, the faster the released from a displacement of
motion of the pendulum will be. 0.4 m.
If this experiment were to be
conducted with different initial
displacements, then the results
obtained would be erroneous.
Material of the wire A copper wire or a cotton string Only nylon wires were used in
for example, would have a this experiment.
different elasticity compared to
the nylon wire. Elasticity of the
wire could affect the motion of

PAGE 3
the pendulum and hence using
wires of different materials
would result in erroneous
readings.
Shape and diameter of the bob Changing the shape and the size The same spherical brass bob
of the bob will affect the with a mass of 25.8 g and
experiment by producing diameter of 17.766 mm was
inconsistent and erroneous used throughout the experiment.
results, as this equates to
changing the surface area of the
bob.

Method:

Apparatus and materials:

o Clamp × 1
o Stand × 1
o Nylon wires of diameters 0.3, 0.4, 0.5, 0.6, 0.7, 0.8 and 0.9 mm
o 25.8 g brass bob × 1
o 100 cm ruler × 1
o Digital Vernier caliper × 1
o Digital micrometer screw gauge × 1
o Stopwatch × 1 Figure 1 shows the apparatus used

o Scissors × 1

Procedure:

1) Measure and cut the 0.3 mm diameter nylon wire at the length of 0.65 m (65 cm).
2) Tie the nylon wire around the clamp in a way that the length of the wire is 0.60 m.
3) Tie the other end of the wire to a bob. The length of the wire should be 0.57m. and the total length of
the pendulum should be 0.60 m.
4) Cut off the excess wire using a pair of scissors.

PAGE 4
5) Place the 1 m ruler under the pendulum such that the center of the bob is directly above the 50 cm
mark.
6) Displace the bob of the pendulum o.4 m (40 cm) to the right from the equilibrium position.
7) Start the timer and release the pendulum at the same time.
8) Record the time and displacement of the pendulum at an interval of five oscillations until you reach
45 oscillations (5, 10, 15, 20, 25, 30, 35, 40, 45 oscillations).
9) Repeat steps 1-8 about 6 times in order to get multiple trials.
10) Repeat steps 1-9 for the nylon wires of diameter 0.4, 0.5, 0.6, 0.7, 0.8, and 0.9 mm.
11) At the end of the experiment, data should have been collected for the time and displacement of the
pendulum at the interval of 5 oscillations.
12) Select the 3 best trials in order to proceed with the calculations to find the damping constants of the
wires of different diameters.

Safety, environmental and ethical considerations:

There are no human beings or animals involved in this experiment. There are no chemicals and/or potentially
hazardous technology being used or invented in this experiment. Hence there are no environmental and
ethical consideration to observe.

In this experiment, there are minimal safety issues, as the only thing that can be potentially hazardous is the
brass bob during the motion of the pendulum. Even then the risk factor is quite low as the pendulum bob was
of low mass and was set to below face level.

Results:

Raw data:

*The displacement was measured in cm and then later converted into m.

Time (s) and displacement (m) at an interval of 5 oscillations


Trial 1 Trial 2 Trial 3
Wire Diameter No of
Time Displacement Time Displacement Time Displacement
(mm) Oscillations
(±0.001) (±0.001) (±0.001) (±0.001 (±0.001) (±0.001)
0 0.000 0.400 0.000 0.400 0.000 0.400
5 7.907 0.394 8.021 0.396 7.361 0.395
0.3 10 15.829 0.387 15.936 0.383 15.466 0.391
15 23.968 0.380 24.952 0.377 23.551 0.377
20 31.918 0.373 32.226 0.370 31.326 0.364

PAGE 5
25 39.944 0.362 40.103 0.359 39.456 0.359
30 48.101 0.351 48.324 0.351 47.454 0.348
35 56.023 0.342 56.194 0.338 55.540 0.340
40 64.028 0.327 64.155 0.328 63.404 0.335
45 72.441 0.318 72.563 0.319 71.531 0.326
0 0.000 0.400 0.000 0.400 0.000 0.400
5 7.946 0.393 7.964 0.396 7.971 0.396
10 15.937 0.384 15.913 0.388 15.924 0.389
15 24.031 0.375 24.055 0.378 24.050 0.375
20 32.008 0.365 32.108 0.366 32.048 0.364
0.4
25 39.102 0.355 39.121 0.356 39.113 0.351
30 47.947 0.343 47.817 0.340 47.132 0.340
35 56.035 0.330 56.125 0.327 56.002 0.333
40 63.943 0.320 63.433 0.315 64.943 0.322
45 71.951 0.300 71.431 0.310 71.951 0.320
0 0.000 0.400 0.000 0.400 0.000 0.400
5 8.283 0.396 8.283 0.393 8.283 0.396
10 16.060 0.382 16.151 0.385 16.121 0.391
15 25.247 0.373 25.247 0.375 25.247 0.374
20 32.627 0.358 32.627 0.365 32.627 0.360
0.5
25 40.318 0.348 40.318 0.356 40.318 0.349
30 47.200 0.336 47.198 0.346 47.262 0.338
35 56.843 0.323 56.843 0.330 56.843 0.322
40 64.174 0.309 64.174 0.316 64.174 0.311
45 73.062 0.298 73.062 0.303 73.062 0.296
0 0.000 0.400 0.000 0.400 0.000 0.400
5 7.783 0.392 7.794 0.396 7.624 0.397
10 16.219 0.380 16.182 0.387 16.098 0.382
15 25.451 0.367 25.451 0.371 25.451 0.366
20 32.497 0.352 32.497 0.355 32.497 0.352
0.6
25 40.682 0.339 40.682 0.341 40.682 0.340
30 48.008 0.326 48.008 0.322 48.008 0.327
35 56.078 0.312 56.078 0.309 56.078 0.315
40 64.190 0.295 64.190 0.297 64.190 0.302
45 72.540 0.289 72.414 0.288 72.344 0.284
0 0.000 0.400 0.000 0.400 0.000 0.400
5 8.012 0.391 7.971 0.396 7.932 0.395
10 16.247 0.379 16.139 0.384 16.212 0.377
15 24.736 0.364 23.975 0.368 24.896 0.363
20 32.586 0.348 32.631 0.351 32.827 0.348
0.7
25 40.861 0.332 40.531 0.336 41.062 0.331
30 48.546 0.320 47.996 0.322 48.939 0.318
35 56.417 0.306 56.204 0.302 56.631 0.307
40 64.242 0.291 64.813 0.292 64.041 0.284
45 73.129 0.279 72.927 0.274 73.112 0.278
0 0.000 0.400 0.000 0.400 0.000 0.400
5 8.121 0.387 8.151 0.391 8.223 0.392
10 15.947 0.377 16.141 0.379 16.016 0.372
0.8
15 24.612 0.358 24.921 0.354 24.312 0.359
20 32.216 0.333 32.216 0.343 33.989 0.344
25 40.799 0.322 40.931 0.327 40.837 0.326

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30 48.236 0.309 48.827 0.313 48.553 0.308
35 56.521 0.294 56.226 0.298 56.743 0.293
40 64.122 0.279 64.373 0.285 64.226 0.279
45 74.912 0.265 73.129 0.270 73.639 0.266
0 0.000 0.400 0.000 0.400 0.000 0.400
5 8.052 0.386 8.110 0.391 8.242 0.390
10 16.341 0.371 16.436 0.367 16.139 0.372
15 24.736 0.347 24.671 0.349 24.832 0.354
20 32.516 0.330 32.674 0.330 32.475 0.333
0.9
25 40.921 0.313 41.089 0.312 40.923 0.317
30 48.573 0.293 48.631 0.294 48.457 0.298
35 56.428 0.281 56.397 0.279 56.612 0.286
40 65.012 0.265 64.393 0.266 64.167 0.270
45 73.212 0.251 72.929 0.252 73.214 0.256
Table 1 shows the raw data collected from the experiment for the 3 closest trials. The raw data consists of the time (s)
and displacement (m) at an interval of 5 oscillations for wires of diameters 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, and 0.9 mm.

Sample calculations/ data processing:

Once the three best trials have been selected for each diameter, calculate the average displacements at the
interval of 5 oscillations.

Average displacement (m) with wire diameters of: (± An example calculation is shown below for the
# of 0.001)
oscillations
0.3 0.4 0.5 0.6 0.7 0.8 0.9 wire of diameter 0.3 mm at 5 oscillations.
0 0.400 0.400 0.400 0.400 0.400 0.400 0.400
5 0.395 0.395 0.395 0.395 0.394 0.390 0.389 𝑋1+𝑋2+𝑋3
10 0.387 0.387 0.386 0.383 0.380 0.376 0.370
Average = =
𝑛
15 0.378 0.376 0.374 0.368 0.365 0.357 0.350
20 0.369 0.365 0.361 0.353 0.349 0.340 0.331 0.394 + 0.396 + 0.395
25 0.360 0.354 0.351 0.340 0.333 0.325 0.314 = 0.395
3
30 0.350 0.341 0.340 0.325 0.320 0.310 0.295
35 0.340 0.330 0.325 0.312 0.305 0.295 0.282 𝐸𝑟𝑟𝑜𝑟 = (0.001 + 0.001 + 0.001) × 3 = ±0.009
40 0.330 0.319 0.312 0.298 0.289 0.281 0.267
45 0.321 0.310 0.299 0.287 0.277 0.267 0.253

Table 2 shows the average displacement of the three trials at an

interval of 5 oscillations.

After calculating the average displacement, calculate the average time at the interval of 5 oscillations. A completed
table is shown in table 3

An example calculation is shown below for the wire of diameter 0.3 mm at 5 oscillations.

𝑋1+𝑋2+𝑋3 7.907+8.021+7.361
Average =
𝑛
= 3
= 7.7630 𝐸𝑟𝑟𝑜𝑟 = (0.001 + 0.001 + 0.001) × 3 = ±0.009

PAGE 7
After the average time for each wire is calculated, find the average time at each oscillation at the interval of 5
oscillations. An example calculation is shown below for the average time at 5 oscillations.

𝑋1+𝑋2+𝑋3…𝑋𝑛 7.7630+7.9603+8.2830+7.7337+7.9717+8.1650+8.1347
Average = = = 8.0016 𝑠
𝑛 7

Average time (s) with an interval 5 oscillations for different diameter wires
No of (± 0.009) Average
Oscillations Wire 1 Wire 2 Wire 3 Wire 4 Wire 5 Wire 6 Wire 7 time (±
(0.3mm) (0.4mm) (0.5mm) (0.6mm) (0.7mm) (0.8mm) (0.9mm) 0.049)
0 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 Table 3 shows the average
5 7.7630 7.9603 8.2830 7.7337 7.9717 8.1650 8.1347 8.0016 time for each wire and the
10 15.7437 15.9247 16.1107 16.1663 16.1993 16.0347 16.3053 16.0692 average time for the
15 24.1570 24.0453 25.2470 25.4510 24.5357 24.6150 24.7463 24.6853 number of oscillations
20 31.8233 32.0547 32.6270 32.4970 32.6813 32.8070 32.5550 32.4350 (average of averages).
25 39.8343 39.1120 40.3180 40.6820 40.8180 40.8557 40.9777 40.3711
30 47.9597 47.6320 47.2200 48.0080 48.4937 48.5387 48.5537 48.0580
35 55.9190 56.0540 56.8430 56.0780 56.4173 56.4967 56.4790 56.3267
40 63.8623 64.1063 64.1740 64.1900 64.3654 64.2403 64.5240 64.2089
45 72.1783 71.7777 73.0620 72.4327 73.0560 73.8933 73.1183 72.7883

Find the amplitude in radians using basic trigonometry (Wathall, J). An example
calculation is shown below for the wire of diameter 0.3 mm at 5 oscillations
𝑂𝑝𝑝𝑜𝑠𝑖𝑡𝑒 𝐷𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 0.395
𝑆𝑖𝑛𝜃 = 𝐻𝑦𝑝𝑜𝑡𝑒𝑛𝑢𝑠𝑒 , 𝑆𝑖𝑛𝜃 = 𝑃𝑒𝑛𝑑𝑢𝑙𝑢𝑚 𝑙𝑒𝑛𝑔𝑡ℎ = = 0.658
0.6

𝜃 = 𝑠𝑖𝑛−1 (0.658) = 41.148° = 0.7186 𝑟𝑎𝑑

No. of Amplitude, θ (rad) for the different wire diameters (mm) Table 4 shows the
Oscillations
0.3 0.4 0.5 0.6 0.7 0.8 0.9 angular amplitude in
0 0.7297 0.7297 0.7297 0.7297 0.7297 0.7297 0.72973 radians at a number of oscillations for their
5 0.7186 0.7186 0.7186 0.7186 0.7164 0.7076 0.70539 respective wire diameters.
10 0.7010 0.7010 0.6988 0.6923 0.6859 0.6773 0.66450
15 0.6816 0.6773 0.6730 0.6603 0.6540 0.6373 0.62283 The formula below is derived from a
20 0.6624 0.6540 0.6456 0.6290 0.6208 0.6025 0.58436 homogenous second order linear differential
25 0.6435 0.6311 0.6249 0.6025 0.5884 0.5724 0.55076 equation, and can be used to find the damping
30 0.6228 0.6045 0.6025 0.5724 0.5625 0.5430 0.51400 constants of the wires.
35 0.6025 0.5824 0.5724 0.5469 0.5332 0.5140 0.48929
𝜃 𝐾
40 0.5824 0.5606 0.5469 0.5198 0.5026 0.4874 0.46117 ln (𝜃ₒ) = − 2 𝑡
45 0.5645 0.5430 0.5217 0.4988 0.4799 0.4612 0.43528

Where, θₒ is the initial amplitude, K is the damping constant, and –K/2 is the slope of the linear relationship
between ln(θ/θₒ) and t, which is the time in seconds.

In order to find the damping constant, it is necessary to first find the values for ln(θ/θₒ) at an interval of 5
oscillations per wire. An example calculation is shown below for the wire of diameter 0.3 mm at 5
oscillations.

PAGE 8
𝜃 0.7186
ln ( ) = ln ( ) = −0.015363
𝜃ₒ 0.7297

ln(θ/θₒ)
No of
Oscillations Average Wire 1 Wire 2 Wire 3 Wire 4 Wire 5 Wire 6 Wire 7
time (0.3mm) (0.4mm) (0.5mm) (0.6mm) (0.7mm) (0.8mm) (0.9mm)
Table 5 shows the
0 0.0000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.0000 average time for
5 8.0016 -0.01536 -0.01536 -0.01536 -0.01536 -0.01845 -0.03081 -0.0339 all the wires and
10 16.0692 -0.04013 -0.04013 -0.04324 -0.05261 -0.06201 -0.07460 -0.0936 ln(θ/θₒ) for each
wire at the specified
15 24.6853 -0.06830 -0.07460 -0.08093 -0.10002 -0.10963 -0.13548 -0.1584
number of
20 32.4350 -0.09682 -0.10963 -0.12251 -0.14855 -0.16170 -0.19166 -0.2222 oscillations.
25 40.3711 -0.12575 -0.14527 -0.15511 -0.19166 -0.21533 -0.24280 -0.2814
30 48.0580 -0.15840 -0.18830 -0.19166 -0.24280 -0.26022 -0.29565 -0.3504
35 56.3267 -0.19166 -0.22558 -0.24280 -0.28850 -0.31368 -0.35044 -0.3997
40 64.2089 -0.22558 -0.26372 -0.28850 -0.33932 -0.37297 -0.40358 -0.4589
45 72.7883 -0.25672 -0.29565 -0.33563 -0.38055 -0.41915 -0.45890 -0.5167 Construct a graph

0.10000
Wire 1: y = -0.0036x + 0.0144
Wire 2: y = -0.0043x + 0.02
0.00000
Wire 3: y = -0.0047x + 0.0245

-0.10000 Wire 4: y = -0.0055x + 0.0247


Wire 5: y = -0.006x + 0.0258
ln(θ/θₒ)

-0.20000 Wire 6: y = -0.0065x + 0.018


Wire 7: y = -0.0074x + 0.016
-0.30000

-0.40000

-0.50000

-0.60000
- 10.0000 20.0000 30.0000 40.0000 50.0000 60.0000 70.0000
Time (s)
Wire 1 Wire 2 Wire 3 Wire 4 Wire 5
Wire 6 Wire 7 Linear (Wire 1) Linear (Wire 2) Linear (Wire 3)
of ln(θ/θₒ) against time in seconds using the values provided in table 5.

Graph 1 shows how the values for ln(θ/θₒ) for the different wires vary with time (s). The equation of the trend line for
this relationship for each wire is given on the right.

Use graph 1 to find the gradient for each wire from the equations of the trend lines.

PAGE 9
The equation of the line is in the form: y = mx + c. Where, m is the gradient of the trend line. To find the damping
constant, K, simply multiply the gradient by -2.

K = Gradient × -2

An example calculation is shown below for the wire of diameter 0.3 mm.

K = -0.0036 × -2 = 0.0072 s-1 (found in the processed data)

Diameter (mm) (±0.1) Gradient


0.3 -0.0036
0.4 -0.0043
Table 6 shows the gradient of the trend lines in graph 5 with
0.5 -0.0047
0.6 -0.0055 their corresponding wire diameters (mm).
0.7 -0.0060
0.8 -0.0065
0.9 -0.0074

Processed data:

Damping constant (s-1)


Diameter (mm) (±0.1) (±0.0001)
0.3 0.0072
0.4 0.0086
0.5 0.0094
0.6 0.0110
0.7 0.0120
0.8 0.0130
0.9 0.0148

Table 7 shows the wire diameters (mm) with their corresponding


damping constants (s-1)

PAGE 10
0.0160 Graph 1 shows the
0.0140 relationship between
0.0148
the wire diameters
0.0120
0.0130 (mm) and damping
0.0120
Damping constant (s-1)

0.0100 constants (s-1).


0.0110
0.0080 0.0094
0.0086 Conclusion:
0.0060 0.0072
0.0040 From table 6, we can
0.0020 see how the wire with
0.0000
y = 0.0122x + 0.0035 the diameter of 0.9
0.2 0.3 0.4 0.5 0.6 0.7 0.8 R² =0.9
0.9932 1
Wire diameter (mm) (wire 7) has the largest
gradient or slope of -
0.074 compared to that of the other wires. Table 7 and graph 1 show us how the damping constant increases
with diameter. The graph shows a linear relationship, meaning the two variables are proportional to each
other. This means that as the diameter of the wire increases, the damping of the pendulum’s motion occurs at
faster rate. Thus, proving that my hypothesis is correct.

Evaluation:

Limitations:

This experiment was carried out manually. The displacement and time at every 5 oscillations was measured using a
meter ruler and a stopwatch respectively. This method does have lots of room for error.

Results may be slightly flawed due to the presence of friction at the pivot. However, the trend would remain the same.

Strengths:

Although the method used carries lots of room for error, concordant results were obtained for the raw data. This
enhances the reliability and accuracy of this experiment.

Nylon wires were used in this experiment.

Extensions:

Data logger and photogate could be used for better accuracy. Using these devices, the velocity and time at each
oscillation can be automatically obtained. These results can be used in order to find the damping constant of the
pendulum.

PAGE 11
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Webassign.net. n.d. Simple Harmonic Motion – Concepts. [online] Available at:


<https://www.webassign.net/question_assets/ncsucalcphysmechl3/lab_7_1/manual.html> [Accessed 7 February 2021].

Russell, Dan. "Oscillation Of A Simple Pendulum". Acs.Psu.Edu, 2018,


https://www.acs.psu.edu/drussell/Demos/Pendulum/Pendulum.html. Accessed 11 Jan 2021.

W. Schnick, J., 2020. 28A: Oscillations: The Simple Pendulum, Energy in Simple Harmonic Motion - Physics
LibreTexts. [online] Phys.libretexts.org. Available at:
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