Coupled Pendulums

Objectives:
1. To study the in-phase, out-of-phase, and beat-mode oscillations of two coupled pen-
dulums.

2. To determine the coupling factors for various coupling lengths using

(a) the apparatus constants,
(b) the angular frequencies for in-phase and out-of-phase modes of vibration,
(c) the angular frequencies of the beat mode.

3. To check the linear relation between the square of the coupling lengths and
(b) the square of the frequency for out-of-phase mode, (a) the particular frequencies
of the beat mode.

Apparatus:
Pendulums with recorder connection, helical spring, rod with hook, weight holder, slotted
weight, stop watch, meter scale.

Theory and Formulae used:

Let us consider two gravity pendulums P1 and P2 with same angular characteristic fre-
quency ω0 coupled by a spring. In the position of rest with a small angle of deviation φ0 ,
there are torques due to the presence of gravitational force and the tension in the spring
acting on each of the two pendulums (see Fig. 1). If we have

• DF = spring constant

• x0 = net extension of the spring

• l = coupling length (distance between the pivot and the point where the spring is
attached to rod)

• m = mass of each pendulum

• L = length of each pendulum

• g = acceleration due to gravity

• φ0 = angle between the vertical and position of rest assumed to be small in this
experiment,

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 Figure 1: Diagram of coupled pendulums at rest.

then torque due to gravity

⊥
τgravity = LFgravity = −Lmg sin φ0 ≈ −mgLφ0 , (1)
and torque due the tension in the spring
⊥
τspring = lFspring = lDF x0 cos φ0 ≈ DF x0 l ≈ DF l2 φ0 , (2)
⊥
where Fgravity is the restoring gravitation force acting perpendicular to the position of
⊥
mass m. Similarly Fspring is the force acting perpendicular to the rod due to the tension
in the spring. We have used x0 = l sin φ0 ≈ lφ0 in Eq. (2).
In general, if P1 is deflected by φ1 and P2 by φ2 as shown in figure 1 and subsequently
released, the net torques acting on the two pendulums are
τ1 = I φ̈1 = −mgLφ1 + DF l2 (φ2 − φ1 ), (3)
τ2 = I φ̈2 = −mgLφ2 + DF l2 (φ1 − φ2 ), (4)
where τ1 and τ2 are torques acting on pendulums P1 and P2 respectively, I is the moment of
inertia of each pendulum around its fulcrum, and ¨ represents the second order derivative
with respect to time.
(a) Can you see that the restoring forces due the tension in the spring on the two
pendulums are always in opposite direction? (b) Can you calculate the characteristic
frequency ω0 of an uncoupled pendulum?
In order to solve these coupled differential equations, we add and subtract Eq. (3)
and Eq. (4) to obtain
I(φ̈1 + φ̈2 ) = −mgL(φ1 + φ2 ), (5)
I(φ̈1 − φ̈2 ) = −mgL(φ1 − φ2 ) − 2DF l2 (φ1 − φ2 ). (6)

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Let us introduce two new variables Φ1 = φ1 + φ2 and Φ2 = φ1 − φ2 , in terms of which
Eqs. (5) and (6) can be rewritten as

I Φ̈1 = −mgLΦ1 , (7)

I Φ̈2 = −mgLΦ2 − 2DF l2 Φ2 . (8)

Using ω02 = mgL/I and Ω2 = DF l2 /I, in Eqs. (7) and (8), we get

Φ̈1 + ω02 Φ1 = 0, (9)

Φ̈2 + (ω02 + 2Ω2 )Φ2 = 0. (10)

In the new variables the equations are no longer coupled and can be solved easily. The
two new variables Φ1 and Φ2 are called normal coordinates. Let us first find the solutions
of Eq. (9) and Eq. (10), when either Φ1 = 0 or Φ2 = 0 at all times, and the coupled
system is described by only one of these equations.

In-phase mode
If Φ2 = φ1 − φ2 = 0 at all times, the solution of Eq. (9) is

Φ1 = Φ01 cos ω0 t, (11)

which can be written in terms of original angular displacements as

φ1 = φ2 = φA cos ω0 t = φA cos ωin t, (12)

here φA = Φ01 /2 is the amplitude of the oscillation of each pendulum. In this mode both
pendulums vibrate in phase with same amplitude φA and with same frequency ωin = ω0 ,
which is same as the characteristic frequency of an uncoupled pendulum. The mode can
be initiated by setting
φ1 = φ2 = φA and φ̇1 = φ̇2 = 0 (13)
at t = 0.

Out-of-phase mode
If Φ1 = φ1 + φ2 = 0 at all times, the solution of Eq. (10) is
q
0
Φ2 = Φ2 cos ω02 + 2Ω2 t, (14)

which can be written in terms of original angular displacements as

q
φ1 = −φ2 = φA cos ω02 + 2Ω2 t = φA cos ωout t, (15)

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here φA = Φ02 /2 is the amplitude of the oscillation of each pendulum. In this mode
both pendulums vibrate with the same amplitude φA and with same frequency ωout =
p
ω02 + 2Ω2 , but there is a constant phase difference of π between the two. The mode can
be initiated by setting
φ1 = −φ2 = φA and φ̇1 = φ̇2 = 0 (16)
at t = 0.

Beat mode
The in-phase and out-of-phase are the two normal modes of this coupled system. A
normal mode of an oscillating system is an oscillation in which all component oscillators
of the system oscillate with the same frequency maintaining a constant phase relation
with respect to each other. There is no exchange of energy between these normal modes.
In general any arbitrary oscillation of the system can by considered as the superposition
of its normal modes which leads to the beat mode. Let us consider the superposition of
Φ1 and Φ2 obtained earlier, i.e.

Φ1 = φ1 + φ2 = 2φA cos ω0 t, (17)

q
Φ2 = φ1 − φ2 = 2φA cos ω02 + 2Ω2 t, . (18)

Adding and subtracting Eqs. (17) and (18), we can get φ1 and φ2 as
p ! p !
ω02 + 2Ω2 − ω0 ω02 + 2Ω2 + ω0
φ1 = 2φA cos t cos t , (19)
2 2
p ! p !
ω02 + 2Ω2 − ω0 ω02 + 2Ω2 + ω0
φ2 = 2φA sin t sin t . (20)
2 2

Aren’t these relations reminiscent of the acoustic beats?

For weak coupling, i.e. when Ω  ω0 , we have
p
ω02 + 2Ω2 − ω0 Ω2
ω1 = ≈ , (21)
2 2ω0
p
ω02 + 2Ω2 + ω0 Ω2
ω2 = ≈ ω0 + . (22)
2 2ω0
Using these, Eqs. (19) and (20) can be rewritten as

φ1 = 2φA cos ω1 t cos ω2 t, (23)

φ2 = 2φA sin ω1 t sin ω2 t. (24)

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It is evident that ω1  ω2 and defines the beat period by relation T1 = ω2π1 . The mode can
be initiated by displacing only one of the pendulums from its equilibrium position while
not disturbing the other at t = 0, i.e. setting

φ1 = 2φA , φ2 = 0 and φ̇1 = φ̇2 = 0. (25)

Coupling factor
Coupling factor k1 is defined as the ratio of torque on a pendulum due to the tension in
the spring to the total torque and can be given as
τspring
k1 = , (26)
τgravity + τspring
DF l2
= , (27)
mgL + DF l2
Ω2
= . (28)
ω02 + Ω2

The coupling factor in Eq. (28) can also be calculated from the frequencies of the
individual vibration modes. In out-of-phase mode, the coupling factor obtained by using
2
ωin = ω02 and ωout
2
= ω02 + 2Ω2 in Eq. (28) is
2 2
ωout − ωin
k2 = 2 2
. (29)
ωout + ωin

In beat mode, using Eqs. (21) and (22) in Eq. (28) along with weak coupling approx-
imation, the coupling factor is
2ω1 ω2
k3 = 2 (30)
ω1 + ω22

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Role of coupling length l
We can rewrite ωout , ω1 and ω2 in terms of l as

2 DF l 2
ωout = ω02 + 2 ,
I
DF l2 ω02
= ω02 + 2 , (31)
mgL
DF l2
ω1 = ,
2ω0 I
DF l2 ω0
= , (32)
2mgL
DF l2
ω2 = ω0 + ,
2ω0 I
DF l2 ω0
= ω0 + , (33)
2mgL

where we have used I = mgL/ω02 . It can be seen from Eqs. (31)-(33) that ωout
2
∝ l2 ,
2 2
ω1 ∝ l , and ω2 ∝ l .

Procedure:
1. Couple the two pendulums with the spring at some particular distance from the
fulcrum.

2. Displace both the pendulums equally in the same direction, release them simulta-
neously, and measure the time period of 20 oscillations

3. Now, displace both equally in the opposite direction, release them simultaneously,
and measure the time period of 20 oscillations

4. Displace only one of the pendulum from its equilibrium position keeping the other
undisturbed at t = 0. Release the displaced pendulum and again measure the time
period for 5 beats.

5. Repeat steps 2, 3, and 4 thrice.

6. Change the coupling length l and repeat steps 2, 3, 4, and 5.

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 Table I
l (cm) In-phase Out-of- Beat time Avg. Avg. Avg. ωin ωout ω1 ω2
time pe- phase time period for Tin Tout T1
riod for 20 period 5 beats
oscillations for 20
oscillations

Table 
II  
k1 −k2 k1 −k3
l (cm) k1 k2 k3 k1
× 100 k1
× 100

where
2π 2π
ωin = , ωout = , (34)
Tin Tout
2π
ω1 = , ω2 = ω1 + ωin , (35)
T1
DF l 2 2
ωout 2
− ωin 2ω1 ω2
k1 = , k2 = 2 2
, k3 = 2 (36)
mgL + DF l 2 ωout + ωin ω1 + ω22
We used:
DF = . . .N/m (Measured value)
L = 104cm (Distance of the fulcrum center from the pendulum weight)
m = 1Kg (mass of pendulum, mass of rod is not included in it)
g = 9.8m/s2

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Results:
1. The coupling factors k1 , k2 , and k3 for different coupling lengths l are . . ..
2
2. Plot ωout versus l2 .

3. Plot ω1 versus l2 .

4. Plot ω2 versus l2 .

Precautions:
1. Pendulums should oscillate freely.

2. Make sure that the plane of vibrations of the two pendulums are the same.

3. Top of the pendulum hanger should be level.

References
H. J. Pain, The Physics of Vibrations and Waves, 6th Edition (2005), John Wiley & and
Sons, Ltd.