Chapter 18

Simple harmonic motion

Simple harmonic motion is of importance in a
num- ber of branches of engineering and physics,
includ- ing structural and machine vibrations,
alternating electrical currents, sound waves, light
waves, tidal motion, and so on. This chapter
explains simple harmonic motion, determines
natural frequencies for spring-mass systems,
calculates periodic times and explains simple and
compound pendulums.

At the end of this chapter you should be able to:

 understand simple harmonic motion Figure 18.1
 determine natural frequencies for simple 1 
spring- mass systems f=  (18.2)
T 2
 calculate periodic times
 understand the motion of a simple pendulum To determine whether or not SHM is taking place, we
 understand the motion of a compound pendulum will consider motion of A in the direction yy. Now
yC = OA sin ωt,
i.e. yC = r sin ωt (18.3)
where t = time in seconds.
18.1 Introduction to simple harmonic
Plotting of equation (18.3) against t results in
motion (SHM)
the sinusoidal variation for displacement, as shown in
A particle is said to be under SHM if its acceleration Figure 18.1(b).
along a line is directly proportional to its displacement From Chapter 12, vA = ωr, which is the tangential ve-
locity of the particle A.
along that line, from a fixed point on that line.
From the velocity vector diagram, at the point A on
Consider the motion of a particle A, rotating in a
the circle of Figure 18.1(a),
circle with a constant angular velocity ω, as shown in
Figure 18.1. vC = vA cos q = vA cos ωt (18.4)
Consider now the vertical displacement of A from
Plotting of equation (18.4) against t results in the
xx, as shown by the distance yC . If P is rotating at a
sinusoidal variation for the velocity vC , as shown in
constant angular velocity ω then the periodic time T
to travel an angular distance of 2, is given by: Figure 18(b).

2 The centripetal acceleration of A

T= 
(18.1) = aA = w2r
Let f = frequency of motion C (in Hertz),
Now aC = – aA sin q
where

Mechanical Engineering Principles, Bird and Ross, ISBN 9780415517850

 206 Mechanical Engineering Principles

Therefore, aC = – w2r sin wt (18.5) k

or a x=0 (18.8)
Plotting of equation (18.5) against t results in the sinu- m
+
soidal variation for the acceleration at C, aC , as Equation (18.8) shows that this mass is oscillating (or
shown in Figure 18.1(b).
vibrating) in SHM, or according to equation (18.7).
Substituting equation (18.3) into equation (18.5) Comparing equation (18.7) with equation (18.8) we
gives: see that
k
aC = – ω2yC (18.6) 2  m
Equation (18.6) shows that the acceleration along
k
the line yy is directly proportional to the displace- from which,  
ment along this line, therefore the point C is moving m
with SHM.
2 2 m
Now T= , but from equation (18.6), Now T= = 2
 k

aC = ω2y, i.e. a
2  and f = frequency of oscillation or vibration
2 y y
Therefore, T= or T = 2  
i.e. f= 1 k
a a  (18.9)
2 2 m
y
(b) Vibrating vertically
i.e. T=2 dispacement Consider a mass m, supported by a vertical spring
acceleration of stiffness k, as shown in Figure 18.3. In this equi-

librium position, the mass has an initial downward
In general, from equation (18.6), static deflection of yo. If the mass is given an
additional downward displacement of y and then
a + ω2y = 0 (18.7) released, it will vibrate vertically.

18.2 The spring-mass system

Part Three

(a) Vibrating horizontally

Consider a mass m resting on a smooth surface
and attached to a spring of stiffness k, as shown in Figure 18.2.

Figure 18.2

If the mass is given a small displacement x, the spring Figure 18.3

will exert a resisting force of kx, i.e. F = – kx
The force exerted by the spring = – k(yo + y)
But, F = ma
Therefore, F = accelerating force – resisting force
hence, ma = – kx = ma
or ma + kx = 0 or F = mg – k(yo + y) = ma
 Simple harmonic motion 207

i.e. F = mg – kyo – ky = ma 1.5

from which, k = (2 )2 
But, kyo = mg, 1.22
hence F = mg – mg – ky = ma i.e. stiffness of spring, k = 41.1 N/m
r  25
Thus, ma + ky = 0 (c) From Figure 18.4, cos q=
k r
or a y=0 (55  25)
+ m or cos q = 55 = 0.545
k 2
i.e. SHM takes place, then   and T =
m  from which, q = cos10.545 = 56.94
2 2
m Now, ω =  1.2 = 5.236 rad/s
i.e. periodic time, T = 2 (18.10) T
k
 But q = ωt, hence, time t taken to travel upwards
and frequency, f= 1 k
2  2 (18.11) a distance of 25 mm, is given by:

as before (from equation (18.9)). 56.94 2 rad

t=   = 0.19 s
Comparing equations (18.9) and (18.11), it can be seen  rad 360
5.236 s
that there is no difference in whether the spring is (d) Velocity at C in Figure 18.4,
hori- zontal or vertical. vC = vA sin q
= ωr sin q
Problem 1. A mass of 1.5 kg is attached to a rad
= 5.236 55
vertical spring, as shown in Figure 18.4. When m  sin 56.94
s 
the mass is displaced downwards a distance of 55 1000
mm from its position of rest, it is observed to = 0.288  0.838 m/s
oscillate 60 times in 72 seconds. Determine (a)
i.e. vC = 0.241 m/s after 25 mm of travel
periodic
time (b) the stiffness of the spring (c) the time
taken to travel upwards a distance of 25 mm for Now try the following Practise Exercise
the first time (d) the velocity at this point.

Practise Exercise 95 Further problems

on simple harmonic

Part Three
motion
1. A particle oscillates 50 times in 22 s. Deter-
mine the periodic time and frequency.
[T = 0.44 s, f = 2.27 Hz]
2. A yacht floats at a depth of 2.2 m. On a par-
ticular day, at a time of 09.30 h, the depth at
low tide is 1.8 m and at a time of 17.30 h,
Figure 18.4 the depth of water at high tide is 3.4 m.
Deter- mine the earliest time of day that the
72 seconds yacht is refloated. [12 h, 10 min, 1 s]
(a) Periodic time, T = = 1.2 seconds 3. A mass of 2 kg is attached to a vertical
60 oscillations
spring. The initial state displacement of this
(b) From equation (18.10), T = 2  mass is 74 mm. The mass is displaced
m down- wards and then released. Determine
k (a) the stiffness of the spring, and (b) the
i.e. 1.2 = 2  frequency of oscillation of the mass.
1.5
k [(a) 265.1 N/m (b) 1.83 Hz]
 1.5
Hence, 1.2 2  (2 ) 2 
k
 208 Mechanical Engineering Principles
From Section 14.4, page 167,
4. A particle of mass 4 kg rests on a smooth
T = Io = – restoring couple
horizontal surface and is attached to a hori-
zontal spring. The mass is then displaced = – mg(L sin q)
horizontally outwards from the spring a dis-
tance of 26 mm and then released to vibrate. But, Io = mL2 = mass moment of inertia about the
point of rotation
If the periodic time is 0.75 s, determine
(a) the frequency f (b) the force required to hence,
give the mass the displacement of 26 mm, mL2  + mgL sin q = 0
(c) the time taken to move horizontally
For small deflections, sin q = q
inwards for the first 12 mm.
[(a) 1.33 Hz (b) 7.30 N (c) 0.12 s] Hence,
L2  + gLq = 0
5. A mass of 3 kg rests on a smooth horizontal
surface, as shown in Figure 18.5. If the g
stiff- ness of each spring is 1 kN/m, or + =0
a L
determine the frequency of vibration of the
mass. It may be assumed that initially, the But a + w 2q = 0 (see Section 18.6)
springs are un-stretched.
g
Therefore, 2 
L
g
and ω=
L (18.12)
Figure 18.5
2
Now T=
[4.11 Hz]   2 L (18.13)
6. A helical spring has a mass of 10 kg g
attached to its top. If the mass vibrates g
vertically with a frequency of 1.5 Hz, 1
and f= 
determine the stiffness of the spring. [888.3 L (18.14)
N/m]
T 2
Part Three

Problem 2. If the simple pendulum of Figure

18.6 were of length 2 m, determine its frequency of
vibration. Take g = 9.81 m/s2.

18.3 The simple pendulum

g 9.81
A simple pendulum consists of a particle of mass m From equation (18.14), frequency, f L 22
=
2

attached to a mass-less string of length L, as shown in  
Figure 18.6. = 0.352 Hz

Problem 3. In order to determine the value of g

at a certain point on the Earth’s surface, a simple
pendulum is used. If the pendulum is of length 3
m and its frequency of oscillation is 0.2875 Hz,
determine the value of g.

Figure 18.6
 g
From
equation
(18.14),
frequency,
L
f=
2

g
i.e. 0.2875
3
=
2
 Simple harmonic motion 209

g but for small displacements, sin q = q

and (0.2875) 2  (2 )2  3
g Hence, 
m kG 2  h 2  = – mgh q 
3.263 =
3
from which, acceleration due to gravity, g = 3  3.263
i.e. kG
2

 h2  + ghq = 0

= 9.789 m/s gh
or a+  =0
k G
2
 h2


However, a + ω2q = 0
18.4 The compound pendulum
but this motion is simple harmonic motion (see equa-
Consider the compound pendulum of Figure 18.7, tion (18.7))
which oscillates about the point O. The point G in gh
Therefore, ω2 =
Figure 18.7 is the position of the pendulum’s centre of kG 2  h
gravity.
 2
 (18.15)

and ω= gh
(kG  h 2)
2

2
T= (kG 2  h2)
  2 gh
(18.16)

1 1
and f= gh
T  (18.17)
2 (kG 2  h
2
)

Problem 4. It is required to determine the mass

moment of inertia about G of a metal ring, which
has a complex cross-sectional area. To achieve
this, the metal ring is oscillated about a knife edge,
as shown in Figure 18.8, where the frequency of
oscillation was found to be 1.26 Hz. If the mass

Part Three
Figure 18.7 of the ring is 10.5 kg, determine the mass moment
of inertia about the centre of gravity, IG. Take
Let Io = mass moment of inertia about O g = 9.81 m/s2.
Now T = Ioa = – restoring couple
= – mgh sin q
From the parallel axis theorem,
IG = Io – mh2 = mkG 2
or Io = mkG 2 + mh2
where IG = mass moment of inertia about G,
kG 2 = radius of gyration about G

Now T = Ioa
or – mgh sin q = Ioa
but Io = mkG 2 + mh2
Therefore,
mk G
2

 mh2  = – mgh sin q Figure 18.8
 210 Mechanical Engineering Principles
By inspection of Figure 18.8, h = 75 mm = 0.075 m.
1 2. What will be the period of oscillation if
Now frequency, f = gh g = 9.78 m/s2 for the pendulum of Problem 1?
2 [0.3519 Hz]
(kG  h 2 )
2

3. What will be the period of oscillation if

i.e. 1.26 = 1 9.81  0.075
g = 9.832 m/2 for the pendulum of Problem 1?
2 (kG 2  0.0752) [0.3529 Hz]
2 1 9.81  0.075
i.e. 1.26   4. What will be the value of the mass moment
(2 )2 k
G
2

 0.0752 of inertia through the centre of gravity, IG,
0.73575 for the compound pendulum of worked
  0.005625 
2
from which, k problem 4 on page 209, if the inner
1.5876  (2 ) 2 diameter of the disc of Figure 18.8 were
= 0.011739 100 mm?
kG 2 = 0.011739 – 0.005625 [0.0559 kg m2]
= 0.006114
from which, kG = 0.006114 = 0.0782 Practise Exercise 97 Short-answer
The mass moment of inertia about the centre of gravity, questions on simple
harmonic motion
IG = m kG2 = 10.5 kg  0.006114 m2
i.e. IG = 0.0642 kg m2 1. State the relationship between the displace-
ment (y) of a mass and its acceleration
(a) for SHM to take place.

18.5 Torsional vibrations 2. State the relationship between frequency f

and periodic time T when SHM takes place.
From equation (18.7), it can be seen that for SHM in a 3. State the formula for the frequency of oscil-
linear direction, lation for a simple pendulum.
a + ω2y = 0 4. State a simple method of increasing the
For SHM in a rotational direction, period of oscillation of the pendulum of a
‘grandfather’ clock.
ar + ω2y = 0
Part Three

y
or a + ω2 =0

r  Practise Exercise 98 Multiple-choice
questions on simple
or a + ω2q = 0 (see equation (18.7)) harmonic motion
••
i.e  + ω2q = 0 (18.18) (Answers on page 298)
y
where q = = angular displacement, and 1. Tidal motion is normally related to which
••
r mathematical function?
 = a = angular acceleration (a) tangent (b) sine
(c) square root (d) straight line

Now try the following Practise Exercises 2. If the mass of a simple pendulum is
doubled, its period of oscillation:
(a) increases (b) decreases
Practise Exercise 96 Further problems on
(c) stays the same (d) doubles
pendulums
3. A pendulum has a certain frequency of
1. Determine the period of oscillation of a
oscillation in London. Assuming that tem-
pendulum of length 2 m if g = 9.81 m/s2.
perature remains the same, the frequency of
[0.3525 Hz]
 Simple harmonic motion

211

oscillation of the pendulum if it is measured 4. The period of oscillation of a simple pendu-

on the equator: lum of length 9.81 m, given g = 9.81 m/s2
(a) increases is:
(b) decreases (a) 6.28 Hz
(c) remains the same (b) 0.455 Hz
(d) doubles (c) 17.96 Hz
(d) 0.056 Hz

Part Three