CALENG3

Differential
Equations
Lecture 7
Spring-Mass Problem
Hooke’s Law
Vibration of Springs
• Force due to spring:
F  kx
k = spring constant(lbs/ft)
x = displacement
(downwards positive)
• Force due to acceleration
w
F  ma  x" ( t )
g
• Force due to retarding medium
+
F  bx' ( t )
 if b = 0 then motion is undamped
 if b  0 then motion is damped
Video courtesy of Mahdi Eynian
(http://www.youtube.com/user/MahdiEynian)
Video courtesy of Mahdi Eynian
(http://www.youtube.com/user/MahdiEynian)
Summation of Forces
• If no imposed force
w
x" ( t )  bx' ( t )  kx( t )  0
g
• If
a force of magnitude H(t) is
imposed
w
x" ( t )  bx' ( t )  kx ( t )  H ( t )
g H(t)
Video courtesy of Mahdi Eynian
(http://www.youtube.com/user/MahdiEynian)
Example

A spring is such that it would be stretched 6

inches by a 12-lb weight. Let the weight be
attached to the spring and pulled down 4 in.
below the equilibrium point. If the weight is
started with an upward velocity of 2 ft/sec,
describe the motion. No damping or
impressed force is present.
A spring is such that it would be stretched 6 inches by a 12-lb weight. Let the weight be attached to the
spring and pulled down 4 in. below the equilibrium point. If the weight is started with an upward velocity
of 2 ft/sec, describe the motion. No damping or impressed force is present.

𝑤
𝑥 ( 𝑡 )+ 𝑏𝑥 ′( 𝑡 )+ 𝑘𝑥 ( 𝑡 )= 𝐻 ( 𝑡
𝑔
Given: x = 0.5 ft when F = 12 lb, w = 12 lb,
x(0) = 4 in. (“pulled down”) , x’(0) = - 2 ft/s (“upward velocity”), b=0, H(t) = 0
Find: x = f(t)
Solution:
𝐹 12 𝑙𝑏 12 𝑙𝑏 𝑙𝑏 (by convention)
𝑘= = = =24
𝑥 6 𝑖𝑛 0.5 𝑓𝑡 𝑓𝑡
12
𝑥 ( 𝑡 )+(0) 𝑥 ′( 𝑡 )+24 𝑥 ( 𝑡 )=
32
1 ′ 𝑓𝑡
𝑥 ( 0 )= 4 𝑖𝑛= 𝑥 ( 0 ) =−2
𝑥( 𝑡 )+64 𝑥 ( 𝑡 )=
𝑓𝑡
3 𝑠
𝐿{ 𝑥 ( 𝑡 )\} + 64 𝐿 \{ 𝑥 ( 𝑡 )\} = (𝑠¿ ¿ 2+64) 𝐿 { 𝑥 }=𝑠 () 1
3
− 2¿
𝑠
𝐿 {𝑥 }=
𝑠 𝐿 { 𝑥 } − 𝑠𝑥 ( 0 ) − 𝑥 ( 0 ) +64 𝐿 { 𝑥 } =0 ( 13 )− ( 𝑠¿¿ 2+64)
2 ′ 2
( 𝑠¿¿ 2+ 64) ¿
¿

𝑠2 𝐿 { 𝑥 } − 𝑠 ( )
1
3
−(− 2)+ 64 𝐿 { 𝑥 }=0
1 1
𝑥= cos ( 8 𝑡 ) − sin ⁡( 8 𝑡 )
3 4

The weight will bounce up and down indefinitely.

Example
A spring is such that it would be
stretched 6 inches by a 12-lb weight.
Let the weight be attached to the
spring and pulled down 4 in. below the
equilibrium point. If the weight is
started with an upward velocity of 2
ft/sec, describe the motion. There is a
damping force of magnitude 3|v|.
A spring is such that it would be stretched 6 inches by a 12-lb weight. Let the weight be attached to the
spring and pulled down 4 in. below the equilibrium point. If the weight is started with an upward velocity
of 2 ft/sec, describe the motion. There is a damping force of magnitude 3|v|

𝑤
𝑥 ( 𝑡 )+ 𝑏𝑥 ′( 𝑡 )+ 𝑘𝑥 ( 𝑡 )= 𝐻 ( 𝑡
𝑔
Given: x = 0.5 ft when F = 12 lb, w = 12 lb,
x(0) = 4 in. (“pulled down”) , x’(0) = - 2 ft/s (“upward velocity”), b=3, H(t) = 0
Find: x = f(t)
Solution:
𝐹 12 𝑙𝑏 12 𝑙𝑏 𝑙𝑏 (by convention)
𝑘= = = =24
𝑥 6 𝑖𝑛 0.5 𝑓𝑡 𝑓𝑡
12
𝑥 ( 𝑡 )+(3) 𝑥 ′( 𝑡 )+24 𝑥 ( 𝑡 )=
32
1 𝑓𝑡
𝑥( 𝑡 )+8 𝑥 ′( 𝑡 ) +64 𝑥 ( 𝑡 )=
′
𝑥 ( 0 )= 4 𝑖𝑛= 𝑓𝑡 𝑥 ( 0 ) =−2
3 𝑠
𝐿{ 𝑥 ( 𝑡 )\} +8 𝐿 \{ 𝑥 ′( 𝑡 )\} +64 𝐿 \{ 𝑥 ( 𝑡 )\} =

𝑠 𝐿 { 𝑥 } − 𝑠𝑥 ( 0 ) − 𝑥 ( 0 ) +8 𝑠𝐿 { 𝑥 } − 8 𝑥 ( 0 ) +64 𝐿 { 𝑥 } =0
2 ′

𝑠2 𝐿 { 𝑥 } − 𝑠 ( )
1
3
8
− ( −2 ) + 8 𝑠𝐿 { 𝑥 } − +64 𝐿 { 𝑥 }=0
3

(𝑠¿ ¿ 2+8 𝑠+ 64) 𝐿 { 𝑥 } − 𝑠 ()1

3
8
− ( − 2 ) − =0 ¿
3
 (𝑠¿ ¿ 2+8 𝑠+ 64) 𝐿 { 𝑥 } − 𝑠 ()
1
3
8
− ( − 2 ) − =0 ¿
3

𝐿 {𝑥 }=
1 𝑠
−
2 1
(
3 𝑠 2 +8 𝑠+64 3 𝑠2 + 8 𝑠 +64 )
completing the square

𝐿 {𝑥 }=
1
3 ( 𝑠 −2
𝑠 2+ 8 𝑠 +16+ 48
=
1
3 ) ( 𝑠−2
2
( 𝑠+ 4 ) + ( √ 48 )
2
)
𝐿 {𝑥 }=
1
3 ( 𝑠 + 4 −2 − 4
( 𝑠 + 4 ) + ( √ 48 )
2 2
)
𝑥= 𝐿
−1

{(
1 𝑠+ 4
3 ( 𝑠 + 4 ) 2+ ( √ 48 )2 ) −
6
( √ 48
3 √ 48 ( 𝑠+ 4 )2 + ( √ 48 ) 2 )}
1 −4𝑡 2 −4𝑡
𝑥= 𝑒 cos ( √ 48 𝑡 ) − 𝑒 sin ( √ 48 𝑡 )
3 √ 48
The weight will bounce up and down and settle down eventually at x=0.
 0.4

0.35

0.3

0.25

0.2

x 0.15

0.1

0.05

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6

-0.05

-0.1

t
Example
A spring, with spring constant 0.75 lb/ft, lies
on a long smooth (frictionless) table. A 6-lb
weight is attached to the spring and is at
rest at the equilibrium position. A 1.5-lb
force is applied to the support along the line
of action of the spring for 4 sec and is then
removed. Describe the motion.
A spring, with spring constant 0.75 lb/ft, lies on a long smooth (frictionless) table. A 6-lb weight is
attached to the spring and is at rest at the equilibrium position. A 1.5-lb force is applied to the
support along the line of action of the spring for 4 sec and is then removed.

𝑤
𝑥 ( 𝑡 )+ 𝑏𝑥 ′( 𝑡 )+ 𝑘𝑥 ( 𝑡 )= 𝐻 ( 𝑡
𝑔
Given: k=0.75 lb/ft, b=0 (“frictionless”), w = 6 lb, x’(0)=0 (“at rest”), x(0)=0 (“at the equilibrium
position”)
H(t) = 1.5 lb, 0 ≤ t ≤ 4; H(t) = 0, t > 4

{0
Find: x = f(t)
1.5 0 ≤ 𝑡 ≤ 4
Solution: 𝐻 (𝑡)= =1.5− 1.5 u ( t − 4 )
𝑡>4
6
𝑥 ( 𝑡 )+(0) 𝑥 ′( 𝑡 )+0.75 𝑥 ( 𝑡 )= 1.5−1.5 u left (t −4 right
32

𝑥( 𝑡 )+4 𝑥 ( 𝑡 )= 8 − 8 u left (t −4 right

}
−4 𝑠
2 ′ 8 8𝑒
𝑠 𝐿 { 𝑥 } − 𝑠𝑥 ( 0 ) − 𝑥 ( 0 ) +4 𝐿 { 𝑥 }= −
𝑠 s
−4𝑠
8 8𝑒
(𝑠¿ ¿ 2+ 4)𝐿 { 𝑥 } − 0 −0= − ¿
𝑠 s
8
𝐿 {𝑥 }= −4 𝑠
8𝑒
𝑠( 𝑠 ¿¿ 2+ 4) − ¿
s ( 𝑠¿ ¿ 2+ 4) ¿
 8
𝐿 {𝑥 }= −4 𝑠
8𝑒
𝑠( 𝑠 ¿¿ 2+ 4) − ¿
s ( 𝑠¿ ¿ 2+ 4) ¿

8
𝐴 𝐵𝑠+ 𝐶
𝑠 ( 𝑠¿¿ 2+4 )= + 2 ¿
𝑠 𝑠 +4

A=2 B=-2

{ }
−4𝑠 −4 𝑠
−1 2 2𝑠 2𝑒 2𝑠 𝑒
𝑥=𝐿 − 2 − + 2
𝑠 𝑠 +4 𝑠 𝑠 +4

𝑥=2 −2 cos ( 2𝑡 ) − 2𝑢 ( 𝑡 − 4 ) +2 cos [ 2 ( 𝑡 − 4 ) ] 𝑢 (𝑡 − 4)

𝑥=
{ 2− 2 c os ⁡( 2𝑡 )
−2 c os ⁡(2 𝑡 )+2 cos [ 2 ( 𝑡 − 4 ) ]
0≤𝑡 ≤4
𝑡>4

The weight will oscillate about x=2

then shift its center of oscillation when t=4
and oscillate about x=0 indefinitely
Harmonic Motion and Resonance
w
x" ( t )  bx' ( t )  kx ( t )  H ( t )
g
Let
kg bg H (t ) g
 
2
2  K (t ) 
w w w

x" ( t )  2x' ( t )   2 x ( t )  K ( t )

Undamped Vibrations, b=0

x" ( t )   x ( t )  K ( t )
2
 Harmonic Motion and Resonance
x" ( t )   x ( t )  K ( t )
2

suppose K ( t )  A sin  t
x ( 0 )  x0 x' ( 0)  v0
by Laplace Transforms
A
s 2 u( s )  sx (0)  x' (0)   2 u( s ) 
s2   2
A
s u( s )  sx0  v0   u( s )  2
2 2

s 2
A sx0 v0
u( s )  2  2  2
( s   )( s   ) ( s   ) ( s   2 )
2 2 2 2
 Harmonic Motion and Resonance
A sx0 v0
u( s )  2  2  2
( s   )( s   ) ( s   ) ( s   2 )
2 2 2 2

if    then
A  1 1 
u( s )  2  2  2  
 2 ( s   ) ( s 
2 2
)
sx0 v0

( s2   2 ) ( s2   2 ) x

A 1 1 
x( t )  2  sin  t  sin t  
 2   
1
x0 cos  t   sin(  t ) time

 Harmonic Motion and Resonance
A sx0 v0
u( s )  2  2  2
( s   )( s   ) ( s   ) ( s   2 )
2 2 2 2

if  then

A sx 0 v0
u( s )   
( s 2   2 )2 ( s 2   2 ) ( s 2   2 )

2A
x( t )  sin t  t cos t  
 2

1
x0 cos  t   sin(  t ) x


time
• http://www.youtube.com/watch?v=gQK21572oSU

http://fragg.me/video/bridge-resonance

http://www.youtube.com/watch?v=gQK21572oSU

https://www.youtube.com/watch?v=_1SCdu2oB8Q