X 0: "Equilibrium Position"

8.
03 Lecture 1
We are trying to understand the motion of a mass attached to an idealized spring!
Spring Constant = k
Spring natural length = l0
Define coordinate system, x
x = 0 : “Equilibrium Position”
m: moves only in the x direction
Goal: predict what will happen

at time = t
* How many forces are acting on the block?
Force Diagram:
Total force: F~
F~ = F~S + F~N + F~g
We know that the mass only moves in the x

direction
F~N = −F~g = mgŷ

) F~ = F~S = −kx(t)x̂ (1)
*From Newton’s Law

d2 x(t)
F~ = m~a = m x̂ = mẍ(t)x̂
dt2 (2)
= −kx(t)x̂ (from force diagram)
Since everything is in the x direction we drop x̂

k
ẍ = − x = −! 2 x (3)
m
q
k
where we define ! m to make life easier :)
Now we have successfully translated a physical situation into a mathematical description:
) I have the equation of motion

I have the initial conditions
Solution:
x(t) = a cos !t + b sin !t (4)
where a and b are arbitrary.
This equation (eq. 4) satisfies my equation (eq. 3)!! There are 2 unknowns!
From “Uniquness Theorem”: This is the one and only one solution in our universe which satisfies
the equation!
Use the initial conditions: 1. x(0) = xInitial and 2. ẋ(0) = 0

Plugging these into the solution (eq. 4) we get:
x(0) = a cos 0 + b sin 0 = xInitial ) a = xInitial

(5)
ẋ(0) = −a! sin 0 + b! cos 0 = 0 ) b = 0
Finally we have:
x(t) = xInitial cos (!t) (6)
q
k
where ! = m, xInitial is the amplitude and cos (!t) accounts for the Harmonic Oscillation.
Let’s stop for a second and consider what we have done:
1. Take a physical situation and translate it to a mathematical description

2. Solve the equation
3. The solution actually matches what the nature does to the mass
2
This is amazing!
*Note: Nobody understands why the nature can be described by mathematics . . .
This means that we use “the same tool” for the prediction of Higgs Boson, Quark Gluon Plasma,
Gravitational Waves, and the motion of the mass in this example (!?)
*Quote from Einstein:
“The most incomprehensible thing about the universe is that it is comprehensible.”
*Quote from Rene Descartes:
“But in my opinion, everything in nature occurs mathematically.”
We have just solved a problem with an “ideal” spring which follows Hooke’s Law. What is so special
about it? Actually, there is NO “Hooke’s Law”! The law breaks down at some point. But the law
is a very good approximation when we consider small amplitude vibrations.
Consider a potential V (x)
V (0): minimum “equilibrium position”

d
F (0) = − V (x) = −V 0 (x) = 0 (7)

dx
x=0
Consider a small oscillation about the equilibrium position:
f 0 (a) f 00 (a)
Taylor’s expansion: f (x) = f (a) + (x − a) + (x − a)2 + · · · (8)
1! 2!
V 0 (0) V 00 (0) 2 V 000 (0) 3
) V (x) = V (0) + x+ x + x + ··· (9)
1! 2! 3!
d 1
F (x) = − V (x) = −V 0 (0) − V 00 (0)x − V 000 (0)x2 + · · · (10)
dx 2
3
Given V 0 (0) = 0 when x is small enough: F (x) ˇ −V 00 (0)x
This is a remarkable result: “Hooke’s Law” works on “all systems with a smooth potential” (also
V 00 (0) 6= 0) for small oscillations about stable equilibrium!
How small? The condition |xV 000 (0)| ˝ V 00 (0) must be satisfied.
*We have solved all those kinds of situations!

*On the other hand, when x is large ) the non-linear term (e.g. V 000 (0) term) becomes more and
more important.
*In 8.03, we focus on linear systems.
Come back to this equation of motion (E.O.M)
ẍ + ! 2 x = 0
There are two important properties of this linear E.O.M:

1. If x1 (t) and x2 (t) are both solutions then x12 (t) = x1 (t) + x2 (t) is also a solution!
2. Time translation invariance: If x(t) is a solution ) x(t0 ) = x(t + a) is also a solution. This is
because of the chain rule:

d d(t + a) dx(t0 ) dx(t0 )
x(t + a) = =
dt0 0 dt0 0

dx dt
t =t+a t =t+a
This means that if I change t = 0 the physics will be the same!

Most of the physics systems are time translation invariant in the absence of an external force.
To break the symmetry: need to make k, the spring constant, (and thus !) time dependent!
Solution to ẍ + ! 2 x = 0
(1) x(t) = a cos !t + b sin !t where a and b are arbitrary constants
We can write this solution in dierent forms!
(2) x(t) = A cos (!t + °) = (A cos °) cos !t − (A sin °) sin !t where A and ° are arbitrary con-
stants.
(3) x(t) = Re[Aei(!t+°) ]
(1) through (3) are the same solution, but written in dierent forms. (3) is a mathematical trick.
In principle:
x(t) = Re[A cos (!t + °) + if (t)]
f (t) is an arbitrary real function.
But if f (t) = A sin (!t + °) amazing thing happens!
4
arbitrary f (t) f (t) = A sin (!t + °)
x(t) = Re[A cos (!t + °) + iA sin (!t + °)] (11)

i(!t+°) i
= Re[Ae ] Note: e = cos + i sin
What does this mean?
“Phoenix function”
1. Cannot be killed by
dierentiation!!
2. It has a very nice property:
ei1 · ei2 = ei(1 +2 ) (12)

t!t+a
Aei(!t+°) −−−−−−−−−−! Aei(!(t+a)+°) (13)
Time translation
Time translation is just a rotation in the complex plane!
5
MIT OpenCourseWare
https://ocw.mit.edu
8.03SC Physics III: Vibrations and Waves

Fall 2016
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8.

We are trying to understand the motion of a mass attached to an idealized spring!

Spring natural length = l0

Deﬁne coordinate system, x

m: moves only in the x direction

Goal: predict what will happen

* How many forces are acting on the block?

F~ = F~S + F~N + F~g

We know that the mass only moves in the x

F~N = −F~g = mgŷ

*From Newton’s Law

Since everything is in the x direction we drop x̂

Now we have successfully translated a physical situation into a mathematical description:

) I have the equation of motion

Use the initial conditions: 1. x(0) = xInitial and 2. ẋ(0) = 0

x(0) = a cos 0 + b sin 0 = xInitial ) a = xInitial

Let’s stop for a second and consider what we have done:

1. Take a physical situation and translate it to a mathematical description

*Note: Nobody understands why the nature can be described by mathematics . . .

*Quote from Einstein:

“The most incomprehensible thing about the universe is that it is comprehensible.”

*Quote from Rene Descartes:

“But in my opinion, everything in nature occurs mathematically.”

Consider a potential V (x)

V (0): minimum “equilibrium position”

Consider a small oscillation about the equilibrium position:

*We have solved all those kinds of situations!

Come back to this equation of motion (E.O.M)

There are two important properties of this linear E.O.M:

This means that if I change t = 0 the physics will be the same!

x(t) = Re[A cos (!t + °) + iA sin (!t + °)] (11)

What does this mean?

2. It has a very nice property:

ei1 · ei2 = ei(1 +2 ) (12)

Time translation is just a rotation in the complex plane!

8.03SC Physics III: Vibrations and Waves

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ei1 · ei2 = ei(1 +2 ) (12)