Dynamics of the Elastic Pendulum Qisong Xiao; Shenghao Xia ; Corey Zammit; Nirantha Balagopal; Zijun Li Agenda

• Introduction to the elastic pendulum problem • Derivations of the equations of motion • Real-life examples of an elastic pendulum • Trivial cases & equilibrium states • MATLAB models The Elastic Problem (Simple Harmonic Motion)

푑2푥 푑2푥 푘 • 퐹 = 푚 = −푘푥  = − 푥 푛푒푡 푑푡2 푑푡2 푚 • Solve this differential equation to find 푥 푡 = 푐1 cos 휔푡 + 푐2 sin 휔푡 = 퐴푐표푠(휔푡 − 휑) • With velocity and acceleration 푣 푡 = −퐴휔 sin 휔푡 + 휑 푎 푡 = −퐴휔2cos(휔푡 + 휑) • Total energy of the system 퐸 = 퐾 푡 + 푈 푡 1 1 1 = 푚푣푡2 + 푘푥2 = 푘퐴2 2 2 2 The Pendulum Problem (with some assumptions)

• With position vector of point mass 푥 = 푙 푠푖푛휃푖 − 푐표푠휃푗 , define 푟 such that 푥 = 푙푟 and 휃 = 푐표푠휃푖 + 푠푖푛휃푗 • Find the first and second derivatives of the position vector: 푑푥 푑휃 = 푙 휃 푑푡 푑푡 2 푑2푥 푑2휃 푑휃 = 푙 휃 − 푙 푟 푑푡2 푑푡2 푑푡 • From Newton’s Law, (neglecting frictional force) 푑2푥 푚 = 퐹 + 퐹 푑푡2 푔 푡 The Pendulum Problem (with some assumptions)

Defining force of gravity as 퐹푔 = −푚푔푗 = 푚푔푐표푠휃푟 − 푚푔푠푖푛휃휃 and tension of the string as 퐹푡 = −푇푟 : 2 푑휃 −푚푙 = 푚푔푐표푠휃 − 푇 푑푡 푑2휃 푚푙 = −푚푔푠푖푛휃 푑푡2 Define 휔0 = 푔/푙 to find the solution: 푑2휃 푔 = − 푠푖푛휃 = −휔2푠푖푛휃 푑푡2 푙 0 Derivation of Equations of Motion

• m = pendulum mass

• mspring = spring mass • l = unstreatched spring length • k = spring constant • g = acceleration due to gravity

• Ft = pre-tension of spring 푚푔−퐹 • r = static spring stretch, 푟 = 푡 s 푠 푘 • rd = dynamic spring stretch • r = total spring stretch 푟푠 + 푟푑 Derivation of Equations of Motion -Polar Coordinates

• r = re t dr • v = = r e + rθ e = v e + v e dt r θ r r θ θ dv • a = = r − rθ2 e + rθ + 2r θ e + a e + a e dt r θ r r θ θ magnitude change r • v r direction change r θ

magnitude change rθ + r θ • vθ direction change rθ2 Derivation of Equations of Motion -Rigid Body Kinematics x cosθ sinθ 0 X y = −sinθ cosθ 0 Y z 0 0 1 Z

i cosθ sinθ 0 I j = −sinθ cosθ 0 J k 0 0 1 K Derivation of Equations of Motion -Rigid Body Kinematics

Free Body Diagram

After substitutions and evaluation: Derivation of Equations of Motion -Lagrange Equations

Kinetic Energy

Potential Energy Derivation of Equations of Motion -Lagrange Equations • Lagrange’s Equation, Nonlinear equations of motion Elastic pendulum in the real world

Pendulum… but not elastic:

Elastic… but not pendulum: Elastic pendulum in the real world – Spring Swinging Elastic pendulum in the real world -Bungee Jumping Trivial Cases

• System not integrable • Initial condition without elastic potential • Only vertical oscillation • Initial condition with elastic potential Equilibrium States

• Hook’s Law Fklle  ()0

• Gravitational Force Fg  mg

 FFFeg   0

• At equilibrium k() l l0 mg • System at equilibrium xx00   yy00   k ll z0   (0 ) z  g  0  z   l ml Stable state (x ,,)(0,0,) y zl  Unstable at (x , y , zl ) (0,0,2) l 0 Turning things into a handy system:

휔2 푟 − 푙 푥 = − 푧 0 푥 푟

휔2 푟 − 푙 푦 = − 푧 0 푦 푟

휔2 푟 − 푙 푧 = − 푧 0 푧 − 푔 푟

푘 Where 휔 = and 푟 = 푥2 + 푦2 + 푧2 푧 푚 Some regimes make familiar shapes!

Initial Conditions: X = 1; Vx = 0; Y = 0; Vy = 0; Z = 1.1; Vz = 0;

Parameters: w = 3; g = 9; l = 1;

So motion stays in the XZ plane Positive Z is vertical.

Motion is shown to be relatively changeless over 50s What happens if we shake things up?

Initial Conditions X = 1.1; Vx = 0; Y = 0; Vy = 0; Z = 1.1; Vz = 0; Parameters: w = 3; g = 9; l = 1; Turning things up a bit…

Initial Conditions: X = 1; Vx = 0; Y = 0; Vy = .2; Z = 1.1; Vz = 0;

Parameters w = 1; g = 10; l = 1;

totalTime = 200; stepsPerSec = 10; Let’s take a closer look at the same regime:

This is the XZ 푿ퟎ plane

Z-axis↑

X-Axis → Now look at the XY plane again.

Is it the swivel that is causing the pendulum to avoid the center? Awesome they almost meet! (Quasi-awesome)

푌 ↑ ←

Δ푇 = 308푠

푋 → Dr. Peter Lynch’s model:

Initial Conditions: x0=0.01; xdot0=0.00; y0=0.00; ydot0=0.02; zprime0=0.1; zdot0=0.00; References (1/2)

• Thanks to our mentor Joseph Gibney for getting us started on the MATLAB program and the derivations of equations of motion. • Special thanks to Dr. Peter Lynch of the University College Dublin, Director of the UCD Meteorology & Climate Centre, for emailing his M-file and allowing us to include video of it’s display of the fast oscillations of the dynamic pendulum! • Craig, Kevin: Spring Pendulum Dynamic System Investigation. Rensselaer Polytechnic Instititute. • Fowles, Grant and George L. Cassiday (2005). Analytical Mechanics (7th ed.). Thomson Brooks/Cole. • Holm, Darryl D. and Peter Lynch, 2002: Stepwise Precession of the Resonant Swinging Spring, SIAM Journal on Applied Dynamical Systems, 1, 44-64 • Lega, Joceline: Mathematical Modeling, Class Notes, MATH 485/585, (University of Arizona, 2013). References (2/2)

• Lynch, Peter, 2002: The Swinging Spring: a Simple Model for Atmospheric Balance, Proceedings of the Symposium on the Mathematics of Atmosphere-Ocean Dynamics, Isaac Newton Institute, June-December, 1996. Cambridge University Press • Lynch, Peter, and Conor Houghton, 2003: Pulsation and Precession of the Resonant Swinging Spring, Physica D Nonlinear Phenomena • Taylor, John R. (2005). Classical Mechanics. University Science Books • Thornton, Stephen T.; Marion, Jerry B. (2003). Classical Dynamics of Particles and Systems (5th ed.). Brooks Cole. • Vitt, A and G Gorelik, 1933: Oscillations of an Elastic Pendulum as an Example of the Oscillations of Two Parametrically Coupled Linear Systems. Translated by Lisa Shields, with an Introduction by Peter Lynch. Historical Note No. 3, Met Éireann, Dublin (1999) • Walker, Jearl (2011). Principles of Physics (9th ed.). Hoboken, N.J. : Wiley. • Lynch, Peter, 2002:. Intl. J. Resonant Motions of the Three-dimensional Elastic Pendulum Nonlin. Mech., 37, 345-367.