This Document has been modified with Flexcil app (Android) https://www.fexcil.
com
Coupled Pendulum
Aim:
1. Determination of the spring constant of the coupling spring.
2. Determination and adjustment of the characteristic frequency of the uncoupled pendulum.
3. Graphical representation of the oscillation of the two pendulums as a function of time and
determination of the oscillation frequency compared to the theoretical oscillation
frequencyfor
- the “in phase” oscillation.
- the “antiphase” oscillation.
- the beat case.
Apparatus:
Two pendulum bars with support, camera with tripod arrangement, spring, slotted weights,
scale, computer with tracker and MATLAB softwares.
Theoretical background:
Assumptions: Following assumptions are considered in the theoretical framework of the
coupled pendulum,
Both pendula are identical. They have same mass, effective length (distance
between the center of mass and pivot) and same fundamental oscillation period
when set into swing independently.
The planes of oscillations of the two pendula are same. The spring axis also lies in
the same plane.
When they are stationary, the horizontal distance between the two pendula rod is
the same as the length of the spring. The spring has no slag, neither it is stretched.
We shall restrict ourselves to small oscillations.
Definitions: To start developing a mathematical theory of the system, let us level the right
pendulum as 1 and left as 2. Let us assume the followings. See Figure (1) for reference.
L - length between the pendulum pivot point and the center of mass
M - Mass of each pendulum.
I - Moment of inertia of the pendulum.
l - the distance between the pivot point and the point where the spring is attached, we shall
call this coupling length.
ks - spring constant.
Flexcil - The Smart Study Toolkit & PDF, Annotate, Note
This Document has been modified with Flexcil app (Android) https://www.fexcil.com
Figure 1: The left figure shows the arrangement and different parts of a pendulum. The figure in the right
shows two pendula attached with a spring.
Let us assume the case when the pendulum 1 is at a position such that it is making an
angle 1 with the vertical and the pendulum 2 is making an angle 2 . If we consider the
pendulum 1 now, there are two different torques acting on it, one is due to gravity, one is
because of the spring. The restoring force due to gravity acts at the center of mass of the
pendulum and is given as
Fg = - Mg sin(1 ) (1)
where g is the acceleration due to gravity. The corresponding torque will be for small angles,
𝜏𝑔 = - MgL sin(1 ) = - MgL1 (2)
The initial position of the two ends of the spring is 𝑞0 and 𝑝0 such that the spring is not
stretched or compressed. Now when the two pendula are making angles 1 and 2 with the
vertical, the spring is either stretched or compressed. The amount of compression can be
calculated for small oscillations as l(1 -2 ) and hence the torque due to the spring will be
𝜏𝑠 = - ks l2 (1 -2 ) (3)
Flexcil - The Smart Study Toolkit & PDF, Annotate, Note
This Document has been modified with Flexcil app (Android) https://www.fexcil.com
Figure 2: The left figure shows the displacement of the two pendula. Right figure shows the schematic
diagrams of different forces acting on the pendula.
Similarly, we can work out the torques acting on the second pendulum. The equations of
motions of the two pendula are
̈ 1 = −𝜔𝑝2 𝜙1 − 𝜔𝑠2 (1 -2 ) (4)
̈ 2 = −𝜔𝑝2 𝜙2 − 𝜔𝑠2 (1 -2 )
where we have further used,
𝑀𝑔𝐿 𝑘𝑠 𝑙 2
𝜔𝑝2 = 𝜔𝑠2 = (5)
𝐼 𝐼
Notice that 𝜔𝑠 depends on the coupling length l linearly. Given different initial conditions,
we now can solve these two coupled differential equations to see what modes of vibration
the two pendula will set into.
Natural modes:
We shall discuss the natural modes of oscillations for the system shortly. To make the
discussion easier, we define a new pair of variables + and − , such that
1
+ = 1 + 2 , 1 = 2 (+ + − )
1
− = 1 − 2 , 2 = 2 (+ − − ) (6)
Flexcil - The Smart Study Toolkit & PDF, Annotate, Note
This Document has been modified with Flexcil app (Android) https://www.fexcil.com
Figure 3: Initial conditions for the (a) in-phase, (b) out-of-phase, (c) beat mode.
We can write eqn. (4) into the following form using these new sets of variables as
(7)
Interestingly, in terms of + and − the equations are not coupled. We can write down the
general solutions as
(8)
where A+, A- and +, —are the amplitudes and phases of the oscillations. They depend on the initial
conditions.
In phase mode
If we displace both the pendula by same amount to one side and release it without
giving any angular velocity, the pendula are set into motion such that the relative distance
between the two pendula do not change with time. That is, the angles 1 = 2 for all time.
This mode of oscillation is called the in-phase mode of oscillation. Let us first try to understand
qualitatively what happens in this case. As initially the pendula are moved to the same angle,
the spring is neither stretched nor contracted. Hence at this position, the spring does not apply
any force to either of the pendula. As we release it from rest position, since the pendula are
identical and the initial coupling force is absent, their relative distance remains unchanged.
The spring is never stretched or contracted. The motion of the pendula is completely governed
by the natural frequency of the individual pendulum. Initial conditions for this mode are
Flexcil - The Smart Study Toolkit & PDF, Annotate, Note
This Document has been modified with Flexcil app (Android) https://www.fexcil.com
at t = 0,
(9)
Figure 4: In-phase (left) and out-of-phase (right) vibrational modes of the coupled pendulum. The values
of p and s used here correspond to time periods of 2 sec and 8 sec, respectively.
Clearly, the− will always be zero and the pendulum will have the following equations of motion
. (10)
The vibration is dictated only by the properties of the individual pendulum (+ = p), the spring has no
influence on this motion.
Out of phase mode
If we displace both the pendula by same amount but now to opposite sides and release it without
giving any angular velocity, the pendula are set into motion such that the relative distance between the two
pendula change with time in a pure sinusoidal fashion. The angles1 and2 are equal and opposite
all the time. This mode of oscillation is called the out-of-phase mode of oscillation. Qualitatively, what
happens is that initially the spring is stretched by the maximum amount and tries to bring the pendula
back close to each other. Gravity also adds up to this motion. At all subsequent times gravity and
the spring acts in harmony. Initial conditions for this mode are
(11)
The+ will always be zero and the pendula will have the following equations of motion
(12)
Clearly, the vibration is dictated by the properties of the pendula and the spring together,
Flexcil - The Smart Study Toolkit & PDF, Annotate, Note
This Document has been modified with Flexcil app (Android) https://www.fexcil.com
(13)
A plot of l with gives a straight line with y-intercept as . The frequency of this
2 2 2
vibration also depends on the value of the coupling length l, higher the value of l higher is the
frequency. If the spring is attached at the pivot point itself, i.e, l = 0, we will not have any
effect of the spring and - = s.
As we see that in these two modes the system oscillates with either + (in phase) or - (out of
phase) frequencies in pure sinusoidal motion. We call these as the fundamental frequencies of
oscillation. Any other initial conditions will have oscillations with both these frequencies and
hence they will not be pure sinusoidal.
Figure 5: Beat modes of vibration for the coupled pendula for different values of s. The values of p used here correspond
to time periods of 2 sec. The values of s correspond to the periods of 8 sec and 7.5 sec for the left and right plots
respectively.
Beat mode
If we keep one of the pendula ( say 2) fixed at vertical position and move the other (say 1) by
an amount 0 and release it from rest, something interesting happens. At first 1 seems to set into
oscillation, but soon it’s amplitude reduces and 2 picks up oscillation. If you wait further, at a point
the amplitude of oscillation of 1 reduces to zero and 2 seems to swing with an amplitude of 0. Soon
enough amplitude of oscillation of 2 reduces and 1 start to oscillate. This pattern repeats. As we see none
of the pendula does any pure sinusoidal oscillation here. This is called the beat mode of oscillation.
In this case the initial conditions are
(14)
Here, the amplitudes of the oscillations for both + and — are same, but they will have their
corresponding frequencies, hence,
Flexcil - The Smart Study Toolkit & PDF, Annotate, Note
This Document has been modified with Flexcil app (Android) https://www.fexcil.com
(15)
The corresponding solution for the individual pendulum will be
(16)
where we see there are two different vibration frequencies, (- + +)/2 and (- - +)/2,
(17)
Clearly, the frequency C is faster and produces more number of oscillations in a given time, this is
usually called the coupling frequency. As the other frequency B is slower, it essentially modulates the
amplitudes of the oscillation given by the C . This is called the bit frequency.
As we have seen before the frequency - depends on the coupling length l as 𝜔−2 = 𝜔𝑝2 +
2𝑘𝑠 2
𝑙 . Hence the amount of coupling changes as we change the value of l. A quantitative
𝐼
description of the coupling strength is called the degree of coupling given by
(18)
The coupling strength is expected to change with the coupling length l.
Activity:
• Estimate the value of + from in phase mode of oscillation.
• Estimate the values of — from the out of phase mode of oscillation for different coupling
length l and hence estimate the value of + using eqn (16).
• Estimate the values of — from the beat mode of oscillation for different coupling length l
and hence estimate the value of + using eqn (16).
• Estimate the values of the degree of coupling for different coupling length l and see how 𝜒
varies with l.
Flexcil - The Smart Study Toolkit & PDF, Annotate, Note
This Document has been modified with Flexcil app (Android) https://www.fexcil.com
Experimental setup:
At the heart of the setup you have two pendula. These are made up of metal rods. The pendula are
suspended from a support and they are free to swing from the pivot points. Each of the pendula acts
like a ‘compound pendulum’. There is a spring with its ends attached to either of the pendula by
means clip. The distance between the point where it is attached to the pendulum bar and the pivot
of the pendulum from where it can swing can be changed. It is also possible to detach the spring
from the pendulum.
Recording of data:
Set the coupling length to be l cm and attach the spring.
Set the pendula into oscillation in in-phase mode. To do this you have to displace the
two
pendula by same angle in same direction and release from rest (Figure 3 (a)). One way
of
doing this is by placing a ruler behind the pendula and see the readings at the scales
when the pendula are at rest. Now displace the pendula by a small distance (app 3-5
cm) in same direction
against the scale and release. Record the oscillations using high resolution camera
about 30 sec to 60 sec.
Use the same procedure to record oscillations for out-of-phase mode for two minutes.
Remember to meet the initial condition of the out-of-phase mode you need to displace
the pendula to opposite direction initially. Save the file with an appropriate name.
Repeat the same exercise for the beat mode of vibration.
After recording the oscillations in different modes, use these files to analyze the
oscillations using tracker software.
Calculations:
Determination of spring constant:
ks = F/x = mg/x =________ (N/m)
where the m – suspended mass from the spring, g gravitational acceleration, x elongation in
the spring.
Determination of the frequencies in various modes:
𝑀𝑔𝐿
𝜔+2 = 𝜔𝑝2 = 𝐼
Flexcil - The Smart Study Toolkit & PDF, Annotate, Note
This Document has been modified with Flexcil app (Android) https://www.fexcil.com
in phase in phase out of phase out of phase beat mode beat mode
length (Experimental) (Theoretical) (Experiment (Theoretical) (Experimental) (Theoretical)
(cm)
al)
+ + - - + - + -
(Hz) (Hz) (Hz) (Hz) (Hz) (Hz) (Hz) (Hz)
Calculation of the percentage of error in frequencies for various modes:
In phase = ______
Out of phase = ______
Beat mode = ______
Result:
References:
1. “Vibrations and Waves”, A.P. French, Arnold-Heinemann, New Delhi, 1972.
2. “The elements of Physics”, I.S. Grant and W.R. Phillips, Oxford University Press, Oxford,
2001.
Flexcil - The Smart Study Toolkit & PDF, Annotate, Note
This Document has been modified with Flexcil app (Android) https://www.fexcil.com
Additional information:
Tracker software
Tracker is an open-source video analysis and modeling tool from Open Source Physics (OSP).
It includes many features. One of the main features is automated object tracking to calculate
position, velocity, and acceleration in video files. It is designed to be used in physics education
but is also widely used in many other fields.
Getting started with Tracker software:
Steps to be followed
1. Open a video or tracker file.
Initially install the Tracker software and use the Tracker Icon to open. The main window
appears as shown below. Use the
To open a local video, tracker tab (.trk), or tracker project (.trz) file, use the file menu.
File-> Open File (shown in the below figure)
and select the file, or drag and drop the file onto Tracker.
Flexcil - The Smart Study Toolkit & PDF, Annotate, Note
This Document has been modified with Flexcil app (Android) https://www.fexcil.com
2. Identify the frames ("video clip") you wish to analyze.
First quickly drag the video player slider (shown in the below figure as circled in red color) to
scan through the video to find the frames of interest. If the object motion to be tracked is slow,
one can use the clip settings to skip the frames. Use the button to open the clip settings.
Adjust the ‘step size’ so that someone the frames can be clipped. The start frame and end
frame options help to fix the custom frame range for analysis. Some other options are also
available in the clip settings menu.
3. Calibrate the video scale.
The next task is calibration. To calibrate, click on the calibration button and create a new
calibration stick as shown below. The stick has a default length of 1.0 m. The length and units
Flexcil - The Smart Study Toolkit & PDF, Annotate, Note
This Document has been modified with Flexcil app (Android) https://www.fexcil.com
are editable based on the requirement. Drag the ends of the stick to the ends of an object in
the video with a known length located in the same plane as the motion to be tracked. Then
click the calibration stick readout and enter the known length (plus different units if desired).
4. Set the reference frame origin and angle.
Click the Axes button to create the frame of the coordinate system with x, y axes. It can
also be moved/rotated to the desired position by using left click of the mouse. The coordinate
system can be fixed at particular position using option ‘locked’ (appear in the pane as shown
in the figure, the pane can be pop up if we use ‘mouse right click’).
Flexcil - The Smart Study Toolkit & PDF, Annotate, Note
This Document has been modified with Flexcil app (Android) https://www.fexcil.com
5. Track objects of interest with the mouse.
Click the Track Control button , then New, and choose a track type from the popup menu.
Most moving objects are tracked using a Point Mass track. To track an object manually with
a point mass, mark its position on every frame by holding down the shift key and clicking
the mouse (crosshair cursor) as the video automatically steps through the video clip. Don't
skip frames--if you do, velocities and accelerations cannot be determined. Tracks may also
be marked automatically using autotracker.
6. Plot and analyze the tracks.
The Plot View displays graphs of track data. Click the x- or y-axis label to change the variable
plotted on that axis. To plot multiple graphs, click the Plots button and select the desired
number. Right-click on a plot to access display and analysis options in a popup menu.
7. Save your work in a tracker file.
One can save the file data using save as option as shown in below figure. The (x,y,t) data
also can be saved. Press the ctrl+A to select all the values and to copy them to transfer to
either excel or text file. The text file is helpful to use the data in MATLAB for analysis.
Flexcil - The Smart Study Toolkit & PDF, Annotate, Note
This Document has been modified with Flexcil app (Android) https://www.fexcil.com
Flexcil - The Smart Study Toolkit & PDF, Annotate, Note
