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DOI: https://doi.org/10.1590/1806-9126-RBEF-2023-0204 Licença Creative Commons

Simple pendulum in a rotating reference frame

David Velasco Villamizar*1
1
Universidade Estadual do Oeste do Paraná, Toledo, PR, Brasil.

Received on July 28, 2023. Revised on February 19, 2024. Accepted on April 24, 2024.
Describing the harmonic motion of a simple pendulum observed from a rotating reference frame necessitates
solving the differential equations governing three-dimensional motion in a non-inertial reference frame, which can
be a challenging endeavor for newcomers to this subject. However, in this study, we propose a highly didactic and
visually accessible approach by considering the rotating reference frame as a matrix transformation. This approach
enables a deeper understanding of the origin of Coriolis and centrifugal accelerations, which are responsible for
the curved trajectories exhibited by the simple pendulum in a rotating reference frame.
Keywords: Harmonic motion, simple pendulum, non-inertial reference frame, foucault pendulum, bravais
pendulum.

1. Introduction utilizing the small angle approximation 2. Subsequently,

we introduce the concept of the rotating frame 3 to
Simple pendulums have been of great historical impor- describe the pendulum’s motion relative to this frame of
tance for humanity [1] by allowing time intervals to reference. Finally, we demonstrate how to correlate the
be measured with reasonable precision, being the fun- motion observed in the rotating frame with the motion
damental piece to count a second of lapse in ancient of the pendulum in the inertial frame 4. To enhance
mechanical clocks [2]. In the middle of the 19th century, comprehension, we provide visual examples and concise
a pair of French scientists, Léon Foucault and Augustine videos that are easily accessible and shareable.
Bravais, independently developed experiments related
to pendulums in Paris to prove the Earth’s rotation
motion. On the one hand, Foucault observed how the 2. Simple Pendulum
plane of oscillation of the pendulum in its back-and-
forth movement changed subtly as the hours passed In this section, the motion of a simple pendulum is
[3]. On the other hand, Bravais analyzed the motion analyzed under the small angle approximation, consid-
of a conical pendulum in clockwise or counterclockwise ering it to be a point-shaped object, with mass m, and
circular paths, and observed a difference in the period of suspended by a rigid rod of length L of negligible mass.
oscillation between these two situations [4]. In summary, To describe its motion, a three-dimensional inertial
both experiments reveal the existence of the terrestrial reference frame expressed in the Cartesian coordinates
rotational motion, for this reason Newtonian mechanics xyz will be assumed, whose origin will be located on the
considers our planet as a non-inertial frame of reference, mass when it is in its equilibrium position, and the axis
or rotating reference frame. z represents the vertical direction. Thus, in the xy plane,
Thus, when someone starts this study for the first its oscillatory back and forth motion will be registered.
time, one is faced with the need to seek the solution of If initially we consider the pendulum deviated from
the differential equations associated with the dynamics its equilibrium orientation along the z axis, so that it
of the three-dimensional motion of the simple pendulum only exhibits a horizontal displacement along the x axis,
in a rotating reference frame. According to the initial related to the angle θ as we can observe in Figure 1, due
conditions of motion, one could have the situation of the to there is not imbalance along the y axis, its position in
pendulum of Foucault [5–8] or the pendulum of Bravais relation to time can be described by instantly knowing
[9, 10]. the angle θ, then its coordinates can
be expressed as
For that reason, in this work, we present an analytical (x, y, z) = L sin θ, 0, L(1 − cos θ) . Thus, when we
and didactic approach that avoids the need for intricate analyze the dynamics of the pendulum without frictional
solutions to describe the pendulum motion in the rotat- forces or air drag, we have that the force responsible to
ing frame. Instead, we focus on analyzing the motion of return it to its equilibrium position corresponds to one of
the simple pendulum within an inertial reference frame, the components of the pendulum’s weight perpendicular
to the direction of the rod, F = −mg sin θ, where the
negative sign is related to the decrease of the angular
* Correspondence email address: david.velasco.v@gmail.com deviation, allowing the pendulum to return always to the

Copyright by Sociedade Brasileira de Física. Printed in Brazil.

e20230204-2 Simple pendulum in a rotating reference frame

denoted by a dot, are expressed as,

θ(t) = θ0 cos ω0 t,
(3)
θ̇(t) = −θ0 ω0 sin ω0 t.

Where θ̇ is the function that represents the angular

velocity of the periodic motion of the simple pendulum.
Case 2: If initially the pendulum starts its motion from
the equilibrium position θ0 = 0, with an initial speed
v0 ̸= 0. The maximum angular velocity is related to the
initial tangential velocity of the pendulum v0 = Lθ̇max ,
as a consequence the phase factor must be ϕ = π/2. So,
Figure 1: Decomposition of the weight force according to the after a brief simplification we obtain that the angular
orientation of the simple pendulum that moves in the plane of deviation and its angular velocity as,
oscillation according to the inertial reference.
(v0 /L)
θ(t) = sin ω0 t,
ω0 (4)
equilibrium position, for this reason this class of force is θ̇(t) = (v0 /L) cos ω0 t.
known as restoring force.
Based on that, Newton’s second law is re-expressed Case 3: When initially the angle of the pendulum is
after a few algebraic steps as, θ0 ̸= 0 and the initial speed v0 ̸= 0, then the amplitude
of angular motion and the phase factor will be,
d2 θ d2 θ g
−mg sin θ = mL , ⇒ = − sin θ. (1) θ0

−(v0 /L)

dt2 dt 2 L A= , ϕ = arctan . (5)
cos ϕ θ 0 ω0
This is a second order nonlinear differential equation,
it independents of the mass of the suspended object, Regardless of the case in question for the initial condi-
corresponding to the angular motion of the pendulum, tions of the pendulum, its coordinates as a function of
whose analytical solution is quite difficult to obtain [11]. time are:
However, if initially it is considered that the horizontal x = L sin θ,
deviation is small in relation to the length of the
y = 0, (6)
pendulum itself, related to small angular deviation,

smaller than a radian θ ≪ 1 rad. Then, you can apply z = L 1 − cos θ .
the trigonometric approximation for small angles [12],
The velocity vector can be obtained by taking the time
letting us to re-write the sine function of eq. (1) to its
derivative of every coordinates,
own argument, sin θ ≈ θ. Thus, the second time deriva-
tive of the angular orientation function θ(t) is related ẋ = Lθ̇ cos θ,
to itself through the negative of the constant ω02 = g/L,
ẏ = 0, (7)
which depends inversely proportional by the pendulum’s
length. Therefore, the differential equation related to ż = Lθ̇ sin θ.
angular motion for small deviations is expressed as,
The acceleration vector can be obtained by taking the
second time derivative of the position coordinates, which
d2 θ
= −ω02 θ, (2) is denoted by a double dot in its notation,
dt2
ẍ = Lθ̈ cos θ − Lθ̇2 sin θ,
whose solution θ(t) = A cos(ω0 t + ϕ) represents a simple
harmonicpmotion with angular frequency ω0 , and period ÿ = 0, (8)
2
T = 2π L/g. Where A is the angular amplitude of z̈ = Lθ̈ sin θ + Lθ̇ cos θ.
the oscillation expressed in radians, and a phase factor
ϕ related to the initial conditions of the motion. Since Thus, we explored the dynamics of a simple pendulum
the previous pair of terms will depend on the initial in an inertial reference frame, revealing the intricate
conditions, below we will briefly present three possible interplay between weight and angular motion. In the
cases of the initial motion of the simple pendulum. next section, we delve into rotating reference frames
to understand pendulum motion, particularly in the
Case 1: If initially the pendulum starts from an inclina- context of Foucault and Bravais experiments. Through
tion denoted by the angle θ0 ̸= 0, and with zero speed this transition, we unify theoretical concepts with exper-
v0 = 0, which implies the phase factor ϕ = 0, then imental findings, elucidating the intricate effects of
the angular orientation function and its time derivative rotation on pendulum dynamics.

Revista Brasileira de Ensino de Física, vol. 46, e20230204, 2024 DOI: https://doi.org/10.1590/1806-9126-RBEF-2023-0204
Villamizar e20230204-3

3. Rotating Reference Frame any object in the rotating frame with respect to its
coordinates in the inertial frame when the rotation
A rotating reference frame is defined as a reference occurs along the z-axis,
system that presents only a rotational motion with a  
constant angular velocity Ω, in relation to some previ- cos α sin α 0
ously established constant direction. Based on this defi- R̂z (α) = − sin α cos α 0 . (11)
nition, a three-dimensional Cartesian rotating reference 0 0 1
frame could be algebraically described by assuming the
For instance, if the rotating frame with a constant
particular case in which z is the axis of rotation, and it is
angular velocity Ω observes a simple pendulum whose
coaxial with an inertial reference frame at the instant t =
coordinates in the inertial frame are given by eq. (6), its
0. Therefore, the description of the events that happen in
position will be expressed as:
the plane xy for any particular subsequent instant t, will
be related to the counterclockwise deviation, α = Ωt, of
    
X cos Ωt sin Ωt 0 L sin θ
the rotating reference frame in relation to the inertial  Y  = − sin Ωt cos Ωt 0  0
,

frame. Based on this definition, we will consider any fixed Z 0 0 1 L 1 − cos θ
point P whose coordinates in the inertial reference frame (12)
plane xy are (xP , yP ), as shown in Figure 2. thus, its coordinates are,
In contrast, in the rotating reference frame the point
is observed at coordinates (XP , YP ), whose relationship X = L sin θ cos Ωt,
with the coordinates of the inertial reference frame can Y = −L sin θ sin Ωt, (13)
be found when we consider an independent information

Z = L 1 − cos θ .
on rotations, the distance fromp the coordinate origin to
the object P , defined as r = x2P + yP2 . In addition, the Then, the pendulum’s velocity vector components in this
orientation of the object relative to the x-axis of the iner-

frame exhibit an compound motion,
tial frame is defined using the angle φ = arctan yP /xP .
These last two pieces of information, r and φ, allow us to Ẋ = Lθ̇ cos θ cos Ωt − LΩ sin θ sin Ωt,
define the curvilinear polar coordinates, enabling us to Ẏ = −Lθ̇ cos θ sin Ωt − LΩ sin θ cos Ωt, (14)
re-express the Cartesian coordinates of the object P as
xP = r cos φ and yP = r sin φ. In this way, if we consider Ż = ż.
the orientation difference of the rotating reference frame
Additionally, the components of its acceleration vector
α in relation to the inertial one, then we can express
are,
the coordinates of the object P in the rotating reference
frame as, Ẍ = Lθ̈ cos θ cos Ωt − Lθ̇2 sin θ cos Ωt
XP = r cos(φ − α) = xP cos α + yP sin α, − 2Lθ̇Ω cos θ sin Ωt − LΩ2 sin θ cos Ωt,
(9)
YP = r sin(φ − α) = yP cos α − xP sin α. Ÿ = −Lθ̈ cos θ sin Ωt + Lθ̇2 sin θ sin Ωt (15)
2
The previous pair of coordinates can be condensed using − 2Lθ̇Ω cos θ cos Ωt + LΩ sin θ sin Ωt,
matrix notation, Z̈ = z̈.
    
XP cos α sin α xP Consequently, this description reveals a more complex
= . (10)
YP − sin α cos α yP swing pendulum motion from a non-inertial reference
frame. Therefore, to have a good understanding of
Thus, we can define a three-dimensional transformation every acceleration term obtained, we should change the
matrix that allows us to express the coordinates of description by using Polar coordinates and expressing
the unitary vectors of this coordinate system as functions
of the Cartesian coordinates, as follows,

r̂ = cos φ x̂ + sin φ ŷ,

(16)
φ̂ = − sin φ x̂ + cos φ ŷ.

In Polar Coordinates, as shown in Figure 3, the vector

position of an object is given by,

⃗r = r r̂, (17)

Figure 2: The point P in relation to the inertial frame (xP , yP ), where r is the distance from the origin coordinate system
and according to the rotating frame (XP , YP ), where α is the to the object, and r̂ represent its radial orientation.
orientation difference between both references. If both information changes in function of time, when

DOI: https://doi.org/10.1590/1806-9126-RBEF-2023-0204 Revista Brasileira de Ensino de Física, vol. 46, e20230204, 2024
e20230204-4 Simple pendulum in a rotating reference frame

and its derivatives. Then we have,

⃗r¨ = Lθ̈ cos θ − Lθ̇2 sin θ + LΩ2 sin θ

× cos Ωt x̂ + sin Ωt ŷ (23)
2


+ 2Lθ̇ Ω cos θ − sin Ωt x̂ + cos Ωt ŷ ,

The acceleration alone each coordinate is,

Ẍ = Lθ̈ cos θ cos Ωt − Lθ̇2 sin θ cos Ωt

Figure 3: The solid curve represent the trajectory of an object (24)
− 2Lθ̇Ω cos θ sin Ωt − LΩ2 sin θ cos Ωt,
in the inertial frame. Over its position at any instant of time, we
see represent the Cartesian unitary vectors and the Polar unitary
and,
vector.
Ÿ = Lθ̈ cos θ sin Ωt − Lθ̇2 sin θ sin Ωt
(25)
we calculate the time derivative of position vector taking + 2Lθ̇Ω cos θ cos Ωt − LΩ2 sin θ sin Ωt.
into account the product derivative rule and chain rule,
Is worth to be clarified that the rotating frame spins
we have,
at clockwise direction, −Ω, this end up to visualize the
dr̂ dφ pendulum at the opposite Y direction. Thus, throughout
⃗r˙ = ṙ r̂ + r , (18) this description using Polar coordinates, we can under-
dφ dt
stand the reason why the acceleration vector component
Looking at the eq. (16), we can get that dr̂/dφ = φ̂, appears complicated when applying a matrix transfor-
mation eq. (15). Despite this complexity, this reasoning
⃗r˙ = ṙ r̂ + rφ̇ φ̂. (19) allows us to avoid solving the differential equation of
motion obtained from Newton’s second law for a simple
When the motion of an object is described in polar pendulum in a rotating frame.
coordinates, the velocity vector has two components, ṙ is In the next section, we will analyze the motion
the radial velocity and rφ̇ is the tangential velocity [13]. perception of the simple pendulum according to the
The second time derivative of position vector repre- angular velocity of the rotating frame as the Foucault
sented the acceleration vector of the object. Additionally, and Bravais pendulum.
alone the derivation process and taking into account
the product rule and chain rule, we will get that 4. Pendulum in the Rotating Frame
dφ̂/dφ = −r̂. After some steps we get,
In this section, we scrutinize the motion of the pendulum
⃗r¨ = r̈ − rφ̇2 r̂ + 2ṙφ̇ + rφ̈ φ̂.



(20)
from a rotating reference frame, which maintains a
consistent angular velocity. Unlike Earth’s rotational
Where the first term alone the radian orientation repre-
angular velocity, ΩE , which is constrained by geographi-
sents the radial acceleration r̈, and the second one rφ̇2
cal latitude λ as Ω = ΩE sin λ, our examination does not
represents the centripetal acceleration. The first term
adhere to this constraint. Instead, we explore a rotating
alone angular orientation 2ṙφ̇ is equivalent to Coriolis
frame with a predefined angular velocity, which serves
acceleration, and the second one rφ̈ is the tangential
as a multiple of the angular frequency of the simple
acceleration [14]. This representation of the acceleration
pendulum oscillation. Denoting this constant angular
vector could be re-expressed in a general way for a non-
velocity as Ω = kω0 , where 0 < k ≤ 1 is a real
inertial frame by the vectorial notation [15],
constant, aligns with the experimental setup observed
⃗a = ⃗r¨ + φ
⃗˙ × φ
⃗˙ × ⃗r + 2 φ


⃗˙ × ⃗r˙ + φ


⃗¨ × ⃗r .


(21) by Foucault and Bravais. This approach enables us to
delve into the interplay between the pendulum’s motion
For the particular case in which the rotating frame have and the predetermined rotational dynamics, shedding
a constant angular velocity Ω, the acceleration vector in light on the fundamental dynamics of rotating frames
eq. (20) is expressed by, and pendulum systems.
Prior to this, we established the X and Y coordi-
⃗r¨ = r̈ − rΩ2 r̂ + 2ṙΩ φ̂.


(22) nates of any object within the rotating frame relative
to the inertial frame (10). Now, we delve into the
Alternatively, we can re-express the acceleration vector specifics of the pendulum’s motion as observed from
in the Polar coordinates (22) to the Cartesian coordi- this rotating reference frame. By using the relationship
nates by using the unitary vectors (16) and applying the between the angular velocity of the rotating frame and
kinematics of the pendulum in which there is a relation the simple pendulum’s angular frequency, we can gain
one to one between r and x position of the pendulum valuable insights into the system’s behavior. Note that

Revista Brasileira de Ensino de Física, vol. 46, e20230204, 2024 DOI: https://doi.org/10.1590/1806-9126-RBEF-2023-0204
Villamizar e20230204-5

the choice of Ω allows us to explore a broad range where this frame exhibits an angular frequency smaller
of scenarios beyond a direct association with Earth’s than the oscillation frequency of the pendulum, with
rotational parameters, enabling us to study the pendu- values in the range 0 < k < 1. For instance, when
lum’s dynamics under various conditions and external the angular frequency of rotation is exactly half the
influences. angular frequency of the pendulum, k = 1/2, it takes two
For instance, in the particular case k = 1, the complete oscillations of the pendulum for the rotating
rotating frame will return to the initial orientation after reference frame to return to its initial orientation. As a
a complete pendulum oscillation. Then, if we assume result, the observed trajectory takes on the unique shape
that, in the inertial frame when the pendulum starts of a flower with four distinct petals, a visually intriguing
its motion satisfying the initial conditions (case 1 ), it pattern indicative of the dynamic interplay between the
will be restricted to the plane defined by the xz axes. rotating frame and the pendulum system.
However, when we observe it in the rotating reference Similarly, for fractional values of k, such as one-
frame, contrary to our intuition, the pendulum will third, one-fourth, one-fifth, and so on, the pendulum
follow a distinct path along the positive X-axis, with a traces trajectories that form flower-like patterns with
shape that closely resembles a circle, especially under the a distinct number of petals, as depicted in Figure 5.
small angle approximation. Analyzing its speed, we find For a better visualization of the flower-like trajectories
a constant value, which is indicative of circular motion, of the pendulum in the rotating reference frame, we
recommend watching the video by clicking here [18].
Ẋ 2 + Ẏ 2 = L2 θ̇2 cos2 θ + Ω2 sin2 θ ,
 
Notably, trajectories corresponding to these fractional
= L2 ω02 θ02 sin2 ωt cos2 θ + sin2 θ ,
 
values of k have finite lengths. However, when k is
≈ L2 ω02 θ02 sin2 ω0 t + θ02 cos2 ω0 t = L2 ω02 θ02 .
  expressed
√ as an irrational fractional number, such as
1/ 2, it does not represent a natural number partition of
(26)
unity as in the previous examples, leading to trajectories
In this particular case, the pendulum displays a dis- with infinite lengths, see Figure 6.
tinct behavior, exhibiting an oscillation with an angular
frequency precisely twice as high as its characteristic
frequency, denoted by ω0 . This intriguing phenomenon
arises due to the synchronization between the rotat-
ing reference frame and the pendulum’s motion. As a
consequence of this synchronized motion, the pendulum
undergoes a unique circular trajectory along the positive
region of the X-axis, as illustrated in Figure 4. This
fascinating behavior highlights the profound influence
of the tuned interaction between the rotating frame and
the pendulum system, leading to the observed doubling
of its angular frequency during oscillation. For a better
visualization of the pendulum motion observed by the
rotating frame in the previous condition, we recommend
to watch the videos by clicking here [16] and here [17].
To gain insights into the pendulum’s motion relative
to the rotating reference frame, we will explore cases
Figure 5: Trajectories in the shape of flower performed by the
simple pendulum recorded in the rotating reference frame when
its angular velocity of rotation is a fraction of the characteristic
angular frequency of the pendulum.

Figure 4: The thick curve represents the trajectory of the

pendulum according to the rotating reference frame, while the √
thin line shows the plane oscillatory motion of the pendulum in Figure 6: When k = 1/ 2, the rotating frame observes a
the inertial frame of reference. segment of the open pendulum’s trajectory.

DOI: https://doi.org/10.1590/1806-9126-RBEF-2023-0204 Revista Brasileira de Ensino de Física, vol. 46, e20230204, 2024
e20230204-6 Simple pendulum in a rotating reference frame

In contrast to the previous analysis, from now on, we coordinates in this reference frame are easily obtained
will consider the pendulum attached to the X-axis of through the action of the rotation matrix on the vector of
the rotating reference frame, so both rotate together. the pendulum coordinates in the inertial reference frame,
When the position of the pendulum coincides with the     
orientation of the positive x-axis of the inertial reference X cos(kω0 t) sin(kω0 t) 0 L sin θx
 Y  = − sin(kω0 t) cos(kω0 t) 0 L sin θy ,
frame, it is released at the instant t0 . According to the

inertial reference, the pendulum that initially exhibited Z 0 0 1 L 1 − cos θz
uniform circular motion with a translational velocity (30)
vt = ΩL sin θ0 , it presents a motion that decomposed thus, its coordinates are,
in relation to xy-axis shows two oscillatory
p motions X = L sin θx cos(kω0 t) + L sin θy sin(kω0 t),
with equal angular frequency ω0 = g/L, but with
Y = −L sin θx sin(kω0 t) + L sin θy cos(kω0 t), (31)
different amplitudes. In other words, along the x-axis

the motion will be that of a pendulum released from Z = L 1 − cos θz .
rest from an initial angular opening θ0 , satisfying the
As in the previous situation, we will assume the rota-
initial condition (case 1 ). However, along the y-axis,
tion frequency of the rotating frame as being a fraction
the pendulum will start its motion from the zero angle
of the oscillation frequency of the simple pendulum, k =
with velocity vt , reaching a maximum amplitude θmax =
1/2, 1/3, 1/4, . . . ; So, the trajectory that the pendulum
k sin θ0 , satisfying the initial condition (case 2 ). Thus,
performs in the rotating reference frame exhibits a
the angular functions associated with each axis are,
shape similar to a star. Because at the instants when
θx = θ0 cos ω0 t, the pendulum reaches the maximum angular deviation,
(27) its tangential velocity allows it to follow the motion
θy = (k sin θ0 ) sin ω0 t. of the rotating frame, and for this reason it is seen
momentarily at rest. Furthermore, it is worth mentioning
In this manner, the displacement of the pendulum from
that the circular spacing observed in the central region
its equilibrium position on the plane can be described
of the star-shaped trajectory is related to the ‘elliptical’
by considering
q its motion in both horizontal directions, motion of the pendulum in the inertial reference frame,
given by L sin2 θx + sin2 θy . By recognizing that the whose radius is related to L sin(k sin θ0 ), as shown in
vertical distance from the pendulum’s support to its Figure 7. For a better understanding of the star-shaped
position is L cos θz , we can use the Pythagorean theorem trajectories of the pendulum in the rotating reference
to relate this horizontal displacement to the angular ori- frame, we recommend to watch the video by clicking
entation of the pendulum with respect to the vertical z- here [19].
axis. Thus, the cosine of the pendulum’s
q angular orienta- In contrast, this is not solely a theoretical explication
tion can be expressed as cos θz = 1 − sin2 θx − sin2 θy . of pendulum motion in a rotating frame. Empirical evi-
Consequently, the coordinates of the pendulum in the dence can verify some of the preceding findings through
inertial frame are given by, experimental observation of a simple pendulum’s move-
ment recorded in a rotating reference frame. These
x = L sin θx , observations reveal distinctive trajectories resembling
y = L sin θy , (28)


z = L 1 − cos θz .

In this case, the pendulum’s motion will no longer be

restricted to a vertical plane, and it will follow a curved
trajectory whose projection on the xy-plane is similar to
the shape of an ellipse. But this is not exactly a plane
ellipse because the pendulum motion is tree-dimensional.
In other words, this happens over a spherical surface of
radius equal to the pendulum’s length. Thus, we have
this inequality,

x2 y2
2
+ ̸= 1. (29)
[L sin θ0 ] [L sin(k sin θ0 )]2

In which one of its ‘semi-axes’ will depend on the

initial tangential velocity, while the other ‘semi-axes’ will Figure 7: The thick curves represent the star -shaped trajectories
depend on the initial position along the X-axis. Conse- performed by the simple pendulum released in the rotating
quently, the rotating reference frame will register the reference frame, while the thin curves show the ‘elliptical’
pendulum motion in another way, where the pendulum motion of the pendulum in the inertial reference frame.

Revista Brasileira de Ensino de Física, vol. 46, e20230204, 2024 DOI: https://doi.org/10.1590/1806-9126-RBEF-2023-0204
Villamizar e20230204-7

a matrix transformation of rotation in this study, we

were able to replicate scenarios similar to the Foucault
pendulum and the Bravais pendulum. It is essential to
highlight that the primary aim of this description is to
facilitate the comprehension of the relative deviation
in pendulum motion within a rotating reference frame
for individuals approaching this subject for the first
time, particularly those interested in the renowned
experiments conducted by Léon Foucault and Augustine
Bravais.
Consequently, there is no necessity to involve oneself
Figure 8: Theoretical pendulum’s trajectories when k = 1/9, as in the intricate task of solving equations of motion
we can see in the experiment shown in [21]. for non-inertial reference frames or grappling with the
appearance of fictitious forces on the object. Rather, the
emphasis lies in understanding the origin of the fictitious
acceleration contribution, which governs the trajectory
observed by the pendulum within the rotating frame.

Acknowledgments

I extend my deepest gratitude to the student pursuing

the Mathematics Degree program at the State University
Figure 9: Horizontal vector acceleration and its projections of of Paraná – UNESPAR, União da Vitória, for her
the simple pendulum observed from the rotating frame when significantly clear contributions in proposing the subject
k = 1/3 (black curve), and the back-and-forth motion in the of study for this research. Additionally, special thanks
inertial frame (red line). are extended to all evaluators of this manuscript for their
insightful commentary and invaluable recommendations.
a flower or star shape, contingent upon the initial References
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an object observed from a non-inertial reference frame. [12] D.V. Villamizar, Small Angle Approximation to Trigono-
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[13] T.W.B. Kibble and F.H. Berkshire, Classical Mechanics
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[15] W. Greiner, Classical Mechanics: Systems of Particles
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pendulum in a rotating reference frame, modeled by 2 ed.

DOI: https://doi.org/10.1590/1806-9126-RBEF-2023-0204 Revista Brasileira de Ensino de Física, vol. 46, e20230204, 2024
e20230204-8 Simple pendulum in a rotating reference frame

[16] D.V. Villamizar, Simple Pendulum in a Rotating Refer-

ence Frame in Tune, available on: https://youtu.be/o
9Ty54k88pY, accessed in: 05/05/2024.
[17] AUSTRALIAN NACIONAL UNIVERSITY, Pendulum
on a Rotating Table, available on: https://www.youtub
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[18] D.V. Villamizar, Simple Pendulum in a Rotating Ref-
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[19] D.V. Villamizar, Simple Pendulum in a Rotating Ref-
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//youtu.be/NWWbaqaOCTE, accessed in: 05/05/2024.
[20] K. Lüders, R.O. Pohl, G. Beuermann and K. Samwer,
Simple pendulum in a rotating reference frame, available
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05/05/2024.
[21] O. Pantano and S. Talas M13 – Modello di pendolo di
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[22] D.V. Villamizar, Acceleration vector from the Rotating
Reference Frame | Simple Pendulum, available on: https:
//youtu.be/JJOhXCKKzto, accessed in: 05/05/2024.

Revista Brasileira de Ensino de Física, vol. 46, e20230204, 2024 DOI: https://doi.org/10.1590/1806-9126-RBEF-2023-0204