Beat Phenomenon: O, Respectively

Module: 11
Lecture: 3
Beat Phenomenon
A very interesting phenomenon is encountered when the natural frequencies of a two
degree of freedom system are very close in value. To illustrate the phenomenon, let us
consider two identical pendulums connected by a spring, as shown in Fig. 3.7a. The
corresponding free body diagrams are shown in Fig. 3.7b, in which the assumption of small
angles 1 and 2 is implied. The moment equations about the points O and O' , respectively,
yield the differential equations of motion
mL21' mgL1 ka 2 1 2 0
(3.59)
mL2 2' mgL 2 ka 2 1 2 0
Which can be arranged in the matrix form
mL2
0 1' mgL ka 2
ka 2 1 0
(3.60)

2 '
2
mgL ka 2 2 0
0 mL 2 ka
Indicating that the system is coupled elastically. As expected, when the spring stiffness k
reduces to zero the coupling disappears and the two pendulums reduce to independent simple
pendulums with identical natural frequencies equal to g L . For k 0 , Eq. (3.60) yields the
Eigen value problem.
2
0 1 mgL ka 2
ka 2 1 0
2 mL
(3.61)

2
2
mgL ka 2 2 0
0 mL 2 ka
(a)
(b)
leading to the characteristic equation
30.6.2011
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mgL ka 2 2 mL2
det
ka 2
ka 2
2
2
2
mgL ka mL
(3.62)
ka
2 2
mgL ka 2 2 mL
Which is equivalent to
mgL ka 2 2 mL2 ka 2
Hence the two natural frequencies are
g
g
k a2
1
2
2
L
L
m L2
The natural modes are obtained from the equations
mL2
0 1 0
i2
i 1, 2
2
0
mL
2
i 0
Inserting 12 g L and
2 2
(3.63)
(3.64)
(3.65)
22 g L 2 k m a 2 L2 into Eqs. (3.65) , and solving for the
ratios 21 11 and 22 12 , we obtain

21
22
(3.66)
1
1
11
12
So that in the first natural mode the two pendulums move like a single pendulum with the
spring k unstretched, which can also be concluded from the fact that the first natural
frequency of the system is that of the simple pendulum, 1 g L . On the other hand, in the
second natural mode the two pendulums are 1800 out of phase. The two modes are shown in
Fig. 3.8.
As was pointed out in Sec. 3.5, the general motion of the system can be expressed as a
superposition of the two natural modes multiplied by the associated
Figure 3.8
(a)
Natural coordinates, or
1
1
1 t
C1 cos 1t 1 C2 cos 2t 2
2 1
2 2
2 t
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(b)
(3.67)
Page 2
Choosing 11 12 1 and using Eqs. (3.66) , Eqs. (3.67) can be rewritten in the scalar form
1 t C1 cos 1t 1 C2 cos 2t 2
(3.68)
2 t C1 cos 1t 1 C2 cos 2t 2
Letting the initial conditions be 1 0 0 , 2 0 1 0 2 0 0 Eqs. (3.68) become

1
1
2
2
1
1
2 t 0 cos 1t 0 cos 2t
2
2
1
1
0 sin 2
t sin 2
t
2
2
1 t 0 cos 1t 0 cos 2t 0 cos
2 1
2
t cos
2 1
2
t
(3.69)
Note that, in deriving Eqs. (3.69), we used the trigonometric relations,

cos cos cos sin sin , in which 2 1 t 2 , 2 1 t 2 .
Next let us consider the case in which ka 2 is very small in value compared with mqL .
Examining Eq. (3.60), we conclude that this statement is equivalent to saying that the
coupling provided by the spring k is very weak. In this case, Eqs. (3.69) can be written in the
form
1
2
1
2 t 0 sin B t sin avet
2
2
Where B and ave are approximated by
1 t 0 cos B t cos avet
B
2
2 1
2
1 k a2
2 m gL3
ave
(3.70)
2 1
2
g 1 k a2
L 2 m gL3
(3.71)
Hence, 1 t and 2 t can be regarded as being harmonic functions with frequency ave and
1
1
with amplitudes varying slowly according to 0 cos B t and 0 sin B t respectively. The
2
2
plots 1 t versus t and 2 t versus t are shown in Fig. 3.9 with the slowly varying
amplitudes indicated by the dashed line envelopes. Geometrically, Fig. 3.9a (or Fig. 3.9b)
implies that the two harmonic functions possessing equal amplitudes and nearly equal
frequencies are added, then the resulting function is an amplitude modulated harmonic
function with a frequency equal to the average frequency. At first, when the two harmonic
waves reinforce each other, the amplitude is doubled, and later as the two waves cancels each
other.
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Fig 3.9
Add Beat.gif for animation in webfile
The amplitude reduces to zero. The phenomenon is known as the beat phenomenon, and the
frequency of modulation B , which in this particular case is equal to ka 2 m gL3 , is called
the beat frequency. From fig 3.9a we conclude that the time between two maxima is
T 2 2 B , whereas the period of the amplitude modulated envelope is T 4 B .
Although in our particular case the beat phenomenon resulted from the weak coupling of two
pendulums, the phenomenon is not exclusively associated with two degree of freedom
systems. Indeed, the beat phenomenon is purely the result of adding two harmonic functions
of equal amplitudes and nearly equal frequencies. For example, the phenomenon occurs in
twin engine propeller airplanes, in which the propeller noise grows and diminishes in
intensity as the sound waves generated by the two propellers reinforce and cancel each other
in turn.
We observe from Fig. 3.9 that there is a 900 phase angle between 1 t and 2 t . At t 0
the first pendulum (right pendulum in Fig. 3.7a) begins to swing with the amplitude 0 while
the second pendulum is at rest. Soon thereafter the second pendulum is entrained, gaining
amplitude while the amplitude of the first decreases. At t1 B the amplitude of the first
pendulum becomes zero, whereas the amplitude of the second pendulum reaches 0 . At
t2 2 b the amplitude of the
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Fig 3.10
First pendulum reaches 0 once again and that of the second pendulum reduces to zero. The
motion keeps repeating itself, so that every interval of time T 4 B there is a complete
transfer of energy from one pendulum to the other.
Another example of a system exhibiting the beat phenomenon is the Wilberforce Spring ,
consisting of a mass of finite dimensions suspended by a helical spring such that the
frequency of vertical translation and the frequency of torsional motion are very close in
value. In this case, the kinetic energy changes from pure translational in the vertical direction
to pure rotational about the vertical axis, as shown in Fig. 3.10.
30.6.2011
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Module: 11

leading to the characteristic equation

22 g L 2 k m a 2 L2 into Eqs. (3.65) , and solving for the

ratios 21 11 and 22 12 , we obtain

Letting the initial conditions be 1 0 0 , 2 0 1 0 2 0 0 Eqs. (3.68) become

1 t 0 cos 1t 0 cos 2t 0 cos

Note that, in deriving Eqs. (3.69), we used the trigonometric relations,

1 t 0 cos B t cos avet

t2 2 b the amplitude of the

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