Normal mode

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A normal mode of an oscillating system is a pattern of motion in which all parts of the system move sinusoidally with the same frequency and with a fixed phase relation. The free motion described by the normal modes takes place at the fixed frequencies. These fixed frequencies of the normal modes of a system are known as its natural frequencies or resonant frequencies. A physical object, such as a building, bridge, or molecule, has a set of normal modes and their natural frequencies that depend on its structure, materials and boundary conditions. When relating to music, normal modes of vibrating instruments (strings, air pipes, drums, etc.) are called "harmonics" or "overtones".

Oscillation repetitive variation of some measure about a central value

Oscillation is the repetitive variation, typically in time, of some measure about a central value or between two or more different states. The term vibration is precisely used to describe mechanical oscillation. Familiar examples of oscillation include a swinging pendulum and alternating current.

Natural frequency, also known as eigenfrequency, is the frequency at which a system tends to oscillate in the absence of any driving or damping force.

Resonance phenomenon in which a vibrating system or external force drives another system to oscillate with greater amplitude at specific frequencies

In mechanical systems, resonance is a phenomenon that occurs when the frequency at which a force is periodically applied is equal or nearly equal to one of the natural frequencies of the system on which it acts. This causes the system to oscillate with larger amplitude than when the force is applied at other frequencies.

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The most general motion of a system is a superposition of its normal modes. The modes are normal in the sense that they can move independently, that is to say that an excitation of one mode will never cause motion of a different mode. In mathematical terms, normal modes are orthogonal to each other.

Superposition principle fundamental physics principle stating that physical solutions of linear systems are linear

The superposition principle, also known as superposition property, states that, for all linear systems, the net response caused by two or more stimuli is the sum of the responses that would have been caused by each stimulus individually. So that if input A produces response X and input B produces response Y then input produces response.

Orthogonality relation of two lines at right angles

In mathematics, orthogonality is the generalization of the notion of perpendicularity to the linear algebra of bilinear forms. Two elements u and v of a vector space with bilinear form B are orthogonal when B(u, v) = 0. Depending on the bilinear form, the vector space may contain nonzero self-orthogonal vectors. In the case of function spaces, families of orthogonal functions are used to form a basis.

Vibration of a single normal mode of a circular disc with a pinned boundary condition along the entire outer edge. See other modes. Drum vibration mode12.gif
Vibration of a single normal mode of a circular disc with a pinned boundary condition along the entire outer edge. See other modes.
A flash photo of a cup of black coffee vibrating in normal modes A cup of black coffee vibrating in normal modes.jpeg
A flash photo of a cup of black coffee vibrating in normal modes
Excitation of normal modes in a drop of water during the Leidenfrost effect

General definitions

Mode

In physics and engineering, for a dynamical system according to wave theory, a mode is a standing wave state of excitation, in which all the components of the system will be affected sinusoidally under a specified fixed frequency.

Dynamical system Mathematical model which describes the time dependence of a point in a geometrical space

In mathematics, a dynamical system is a system in which a function describes the time dependence of a point in a geometrical space. Examples include the mathematical models that describe the swinging of a clock pendulum, the flow of water in a pipe, and the number of fish each springtime in a lake.

Wave oscillation that travels through space and matter

In physics, a wave is a disturbance that transfers energy through matter or space, with little or no associated mass transport. Waves consist of oscillations or vibrations of a physical medium or a field, around relatively fixed locations. From the perspective of mathematics, waves, as functions of time and space, are a class of signals.

Standing wave wave that remains in a constant position

In physics, a standing wave, also known as a stationary wave, is a wave which oscillates in time but whose peak amplitude profile does not move in space. The peak amplitude of the wave oscillations at any point in space is constant with time, and the oscillations at different points throughout the wave are in phase. The locations at which the amplitude is minimum are called nodes, and the locations where the amplitude is maximum are called antinodes.

Because no real system can perfectly fit under the standing wave framework, the mode concept is taken as a general characterization of specific states of oscillation, thus treating the dynamic system in a linear fashion, in which linear superposition of states can be performed.

As classical examples, there are:

Music form of art using sound

Music is an art form and cultural activity whose medium is sound organized in time. General definitions of music include common elements such as pitch, rhythm, dynamics, and the sonic qualities of timbre and texture. Different styles or types of music may emphasize, de-emphasize or omit some of these elements. Music is performed with a vast range of instruments and vocal techniques ranging from singing to rapping; there are solely instrumental pieces, solely vocal pieces and pieces that combine singing and instruments. The word derives from Greek μουσική . See glossary of musical terminology.

Optics The branch of physics that studies light

Optics is the branch of physics that studies the behaviour and properties of light, including its interactions with matter and the construction of instruments that use or detect it. Optics usually describes the behaviour of visible, ultraviolet, and infrared light. Because light is an electromagnetic wave, other forms of electromagnetic radiation such as X-rays, microwaves, and radio waves exhibit similar properties.

Quantum mechanics branch of physics dealing with phenomena at scales of the order of the Planck constant

Quantum mechanics, including quantum field theory, is a fundamental theory in physics which describes nature at the smallest scales of energy levels of atoms and subatomic particles.

Most dynamical system can be excited under several modes. Each mode is characterized by one or several frequencies, according to the modal variable field. For example, a vibrating rope in the 2D space is defined by a single-frequency (1D axial displacement), but a vibrating rope in the 3D space is defined by two frequencies (2D axial displacement).

For a given amplitude on the modal variable, each mode will store a specific amount of energy, because of the sinusoidal excitation.

From all the modes of a dynamical system, the normal or dominant mode of a system, will be the mode storing the minimum amount of energy, for a given amplitude of the modal variable. Or equivalently, for a given stored amount of energy, will be the mode imposing the maximum amplitude of the modal variable.

Mode numbers

A mode of vibration is characterized by a modal frequency and a mode shape. It is numbered according to the number of half waves in the vibration. For example, if a vibrating beam with both ends pinned displayed a mode shape of half of a sine wave (one peak on the vibrating beam) it would be vibrating in mode 1. If it had a full sine wave (one peak and one trough) it would be vibrating in mode 2.

In a system with two or more dimensions, such as the pictured disk, each dimension is given a mode number. Using polar coordinates, we have a radial coordinate and an angular coordinate. If one measured from the center outward along the radial coordinate one would encounter a full wave, so the mode number in the radial direction is 2. The other direction is trickier, because only half of the disk is considered due to the antisymmetric (also called skew-symmetry) nature of a disk's vibration in the angular direction. Thus, measuring 180° along the angular direction you would encounter a half wave, so the mode number in the angular direction is 1. So the mode number of the system is 2–1 or 1–2, depending on which coordinate is considered the "first" and which is considered the "second" coordinate (so it is important to always indicate which mode number matches with each coordinate direction).

Polar coordinate system two-dimensional coordinate system in which each point on a plane is determined by a distance from a reference point and an angle from a reference direction

In mathematics, the polar coordinate system is a two-dimensional coordinate system in which each point on a plane is determined by a distance from a reference point and an angle from a reference direction.

In linear systems each mode is entirely independent of all other modes. In general all modes have different frequencies (with lower modes having lower frequencies) and different mode shapes.

Nodes

A mode shape of a drum membrane, with nodal lines shown in pale green Mode Shape of a Round Plate with Node Lines.jpg
A mode shape of a drum membrane, with nodal lines shown in pale green

In a one-dimensional system at a given mode the vibration will have nodes, or places where the displacement is always zero. These nodes correspond to points in the mode shape where the mode shape is zero. Since the vibration of a system is given by the mode shape multiplied by a time function, the displacement of the node points remain zero at all times.

When expanded to a two dimensional system, these nodes become lines where the displacement is always zero. If you watch the animation above you will see two circles (one about halfway between the edge and center, and the other on the edge itself) and a straight line bisecting the disk, where the displacement is close to zero. In an idealized system these lines equal zero exactly, as shown to the right.

In mechanical systems

Coupled oscillators

Consider two equal bodies (not affected by gravity), each of mass m, attached to three springs, each with spring constant k. They are attached in the following manner, forming a system that is physically symmetric:

Coupled Harmonic Oscillator.svg

where the edge points are fixed and cannot move. We'll use x1(t) to denote the horizontal displacement of the left mass, and x2(t) to denote the displacement of the right mass.

If one denotes acceleration (the second derivative of x(t) with respect to time) as , the equations of motion are:

Since we expect oscillatory motion of a normal mode (where ω is the same for both masses), we try:

Substituting these into the equations of motion gives us:

Since the exponential factor is common to all terms, we omit it and simplify:

And in matrix representation:

If the matrix on the left is invertible, the unique solution is the trivial solution (A1, A2) = (x1, x2) = (0,0). The non trivial solutions are to be found for those values of ω whereby the matrix on the left is singular i.e. is not invertible. It follows that the determinant of the matrix must be equal to 0, so:

Solving for , we have two positive solutions:

If we substitute ω1 into the matrix and solve for (A1, A2), we get (1, 1). If we substitute ω2, we get (1, −1). (These vectors are eigenvectors, and the frequencies are eigenvalues.)

The first normal mode is:

Which corresponds to both masses moving in the same direction at the same time. This mode is called antisymmetric.

The second normal mode is:

This corresponds to the masses moving in the opposite directions, while the center of mass remains stationary. This mode is called symmetric.

The general solution is a superposition of the normal modes where c1, c2, φ1, and φ2, are determined by the initial conditions of the problem.

The process demonstrated here can be generalized and formulated using the formalism of Lagrangian mechanics or Hamiltonian mechanics.

Standing waves

A standing wave is a continuous form of normal mode. In a standing wave, all the space elements (i.e. (x, y, z) coordinates) are oscillating in the same frequency and in phase (reaching the equilibrium point together), but each has a different amplitude.

Standing-wave05.png

The general form of a standing wave is:

where ƒ(x, y, z) represents the dependence of amplitude on location and the cosine\sine are the oscillations in time.

Physically, standing waves are formed by the interference (superposition) of waves and their reflections (although one may also say the opposite; that a moving wave is a superposition of standing waves). The geometric shape of the medium determines what would be the interference pattern, thus determines the ƒ(x, y, z) form of the standing wave. This space-dependence is called a normal mode.

Usually, for problems with continuous dependence on (x, y, z) there is no single or finite number of normal modes, but there are infinitely many normal modes. If the problem is bounded (i.e. it is defined on a finite section of space) there are countably many normal modes (usually numbered n = 1, 2, 3, ...). If the problem is not bounded, there is a continuous spectrum of normal modes.

Elastic solids

In any solid at any temperature, the primary particles (e.g. atoms or molecules) are not stationary, but rather vibrate about mean positions. In insulators the capacity of the solid to store thermal energy is due almost entirely to these vibrations. Many physical properties of the solid (e.g. modulus of elasticity) can be predicted given knowledge of the frequencies with which the particles vibrate. The simplest assumption (by Einstein) is that all the particles oscillate about their mean positions with the same natural frequency ν. This is equivalent to the assumption that all atoms vibrate independently with a frequency ν. Einstein also assumed that the allowed energy states of these oscillations are harmonics, or integral multiples of . The spectrum of waveforms can be described mathematically using a Fourier series of sinusoidal density fluctuations (or thermal phonons).

The fundamental and the first six overtones of a vibrating string. The mathematics of wave propagation in crystalline solids consists of treating the harmonics as an ideal Fourier series of sinusoidal density fluctuations (or atomic displacement waves). Harmonic partials on strings.svg
The fundamental and the first six overtones of a vibrating string. The mathematics of wave propagation in crystalline solids consists of treating the harmonics as an ideal Fourier series of sinusoidal density fluctuations (or atomic displacement waves).

Debye subsequently recognized that each oscillator is intimately coupled to its neighboring oscillators at all times. Thus, by replacing Einstein's identical uncoupled oscillators with the same number of coupled oscillators, Debye correlated the elastic vibrations of a one-dimensional solid with the number of mathematically special modes of vibration of a stretched string (see figure). The pure tone of lowest pitch or frequency is referred to as the fundamental and the multiples of that frequency are called its harmonic overtones. He assigned to one of the oscillators the frequency of the fundamental vibration of the whole block of solid. He assigned to the remaining oscillators the frequencies of the harmonics of that fundamental, with the highest of all these frequencies being limited by the motion of the smallest primary unit.

The normal modes of vibration of a crystal are in general superpositions of many overtones, each with an appropriate amplitude and phase. Longer wavelength (low frequency) phonons are exactly those acoustical vibrations which are considered in the theory of sound. Both longitudinal and transverse waves can be propagated through a solid, while, in general, only longitudinal waves are supported by fluids.

In the longitudinal mode, the displacement of particles from their positions of equilibrium coincides with the propagation direction of the wave. Mechanical longitudinal waves have been also referred to as compression waves. For transverse modes, individual particles move perpendicular to the propagation of the wave.

According to quantum theory, the mean energy of a normal vibrational mode of a crystalline solid with characteristic frequency ν is:

The term (1/2) represents the "zero-point energy", or the energy which an oscillator will have at absolute zero. E(ν) tends to the classic value kT at high temperatures

By knowing the thermodynamic formula,

the entropy per normal mode is:

The free energy is:

which, for kT >> , tends to:

In order to calculate the internal energy and the specific heat, we must know the number of normal vibrational modes a frequency between the values ν and ν + . Allow this number to be f(ν)dν. Since the total number of normal modes is 3N, the function f(ν) is given by:

The integration is performed over all frequencies of the crystal. Then the internal energy U will be given by:

In quantum mechanics

In quantum mechanics, a state of a system is described by a wavefunction which solves the Schrödinger equation. The square of the absolute value of , i.e.

is the probability density to measure the particle in place x at time  t.

Usually, when involving some sort of potential, the wavefunction is decomposed into a superposition of energy eigenstates, each oscillating with frequency of . Thus, one may write

The eigenstates have a physical meaning further than an orthonormal basis. When the energy of the system is measured, the wavefunction collapses into one of its eigenstates and so the particle wavefunction is described by the pure eigenstate corresponding to the measured energy.

In seismology

Normal modes are generated in the earth from long wavelength seismic waves from large earthquakes interfering to form standing waves.

For an elastic, isotropic, homogeneous sphere, spheroidal, toroidal and radial (or breathing) modes arise. Spheroidal modes only involve P and SV waves (like Rayleigh waves) and depend on overtone number n and angular order l but have degeneracy of azimuthal order m. Increasing l concentrates fundamental branch closer to surface and at large l this tends to Rayleigh waves. Toroidal modes only involve SH waves (like Love waves) and do not exist in fluid outer core. Radial modes are just a subset of spheroidal modes with l=0. The degeneracy doesn’t exist on Earth as it is broken by rotation, ellipticity and 3D heterogeneous velocity and density structure.

We either assume that each mode can be isolated, the self-coupling approximation, or that many modes close in frequency resonant, the cross-coupling approximation. Self-coupling will change just the phase velocity and not the number of waves around a great circle resulting in a stretching or shrinking of standing wave pattern. Cross-coupling can be caused by rotation of Earth leading to mixing of fundamental spheroidal and toroidal modes, or by aspherical mantle structure or Earth’s ellipticity.

See also

Sources

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Frequency is the number of occurrences of a repeating event per unit of time. It is also referred to as temporal frequency, which emphasizes the contrast to spatial frequency and angular frequency. The period is the duration of time of one cycle in a repeating event, so the period is the reciprocal of the frequency. For example: if a newborn baby's heart beats at a frequency of 120 times a minute, its period—the time interval between beats—is half a second. Frequency is an important parameter used in science and engineering to specify the rate of oscillatory and vibratory phenomena, such as mechanical vibrations, audio signals (sound), radio waves, and light.

In classical mechanics, a harmonic oscillator is a system that, when displaced from its equilibrium position, experiences a restoring force F proportional to the displacement x:

In mechanics and physics, simple harmonic motion is a special type of periodic motion or oscillation motion where the restoring force is directly proportional to the displacement and acts in the direction opposite to that of displacement.

Wave equation Second-order linear differential equation important in physics

The wave equation is an important second-order linear partial differential equation for the description of waves—as they occur in classical physics—such as mechanical waves or light waves. It arises in fields like acoustics, electromagnetics, and fluid dynamics.

Quantum harmonic oscillator Important, well-understood quantum mechanical model

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In physics, a phonon is a collective excitation in a periodic, elastic arrangement of atoms or molecules in condensed matter, specifically in solids and some liquids. Often designated a quasiparticle, it represents an excited state in the quantum mechanical quantization of the modes of vibrations of elastic structures of interacting particles.

Four-vector

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Nonlinear Schrödinger equation

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Anharmonicity

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Vibration of plates

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Kapitzas pendulum

Kapitza's pendulum or Kapitza pendulum is a rigid pendulum in which the pivot point vibrates in a vertical direction, up and down. It is named after Russian Nobel laureate physicist Pyotr Kapitza, who in 1951 developed a theory which successfully explains some of its unusual properties. The unique feature of the Kapitza pendulum is that the vibrating suspension can cause it to balance stably in an inverted position, with the bob above the suspension point. In the usual pendulum with a fixed suspension, the only stable equilibrium position is with the bob hanging below the suspension point; the inverted position is a point of unstable equilibrium, and the smallest perturbation moves the pendulum out of equilibrium. In nonlinear control theory the Kapitza pendulum is used as an example of a parametric oscillator that demonstrates the concept of "dynamic stabilization".

Cavity optomechanics

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The Rayleigh's quotient represents a quick method to estimate the natural frequency of a multi-degree-of-freedom vibration system, in which the mass and the stiffness matrices are known.