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The Hessian of potential energy at an equilibrium. With a positive mechanical mass matrix, its generalized eigenvalues give squared small-oscillation frequencies. Distinct normal modes are orthogonal in the mass-weighted inner product.

A normal mode is a small-oscillation motion with every coordinate proportional to one common sinusoid, at a fixed amplitude ratio and relative phase. Expanding an arbitrary small motion in normal mode coordinates decouples its linear equations into independent oscillators. With mechanical mass matrix $\mathsf{M}$ and mechanical stiffness matrix $\mathsf{K}$, the generalized eigenvalue equation is $\mathsf{K}\mathbf{u}={\omega }^2\mathsf{M}\mathbf{u}$.

Horizontal gravitational restoring force on each bob is $-m_i(g/l)x_i$. The two springs add $k(x_2-x_1)$ on the first bob, $k(x_1-2x_2+x_3)$ on the middle bob, and $k(x_2-x_3)$ on the last. Dividing by the bob masses gives the stated equations withReflection symmetry separates an antisymmetric end motion from two symmetric motions. The three coupled pendulums with equal end masses have independent modesCall their positive frequencies ${\omega }_0,{\omega }_a,{\omega }_s$ respectively. The middle amplitude in the last mode ensures $m{x}_1+M{x}_2+m{x}_3=0$. The modes are orthogonal in the mass-weighted inner product, rather than generally in the unweighted coordinate dot product.

The initially stationary displacement decomposes asThere are no sine terms because every initial velocity is zero. ThereforeThese give $(0,0,d)$ at $t=0$ and solve all three coupled equations. The spring constant is assumed positive; for $k=0$ the frequencies become degenerate and the same superposition reduces to uncoupled pendulum motion.

The original example uses $M=2m$ and $k/m=g/l$ to display the mode vectors and resulting superposition. Those illustrative parameter ratios are not additional supplied data.