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Definition and equations. A normal mode is a motion in which every component of a linear system has the same time dependence with fixed amplitude ratios and phases. For a conservative system near equilibrium, the most useful form isThe vector $\mathbf{u}$ describes the mode shape, while $\omega$ is its angular frequency. Linear combinations of modes describe arbitrary sufficiently small motions when the modes form a complete basis.

Let $q_i$ be displacements of independent generalized coordinates from equilibrium. Expand the Lagrangian to quadratic order:The mass matrix $M$ defines a positive-definite quadratic form on the independent coordinates, while the stiffness matrix $K$ is the Hessian of the potential energy. Substituting a mode gives the generalized eigenvalue problem for small oscillationsA practical calculation identifies the equilibrium, chooses independent coordinates, computes the quadratic kinetic and potential energies, solves for the eigenvalues and then obtains their eigenvectors. One can equivalently diagonalize the real symmetric matrix $M^{-1/2}K{M}^{-1/2}$. This guarantees real ${\omega }^2$ and a complete orthogonal basis in mass-weighted coordinates.

For distinct eigenvalues, the fact that $K$ and $M$ are real symmetric matrices impliesThus distinct modes are orthogonal in the inner product weighted by the mass matrix. Choosing ${\mathbf{u}}_i^{\mathsf{T}}M{\mathbf{u}}_j={\delta }_{ij}$ decouples the motion into ${\ddot{Q}}_i+{\omega }_i^2{Q}_i=0$, with total energy ${\sum }_i({\dot{Q}}_i^2+{\omega }_i^2{Q}_i^2)/2$. A positive-definite matrix $K$ gives positive eigenvalues and oscillatory stability. Zero modes can describe rigid translations or rotations without restoring force; a negative eigenvalue gives exponential instability rather than an oscillatory mode.

Symmetry. A symmetry preserving both quadratic energies maps modes into modes of the same frequency. Coordinates adapted to symmetry divide the eigenvalue problem into smaller independent blocks. For two identical subsystems, exchanging them gives symmetric and antisymmetric modes. The degeneracy of normal modes means that independent modes share one frequency. Higher-dimensional group representations of a symmetry can enforce such degeneracies; symmetry does not require every pair of modes to be degenerate, and accidental degeneracies can also occur. Within a degenerate eigenspace, orthogonal linear combinations are equally valid mode shapes.

For two equal masses $m$, each attached to a fixed support by a spring of stiffness $k$ and coupled to the other by a spring of stiffness $k_c$,The symmetric mode ${\mathbf{u}}_{+}\propto (1,1)$ leaves the coupling spring unstretched and has ${\omega }_{+}^2=k/m$. The antisymmetric mode ${\mathbf{u}}_{-}\propto (1,-1)$ stretches it and has ${\omega }_{-}^2=(k+2k_c)/m$. Superposing the two gives beats when their frequencies are close.

Continuous systems. The same idea replaces matrices by differential operators and mode vectors by functions satisfying boundary conditions. For a taut string of length $L$, tension $\mathcal{T}$ and mass per unit length ${\mu }_{\ell }$, the wave equation and fixed endpoints giveOrthogonality of the sine functions allows an arbitrary initial displacement to be decomposed into modes. Changing the endpoints changes the spectrum: boundary conditions are part of the physical mode problem.

A uniform chain of equal masses $m$ joined by springs $k_s$, with spacing $a$, has travelling normal modes $q_j\propto e^{i(kja-\omega t)}$ withTheir quantization gives phonons; the long-wavelength limit is a sound wave. Rectangular electromagnetic cavity modes satisfy Maxwell's equations and conductor boundary conditions, with $\omega =c|\mathbf{k}|$ in vacuum. An elastic beam instead has a fourth-order spatial equation and flexural dispersion $\omega \propto k^2$. These examples show how restoring forces and geometry determine the frequency spectrum.

Real systems. Small-amplitude motion is often approximately linear even when the full equations are nonlinear. Large amplitudes produce frequency shifts, mode coupling and transfer of energy between modes. Friction broadens resonances and makes free oscillations decay. A damping matrix proportional to $M$ or $K$ can retain the undamped mode shapes; general damping need not, and the appropriate eigenfrequencies and modes can be complex. External periodic forcing predominantly excites modes near resonance, with amplitude set by coupling to the forcing and dissipation. Imperfections split ideal degeneracies, while radiation or coupling to a surrounding fluid can remove energy from the chosen subsystem. Normal modes remain useful when linearization, the boundary conditions and the treatment of damping accurately describe the motion being measured.

A standing wave results from the superposition principle applied to equal-frequency, equal-amplitude waves travelling in opposite directions. Its spatial nodes of a standing wave remain fixed while its displacement oscillates in time.

For a pure standing wave, the two travelling waves also have equal amplitudes: their interference leaves a fixed mode shape, rather than a profile moving along the string. Choose the position origin and time origin so that their transverse displacements areHere $a>0$ is each constituent's amplitude, $k=2\pi /\lambda$ is the wavenumber, $\lambda$ is the wavelength, and $\omega =2\pi f$ is the angular frequency corresponding to frequency $f$. Their wave speed is $c=\omega /k$. The superposition principle and the sine addition formula giveThe spatial factor stays put; the temporal factor changes its size and sign. Other constant wave phases shift the position or time origin. Unequal constituent amplitudes generally leave moving displacement at the would-be nodes of a standing wave, rather than this exact factorization.^[ref]

For an original ideal-string example, set $L=1\mathrm{m}$, $c=20\mathrm{m}{\mathrm{s}}^{-1}$, and choose the third normal mode. Then $k=3\pi {\mathrm{m}}^{-1}$, $\omega =60\pi {\mathrm{s}}^{-1}$, and $f=30\mathrm{Hz}$ by fixed-end standing wave frequencies. With each constituent amplitude $a=5\mathrm{mm}$,Its nodes of a standing wave are at $x=0,1/3,2/3,1\mathrm{m}$ and its antinodes at $x=1/6,1/2,5/6\mathrm{m}$. These are constructed model parameters, not experimental readings.

At $t=1/120\mathrm{s}$, every point has zero displacement, but most have nonzero transverse velocity: the string is crossing its straight configuration. The black dots alone mark permanent nodes of a standing wave. At an antinode the greatest transverse speed is $2a\omega =0.6\pi \mathrm{m}{\mathrm{s}}^{-1}$, much smaller than the chosen $20\mathrm{m}{\mathrm{s}}^{-1}$ wave speed. One is motion of string material; the other is propagation of the constituent profiles.

The beauty of a standing wave is that motion reveals geometry: fixed nodes of a standing wave turn a moving disturbance into a spatial ruler. Their separation measures wavelength, and boundary conditions turn the continuous choice of wavenumber into a discrete set of normal modes. This is useful both for interpreting string vibrations and for understanding how a bounded wave equation selects its eigenfrequencies.

A stationary mode shape does not imply absence of energy. Write $A=2a$ and $y=A\sin (kx)\cos (\omega t)$. For the ideal wave equation on a string, the kinetic energy and elastic potential energy per unit reference length add toHere $P$ is signed power crossing a position on the string, positive to the right; $e$ is an energy density per length, not per volume. Differentiation and $\mu y_{tt}=\tau y_{xx}$ give the local conservation of energy identity ${\partial }_{t}e+{\partial }_{x}P=0$. Substitution into $P$ givesIt can be nonzero away from a node of a standing wave or an antinode, but its time average over an oscillation period is zero. Energy flows locally back and forth even though this pure standing wave transports no net energy across a section over a complete cycle. At a node of a standing wave, $y_t=0$, so kinetic energy density is zero, but $y_x$ need not vanish: elastic potential energy density can be positive there.

For a fixed-end normal mode, integration over $0\le x\le L$ givesThe last equality uses $\tau k^2=\mu {\omega }^2$. At a straight-string snapshot, $U=0$ while $K=E$; at an extreme snapshot, $K=0$ while $U=E$. This is normal-mode energy exchange. A driven real string with damping requires continuing input power to replace lost energy, so a visually stationary pattern does not establish zero average supplied power.

Consider a straight chain with a fixed wall, spring constants $k_1,k_2,k_3>0$, and consecutive point masses $m_1,m_2,m_3>0$, with the third mass freely ending the chain. Displacements are measured from equilibrium. If the middle mass stays at equilibrium, the two adjacent spring forces must cancel: $k_2{q}_1+k_3{q}_3=0$. The outer equations of motion then reduce to $m_1{\ddot{q}}_1=-(k_1+k_2)q_1$ and $m_3{\ddot{q}}_3=-k_3{q}_3$.

A nonzero oscillatory normal mode with $q_2=0$ therefore exists exactly when the two outer squared angular frequencies agree, as displayed. Its mode shape is proportional to $(1,0,-k_2/k_3)$ and its frequency does not depend on $m_2$. Appropriate initial displacements and velocities confined to this shape keep the middle mass still. For $k_1=2k$, $k_2=k_3=k$, $m_1=3m$, $m_3=m$, the common frequency is $\sqrt{k/m}$ and the outer displacements are equal and opposite.

The wave equation is a second-order linear partial differential equation describing waves with finite propagation speed. In one spatial dimension its homogeneous, constant-coefficient form isHere $x$ is position, $t$ is time, $u(x,t)$ is the disturbance, and subscripts denote partial derivatives. For a wave equation on a string, $u$ is transverse displacement; in linear acoustics, it can be a pressure perturbation. In several spatial dimensions, $u_{xx}$ becomes the Laplacian $\Delta u$. The same mathematical structure connects vibrating strings and acoustic waves, although their physical assumptions and wave speeds differ. ^[ref]

For the whole-line Cauchy problem, prescribe both displacement $u(x,0)=f(x)$ and velocity $u_t(x,0)=g(x)$. A classical solution has continuous partial derivatives through order two; $f\in C^2(\mathbb{R})$ and $g\in C^1(\mathbb{R})$ suffice for D'Alembert's formula to produce one. A finite string additionally needs boundary conditions. These statements concern the unforced model with constant $c$; damping, spatially varying coefficients and nonlinear terms change the solution formula.

A travelling wave $F(x-ct)$ carries its entire profile to the right at wave speed $c$; $G(x+ct)$ travels left. Their sum is again a solution by the superposition principle. A standing wave instead has a fixed mode shape whose size and sign oscillate: in $\sin (kx)\cos (ckt)$, each node of a standing wave stays stationary. The distinction is especially clear in the pulse and string diagrams below. For this ideal model, the dispersion relation is ${\omega }^2=c^2{k}^2$: each propagation branch is nondispersive, so a localized profile translates without spreading. This makes the equation a useful reference against which to understand wave dispersion and damping.

The appealing combination is local interaction with global predictability: neighbouring displacements determine acceleration through $u_{xx}$, yet D'Alembert's formula explicitly identifies exactly which initial locations can influence a later observation. Finite propagation speed turns that observation into a domain of dependence, rather than requiring knowledge of the entire initial string.