Normal modes of three masses connected by two equal springs

For three collinear masses $m,\mu m,m$, with $m>0$, $\mu >0$, connected consecutively by two springs of stiffness $k>0$ and with free ends, let $x$ denote displacements from an equilibrium. The kinetic energy and potential energy are $T={\dot{x}}^{T}M\dot{x}/2$, $V=x^{T}Kx/2$, whereThe generalized eigenvalue problem for small oscillations $Kv={\omega }^{2}Mv$ hasDirect substitution verifies each pair; the three distinct eigenvalues exhaust the three-dimensional problem. The zero normal mode translates the complete system without extending either spring. The second holds the middle mass fixed while the end masses move oppositely. The third moves the end masses together and the middle mass oppositely, leaving the centre of mass fixed.

For mass-matrix orthogonality of normal modes, the squared norms $v^{T}Mv$ are respectively $m(\mu +2)$, $2m$ and $m(2+4/\mu )$. Dividing each shape by its corresponding square root gives $q_i^{T}M{q}_j={\delta }_{ij}$. The general motion is a linear combination of the two oscillatory modes and $(A+Bt)v_0$; the latter describes free translation with constant velocity.

For end masses $m$, central mass $M$ and two equal springs of stiffness $k$, use the normal modes $v_0=(1,1,1{)}^T$, $v_s=(1,0,-1{)}^T$ and $v_a=(1,-2m/M,1{)}^T$. Their squared frequencies are $0$, ${\omega }_s^2=k/m$ and ${\omega }_a^2=k/m+2k/M$. The prescribed velocity decomposes asThusThe zero mode is a uniform center-of-mass motion, with conserved total momentum $mu$ and velocity $mu/(M+2m)$. The other two modes have fixed centre of mass. Dividing their velocity coefficients by their nonzero frequencies gives the sinusoidal displacement amplitudes; for the zero mode the correct time dependence is linear rather than a bounded sine. This distinguishes translation of the complete system from its internal vibration.