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Taking the gradient of the quadratic potential energy found in part (ii) resolves the linearized force into identical $x$ and $y$ components:Each component therefore performs simple harmonic motion withThus the angular frequency is

The electric-dipole approximation for radiation requires the source size to be much smaller than the radiation wavelength:The displayed $1/r$ fields also describe the radiation zone, so the observation point must satisfy $r\gg a$ and $r\gg c/\omega$.

Write $t_r=t-r/c$. The given vector potential and the time derivative of the electric dipole moment giveWhen taking the curl, differentiating $1/r$ produces a near-field term of order $r^{-2}$, while differentiating the retarded time produces the leading radiation term because $\nabla t_r=-\hat{\mathbf{x}}/c$. Hence

The assumed electric field $\mathbf{E}=-c\hat{\mathbf{x}}\times \mathbf{B}$ and the transversality $\hat{\mathbf{x}}\cdot \mathbf{B}=0$ make the Poynting vectorOn a sphere of radius $R$, the power through surface element $R^{2}d\Omega$ is thereforeChoose the polar axis along $\ddot{\mathbf{p}}$ and use the angular distribution of electric dipole radiation, for which $|\hat{\mathbf{x}}\times \ddot{\mathbf{p}}{|}^2=|\ddot{\mathbf{p}}{|}^2{\sin }^2\theta$. Since $\int {\sin }^2\theta d\Omega =8\pi /3$,

For the charged particle in simple harmonic motion,ThusHere the angular frequency obeys $\omega =2\pi /T$, and the average uses $⟨{\sin }^2⟩=1/2$. The dipole condition is

Allow the amplitude to vary slowly as radiation removes energy. The mechanical energy isso the radiation damping of a harmonically oscillating charge givesThis is exponential decay with rate $\gamma ={\mu }_0{q}^2{\omega }^2/(6\pi mc)$. Its half-life isFinally, the largest particle speed is $v_{\max }=A\omega$. Therefore the dipole condition $A\omega /c\ll 1$ itself implies $v_{\max }\ll c$, precisely the nonrelativistic limit required by the mechanical energy formula.

For $|z|\ll a$, linearization givesThe leading motion is simple harmonic motion with angular frequencyWith $z(0)=z_0$ and $\dot{z}(0)=0$,and its period is

Writing $\theta =\omega t$ andthe supplied identities giveUsing $A=m\omega /(2\hslash )$ in part (d),The peak executes simple harmonic motion about the origin with angular frequency $\omega$ and amplitude $\sqrt{\hslash /(m\omega )}/\sinh a$.

Equating the two linearized expressions for $p(a,t)-p_{\infty }$ from parts (iii) and (iv) givesThis is the equation of simple harmonic motion. Thus the bubble performs small oscillations with angular frequencyThis is the small oscillation of a planar gas bubble in an annular liquid.

A transformation of phase space is canonical when it preserves the symplectic form, or equivalently all Poisson brackets. For one degree of freedom this isequivalently $\{Q,P{\}}_{q,p}=1$.

Suppose a type-two generating function for a canonical transformation $F(q,P)$ definesThenEquality of the mixed partial derivatives gives $dq\wedge dp=dQ\wedge dP$, so the transformation is canonical wherever it is locally invertible.

Forthe fundamental theorem of calculus and differentiation under the integral sign giveThusand in particular $P=(p^2+q^2)/2$.

For the unit-frequency simple harmonic motion, the transformed Hamiltonian is simply $H=P$. Hamilton's equations becomeThereforeand transformation back gives the familiar solution

Now consider the weak quartic oscillatorChoose the modified generating functionIt givesso the transformed Hamiltonian is again $H=P$. Hence $P=E$ and $Q=t-t_0$. Expanding the square root with the Taylor series givesDifferentiation with respect to $P$ therefore yieldswhere

Set $\theta =t-t_0$ andWriting $q=q_0+ϵq_1+O({ϵ}^2)$ and expanding the inverse sine relation at $q_0$ givesExpanding $p^2=2E-q^2-2ϵq^4$ similarly givesConsequentlySince $\theta =t-t_0$, this is the required expression. The formula is understood away from turning points where $p_0=0$ and the ratio $q/p$ itself is singular.

If $g{f}^{\prime \prime }(a)>{\omega }^2$, defineThe linearized equation is $\ddot{ϵ}+{\nu }^2ϵ=0$, with bounded simple harmonic motionThus the strict stable equilibrium condition isThis is also a sufficient condition for local nonlinear Lyapunov stability. Indeed the equation for the bead on a uniformly rotating wire has the conserved quantityIts derivative is $\dot{r}$ times the governing equation moved to one side, so it vanishes. At $a$, the last two terms have zero first derivative and positive second derivative $g{f}^{\prime \prime }(a)-{\omega }^2$. Their strict local minimum traps sufficiently small perturbations. The motion is bounded rather than asymptotically returning to rest.

Substitute the separated solution $y=e^{-\alpha t}F(t)\sin (nx)$ into the damped wave equation. Its time derivatives givewhereas $y_{xx}=-n^2{e}^{-\alpha t}F\sin (nx)$. ThusThe last two conditions follow from $y(x,0)=0$ and $y_t(x,0)=\sin (nx)$. For $0<\alpha <n$, let $\nu =\sqrt{n^2-{\alpha }^2}>0$. The simple harmonic motion equation has solution of a differential equationThis is an underdamped normal mode: its oscillations have the decaying factor $e^{-\alpha t}$.

Take the pivot as origin, with $x$ horizontal and $y$ vertically upward. For the simple pendulum, putThe velocity and acceleration areThe forces are the tension $-T{\mathbf{e}}_r$ and gravity $(0,-mg)$. Taking the dot product of Newton's second law with ${\mathbf{e}}_{\theta }$ eliminates the tension and givesNear the downward stable equilibrium $\theta =0$, the small-angle approximation $\sin \theta \simeq \theta$ gives $\ddot{\theta }=-(g/\ell )\theta$ to first order. Since $x=\ell \sin \theta \simeq \ell \theta$, its linearization isThis is simple harmonic motion with angular frequency $\sqrt{g/\ell }$; the restoring sign confirms the stable equilibrium.

The small-angle approximation $\sin \theta =\theta +O({\theta }^3)$ reduces ii to $\ddot{\theta }+{\omega }^2\theta =0$, whereThe coefficient is positive, so the solution is simple harmonic motion, $\theta (t)=C\cos \omega t+D\sin \omega t$. Here $\omega$ is the angular frequency; the ordinary frequency and period are

Both instruments regulate a sequence of time intervals with an oscillator. A restoring action opposes displacement, while inertia carries the moving part through equilibrium. Their repeated swings control an escapement, which releases the gear train in steps and supplies enough energy to offset frictional losses.

For a simple pendulum of length $L$,At small amplitude, $\sin \theta \simeq \theta$, giving simple harmonic motion withA real clock pendulum is a physical pendulum. If its pivot moment of inertia is $I_p$ and its centre of gravity is a distance $d$ below the pivot, its small-swing period is $2\pi \sqrt{I_p/(Mgd)}$. Gravity supplies the restoring torque. A controlled swing amplitude and stable dimensions are needed: large swings, thermal expansion and changing effective gravity alter the rate.

A watch's balance wheel turns back and forth about its spindle. A torsion spring supplies an approximately linear restoring torque $-\kappa \varphi$, soThe restoring mechanism is elastic rather than gravitational. This makes the balance-spring system suitable for a portable watch, although disturbances, imperfect balance, changing spring properties and escapement interactions still affect the rate.

Near independence of period from amplitude is isochronism. It is approximate for the simple pendulum: its leading correction is $T/T_0=1+{\theta }_0^2/16+\cdots$ with ${\theta }_0$ in radians. Keeping the oscillations repeatable therefore matters as well as selecting the nominal period.

The magnitude of the gravitational force remains approximately $mg$ during a laboratory swing. Its tangential component changes with position, however. For simple pendulum length $\ell$ and angle $\theta$ measured from the downward vertical,This restoring component is zero at the lowest point and largest in magnitude at the turning points. It always accelerates the bob towards the lowest point. The radial gravitational component is $mg\cos \theta$; the string tension $S$ must additionally supply the centripetal acceleration, so $S-mg\cos \theta =m{v}^2/\ell$. Thus it is the radial resultant, not gravity alone, that bends the trajectory. The bob has maximum speed at the bottom even though its tangential acceleration is then zero.

For a small angular amplitude, the small-angle approximation gives simple harmonic motion with oscillation period $T=2\pi \sqrt{\ell /g}$. Measure $\ell$ from pivot to the bob's centre of mass, time many complete swings, divide the elapsed time by their number, and calculateRepeat with several lengths and plot $T^2$ against $\ell$; the ideal slope is $4{\pi }^2/g$. The first-order relative uncertainty obeys $\delta g/g\simeq \delta \ell /\ell -2\delta T/T$, with absolute uncertainty contributions combined according to their dependence. Keep the amplitude small: the finite-amplitude period is $T=T_0(1+{\theta }_0^2/16+\cdots )$, with ${\theta }_0$ in radians. Using the longer finite-amplitude period in the small-amplitude formula would underestimate $g$. Pivot friction, a finite bob and support motion are further experimental corrections.^[ref]

Let $\theta =0$ place the centre of mass vertically below a horizontal pivot axis. The restoring torque and rotational kinetic energy are $-mgh\sin \theta$ and $I{\dot{\theta }}^2/2$, soFor small angles, $\sin \theta =\theta +O({\theta }^3)$, and the equation reduces to simple harmonic motion. Thus the physical pendulum hasThis assumes negligible friction and a horizontal axis, with $h>0$. For a tilted axis the projected gravitational restoring torque changes; an axis through the centre of mass has no gravitational restoring torque.

Let $x$ be the signed distance from the Earth's centre along the polar tunnel, with $x(0)=r_0$ and $\dot{x}(0)=0$. The shell theorem leaves only the enclosed mass $4\pi \rho |x{|}^3/3$ contributing to the gravitational field. ConsequentlyThis is simple harmonic motion with $\omega =\sqrt{g/r_0}$ and $x=r_0\cos (\omega t)$. Crossing the centre takes a quarter-period; reaching the opposite surface takes a half-period:The body's mass cancels. The polar diameter lies on the rotation axis, so the tunnel motion has no additional centrifugal force or Coriolis force from the Earth's rotation. A realistic radial density profile would change the harmonic equation.

Measure the vertical displacement $x$ downward from the spring's unstretched position. The kinetic energy is $m{\dot{x}}^2/2$, while the spring and gravitational potential energies are $k{x}^2/2$ and $-mgx$. Thus the Lagrangian isApplying the Euler-Lagrange equation, $d(\partial \mathcal{L}/\partial \dot{x})/dt-\partial \mathcal{L}/\partial x=0$, givesGravity shifts the equilibrium to $x_{\ast }=mg/k$. For displacement $\xi =x-x_{\ast }$ from that equilibrium, the equation of motion becomes $\ddot{\xi }+(k/m)\xi =0$, giving simple harmonic motion with angular frequency $\omega =\sqrt{k/m}$. Choosing an upward coordinate instead reverses the gravitational term, but leaves the equilibrium-relative angular frequency unchanged.

For the general Lagrangian just obtained, the Euler-Lagrange equation givesUsing the small-angle approximation $\sin \theta \simeq \theta$, this is simple harmonic motion with ${\omega }_0^2=A/I$. ThusThe endpoint mass cancels in the light-rod limit. A concrete comparison shows why the finite rod cannot silently be included: the same specified endpoint $m$ with $M_r=m$ gives $T=2\pi \sqrt{8l/(9g)}$, distinct from the negligible-rod result. This is a physical pendulum when the rod contributes, and a simple pendulum in the light-rod limit. Both expressions require small oscillation amplitude; the full sine equation remains nonlinear.

Let $x_0$ be the equilibrium, so $V^{\prime }(x_0)=0$. For $\xi =x-x_0$, the Taylor expansion of the potential givesAn ordinary small-amplitude simple harmonic motion therefore requires a nondegenerate local minimum, $V^{\prime \prime }(x_0)>0$, with the quadratic term dominating the higher terms over the excursion. ThenA local minimum with $V^{\prime \prime }(x_0)=0$, such as a quartic minimum, need not give small-amplitude harmonic motion with a nonzero limiting angular frequency. If $V^{\prime \prime }(x_0)<0$, the equilibrium is unstable rather than oscillatory.

Constant azimuth. If $\varphi$ is constant, $\dot{\varphi }=0$ and the motion is a planar simple pendulum:For the small-angle approximation, $\sin \theta \simeq \theta$, giving simple harmonic motion withThe harmonic angular frequency requires small amplitude. At finite libration amplitude ${\theta }_{\max }<\pi$, the exact oscillation period is $4\sqrt{l/g}K(\sin ({\theta }_{\max }/2))$, where $K$ is the complete elliptic integral of the first kind; the nonlinear pendulum does not have the same amplitude-independent period.

Constant polar angle. If $\theta ={\theta }_0$ is nonzero and constant, the bob traces a horizontal circle: this is a conical pendulum. Setting $\ddot{\theta }=0$ and dividing by $\sin {\theta }_0$ givesThe sign distinguishes the two senses of rotation. The exactly downward configuration ${\theta }_0=0$ is stationary; its azimuth is undefined and it must not be obtained by dividing by $\sin {\theta }_0$. A nontrivial constant-angle orbit of this gravity-only system needs $\cos {\theta }_0>0$ even though the supporting rod can also push.

Take the positive coordinate from $O$ toward $S$. The centre of mass of the remaining material has coordinateThus $SX=a+a/6=7a/6$. If $\varphi$ is the small angular displacement from the stable hanging orientation, gravity gives torque $-(3m/4)g(7a/6)\sin \varphi$ about the suspension point. The physical pendulum equation isUsing the small-angle approximation $\sin \varphi \simeq \varphi$ gives simple harmonic motion withBoth the reduced mass and displaced centre of mass matter; changing only the moment of inertia would give an incorrect frequency.

For the elastic pendulum, set $r=l+x>0$ and measure $\theta$ from the downward vertical. In the vertical plane, Cartesian coordinates are $X=r\sin \theta$ and $Z=-r\cos \theta$, with $Z$ upward. Differentiating gives ${\dot{X}}^2+{\dot{Z}}^2={\dot{x}}^2+r^2{\dot{\theta }}^2$. Thus the Lagrangian isFor $x$, the Euler-Lagrange equation givesFor $\theta$, the canonical momentum is $p_{\theta }=m(l+x{)}^2\dot{\theta }$. Its Euler-Lagrange equation isor, for positive length,At an equilibrium, all time derivatives vanish, so $kx=mg\cos \theta$ and $\sin \theta =0$. Modulo full rotations, the two formal possibilities areThe lower configuration always has positive length. The upper one is a physical straight-spring configuration only if $l>mg/k$. For example, $l=mg/(2k)$ would give the purported upper state a negative length $-mg/(2k)$; at $l=mg/k$ its zero length makes the angular coordinate singular. Also, the straight compressed spring is an idealization; a real unsupported compressed spring can buckle.

The potential energy is $V=k{x}^2/2-mg(l+x)\cos \theta$. At either formal stationary point its mixed second derivative vanishes, whileBoth curvatures are positive at the lower state, making it a stable equilibrium; the upper state, when it has positive length, has negative angular curvature and is unstable.

To linearize about the stable state, define the small displacement $\xi =x-mg/k$, not $x$ itself, and $r_0=l+mg/k$. Products such as ${\dot{\theta }}^2$, $\dot{\xi }\dot{\theta }$ and $\xi \ddot{\theta }$ are second order, while $\cos \theta =1+O({\theta }^2)$ and $\sin \theta =\theta +O({\theta }^3)$. The first-order equations of motion therefore decouple:There are two independent normal modes. The radial one is vertical simple harmonic motion with angular frequency ${\omega }_r=\sqrt{k/m}$. The transverse one is a simple pendulum oscillation at fixed, statically stretched length $r_0$, with angular frequency ${\omega }_{\theta }=\sqrt{g/r_0}$. Their decoupling is a first-order small-oscillation result, not an assertion about the nonlinear motion of the elastic pendulum.