Damped Oscillation with Coulomb Friction

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Waves and Sound Advanced Oscillations Friction

Source: Physics Competition - Mechanics

Problem

A mass $m$ on a horizontal surface is attached to two fixed walls by two identical springs, each with spring constant $k$. The coefficient of friction (static and kinetic) is $\mu$. The mass is released from rest at a displacement $x_0$. An "oscillation process" is defined as a half-cycle (e.g., moving from the rightmost to the leftmost point).

  1. How many oscillation processes does the object undergo before stopping?
  2. What is the total time elapsed from release until the object stops?
Problem diagram

Problem diagram

[Q1] $N = \left\lfloor \frac{kx_0}{\mu mg} + \frac{1}{2} \right\rfloor$ [Q2] $t = \left\lfloor \frac{kx_0}{\mu mg} + \frac{1}{2} \right\rfloor \pi\sqrt{\frac{m}{2k}}$

The total spring constant is $K_{eff} = 2k$. The constant friction force has magnitude $f = \mu mg$.

The motion within each half-cycle is SHM about a shifted equilibrium. We can use the work-energy theorem to find the change in amplitude. Over one half-cycle, from a turning point at $x=A_{i}$ to the next at $x=-A_{i+1}$, the work done by friction is $W_f = -f(A_i + A_{i+1})$. The change in spring potential energy is $\Delta E_p = \frac{1}{2}(2k)A_{i+1}^2 - \frac{1}{2}(2k)A_i^2 = k(A_{i+1}-A_i)(A_{i+1}+A_i)$. Equating $W_f = \Delta E_p$ gives $-\mu mg = k(A_{i+1}-A_i)$, so the amplitude decreases by a constant amount $\Delta A = A_i - A_{i+1} = \frac{\mu mg}{k}$ in each half-cycle.

The object stops at a turning point, say after $N$ processes, when the amplitude $A_N$ is small enough that the maximum spring force cannot overcome static friction. The stopping condition is $|F_{sp}| \le f_{s,max}$, which means $2k A_N \le \mu mg$, or $A_N \le \frac{\mu mg}{2k}$. The amplitude after $N$ processes is $A_N = x_0 - N \cdot \Delta A = x_0 - N \frac{\mu mg}{k}$. The object completes $N$ processes and comes to rest if the spring force at $A_N$ is insufficient to start the next half-cycle. This means the condition $2k A_N \le \mu mg$ is met for the first time.

$$2k \left(x_0 - N \frac{\mu mg}{k}\right) \le \mu mg$$ $$2kx_0 - 2N\mu mg \le \mu mg \implies 2N+1 \ge \frac{2kx_0}{\mu mg} \implies N \ge \frac{kx_0}{\mu mg} - \frac{1}{2}$$

Since $N$ must be an integer, the number of completed processes is the smallest integer satisfying this, which can be written as $N = \lfloor \frac{kx_0}{\mu mg} + \frac{1}{2} \rfloor$.

[Q2] The presence of a constant friction force shifts the equilibrium position but does not change the angular frequency of oscillation, $\omega = \sqrt{2k/m}$. The time for each process (half-cycle) is constant:

$$t_{1/2} = \frac{T}{2} = \frac{1}{2}\frac{2\pi}{\omega} = \pi\sqrt{\frac{m}{2k}}$$

The total time is the number of completed processes, $N$, multiplied by the time for one process.

$$t_{total} = N \cdot t_{1/2} = \left\lfloor \frac{kx_0}{\mu mg} + \frac{1}{2} \right\rfloor \pi\sqrt{\frac{m}{2k}}$$