2.065/2.
066 Acoustics and Sensing
Lecture 1
Massachusetts Institute of Technology
Professor Nicholas Makris
Duality of Space and Time(1D)
Signal propagating in 1D
g(x0 − ct0 ) = g(x1 − ct1 )
= g(x2 − ct2 ) · · ·
c : speed of propagation
Derivation of 1-D Wave Equation
Let s = x − ct
Signal: g(x − ct) = g(s)
Taking space derivatives: Taking time derivatives:
1 −c
∂g(s) dg(s) ∂s dg(s) ∂g(s) dg(s) ∂s dg(s)
= = = = −c
∂x ds ∂x ds ∂t ds ∂t ds
∂ 2 g(s) d2 g(s) ∂ 2 g(s) 2
2 d g(s)
= = c
∂x2 ds2 ∂t2 ds2
∂ 2 g(s) 1 ∂ 2 g(s) 1-D Wave
∂x2
= c2 ∂t2
, where s = x − ct Equation
what happens for s = x + ct ?
Sinusoidal solution of 1-D Wave Equation
1-D Wave ∂ 2 g(x,t) 1 ∂ 2 g(x,t)
Equation ∂x2
= c2 ∂t2
Forward propagating sine wave Back propagating sine wave
Let g(x, t) = A sin (kx − ωt) Let g(x, t) = A sin (kx + ωt)
2π 2π
where c = λf, k ≡ λ and ω ≡ T
∂ 2 g(x, t) ∂ 2 g(x, t)
= −k 2 A sin (kx − ωt) = −k 2 A sin (kx + ωt)
∂x2 ∂x2
∂ 2 g(x, t) ∂ 2 g(x, t)
= −ω 2 A sin (kx − ωt) = −ω 2 A sin (kx + ωt)
∂t2 ∂t2
Wavelength, Period and Standing Wave
Forward propagating sine wave g(x, t) = A sin (kx − ωt)
Standing wave: Sum of forward and back propagating sine waves.
A sin (kx − ωt) + A sin (kx + ωt) = 2A sin (kx) cos (ωt)
Derivation of 1-D Wave Equation for a String
y
y = rsinθ
dy
dr =sinθ
y + ∆y ∆y
y
∆x
r θ
x x + ∆x x
L
T~ = Tx îx + Ty îy Ty (x + ∆x)
111
000 T
T : uniform tension = T cosθîx + T sinθîy 000
111
000
111
θ: small rotation 000
111
000
111
Tx (x + ∆x)
ρ: density Tx (x) 111
000
000
111
A
A: cross sectional area 000
111
000
111
ρA∆x: mass of string of ∆x T Ty (x) ∆x
length
Derivation of 1-D Wave Equation for a String
Newton’s Law: ma = F
∂2y
(ρA∆x) 2 = Ty (x + ∆x) − Ty (x)
∂t
∂2y Ty (x + ∆x) − Ty (x)
⇒ (ρA) 2 =
∂t ∆x
∂Ty (x) ∂T sin θ ∂ sin θ
≈ = =T
∂x ∂x ∂x
∂ sin θ ∂ ∂y ∂ ∂y ∂x ∂ ∂y ∂2y
= = = cos θ ≈
∂x ∂x ∂r ∂x ∂x ∂r ∂x ∂x ∂x2
2
∂ y 2
∂ y
⇒ ρA 2 = T 2
∂t ∂x
1D Wave 1 ∂ 2y ∂ 2y c2 = T
c = λf
Equation c2 ∂t2
= ∂x2 ρA or
Standing Wave Solution
I 1D Wave Equation
1 ∂2y ∂2y
=
c2 ∂t2 ∂x2
I Boundary Conditions
y(0, t) = y(L, t) = 0
I Standing Wave Solutions
P∞
y(x, t) = n=1 An sin(kn x) cos(ωn t + φn )
2π nπ nπ
where kn = λn = L and ωn = L c
Standing Wave Solution
Standing Wave P∞
y(x, t) = n=1 An sin(kn x) cos(ωn t + φn )
Solution
ω
c = λf =
k
ω = 2πf
2π
k=
λ
Modes of oscillation
n = 1 λ1 = 2L c = λ1 f1
f1 = c/λ1 = c/2L
n = 2 λ2 = L c = λ2 f2
f2 = c/λ2 = c/L = 2f1
n = 3 λ3 = 2L/3 c = λ3 f3
f3 = c/λ3 = 3c/2L = 3f1
n = 4 λ4 = L/2 c = λ4 f4
f4 = c/λ4 = 2c/L = 4f1
Diatonic Scale
do re mi fa so la ti do
1st 2nd 3rd 4th 5th 6th 7th octave
C D E F G A B C
9 5 4 3 5 15
1 8 4 3 2 3 8 2
Modern Pitch Convention A = 440 Hz.
String struck by a hammer at x = xp
I 1D Wave Equation
1 ∂2y ∂2y
2 2
=
c ∂t ∂x2
I Boundary Conditions
y(0, t) = y(L, t) = 0
I Initial Conditions
y(x, 0) = 0
∂y(x, 0) µ
= δ(x − xp )
∂t ρA
where µ : total momentum given by hammer
I Solution
∞
P 2µ
y(x, t) = ωn ρAL sin(kn xp ) sin(kn x) sin(ωn t)
n=1
2π nπ nπ
where kn = λn = L and ωn = L c
String plucked at x = xp
I 1D Wave Equation
1 ∂2y ∂2y
=
c2 ∂t2 ∂x2
I Boundary Conditions
y(0, t) = y(L, t) = 0
I Initial Conditions
β
(
xp x x ≤ xp
y(x, 0) = β(L−x)
L−xp x > xp
∂y(x, 0)
=0
∂t
I Solution
∞
P 2β
y(x, t) = kn2 xp (L−xp ) sin(kn xp ) sin(kn x) sin(ωn t)
n=1
2π nπ nπ
where kn = λn = L and ωn = L c
