Chapter 3

Mass-Spring System

3.1. Hooke’s Law

H ooke's law states that the force 𝐹 needed to extend or compress a spring by
some distance 𝑥 from its natural length is proportional to that distance. That is
𝐹𝑛𝑒𝑒𝑑𝑒𝑑 = 𝑘𝑥, where 𝑘 is a constant factor characteristic of the spring itself called
stiffness, see Figure (3.1). As a response to this external force, the spring itself
exerts a reversal force and equal force, called the spring force 𝐹𝑠 due to the
deformation happened in its natural length, see Figure (3.2). This is a restoring
force which is calculated from:

𝐹𝑠 = −𝑘𝑥 (3.1)
 Chaptera3 Mass-Spring System

Hooke's equation holds in many situations where an elastic body is deformed,

such as wind blowing on a tall building, a musician plucking a string of a guitar, and
many others. An elastic body or material for which this equation can be assumed is
said to be linear-elastic or Hookean. Hooke's law is only a first order linear
approximation to the real response of springs and other elastic bodies to external
applied forces. If the deformation (compression or extension) exceeds a certain
limit, the force is no longer linearly proportional to the displacement and the
material is said to be non-linear elastic. On the other hand, Hooke's law is an
accurate approximation for most solid bodies, as long as the forces and deformations
are small enough. For this reason, Hooke's law is extensively used in all branches of
science and engineering, and is the foundation of many disciplines such as
molecular mechanics, acoustics, and others. It is also the fundamental principle
behind the spring scale, the manometer, and the balance wheel of the mechanical
clock.

Figure (3.1) The length of a spring extends a distance 𝒙 under the effect of a weight 𝑾.
It extends to 𝟐𝒙 if double the weight is applied. Under this condition, the spring is said
to be in its elastic region.

As shown in Figure (3.2), if a mass attached to a spring is extended a distance 𝑥 in

the positive direction of the x-axis, the spring applies a force given by Equation (3.1)
on the attached mass in the negative x-direction as indicated by the –ve sign in the

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 Mass-Spring System Chapter 3

equation. In order to understand the motion of the attached mass according to this
force we apply Newton’s second law:

∑ 𝐹 = 𝑚𝑎 (3.2)

Neglecting friction forces, the restoring force of the spring is the only force that
exists in the motion direction, thus we can write

𝑚𝑎 = −𝑘𝑥 (3.3)

Which gives

𝑘 (3.4)
𝑎 = 𝑥̈ = − 𝑥
𝑚
And finally

𝑥̈ = −𝜔𝑜2 𝑥 (3.5)

Note that in this analysis we assume that the spring itself is massless, or
alternatively, its mass is neglected in comparison with the object mass. Equation
(3.5) exactly resembles the relation we derived for the relation between
displacement and acceleration of SHM, Equation (2.17), with

𝑘 (3.6)
𝜔0 = √
𝑚

Figure (3.2) Mass-spring system on a horizontal plane.

This suggests that the mass moves with a SHM with a natural angular frequency 𝜔0 .
It is called “natural” as nothing is affecting the system, and thus the mass-spring

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 Chaptera3 Mass-Spring System

system moves according to its own properties, that is the stiffness of the spring and
mass of the object. Thus, all the equations for position, velocity, and acceleration of
SHM apply to the mass-spring system where the equilibrium position corresponds to
𝑥 = 0.

Choose the correct answer

1) A block on the end of a spring is pulled to position x = A and released. In one full cycle
of its motion, through what total distance does it travel?
A. A/2
B. A
C. 2A
D. 4A

2) An object of mass m is attached to a spring and set into oscillation. The period of the
oscillation is measured and recorded as T. The object of mass m is removed and
replaced with an object of mass 2m. When this object is set into oscillation, the period
of the motion is:
A. 2T .

B. 2T
C. T .

D. T 2 .
E. T/2.

3) In simple harmonic motion, the force is proportional to ……………....

A. amplitude
B. frequency
C. displacement
D. velocity
E. none of the above
Answer: (1-D), (2-B), (3-C).

3.2. Energy of Frictionless Mass-Spring System

Before we derive the equations of energy, we have to get the sense of what is
happening and then see how this is converted into equations. When the spring is
stretched a distance A from its natural length, the external work that was exerted on
the spring is converted into a potential energy stored in the spring in the form of
deformation (elongation in this case) which reveals itself in a tendency to return to

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 Mass-Spring System Chapter 3

its natural length if it is released, see Figure (3.3.a). When the object is released, the
spring shrinks back and the mass starts to move. The stored potential energy is
converted into kinetic energy. When the spring goes to its natural length, there will
be no stored potential energy, and at that time the velocity of the mass is maximum,
and thus the kinetic energy is maximum, Figure (3.3.b). Since there is no loss of
energy during this motion (there is no friction in the system), one expects that the
kinetic energy gained by the object equals the potential energy that was stored in the
spring.
Now, as the object has a kinetic energy, it will continue to move – according
to its inertia – but the spring is compressed in this case. As the spring is getting
compressed, the spring will exert a force in the opposite direction of the motion and
thus slowing down the object. Thus the kinetic energy decreases while the potential
energy stored in the spring increases till the point where the whole kinetic energy is
converted to potential energy where the spring is compressed to its maximum level
(−𝐴) , Figure(3.3.c). In Figure (3.3.d), a general position for the mass is shown.

Figure (3.3) Frictionless mass-spring system, (a) at x=A and v=0, (b) x=0, v=-oA
(moving to the left), (c) x=-A, v=0, (d) at any displacement x with velocity v.

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 Chaptera3 Mass-Spring System

Quantitatively, let us examine the total energy of the system at any time 𝑡.

𝐸𝑇 (𝑡) = 𝐸𝐾𝐸 (𝑡) + 𝐸𝑃𝐸 (𝑡) (3.7)

It is known that the force F can be expressed in terms of the potential energy 𝑈 as
follows:

𝑑𝑈 (3.8)
𝐹=−
𝑑𝑥

The force of a spring is given by

𝐹𝑠 = −𝑘𝑥 (3.9)

so the potential energy of a mass-spring system is given by

𝑥
𝑈𝑠 = ∫ 𝑑𝑈 = ∫ 𝑘𝑥𝑑𝑥 (3.10)
0

1 (3.11)
𝑈𝑠 = 𝑘𝑥 2
2
This is valid whether the mass is oscillating or not. For the oscillating mass, we
have:

1 (3.12)
𝑈(𝑡) = 𝑘𝑥 2 (𝑡)
2
Substituting with 𝑥 (𝑡) = 𝐴 cos(𝜔𝑡 + Φ) we get

1 (3.13)
𝑈(𝑡) = 𝑘𝐴2 𝑐𝑜𝑠 2 (𝜔𝑜 𝑡 + Φ)
2
Similarly, the kinetic energy is given by

1 (3.14)
𝐾 (𝑡) = 𝑚𝑣 2 (𝑡)
2
Substituting with 𝑣 (𝑡) = −𝐴𝜔 sin(𝜔𝑡 + Φ) we get

1 (3.15)
𝐾(𝑡) = 𝑚𝜔02 𝐴2 𝑠𝑖𝑛2 (𝜔𝑜 𝑡 + Φ)
2

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 Mass-Spring System Chapter 3

𝑘
Substituting for 𝜔𝑜 = √𝑚 we get

1 (3.16)
𝐾(𝑡) = 𝑘𝐴2 𝑠𝑖𝑛2 (𝜔𝑜 𝑡 + Φ)
2
Thus the total energy is given by

1 1 (3.17)
𝐸(𝑡) = 𝑚𝑣 2 (𝑡) + 𝑘𝑥 2 (𝑡)
2 2
1 (3.18)
𝐸 (𝑡) = 𝑘𝐴2 [𝑐𝑜𝑠 2 (𝜔𝑜 𝑡 + Φ) + 𝑠𝑖𝑛2 (𝜔𝑜 𝑡 + Φ)]
2
1 (3.19)
𝐸 (𝑡) = 𝑘𝐴2
2
Equation (3.19) reveals an expected result, that in a frictionless system
where there is no energy loss, the total energy of the system is always constant
(conserved). In our case, this energy equals the maximum stored potential energy of
1
the system = 𝑘𝐴2 . Figure (3.4) and Figure (3.5) show plots of the potential energy
2

(Equation (3.13)), kinetic energy (Equation (3.15)), and total energy (Equation
(3.19)) as function of time for the case of initial phase Φ = 0 and Φ = 90𝑜 ,
respectively.

𝐾(𝑡)

𝑈(𝑡)

Figure (3.4) The potential energy, kinetic energy, and total energy as function of time
for the case 𝚽 = 𝟎.

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 Chaptera3 Mass-Spring System

𝑈(𝑡)

𝐾(𝑡)

Figure (3.5) The potential energy, kinetic energy, and total energy as function of time
for the case 𝚽 = 𝟗𝟎𝟎 .

1
Note: When 𝐾 is maximum(= 𝑘𝐴2 ), 𝑈 is minimum (= 0), and vice versa. And at
2

all times the summation of kinetic and potential energies always equals a constant.
Energy is converted from one to the other in an oscillatory fashion.
As function of distance, the potential energy, kinetic energy, and total
energy are plotted in Figure (3.6). The potential energy is maximum at maximum
displacement (𝐴) when velocity is zero (and thus kinetic energy is zero too). The
kinetic energy is maximum when the velocity is maximum at zero displacement
point (at which the potential energy is zero too).

𝑈(𝑥)

𝐾(𝑥)

Figure (3.6) The potential energy, kinetic energy, and total energy as
function of position.

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 Mass-Spring System Chapter 3

Choose the correct answer

1) The amplitude of a system moving with simple harmonic motion is doubled. The total
energy will then be
A. 4 times larger
B. 3 times larger
C. 2 times larger
D. the same as it was
E. half as much

2) A mass spring system undergoes SHM with frequency f. How many times per cycle
does the acceleration become zero?
A. once per cycle
B. twice per cycle
C. f
D. 2f

3) Two mass-spring systems A and B oscillate so that their total energies are equal. If
mA=2mB, then which formula below relates the amplitudes of the oscillations?
A. AA = 0.25AB
B. AA = 0.707AB
C. AA = AB
D. not enough information is given to determine the ratio of the amplitudes
Answer: (1-A), (2-B), (3-D).

A vertical mass-spring system as shown in the figure

does not differ from a horizontal one except that the
mean position (x=0) which is the equilibrium
position is not at the un-stretched length of the
spring. The spring will be stretched by Δℓ to balance
the weight of the attached mass, so that 𝑘Δℓ = 𝑚𝑔.
Any additional extension or compression from this
position will produce oscillation in the same
mathematical form as in the horizontal system.

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 Chaptera3 Mass-Spring System

In some situations, the mass may be

attached to more than one spring. The
figure shows three configurations of such
cases. In these situations, the system can
be reduced to a single equivalent spring
whose spring constant depends on the
configuration itself and the spring constants
of the springs.
In the first configuration shown in the
figure, a displacement 𝑥 in the mass is
equal to the sum of the extensions (or
compressions) in the two springs or
𝑥 = 𝑥1 + 𝑥2
The force on the mass is the same in both
springs. If this force is produced by a single
spring of constant 𝑘𝑒𝑞 , then we have 𝐹 = 𝑘𝑒𝑞 𝑥 = 𝑘1 𝑥1 = 𝑘2 𝑥2 . Substituting in the
𝐹 𝐹 𝐹
last equation we get 𝑘 = 𝑘 + 𝑘 , or:
𝑒𝑞 1 2

1 1 1
= +
𝑘𝑒𝑞 𝑘1 𝑘2
In the other two configurations shown, the displacement of the mass is the same as
the extension or compression in either of the two springs but the force on the mass is
the sum of the forces in the two springs, or
𝐹 = 𝐹1 + 𝐹2
If the same force is produced by a single spring of constant 𝑘𝑒𝑞 then the above
equation is expressed in terms of the spring constants as 𝑘𝑒𝑞 𝑥 = 𝑘1 𝑥 + 𝑘2 𝑥, or:
𝑘𝑒𝑞 = 𝑘1 + 𝑘2

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 Mass-Spring System Chapter 3

A simple pendulum is another mechanical system

that exhibits periodic motion. It consists of a small
bob of mass m suspended by a light string of length
L fixed at its upper end, as in the shown figure.
When released, the bob swings over the same path,
but is its motion simple harmonic?
Answering this question requires examining the
restoring force that acts on the pendulum. The
pendulum bob moves along a circular arc under the
action of two forces, its weight 𝑚𝑔, and the tension in the string 𝑇. The net force in
the tangential direction 𝐹𝑡 = −𝑚𝑔 sin 𝜃 is related to the tangential acceleration by
𝐹𝑡 = 𝑚𝑎𝑡 . So that;
𝑎𝑡 = −𝑔 sin 𝜃
but from the study of circular motion we have
𝑎𝑡 = 𝑟𝛼 = 𝐿𝛼 = 𝐿𝜃̈
The above two equations give
𝑔
𝜃̈ = − sin 𝜃
𝐿
This expression is not of the form 𝑥̈ = −𝜔𝑜2 𝑥 (Equation 3.5), so in general, the
motion of a pendulum is not simple harmonic. For small angles less than about 15
degrees, however, the angle 𝜃 measured in radians and the sine of the angle are
approximately equal. For example, 𝜃 = 10.0° = 0.175 rad, and sin (10.0°) = 0.174.
Therefore, if we restrict the motion to small angles, the approximation sin 𝜃 ≈ 𝜃 is
𝑔
valid, and the last equation can be written as 𝜃̈ = − 𝐿 𝜃 which takes the form of

Equation (3.5). We are justified in saying that a pendulum undergoes simple

harmonic motion only when it swings back and forth at small angles. The angular
frequency is obtained from the last equation as
𝑔
𝜔𝑜 = √
𝐿
The periodic time is

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 Chaptera3 Mass-Spring System

2𝜋 𝐿
𝑇𝑜 = = 2𝜋√
𝜔𝑜 𝑔

This shows that the periodic time is independent of the mass or the amplitude.

Solved Examples
1. A spring (𝑘 = 200 𝑁/𝑚) is fixed at the top of a
frictionless plane inclined at angle 𝜃 = 40𝑜 as shown in
figure. A 1.0 𝑘𝑔 block is projected up the plane from
an initial position that is distance 𝑑 = 0.6 𝑚 from the
end of the relaxed spring with an initial speed of 5.6
m/s. Find the maximum compression distance of the
spring?
Solution:
Applying the law of conservation of mechanical energy
𝑥
on the system and since there is no work done by non-
conservative forces then 𝐸1 = 𝐸2 where 𝐸1 is the
ℎ
mechanical energy at the initial state as shown in the
figure and 𝐸2 is the mechanical energy at the final state
when the spring is compressed its maximum distance
𝑥. The mechanical energy is the sum of the kinetic
energy, the potential energy due to gravity and the potential energy due to the
spring or 𝐸 = 𝐾 + 𝑈𝑔 + 𝑈𝑠 . At the initial state, 𝐾𝑖 = 0.5𝑚𝑣𝑖2 , 𝑈𝑔−𝑖 = 0 (taking
the reference at the initial position), 𝑈𝑠−𝑖 = 0 (the spring is relaxed). At the final
state, 𝐾𝑓 = 0 (the block stops momentarily), 𝑈𝑔−𝑓 = 𝑚𝑔ℎ = 𝑚𝑔(𝑑 + 𝑥) sin 𝜃,
𝑈𝑠−𝑓 = 0.5𝑘𝑥 2 . substituting in 𝐸1 = 𝐸2, we get
0.5𝑚𝑣𝑖2 = 𝑚𝑔(𝑑 + 𝑥) sin 𝜃 + 0.5𝑘𝑥 2
𝑜𝑟 0.5(1)(5.6)5 = 1(9.8)(0.6 + 𝑥) sin 40° + 0.5(200)𝑥 2
Solving for 𝑥 and taking the positive solution, we get; 𝑥 = 0.32 m.

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 Mass-Spring System Chapter 3

2. A 10 𝑘𝑔 block is released from point A as shown in the next figure. The track is
frictionless except for the portion between B and C, which has a length of 6 m.
The block travels down the track, hits a spring of force constant 𝑘 = 2250 𝑁/𝑚,
and compresses the spring 0.3 𝑚 from its equilibrium position before coming to
rest momentarily. Find the friction force between 𝐵 and 𝐶.

Solution:
The work done by friction is the only non-conservative work (𝑊𝑛𝑐 ) in the
transition. Apply the work-mechanical energy relation; 𝑊𝑛𝑐 = Δ𝐸 and use
𝑊𝑛𝑐 = 𝑊𝑓 = −𝐹𝑓 𝑑, where 𝑑 is the distance where friction exists. Hence
−𝐹𝑓 𝑑 = (𝐾𝑓 + 𝑈𝑔−𝑓 + 𝑈𝑠−𝑓 ) − (𝐾𝑖 + 𝑈𝑔−𝑖 + 𝑈𝑠−𝑖 )
−𝐹𝑓 (6) = (0 + 0 + 0.5 × 2250 × 0.32 ) − (0 + 10 × 9.8 × 3 + 0)
Solving we get, 𝐹𝑓 = 32.1 N

3. A 2.00-kg object is attached to an ideal massless horizontal spring of spring

constant 100.0 N/m and is at rest on a frictionless horizontal table. The spring is
aligned along the x-axis and is fixed to a peg in the table. Suddenly this mass is
struck by another 2.00-kg object traveling along the x-axis at 3.00 m/s, and the
two masses stick together. What are the amplitude and period of the oscillations
that result from this collision?
Solution
Consider the system composed of the two masses before and just after the
collision, since no external forces affect this system, its momentum is

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 Chaptera3 Mass-Spring System

conserved. So the system momentum before collision 𝑝𝑏 is equal to the system

momentum after collision 𝑝𝑎 . Before collision, only mass 𝑚1 is moving so 𝑝𝑖 =
𝑚1 𝑣1. After collision, the two masses stick together so 𝑝𝑎 = (𝑚1 + 𝑚2 )𝑣. By
equating these momenta, we can get the speed 𝑣 = 𝑚1 𝑣1 /(𝑚1 + 𝑚2 ) =
2(3)/(2 + 2) = 1.5 m/s which is the initial speed of the oscillatory motion. The
spring is initially in the equilibrium position, so this speed is the maximum
speed of the oscillatory motion given by 𝑣𝑚𝑎𝑥 = 𝜔𝐴. Using 𝜔 = √𝑘/𝑚 =

√100/4 = 5 r/s. The amplitude is 𝐴 = 1.5/5 = 0.3 m. The periodic time is

𝑇 = 2𝜋/𝜔 = 1.26 s.
4. A 0.50-kg object is attached to an ideal massless spring of spring constant 20
N/m along a horizontal, frictionless surface. The object oscillates in simple
harmonic motion and has a speed of 1.5 m/s at the equilibrium position. At what
location are the kinetic energy and the potential energy of the system the same?
Solution:
The kinetic energy 𝐾, and the potential energy 𝑈, are the same at the position
where each of them is half the total mechanical energy 𝐸. Using 𝑈 = 0.5𝑘𝑥 2 ,
2
and 𝐸 = 0.5𝑚𝑣𝑚𝑎𝑥 , then 0.5𝑘𝑥 2 = 0.5(0.5𝑚𝑣𝑚𝑎𝑥
2
). solving for 𝑥, then
2
0.5𝑚𝑣𝑚𝑎𝑥 0.5(0.5)(1.5)2
𝑥=√ 𝑘
=√ 20
= 0.17 m

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