On the edge of complexity: The simplest not simple coupled mechanical system

Abstract: We show that during normal modes of an oscillatory system consisting of a hoop and a cylinder joining their centers by an ideal spring, its central mass does not remain at rest. This effect is due to the resultant external static friction forces acting on the system which disappears when the coupled rigid bodies have the same moment of inertia. However, in case of different moment of inertia by proper positioning the two fixed end points of the spring vertically, it is shown that the central mass of the system remains at rest. The equation of motion of the coupled system is derived using dynamic equations, Lagrange's equations, Hamilton's equations and even by applying the conservation laws of energy and angular momentum. The relationship between the static friction forces acting on the rigid bodies is also examined.