- •Preface
- •Textbook Layout and Design
- •Preliminaries
- •See, Do, Teach
- •Other Conditions for Learning
- •Your Brain and Learning
- •The Method of Three Passes
- •Mathematics
- •Summary
- •Homework for Week 0
- •Summary
- •1.1: Introduction: A Bit of History and Philosophy
- •1.2: Dynamics
- •1.3: Coordinates
- •1.5: Forces
- •1.5.1: The Forces of Nature
- •1.5.2: Force Rules
- •Example 1.6.1: Spring and Mass in Static Force Equilibrium
- •1.7: Simple Motion in One Dimension
- •Example 1.7.1: A Mass Falling from Height H
- •Example 1.7.2: A Constant Force in One Dimension
- •1.7.1: Solving Problems with More Than One Object
- •Example 1.7.4: Braking for Bikes, or Just Breaking Bikes?
- •1.8: Motion in Two Dimensions
- •Example 1.8.1: Trajectory of a Cannonball
- •1.8.2: The Inclined Plane
- •Example 1.8.2: The Inclined Plane
- •1.9: Circular Motion
- •1.9.1: Tangential Velocity
- •1.9.2: Centripetal Acceleration
- •Example 1.9.1: Ball on a String
- •Example 1.9.2: Tether Ball/Conic Pendulum
- •1.9.3: Tangential Acceleration
- •Homework for Week 1
- •Summary
- •2.1: Friction
- •Example 2.1.1: Inclined Plane of Length L with Friction
- •Example 2.1.3: Find The Minimum No-Skid Braking Distance for a Car
- •Example 2.1.4: Car Rounding a Banked Curve with Friction
- •2.2: Drag Forces
- •2.2.1: Stokes, or Laminar Drag
- •2.2.2: Rayleigh, or Turbulent Drag
- •2.2.3: Terminal velocity
- •Example 2.2.1: Falling From a Plane and Surviving
- •2.2.4: Advanced: Solution to Equations of Motion for Turbulent Drag
- •Example 2.2.3: Dropping the Ram
- •2.3.1: Time
- •2.3.2: Space
- •2.4.1: Identifying Inertial Frames
- •Example 2.4.1: Weight in an Elevator
- •Example 2.4.2: Pendulum in a Boxcar
- •2.4.2: Advanced: General Relativity and Accelerating Frames
- •2.5: Just For Fun: Hurricanes
- •Homework for Week 2
- •Week 3: Work and Energy
- •Summary
- •3.1: Work and Kinetic Energy
- •3.1.1: Units of Work and Energy
- •3.1.2: Kinetic Energy
- •3.2: The Work-Kinetic Energy Theorem
- •3.2.1: Derivation I: Rectangle Approximation Summation
- •3.2.2: Derivation II: Calculus-y (Chain Rule) Derivation
- •Example 3.2.1: Pulling a Block
- •Example 3.2.2: Range of a Spring Gun
- •3.3: Conservative Forces: Potential Energy
- •3.3.1: Force from Potential Energy
- •3.3.2: Potential Energy Function for Near-Earth Gravity
- •3.3.3: Springs
- •3.4: Conservation of Mechanical Energy
- •3.4.1: Force, Potential Energy, and Total Mechanical Energy
- •Example 3.4.1: Falling Ball Reprise
- •Example 3.4.2: Block Sliding Down Frictionless Incline Reprise
- •Example 3.4.3: A Simple Pendulum
- •Example 3.4.4: Looping the Loop
- •3.5: Generalized Work-Mechanical Energy Theorem
- •Example 3.5.1: Block Sliding Down a Rough Incline
- •Example 3.5.2: A Spring and Rough Incline
- •3.5.1: Heat and Conservation of Energy
- •3.6: Power
- •Example 3.6.1: Rocket Power
- •3.7: Equilibrium
- •3.7.1: Energy Diagrams: Turning Points and Forbidden Regions
- •Homework for Week 3
- •Summary
- •4.1: Systems of Particles
- •Example 4.1.1: Center of Mass of a Few Discrete Particles
- •4.1.2: Coarse Graining: Continuous Mass Distributions
- •Example 4.1.2: Center of Mass of a Continuous Rod
- •Example 4.1.3: Center of mass of a circular wedge
- •4.2: Momentum
- •4.2.1: The Law of Conservation of Momentum
- •4.3: Impulse
- •Example 4.3.1: Average Force Driving a Golf Ball
- •Example 4.3.2: Force, Impulse and Momentum for Windshield and Bug
- •4.3.1: The Impulse Approximation
- •4.3.2: Impulse, Fluids, and Pressure
- •4.4: Center of Mass Reference Frame
- •4.5: Collisions
- •4.5.1: Momentum Conservation in the Impulse Approximation
- •4.5.2: Elastic Collisions
- •4.5.3: Fully Inelastic Collisions
- •4.5.4: Partially Inelastic Collisions
- •4.6: 1-D Elastic Collisions
- •4.6.1: The Relative Velocity Approach
- •4.6.2: 1D Elastic Collision in the Center of Mass Frame
- •4.7: Elastic Collisions in 2-3 Dimensions
- •4.8: Inelastic Collisions
- •Example 4.8.1: One-dimensional Fully Inelastic Collision (only)
- •Example 4.8.2: Ballistic Pendulum
- •Example 4.8.3: Partially Inelastic Collision
- •4.9: Kinetic Energy in the CM Frame
- •Homework for Week 4
- •Summary
- •5.1: Rotational Coordinates in One Dimension
- •5.2.1: The r-dependence of Torque
- •5.2.2: Summing the Moment of Inertia
- •5.3: The Moment of Inertia
- •Example 5.3.1: The Moment of Inertia of a Rod Pivoted at One End
- •5.3.1: Moment of Inertia of a General Rigid Body
- •Example 5.3.2: Moment of Inertia of a Ring
- •Example 5.3.3: Moment of Inertia of a Disk
- •5.3.2: Table of Useful Moments of Inertia
- •5.4: Torque as a Cross Product
- •Example 5.4.1: Rolling the Spool
- •5.5: Torque and the Center of Gravity
- •Example 5.5.1: The Angular Acceleration of a Hanging Rod
- •Example 5.6.1: A Disk Rolling Down an Incline
- •5.7: Rotational Work and Energy
- •5.7.1: Work Done on a Rigid Object
- •5.7.2: The Rolling Constraint and Work
- •Example 5.7.2: Unrolling Spool
- •Example 5.7.3: A Rolling Ball Loops-the-Loop
- •5.8: The Parallel Axis Theorem
- •Example 5.8.1: Moon Around Earth, Earth Around Sun
- •Example 5.8.2: Moment of Inertia of a Hoop Pivoted on One Side
- •5.9: Perpendicular Axis Theorem
- •Example 5.9.1: Moment of Inertia of Hoop for Planar Axis
- •Homework for Week 5
- •Summary
- •6.1: Vector Torque
- •6.2: Total Torque
- •6.2.1: The Law of Conservation of Angular Momentum
- •Example 6.3.1: Angular Momentum of a Point Mass Moving in a Circle
- •Example 6.3.2: Angular Momentum of a Rod Swinging in a Circle
- •Example 6.3.3: Angular Momentum of a Rotating Disk
- •Example 6.3.4: Angular Momentum of Rod Sweeping out Cone
- •6.4: Angular Momentum Conservation
- •Example 6.4.1: The Spinning Professor
- •6.4.1: Radial Forces and Angular Momentum Conservation
- •Example 6.4.2: Mass Orbits On a String
- •6.5: Collisions
- •Example 6.5.1: Fully Inelastic Collision of Ball of Putty with a Free Rod
- •Example 6.5.2: Fully Inelastic Collision of Ball of Putty with Pivoted Rod
- •6.5.1: More General Collisions
- •Example 6.6.1: Rotating Your Tires
- •6.7: Precession of a Top
- •Homework for Week 6
- •Week 7: Statics
- •Statics Summary
- •7.1: Conditions for Static Equilibrium
- •7.2: Static Equilibrium Problems
- •Example 7.2.1: Balancing a See-Saw
- •Example 7.2.2: Two Saw Horses
- •Example 7.2.3: Hanging a Tavern Sign
- •7.2.1: Equilibrium with a Vector Torque
- •Example 7.2.4: Building a Deck
- •7.3: Tipping
- •Example 7.3.1: Tipping Versus Slipping
- •Example 7.3.2: Tipping While Pushing
- •7.4: Force Couples
- •Example 7.4.1: Rolling the Cylinder Over a Step
- •Homework for Week 7
- •Week 8: Fluids
- •Fluids Summary
- •8.1: General Fluid Properties
- •8.1.1: Pressure
- •8.1.2: Density
- •8.1.3: Compressibility
- •8.1.5: Properties Summary
- •Static Fluids
- •8.1.8: Variation of Pressure in Incompressible Fluids
- •Example 8.1.1: Barometers
- •Example 8.1.2: Variation of Oceanic Pressure with Depth
- •8.1.9: Variation of Pressure in Compressible Fluids
- •Example 8.1.3: Variation of Atmospheric Pressure with Height
- •Example 8.2.1: A Hydraulic Lift
- •8.3: Fluid Displacement and Buoyancy
- •Example 8.3.1: Testing the Crown I
- •Example 8.3.2: Testing the Crown II
- •8.4: Fluid Flow
- •8.4.1: Conservation of Flow
- •Example 8.4.1: Emptying the Iced Tea
- •8.4.3: Fluid Viscosity and Resistance
- •8.4.4: A Brief Note on Turbulence
- •8.5: The Human Circulatory System
- •Example 8.5.1: Atherosclerotic Plaque Partially Occludes a Blood Vessel
- •Example 8.5.2: Aneurisms
- •Homework for Week 8
- •Week 9: Oscillations
- •Oscillation Summary
- •9.1: The Simple Harmonic Oscillator
- •9.1.1: The Archetypical Simple Harmonic Oscillator: A Mass on a Spring
- •9.1.2: The Simple Harmonic Oscillator Solution
- •9.1.3: Plotting the Solution: Relations Involving
- •9.1.4: The Energy of a Mass on a Spring
- •9.2: The Pendulum
- •9.2.1: The Physical Pendulum
- •9.3: Damped Oscillation
- •9.3.1: Properties of the Damped Oscillator
- •Example 9.3.1: Car Shock Absorbers
- •9.4: Damped, Driven Oscillation: Resonance
- •9.4.1: Harmonic Driving Forces
- •9.4.2: Solution to Damped, Driven, Simple Harmonic Oscillator
- •9.5: Elastic Properties of Materials
- •9.5.1: Simple Models for Molecular Bonds
- •9.5.2: The Force Constant
- •9.5.3: A Microscopic Picture of a Solid
- •9.5.4: Shear Forces and the Shear Modulus
- •9.5.5: Deformation and Fracture
- •9.6: Human Bone
- •Example 9.6.1: Scaling of Bones with Animal Size
- •Homework for Week 9
- •Week 10: The Wave Equation
- •Wave Summary
- •10.1: Waves
- •10.2: Waves on a String
- •10.3: Solutions to the Wave Equation
- •10.3.1: An Important Property of Waves: Superposition
- •10.3.2: Arbitrary Waveforms Propagating to the Left or Right
- •10.3.3: Harmonic Waveforms Propagating to the Left or Right
- •10.3.4: Stationary Waves
- •10.5: Energy
- •Homework for Week 10
- •Week 11: Sound
- •Sound Summary
- •11.1: Sound Waves in a Fluid
- •11.2: Sound Wave Solutions
- •11.3: Sound Wave Intensity
- •11.3.1: Sound Displacement and Intensity In Terms of Pressure
- •11.3.2: Sound Pressure and Decibels
- •11.4: Doppler Shift
- •11.4.1: Moving Source
- •11.4.2: Moving Receiver
- •11.4.3: Moving Source and Moving Receiver
- •11.5: Standing Waves in Pipes
- •11.5.1: Pipe Closed at Both Ends
- •11.5.2: Pipe Closed at One End
- •11.5.3: Pipe Open at Both Ends
- •11.6: Beats
- •11.7: Interference and Sound Waves
- •Homework for Week 11
- •Week 12: Gravity
- •Gravity Summary
- •12.1: Cosmological Models
- •12.2.1: Ellipses and Conic Sections
- •12.4: The Gravitational Field
- •12.4.1: Spheres, Shells, General Mass Distributions
- •12.5: Gravitational Potential Energy
- •12.6: Energy Diagrams and Orbits
- •12.7: Escape Velocity, Escape Energy
- •Example 12.7.1: How to Cause an Extinction Event
- •Homework for Week 12
470 Week 11: Sound
We can then write kmL as a series of suitable multiples of π and proceed as before to find the wavelengths and frequencies as a function of the mode index m = 1, 2, 3.... This is left as a (simple) exercise for you.
Alternatively, we could also note that there are pressure nodes at both ends, which makes them like a string fixed at both ends again as far as the pressure wave is concerned. This gives us exactly the same result (for frequencies and wavelengths) as the pipe closed at both ends above, although the pipe open at both ends is probably going to be a bit louder and easier to drive at resonance (how can you “blow” on a closed pipe to get the waves in there in the first place? How can the sound get out?
Either way one will get the same frequencies but the picture of the displacement waves is di erent from the picture of the pressure waves – be sure to draw displacement antinodes at the open ends if you are asked to draw a displacement wave, or vice versa for a pressure wave!
You might try drawing the first 2-3 harmonics on a suitable picture like the first two given above, with displacement antinodes at both ends. What does the principle harmonic look like? Show that the supported frequencies and wavelengths match those of the string fixed at both ends, or pipe closed at both ends.
11.6: Beats
If you have ever played around with a guitar, you’ve probably noticed that if two strings are fingered to be the “same note” but are really slightly out of tune and are struck together, the resulting sound “beats” – it modulates up and down in intensity at a low frequency often in the ballpark of a few cycles per second.
Beats occur because of the superposition principle. We can add any two (or more) solutions to the wave equation and still get a solution to the wave equation, even if the solutions have di erent frequencies. Recall the identity:
sin(A) + sin(B) = 2 sin( |
A + B |
) cos( |
A − B |
) |
(1002) |
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2 |
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If one adds two waves with di erent wave numbers/frequencies and uses this rule, one gets
s(x, t) = |
s0 sin(k0x − ω0t) + s0 sin(k1x − ω1t) |
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(1003) |
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= |
2s |
0 |
sin( |
k0 + k1 |
x |
− |
ω0 + ω1 |
t) cos( |
k0 − k1 |
x |
− |
ω0 − ω1 |
t) |
(1004) |
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2 |
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This describes a wave that has twice the maximum amplitude, the average frequency (the first term), and a second term that (at any point x) oscillates like cos( 2ωt ).
The “frequency” of this second modulating term is f0−f1 , but the ear cannot hear the inversion of
2
phase that occurs when it is negative and the di erence is small. It just hears maximum amplitude in the rapidly oscillating average frequency part, which goes to zero when the slowing varying cosine does, twice per cycle. The ear then hears two beats per cycle, making the “beat frequency”:
fbeat = f = |f0 − f1| |
(1005) |
11.7: Interference and Sound Waves
We will not cover interference and di raction of harmonic sound waves in this course. Beats are a common experience in sound as is the doppler shift, but sound wave interference is not so common
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an experience (although it can definitely and annoyingly occur if you hook up speakers in your stereo out of phase). Interference will be treated next semester in the context of coherent light waves. Just to give you a head start on that, we’ll indicate the basic ideas underlying interference here.
Suppose you have two sources that are at the same frequency and have the same amplitude and phase but are at di erent locations. One source might be a distance x away from you and the other a distance x + x away from you. The waves from these two sources add like:
s(x, t) = |
s0 sin(kx − ωt) + s0 sin(k(x + |
|
x) − ωt) |
(1006) |
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= |
2s0 sin(k(x + |
x |
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x |
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− ωt) cos(k |
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) |
(1007) |
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2 |
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2 |
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The sine part describes a wave with twice the amplitude, the same frequency, but shifted slightly in phase by k x/2. The cosine part is time independent and modulates the first part. For some values of x it can vanish. For others it can have magnitude one.
The intensity of the wave is what our ears hear – they are insensitive to the phase (although certain echolocating species such as bats may be sensitive to phase information as well as frequency). The average intensity is proportional to the wave amplitude squared:
I0 = 12 ρω2s20v
With two sources (and a maximum amplitude of two) we get:
I = |
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1 |
ρω2(22s02 cos2 |
(k |
x |
)v |
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2 |
2 |
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= |
4I0 cos2(k |
x |
) |
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There are two cases of particular interest in this expression. When
cos2(k 2x ) = 1
one has four times the intensity of one source at peak. This occurs when:
k 2x = nπ
(for n = 0, 1, 2...) or
x = nλ
(1008)
(1009)
(1010)
(1011)
(1012)
(1013)
If the path di erence contains an integral number of wavelengths the waves from the two sources arrive in phase, add, and produce sound that has twice the amplitude and four times the intensity. This is called complete constructive interference.
On the other hand, when |
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x |
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cos2(k |
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(1014) |
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2 |
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the sound intensity vanishes. This is called destructive interference. This occurs when |
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k |
x |
= |
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2n + 1 |
π |
(1015) |
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2 |
2 |
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(for n = 0, 1, 2...) or |
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x = |
2n + 1 |
λ |
(1016) |
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2 |
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If the path di erence contains a half integral number of wavelengths, the waves from two sources arrive exactly out of phase, and cancel. The sound intensity vanishes.
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Week 11: Sound |
You can see why this would make hooking your speakers up out of phase a bad idea. If you hook them up out of phase the waves start with a phase di erence of π – one speaker is pushing out while the other is pulling in. If you sit equidistant from the two speakers and then harmonic waves with the same frequency from a single source coming from the two speakers cancel as they reach you (usually not perfectly) and the music sounds very odd indeed, because other parts of the music are not being played equally from the two speakers and don’t cancel.
You can also see that there are many other situations where constructive or destructive interference can occur, both for sound waves and for other waves including water waves, light waves, even waves on strings. Our “standing wave solution” can be rederived as the superposition of a leftand right-travelling harmonic wave, for example. You can have interference from more than one source, it doesn’t have to be just two.
This leads to some really excellent engineering. Ultrasonic probe arrays, radiotelescope arrays, sonar arrays, di raction gratings, holograms, are all examples of interference being put to work. So it is worth it to learn the general idea as early as possible, even if it isn’t assigned.
11.8: The Ear
Figure 139: The anatomy of the human ear.
Figure 139 shows a cross-section of the human ear, our basic transduction device for sound. This is not a biology course, so we will not dwell upon all of the structure visible in this picture, but rather will concentrate on the parts relevant to the physics.
Let’s start with the outer ear. This structure collects sound waves from a larger area than the ear canal per se and reflects them down to the ear canal. You can easily experiment with the kind of amplification that results from this by cupping your hands and holding them immediately behind your ears. You should be able to hear both a qualitative change in the frequencies you are hearing and an e ective amplification of the sounds from in front of you at the expense of sounds originating behind you. Many animals have larger outer ears oriented primarily towards the front, and have muscles that permit them to further alter the direction of most favorable sound collection without turning their heads. Human ears are more nearly omnidirection.
The auditory canal (ear canal in the figure above) acts like a resonant cavity to e ectively amplify frequencies in the 2.5 kHz range and tune energy deliver to the tympanic membrane or
Week 11: Sound |
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eardrum. This membrane is a strong, resilient, tightly stretched structure that can vibrate in response to driving sound waves. It is connected to a collection of small bones (the ossicles) that conduct sound from the eardrum to the inner ear and that constitute the middle ear in the figure above. The common name of the ossicles are: hammer, anvil and stirrup, the latter so named because its shape strongly resembles that of the stirrup on a horse saddle. The anvil e ectively amplifies oscillations by use of the principle of leverage, as a fulcrum attachment causes the stirrup end to vibrate through a much larger amplitude than the hammer end. The stirrup is directly connected to the oval window, the gateway into the inner ear.
The middle ear is connected to the eustachian tube to your throat, permitting pressure inside your middle ear to equalize with ambient air pressure outside. If you pinch your nose, close your mouth, and try to breath out hard, you can actually blow air out through your ears although this is unpleasant and can be dangerous. This is one way your ears equilbrate by “popping” when you ride a car up a hillside or fly in an airplane. If/when this does not happen, pressure di erences across the tympanic membrane reduce its response to ambient sounds reducing auditory acuity.
Figure 140: A cross-section of the spiral structure of the cochlea.
Sound, amplifed by focal concentration in the outer ear, resonance in the auditory canal, and mechanical leverage in the ossicles, enters the cochlea, a shell-shaped spiral that is the primary organ of hearing that transduces sound energy into impulses in our nervous system through the oval window. The cochlea contains hair cells of smoothly varying length lining the narrowing spiral, each of which is resonant to a particular auditory frequency. The arrangement of the cells in a cross-section of the cochlea is shown in figure 140.
The nerves stretching from these cells are collected into the auditory nerve bundle and from thence carries the impulses they give o when they receive sound at the right frequency in to the auditory cortex (not shown) where it becomes, eventually and through a process still not fully understood, our perception of sound. Our brains take this frequency resolved information – the biomechanical equivalent of a fourier transform of the sound signal, in a way – and synthesize it back into a detailed perception of sound and music within the general frequency range of 10 Hz to 20,000 Hz.
As you can see, there are many individual parts that can fail in the human auditory system. Individuals can lose or su er damage to their outer ears through accident or disease. The ear canal can become clogged with cerumen, or earwax, a waxy fluid that normally cleans and lubricates the ear canal and eardrum but that can build up and dry out to both load the tympanic membrane so it becomes less responsive and physically occlude part of the canal so less sound energy can get through. The eardrum itself is vulnerable to sudden changes in sound pressure or physical contact that can puncture it. The middle ear, as a closed, warm, damp cavity connected to the throat, is an ideal breeding ground for certain bacteria that can cause infections and swelling that both interfere with or damage hearing and that can be quite painful. The ossicles are susceptible to physical
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Week 11: Sound |
trauma and infectious damage.
Finally, the hair cells of the cochlea itself, which are safely responsive over at least twelve to fourteen orders of magnitude of transient sound intensity (and safely responsive over eight or nine orders of magnitude of sustained sound intensity) are highly vulnerable to both sudden transient sounds of still higher intensity (e.g. sound levels in the vicinity of 120 to 140 decibels and higher and to sustained excitation at sound levels from roughly 90 decibels and higher. Both disease and medical conditions such as diabetes (that produces a progressive neuropathy) can further contribute to gradual or acute hearing loss at the neurological level.
When hair cells die, they do not regenerate and hearing loss of this sort is thus cumulative over a lifetime. It is therefore a really good idea to wear ear protectors if, for example, you play an instrument in a marching band or a rock and roll band where your hearing is routinely exposed to 100 dB and up sounds. It is also a good reason not to play music too loudly when you are young, however pleasurable it might seem. One is, after all, very probably trading listening to very loud music at age seventeen against listening to music at all at age seventy. Hearing aids do not really fix the problem, although they can help restore enough function for somebody to get by.
However, it is quite possible that over the next few decades the bright and motivated physics students of today will help create the bioelectronic and/or stem cell replacements of key organs and nervous tissue that will relegate age-related deafness to the past. I would certainly wish, as I sit here typing this with eyes and ears that are gradually failing as I age, that whether or not it come in time for me, it comes in time to help you.