Parametric vibrations of a mechanical system and their stability for an arbitrary modulation coefficient

The natural frequencies and modes of parametric vibrations of a mechanical system are studied, by way of example, for a pendulum of variable length with modulation coefficient varying from arbitrarily small to maximum admissible values. Analytic and numerical methods are used to construct and study the boundaries of the resonance domains for the first four vibration modes, and the main qualitative properties of higher modes are found. The complete degeneration of modes with even numbers, i.e., the coincidence of the frequencies of symmetric and nonsymmetric naturalmodes for admissible values of the modulation parameter, is proved. The global picture of boundaries of stability domains for the lower equilibriumis constructed, and a significant difference from the Ince-Strutt diagram is shown. Specific properties of the natural modes are established.