We theoretically investigate quadrupolar collective excitations in two-component Bose-Einstein condensates and their nonlinear dynamics associated with harmonic generation and mode coupling. Under the Thomas-Fermi approximation and the quadratic polynomial ansatz for density fluctuations, the linear analysis of the superfluid hydrodynamic equations predicts excitation frequencies of three normal modes constituted from monopole and quadrupole oscillations, and those of three scissors modes. We obtain analytically the resonance conditions for the second harmonic generation in terms of the trap aspect ratio and the strength of intercomponent interaction. The numerical simulation of the coupled Gross-Pitaevskii equations vindicates the validity of the analytical results and reveals the dynamics of the second harmonic generation and nonlinear mode coupling that lead to nonlinear oscillations of the condensate with damping and recurrence reminiscent of the Fermi-Pasta-Ulam problem.
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