  We examine the time-dependent dynamics of ion crystals in radiofrequency
traps. The problem of stable trapping of general three-dimensional crystals is
considered and the validity of the pseudopotential approximation is discussed.
We derive analytically the micromotion amplitude of the ions, rigorously
proving well-known experimental observations. We use a method of infinite
determinants to find the modes which diagonalize the linearized time-dependent
dynamical problem. This allows obtaining explicitly the ('Floquet-Lyapunov')
transformation to coordinates of decoupled linear oscillators. We demonstrate
the utility of the method by analyzing the modes of a small `peculiar' crystal
in a linear Paul trap. The calculations can be readily generalized to
multispecies ion crystals in general multipole traps, and time-dependent
quantum wavefunctions of ion oscillations in such traps can be obtained.
