  The complete low-energy collective-excitation spectrum of vortex lattices is
discussed for rotating Bose-Einstein condensates (BEC) by solving the
Bogoliubov-de Gennes (BdG) equation, yielding, e.g., the Tkachenko mode
recently observed at JILA. The totally symmetric subset of these modes includes
the transverse shear, common longitudinal, and differential longitudinal modes.
We also solve the time-dependent Gross-Pitaevskii (TDGP) equation to simulate
the actual JILA experiment, obtaining the Tkachenko mode and identifying a pair
of breathing modes. Combining both the BdG and TDGP approaches allows one to
unambiguously identify every observed mode.
