Electromagnetic energy can be related to it's frequency via $E=h\nu$. Is there a comparable relationship between gravitational wave energy and frequency?
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Yes, it is $E=h\nu$, too. This relation is totally universal across the world of quantum mechanical theories. It holds for photons, gravitons, electrons, Higgs bosons, or any other particle. It's because of the very general Schrödinger equation that says $$ i\hbar \frac{d}{dt} |\psi\rangle = H | \psi \rangle $$ The operator on the left hand side adds $\hbar\omega = h\nu$, the operator (Hamiltonian) on the right hand side adds $E$ if the state $|\psi\rangle$ is an energy eigenstate. |
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Yes, the frequency of the gravitational waves is generally twice the orbital frequency of the binary pair. You can use normal Newtonian gravity to get a good estimate of the properties of a given orbit.
Because the frequency of the gravitational wave (during the slow decay of a binary orbit) is simply given by the orbit of the bodies, the spectrum of expected gravitational waves is given by the expected populations of astrophysical objects of various masses.
This question is a bit subtle. We don't ever need to talk about gravitons when talking about gravitational waves--we don't have a quantum mechanical theory of gravity--so the equivalent formula is mostly irrelevant. Here I'll quote Sean Carroll (from Chapter 6 of his Lecture notes on General Relativity):
Further reading
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