We have calculated collective-mode spectra for three-dimensional, rotating Bose-Einstein condensates in oblate harmonic traps using the microscopic Bogoliubov-de Gennes field theory. For condensates with N-v vortices, N-v Kelvin-Tkachenko-mode branches are obtained. The features of these modes are compared with those predicted by a classical point-vortex model. We have created movies to visualize the motion of the vortices corresponding to the Kelvin-Tkachenko waves. DOI: 10.1103/PhysRevA.87.023630
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