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We study the dispersion of Kelvin waves propagating along single- and half-quantum vortices in miscible two-component Bose-Einstein condensates based on the analysis of the Bogoloubov-de Genne equation. With the help of the interpolating formula connecting the dispersion relations at low- and high-wavenumber regime, we reveal the nontrivial dependence of the dispersion relation of the Kelvin waves on the intercomponent interaction through the change of the vortex core size of the vortical component. We also find the splitting of the Kelvin mode dispersion into gapless and gapfull branches when both components have overlapping single-quantized vortices.

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