We employ very high resolution simulations of isolated Milky Way-like galaxies to study the effect of triaxial dark matter haloes on exponential stellar discs. Nonadiabatic halo shape changes can trigger two-armed grand-design spiral structures which extend all the way to the edge of the disc. Their pattern speed coincides with the inner Lindblad resonance indicating that they are kinematic density waves which can persist up to several Gyr. In dynamically cold discs, grand-design spirals are swing amplified and after a few Gyr can lead to the formation of (multi-armed) transient recurrent spirals. Stellar discs misaligned to the principal planes of the host triaxial halo develop characteristic integral shaped warps, but otherwise exhibit very similar spiral structures as aligned discs. For the grand-design spirals in our simulations, their strength dependence with radius is determined by the torque on the disc, suggesting that by studying grand-design spirals without bars it may be possible to set constraints on the tidal field and host dark matter halo shape.

Within the standard hierarchical structure formation scenario, Milky Way-mass dark matter haloes have hundreds of dark matter subhaloes with mass 10 8 M . Over the lifetime of a galactic disc a fraction of these may pass close to the central region and interact with the disc. We extract the properties of subhaloes, such as their mass and trajectories, from a realistic cosmological simulation to study their potential effect on stellar discs. We find that massive subhalo impacts can generate disc heating, rings, bars, warps, lopsidedness as wells as spiral structures in the disc. Specifically, strong counter-rotating single-armed spiral structures form each time a massive subhalo passes through the disc. Such single-armed spirals wind up relatively quickly (over 1 − 2 Gyrs) and are generally followed by co-rotating two-armed spiral structures that both develop and wind up more slowly. In our simulations self-gravity in the disc is not very strong and these spiral structures are found to be kinematic density waves. We demonstrate that there is a clear link between each spiral mode in the disc and a given subhalo that caused it, and by changing the mass of the subhalo we can modulate the strength of the spirals. Furthermore, we find that the majority of subhaloes interact with the disc impulsively, such that the strength of spirals generated by subhaloes is proportional to the total torque they exert. We conclude that only a handful of encounters with massive subhaloes is sufficient for re-generating and sustaining spiral structures in discs over their entire lifetime.

Two-armed grand-design spirals may form if the shape of its dark matter halo changes abruptly enough. The feasibility of such a mechanism is tested in realistic simulations. The interplay of such externally-driven spirals and self-induced transient spirals is then studied. Subhaloes are also found to lead to transient grand-design spiral structures when they impact the disk.

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