Why does it say my computer is not authorized for apps installed my iPhone?

Why does this happen occasionally?
I just got home and sat down at my computer to work and plugged in my iPhone to charge and I got this nonsense message (and this has happened a few times in the past)
So I clicked on authorize and entered my apple ID. Then it gives me this message that makes me say "Duh!" (I've had this phone for over a year, plugging it into my computer every day, including earlier today just fine)
But the worst thing is that after I click OK on that message, it gives me the first message again!  I'm forced to click on Don't Authorize or go around in an endless circle.
Please tell me what's going on . . . ?

I'm using OS X version 10.10.1
In my phone settings it says Version 8.1.2
Maybe there's some confusion because when I bought this iMac in 2011 the only other Apple device we already owned was my daughter's iPod, and we have plugged it in to this machine. But definitely by the time I got my iPhone in November 2013 I created my own Apple ID. There was great confusion at that time because of having two Apple IDs and I'm still confused.
But right now I have a worse problem so I'll be moving to my other thread (in which I wondered whether it's possible to revert to an older OS).

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