The frequency is proportional to 1/sqrt(μ), where μ is the reduced mass - for a diatomic, μ = m1m2/(m1 + m2). So heavier atoms means lower frequency.
Looking at it classically, mass is inertia - a heavier atom responds more sluggishly to a force. The force constant, which depends on the electron distribution, is virtually identical for the two molecules, so the heavier one will vibrate with lower frequency.
Or think about it in terms of energy. An oscillator is constantly interconverting potential and kinetic energy. The maximum potential energy (at the extrema of the oscillation) is equal to the maximum kinetic energy (at the equilibrium point). A heavier oscillator undergoing an oscillation of the same amplitude and frequency as a lighter one would have the same maximum PE but a higher maximum KE, which is not possible. It must slow down, i.e. oscillate at lower frequency.