AEMC4

4
The Laplace Transform

Exercises 4.1
1

1 st
1 st
{f (t)} =
e dt +
e dt = e
se

s
0
1
0
1

2 s 1
1 s
1 s 1
= e , s>0
= e 0 e
s
s
s
s
s
2
2

4
4
{f (t)} =
4est dt = est = (e2s 1), s > 0
s
s
0
0

1

1

1 st
1 st
1 st
st
st
{f (t)} =
te dt +
e dt = te
2e
se

s
s
0
1
0
1

1
1
1
1
1
= es 2 es 0 2 (0 es ) = 2 (1 es ), s > 0
s
s
s
s
s
1

1
2 st
2 st 1 st
st
{f (t)} =
(2t + 1)e dt = te
2e
e

s
s
s
0
0

2
2 s
2 s 1 s
1
2
1
0 2
= e 2e e
= (1 3es ) + 2 (1 es ), s > 0
s
s
s
s
s
s
s

s
1
{f (t)} =
est sin t 2
est cos t
(sin t)est dt = 2
s +1
s +1
0
0

1
1
1
s
s
0 2
= 0+ 2
+ 1), s > 0
e
= 2
(e
s +1
s +1
s +1

s
1
{f (t)} =
est cos t + 2
est sin t
(cos t)est dt = 2
s +1
s +1
/2
/2

1
1
=0 0+ 2
es/2 = 2
es/2 , s > 0
s +1
s +1

0, 0 < t < 1
f (t) =
t, t > 1

1 st
1 st
1 s
1 s
st
{f (t)} =
te
dt = te
2e
= s e + s2 e , s > 0
s
s
1
1

0,
0<t<1
f (t) =
2t 2, t > 1

1
1 st
2
st
st
{f (t)} = 2
(t 1)e
dt = 2 (t 1)e
2e
= 2 es , s > 0

s
s
s
1
1

1 t, 0 < t < 1
f (t) =
0,
t>0
1

1
1
1
1 st
1 s 1
st
st
{f (t)} =
(1 t)e
dt = (1 t)e
+ 2e
= s2 e + s s2 , s > 0
s
s
0
0
b
b
0, 0 < t < a

c
c
f (t) = c, a < t < b ;
{f (t)} =
cest dt = est = (esa esb ), s > 0
s
s
a
a
0, t > b
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
st
st
165
Exercises 4.1

e7
e7 (1s)t
e7
e
=
, s>1
=0

1s
1s
s1
0
0
0

e5 (s+2)t
e5
{f (t)} =
e2t5 est dt = e5
e(s+2)t dt =
=
e
, s > 2

s+2
s+2
0
0
0

1
1
1
4t st
(4s)t
(4s)t
(4s)t
=
{f (t)} =
te e dt =
te
dt =
e
, s>4
te

2
4
s
(4
s)
(4
s)2
0
0
0

{f (t)} =
t2 e2t est dt =
t2 e(s+2)t dt
0
0

1 2 (s+2)t
2
2
2
(s+2)t
(s+2)t
=
=
te
e
, s > 2
t e

s+2
(s + 2)2
(s + 2)3
(s
+
2)3
0

t
st
{f (t)} =
e (sin t)e dt =
(sin t)e(s+1)t dt
0
0

(s + 1) (s+1)t
1
(s+1)t
=
sin t
cos t
e
e
2
2
(s + 1) + 1
(s + 1) + 1
0
1
1
=
= 2
, s > 1
(s + 1)2 + 1
s + 2s + 2

t
st
{f (t)} =
e (cos t)e dt =
(cos t)e(1s)t dt
0
0

1s
1
(1s)t
(1s)t
=
e
e
cos t +
sin t
2
2
(1 s) + 1
(1 s) + 1
0
1s
s1
=
= 2
, s>1
(1 s)2 + 1
s 2s + 2

{f (t)} =
t(cos t)est dt
11.
12.
13.
14.
15.
16.
17.
{f (t)} =
et+7 est dt = e7
st
s2 1
2
s + 1 (s2 + 1)2
=
=
18.
e(1s)t dt =

(cos t)est +
t
2s
+
s2 + 1 (s2 + 1)2

(sin t)est
0
s2 1
s>0
2 ,
(s2 + 1)

{f (t)} =
t(sin t)est dt
0
t
2s
2
2
s + 1 (s + 1)2
=
=
2s
2
(s2 + 1)

(cos t)e
{2t4 } = 2
21.
{4t 10} =
23.
{t2 + 6t 3} =
25.
{t3 + 3t2 + 3t + 1} =
s2 1
st
+
s2 + 1 (s2 + 1)2

st
(sin t)e
s>0
4!
s5
19.
st
4
10
2
s
s
2
6
3
+ 2
3
s
s
s
3!
2
3
1
+3 3 + 2 +
4
s
s
s
s
5!
s6
20.
{t5 } =
22.
{7t + 3} =
24.
{4t2 + 16t + 9} = 4
26.
{8t3 12t2 + 6t 1} = 8
166
7
3
+
2
s
s
2
16 9
+ 2 +
3
s
s
s
3!
2
6
1
12 3 + 2
4
s
s
s
s
Exercises 4.1
1
1
+
s s4
27.
{1 + e4t } =
29.
{1 + 2e2t + e4t } =
31.
{4t2 5 sin 3t} = 4
33.
35.
36.
37.
38.
5
2
1
+
3
s
s+9 s
28.
{t2 e9t + 5} =
1
2
1
+
+
s s2 s4
30.
{e2t 2 + e2t } =
1
2
1
+
s2 s s+2
2
3
5 2
s3
s +9
32.
{cos 5t + sin 2t} =
s
2
+
s2 + 25 s2 + 4
s
k
34.
{cosh kt} = 2
2
s
k2
k

et et
1 2t 1
1
1
{et sinh t} =
et
=
e
=
2
2
2
2(s 2) 2s

t
t
1
1 1 2t
1
t
t e + e
=
{e cosh t} =
=
+ e
+
e
2
2 2
2s 2(s + 2)

1
2
{sin 2t cos 2t} =
sin 4t = 2
2
s + 16

1 1
1
1 s
2
{cos t} =
+ cos 2t =
+
2 2
2s 2 s2 + 4
{sinh kt} =
s2
39. (a) Using integration by parts for > 0,

( + 1) =
t et dt = t et +
0
(b) Let u = st so that du = s dt. Then

st
{t } =
e t dt =
0
40. (a)
(b)
(c)
{t1/2 } =
(1/2)
=
s1/2
eu
t1 et dt = ().
u 1
1
du = +1 ( + 1),
s
s
s
> 1.
(3/2)
{t } = 3/2 = 3/2
s
2s
(5/2)
3
{t3/2 } = 5/2 = 5/2
s
4s
1/2
41. Identifying f (t) = tn we have f (t) = ntn1 , n = 1, 2, 3, . . . . Then, since f (0) = 0,

n
{tn1 } =
1
s
{1} =
{ntn1 } = s
{tn }
and
{tn } =
n
s
{tn1 }.
1
.
s2
For n = 1,
{t} =
For n = 2,
{t2 } =
2
s
{t} =
For n = 3,
{t3 } =
3
s
{t2 } =
2
.
s3
6
.
s4
42. Let F (t) = t1/3 . Then F (t) is of exponential order, but f (t) = F (t) =
hence is not of exponential order.
167
1 2/3
3t
is unbounded near t = 0 and
Exercises 4.1
2
d
sin et . This function is not of exponential order, but we can show that its Laplace
dt
transform exists. Using integration by parts we have

a

2
2
2
2 a
2
d
{2tet cos et } =
sin et dt = lim est sin et + s
est
est sin et dt
a
dt
0
0
0

st
t2
t2
=s
e
sin e dt = s {sin e }.
2
Let f (t) = 2tet cos et =
0
t2
Since sin e
is continuous and of exponential order,
{sin et } exists, and therefore
{2tet cos et } exists.
43. The relation will be valid when s is greater than the maximum of c1 and c2 .
2
44. Since et is an increasing function and t2 > ln M + ct for M > 0 we have et > eln M +ct = M ect for t suciently
2
large and for any c. Thus, et is not of exponential order.
45. By part (c) of Theorem 4.1
{e(a+ib)t } =
1
(s a) + ib
s a + ib
1
=
=
.
s (a + ib)
(s a) ib (s a) + ib
(s a)2 + b2
By Eulers formula, ei = cos + i sin , so

{e(a+ib)t } =
=
=
{eat eibt }
{eat (cos bt + i sin bt)}
{eat cos bt} + i
{eat sin bt}
sa
b
+i
.
2
2
(s a) + b
(s a)2 + b2
Equating real and imaginary parts we get

{eat cos bt} =
sa
(s a)2 + b2
and
{eat sin bt} =
b
.
(s a)2 + b2
46. We want f (x + y) = f (x) + f (y) or

m(x + y) + b = (mx + b) + (my + b) = m(x + y) + ( + )b
for all real numbers and . Taking = = 1 we see that b = 2b, so b = 0. Thus, f (x) = mx + b will be a
linear transformation when b = 0.
Exercises 4.2

1.
3.
4.
5.
6.

=
1
2
2
s3

=
1 2
t
2

3!
1
1
= t3
4
6
s
6

1
1
48
48 4!
= t 2t4
5 =
s2
s
s2
24 s5

2

2
1
2
4 3!
1
1 5
1
5!
= 4t t3 +
=
4 2 4 +
t
s s3
s
6 s
120 s6
3
120

1
3
(s + 1)3
3 2
1 3!
1
1
=
= 1 + 3t + t2 + t3
+
+
+
3
s4
s
s2
2 s3
6 s4
2
6

(s + 2)2
2
1
1
+
2
+
4
=
= 1 + 4t + 2t2
s3
s
s2
s3

2.
1
s3
1
s4
168
Exercises 4.2

7.
9.
10.
11.
12.
13.
14.
15.
16.
17.
18.
19.
20.
21.
22.
23.
24.
25.

= t 1 + e2t

6
1 1 4!
1
4
1
1
+ 5
=
4 + 5
= 4 + t4 e8t
s s
s+8
s 4 s
s+8
4

1
1
1
1
=
= et/4
4s + 1
4 s + 1/4
4

1
1
1
1
=
= e2t/5
5s 2
5 s 2/5
5

5
5
7
5
=
= sin 7t
s2 + 49
7 s2 + 49
7

10s
= 10 cos 4t
2
s + 16

4s
s
1
=
= cos t
2
2
4s + 1
s + 1/4
2

1
1
1/2
1
1
=
= sin t
4s2 + 1
2 s2 + 1/4
2
2

2s 6
s
3
=
2 2
2 2
= 2 cos 3t 2 sin 3t
s2 + 9
s +9
s +9

s+1
2
2
s
1
2t
+
=
+
=
cos
sin 2 t
2
2
2
s +2
s +2
2
2 s +2

1
1 1 1
1
1 1
=
= e3t
s2 + 3s
3 s 3 s+3
3 3

1 1 5
1
1 5
s+1
=
+
= + e4t
s2 4s
4 s 4 s4
4 4

s
3
1
1
3
1
1
=
+
= et + e3t
s2 + 2s 3
4 s1 4 s+3
4
4

1
1
1
1
1
1
1
=

= e4t e5t
s2 + s 20
9 s4 9 s+5
9
9

0.9s
1
1
=
(0.3)
+ (0.6)
= 0.3e0.1t + 0.6e0.2t
(s 0.1)(s + 0.2)
s 0.1
s + 0.2

3
s3
s
=
3 2
= cosh 3 t 3 sinh 3 t
23
s
s
3
(s 3 )(s + 3 )

s
1
1
1
1
1
1
1
=
+
= e2t e3t + e6t
(s 2)(s 3)(s 6)
2 s2 s3 2 s6
2
2

1 1
1
1
1
5
1
s2 + 1
=

+
s(s 1)(s + 1)(s 2)
2 s s1 3 s+1 6 s2
1
1
5
= et et + e2t
2
3
6

1
1
1 1 1 s
1 1
=
=
= cos 5t
3
2
2
s + 5s
s(s + 5)
5 s 5 s +5
5 5

8.
1
1
1
+
2
s
s s2
169
Exercises 4.2

s
=
(s2 + 4)(s + 2)

2s 4
=
(s2 + s)(s2 + 1)

26.
27.

1
s
1
2
1
1
1
1
1
2
+ 2

= cos 2t + sin 2t e2t
4 s +4 4 s +4 4 s+2
4
4
4

2s 4
3
s
3
4
+
+
=
+
s(s2 + 1)2
s s + 1 s2 + 1 s2 + 1
= 4 + 3et + cos t + 3 sin t

1
3
3
1
1
1
1
2
=
2
= sinh 3 t sin 3 t
4
s 9
6 3 s 3 6 3 s 3
6 3
6 3

s
1
s
1
2
1
1
1
1
1
=
= cos 2t + sin 2t e2t

(s2 + 4)(s + 2)
4 s2 + 4 4 s2 + 4 4 s + 2
4
4
4

6s + 3
s
1
s
1
2
=
2 2
+
2 2

(s2 + 1)(s2 + 4)
s + 1 s2 + 1
s + 4 2 s2 + 4
1
= 2 cos t + sin t 2 cos 2t sin 2t
2
28.
29.
30.
31. The Laplace transform of the dierential equation is

{y} y(0)
s
Solving for
{y} =
1
.
s
{y} we obtain
1
1
{y} = +
.
s s1
Thus
y = 1 + et .
{y} 2y(0) =
2s
Solving for
{y} = 0.
{y} we obtain
{y} =
6
3
=
.
2s + 1
s + 1/2
Thus
y = 3et/2 .
s
Solving for
{y} y(0) + 6
{y} =
1
.
s4
{y} we obtain
{y} =
1
2
1
1
19
1
+
=
.
(s 4)(s + 6) s + 6
10 s 4 10 s + 6
Thus
y=
1 4t 19 6t
e + e .
10
10

s
{y}
{y} =
170
2s
.
s2 + 25
Exercises 4.2
Solving for
{y} we obtain
{y} =
2
1
1
1
s
5
5
=
.
(s 1)(s2 + 25)
13 s 1 13 s2 + 25 13 s2 + 25
Thus
y=
1 t
5
1
e
cos 5t +
sin 5t.
13
13
13

s2
Solving for
{y} sy(0) y (0) + 5 [s
{y} y(0)] + 4
{y} = 0.
{y} we obtain
{y} =
s+5
4 1
1 1
=
.
s2 + 5s + 4
3 s+1 3 s+4
Thus
y=
4 t 1 4t
e e .
3
3

s2
Solving for
{y} sy(0) y (0) 4 [s
{y} y(0)] =
6
3
.
s3 s+1
{y} we obtain
{y} =
=
6
3
s5
+
(s 3)(s2 4s) (s + 1)(s2 4s) s2 4s
5 1
2
3
1
11
1

+
.
2 s s 3 5 s + 1 10 s 4
Thus
y=
5
3
11
2e3t et + e4t .
2
5
10

s2
Solving for
{y} sy(0) +
{y} =
s2
2
.
+2
{y} we obtain
{y} =
2
10s
10s
2
2
+
= 2
+
.
(s2 + 1)(s2 + 2) s2 + 1
s + 1 s2 + 1 s2 + 2
Thus
y = 10 cos t + 2 sin t
2 sin 2 t.

s2
Solving for
{y} + 9
{y} =
1
.
s1
{y} we obtain
{y} =
1
1
1
1
1
1
s
=
2
.
2
(s 1)(s + 9)
10 s 1 10 s + 9 10 s + 9
Thus
y=
1 t
1
1
e
sin 3t
cos 3t.
10
30
10

2 s3 {y} s2 (0) sy (0) y (0) + 3 s2 {y} sy(0) y (0) 3[s
171
{y} y(0)] 2
{y} =
1
.
s+1
Exercises 4.2
Solving for
{y} we obtain
{y} =
2s + 3
1 1
5
1
8
1
1 1
=
+
+
.
(s + 1)(s 1)(2s + 1)(s + 2)
2 s + 1 18 s 1 9 s + 1/2 9 s + 2
Thus
y=
1 t
5
8
1
e + et et/2 + e2t .
2
18
9
9

s3

{y} s2 (0) sy (0) y (0) + 2 s2
Solving for

{y} sy(0) y (0) [s
{y} y(0)] 2
{y} =
s2
{y} we obtain
{y} =
=
s2 + 12
(s 1)(s + 1)(s + 2)(s2 + 9)
13 1
13 1
16 1
3
s
1
3
+
+
.
2
2
60 s 1 20 s + 1 39 s + 2 130 s + 9 65 s + 9
Thus
13 t 13 t 16 2t
1
3
e e + e
cos 3t
sin 3t.
+
60
20
39
130
65
y=
41. For y + 6y = e4t the transfer function is W (s) = 1/(s + 6). The zero-input response is

2
y0 (t) =
= 2e6t ,
s+6
and the zero-state response is

1
y1 (t) =
=
(s 4)(s + 6)
1
1
1
1
10 s + 6 10 s 4

=
1
1 6t
+ e4t .
e
10
10
42. For y 4y = 6e3t 3et the transfer function is W (s) = 1/(s2 4s). The zero-input response is

s5
5 1 1
1
5 1
y0 (t) =
=
= e4t ,
2
s 4s
4 s 4 s4
4 4
and the zero-state response is
y1 (t) =

=
=
3
6
(s 3)(s2 4s) (s + 1)(s2 4s)
27
1
2
5 1 3
1
+
20 s 4 s 3 4 s 5 s + 1
27 4t
5 3
e 2e3t + et .
20
4 5

s
Solving for
{y} +
{y} =
s+3
s+3
= 2
.
2
(s + 3) + 4
s + 6s + 13
{y} we obtain
s+3
1
1
1
s+1
=
2
2
(s + 1)(s + 6s + 13)
4 s + 1 4 s + 6s + 13

1
1
1
s+3
2
=
.
4 s + 1 4 (s + 3)2 + 4 (s + 3)2 + 4
{y} =
172
3
.
+9
Exercises 4.3
Thus
y=

44. Let f (t) = 1 and g(t) =
1,
0,
1 t
1
e e3t cos 2t + e3t sin 2t.
4
4
t 0, t = 1
. Then
t=1
{f (t)} =
{g(t)} = 1, but f (t) = g(t).
Exercises 4.3
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
11.
12.
13.
14.
15.
16.
17.

te10t =
1
(s 10)2

te6t =
1
(s + 6)2

t3 e2t =

t10 e7t =
3!
(s + 2)4
10!
(s + 7)11

2t
2

=
te + 2te3t + te4t =
t et + e2t

e2t (t 1)2 =

et sin 3t =

e2t cos 4t =

t2 e2t 2te2t + e2t =
2
1
1
+
+
(s 2)2
(s 3)2
(s 4)2
2
1
2
+
3
2
(s 2)
(s 2)
s2
3
(s 1)2 + 9
s+2
(s + 2)2 + 16
{(1 et + 3e4t ) cos 5t} =
{cos 5t et cos 5t + 3e4t cos 5t} =
s1
3(s + 4)
s
+
s2 + 25 (s 1)2 + 25 (s + 4)2 + 25

t
t
5
9
4
e3t 9 4t + 10 sin
+
=
9e3t 4te3t + 10e3t sin
=
2
2
s 3 (s 3)2
(s 3)2 + 1/4

1
1
1
2
=
= t2 e2t
(s + 2)3
2 (s + 2)3
2

1
1
3!
1
=
= t3 et
(s 1)4
6 (s 1)4
6

1
1
= e3t sin t
=
s2 6s + 10
(s 3)2 + 12

1
1
2
1
=
= et sin 2t
s2 + 2s + 5
2 (s + 1)2 + 22
2

s
1
(s + 2)
2
= e2t cos t 2e2t sin t
=
s2 + 4s + 5
(s + 2)2 + 12
(s + 2)2 + 12

2s + 5
(s + 3)
5
1
1
= 2e3t cos 5t e3t sin 5t
=
2
s2 + 6s + 34
(s + 3)2 + 52
5 (s + 3)2 + 52
5

s
1
s+11
1
=
=
= et tet
(s + 1)2
(s + 1)2
s + 1 (s + 1)2
173
Exercises 4.3

18.

5s
(s 2)2

10
5(s 2) + 10
5
+
=
= 5e2t + 10te2t
(s 2)2
s 2 (s 2)2

5
3
3
5
1
4
2
= 5 t 5et 4tet t2 et
2
2
3
s s
s + 1 (s + 1)
2 (s + 1)
2

1
3!
2
1
1
= te2t t2 e2t + t3 e2t
+
2
3
4
(s + 2)
(s + 2)
6 (s + 2)
6

2s 1
=
s2 (s + 1)3

(s + 1)2
=
(s + 2)4
19.
20.

s
Solving for
{y} we obtain
{y} y(0) + 4
{y} =
1
.
s+4
1
2
+
. Thus
2
(s + 4)
s+4
{y} =
y = te4t + 2e4t .
s
Solving for
{y}
{y} =
1
1
+
.
s (s 1)2
{y} we obtain
{y} =
1
1
1
1
1
= +
.
+
+
s(s 1) (s 1)3
s s 1 (s 1)3
Thus
1
y = 1 + et + t2 et .
2

s2
Solving for

{y} sy(0) y (0) + 2 s

{y} y(0) +
{y} = 0.
{y} we obtain
{y} =
s+3
2
1
+
=
.
(s + 1)2
s + 1 (s + 1)2
Thus
y = et + 2tet .
{y} sy(0) y (0) 4 [s
s2
{y} y(0)] + 4
{y} =
6
.
(s 2)4
1
1 5 2t
5!
. Thus, y =
t e .
20 (s 2)6
20
Solving for
{y} we obtain
{y} sy(0) y (0) 6 [s
s2
Solving for
{y} =
{y} y(0)] + 9
{y} =
1
.
s2
{y} we obtain
{y} =
1 + s2
2 1 1 1
2
1
10
1
=
.
+
+
3)2
27 s 9 s2
27 s 3
9 (s 3)2
s2 (s
Thus
y=
2
10
1
2
+ t e3t + te3t .
27 9
27
9
174
Exercises 4.3
{y} sy(0) y (0) 4 [s
s2
Solving for
{y} y(0)] + 4
{y} =
6
.
s4
{y} we obtain
{y} =
s5 4s4 + 6
3 1 9 1
3 2
1 3!
1 1
13
1
=
+
+
+
.
+
4
2
2
3
4
s (s 2)
4 s 8 s
4 s
4 s
4 s2
8 (s 2)2
Thus
y=
3 9
1
1
13
3
+ t + t2 + t3 + e2t te2t .
4 8
4
4
4
8

{y} sy(0) y (0) 6 [s
s2
Solving for
{y} = 0.
{y} we obtain
{y} =
s2
Thus
3
3
2
.
=
6s + 13
2 (s 3)2 + 22
3
y = e3t sin 2t.
2

2 s2 {y} sy(0) + 20 s
Solving for
{y} y(0)] + 13

{y} y(0) + 51
{y} = 0.
{y} we obtain
{y} =
4s + 40
2s + 20
2(s + 5)
10
=
=
+
.
2s2 + 20s + 51
(s + 5)2 + 1/2
(s + 5)2 + 1/2 (s + 5)2 + 1/2
Thus
y = 2e5t cos(t/ 2 ) + 10 2 e5t sin(t/ 2 ).

s2
Solving for
{y} sy(0) y (0) [s
{y} y(0)] =
s1
.
(s 1)2 + 1
{y} we obtain
{y} =
s(s2
1
1 1 1
s1
1
1
=
+
.
2
2s + 2)
2 s 2 (s 1) + 1 2 (s 1)2 + 1
Thus
y=
1 1 t
1
e cos t + et sin t.
2 2
2

s2
Solving for
{y} sy(0) y (0) 2 [s
{y} y(0)] + 5
{y} =
1
1
.
+
s s2
{y} we obtain
{y} =
=
4s2 + s + 1
7s/25 + 109/25
7 1 1 1
+
=
+
2s + 5)
25 s 5 s2
s2 2s + 5
s2 (s2
7 1 1 1
s1
2
7
51
+
+
.
25 s 5 s2
25 (s 1)2 + 22
25 (s 1)2 + 22
175
Exercises 4.3
Thus
7
51
1
7
+ t et cos 2t + et sin 2t.
25 5
25
25
y=
31. Taking the Laplace transform of both sides of the dierential equation and letting c = y(0) we obtain
{y } +
2
{y} sy(0) y (0) + 2s

s2
{2y } +
{y} = 0
{y} 2y(0) +
{y} = 0
{y} cs 2 + 2s
{y} 2c +

s2 + 2s + 1
{y} = 0
{y} = cs + 2c + 2
cs
2c + 2
{y} =
+
(s + 1)2
(s + 1)2
=c
=
Therefore,

y(t) = c
1
s+1

+ (c + 2)
1
(s + 1)2
s+11
2c + 2
+
(s + 1)2
(s + 1)2
c
c+2
.
+
s + 1 (s + 1)2
= cet + (c + 2)tet .
To nd c we let y(1) = 2. Then 2 = ce1 + (c + 2)e1 = 2(c + 1)e1 and c = e 1. Thus

y(t) = (e 1)et + (e + 1)tet .
32. Taking the Laplace transform of both sides of the dierential equation and letting c = y (0) we obtain
{y } +
s2
{8y } +
{20y} = 0
{y} y (0) + 8s
{y} + 20
{y} = 0
{y} c + 8s
{y} + 20
{y} = 0
(s2 + 8s + 20)
{y} = c
{y} =
Therefore,

y(t) =
c
(s + 4)2 + 4
c
c
=
.
s2 + 8s + 20
(s + 4)2 + 4
= ce4t sin 2t.
To nd c we let y () = 0. Then 0 = y () = ce4 and c = 0. Thus, y(t) = 0. (Since the dierential equation
is homogeneous and both boundary conditions are 0, we can see immediately that y(t) = 0 is a solution. We
have shown that it is the only solution.)
33. Recall from Chapter 3 that mx = kx x . Now m = W/g = 4/32 = 18 slug, and 4 = 2k so that k = 2 lb/ft.
Thus, the dierential equation is x + 7x + 16x = 0. The initial conditions are x(0) = 3/2 and x (0) = 0.
The Laplace transform of the dierential equation is
s2
Solving for
3
{x} + s + 7s
2
{x} +
{x} we obtain
21
+ 16
2
{x} = 0.
3s/2 21/2
15/2
3
s + 7/2
7 15
{x} = 2
=
.
2
2
2
s + 7s + 16
2 (s + 7/2) + ( 15/2)
10 (s + 7/2) + ( 15/2)2
176
Exercises 4.3
Thus
3 7t/2
15
15
7 15 7t/2
x= e
cos
sin
t
e
t.
2
2
10
2
34. The dierential equation is

d2 q
dq
+ 20 + 200q = 150,
2
dt
dt
The Laplace transform of this equation is
{q} + 20s
s2
Solving for
q(0) = q (0) = 0.
{q} + 200
150
.
s
{q} =
{q} we obtain
{q} =
150
3
3 1 3
s + 10
10
.
=
s(s2 + 20s + 200)

4 s 4 (s + 10)2 + 102
4 (s + 10)2 + 102
Thus
q(t) =
3 3 10t
3
cos 10t e10t sin 10t
e
4 4
4
and
i(t) = q (t) = 15e10t sin 10t.
d2 q
dq
E0
+ 2 + 2 q =
,
dt2
dt
L
{q} + 2s
s2
or
{q} + 2
s2 + 2s + 2
q(0) = q (0) = 0.
{q} =
{q} =
E0 1
L s
E0 1
.
L s
{q} and using partial fractions we obtain

E0 1/ 2
E0 1
(1/ 2 )s + 2/ 2
s + 2
{q} =
=
.
2
L
s
s + 2s + 2
L 2 s s2 + 2s + 2

For > we write s2 + 2s + 2 = (s + )2 2 2 , so (recalling that 2 = 1/LC,)

s+
1
{q} = E0 C
.
s (s + )2 (2 2 ) (s + )2 (2 2 )
Solving for
Thus for > ,
q(t) = E0 C 1 e
cosh

2
2
t
sinh t .
2 2

For < we write s2 + 2s + 2 = (s + )2 + 2 2 , so

1
s+
{q} = E0
.
s (s + )2 + ( 2 2 ) (s + )2 + ( 2 2 )
Thus for < ,
q(t) = E0 C 1 e
cos

2
2
t
sin t .
2 2
For = , s2 + 2 + 2 = (s + )2 and

E0
E0 1/2
1
1/2
1/
1
E0 1
{q} =
=
=
.
L s(s + )2
L
s
s + (s + )2
L2 s s + (s + )2
177
Exercises 4.3
Thus for = ,

q(t) = E0 C 1 et tet .

dq
1
+ q = E0 ekt , q(0) = 0.
dt
C
R
{q} +
1
C
{q} = E0
1
.
s+k
{q} we obtain
Solving for
{q} =
E0 C
E0 /R
=
.
(s + k)(RCs + 1)
(s + k)(s + 1/RC)
When 1/RC = k we have by partial fractions

E0 1/(1/RC k) 1/(1/RC k)
E0
1
1
1
{q} =
.
R
s+k
s + 1/RC
R 1/RC k s + k s + 1/RC
Thus
q(t) =

E0 C kt
et/RC .
e
1 kRC
When 1/RC = k we have

{q} =
E0
1
.
R (s + k)2
Thus
q(t) =
37.
38.
39.
40.
41.
42.
43.
44.
45.
46.

(t 1)
e2t
t
es
(t 1) = 2
s

(t 2) =
e(t2)

(t 2) =

(t 1) = 3
(3t + 1)
cos 2t

sin t
{(t 2)

(t ) =

e2s
(t 2) =
s+1
(t 2) + 2

E0 kt
E0 t/RC
te
te
=
.
R
R
(t 1)
{cos 2(t )
e2s
2e2s
+
s2
s

es
4es
(t 1) = 2 +
s
s
(t 2)} =

(t 1) + 4
(t )} =
ses
s2 + 4

ses
=
cos t
t
= 2
2
2
2
s +1
2s

e
1 2 2s
1
=
= (t 2)2 (t 2)
e
s3
2 s3
2

(1 + e2s )2
1
2e2s
e4s
=
+
+
= e2t + 2e2(t2)
s+2
s+2
s+2
s+2
s
e
= sin(t ) (t )
s2 + 1
s/2

se

= cos 2 t
t
2
s +4
2
2
t
178
(t 2) + e2(t4)
(t 4)
Exercises 4.3

47.

48.
es
s(s + 1)
e2s
2
s (s 1)
49. (c)
55.
56.
57.
58.
59.
60.
61.
62.

es
es
= (t 1) e(t1) (t 1)
s
s+1
2s

e2s
e
e2s
2 +
= (t 2) (t 2)
s
s
s1
=

=
50. (e)
51. (f )
52. (b)
53. (a)
2 4
(t 3) = e3s
s s

1 e4s
e5s
+
1 (t 4) + (t 5) =
s
s
s
2

2
t
(t 1) =
(t 1) + 2t 1
(t 1) =
(t 1)2 + 2(t 1) 1

2
2
1 s
=
e
+ 2+
s3
s
s

3
3
3
se3s/2
sin t
t
=
cos t
t
= 2
2
2
2
s +1

(t 2)
(t 2) + et2
54. (d)
24
tt

(t 2) =
t (t 2)

(t 2) =
sin t sin t

f (t) =

f (t) =
(t 2) 2

1
e2s
2e2s
(t 2) = 2 2
s
s
s

(t 2) =
sin t sin(t 2)
(t a)
eas
ebs
(t b) =
s
s
(t 1) +
(t 2) +
1
e2s
s2 + 1 s2 + 1
es
e2s
e3s
1 es
(t 3) + =
+
+
+ =
s
s
s
s 1 es

{y} y(0) +
s
Solving for
{y} we obtain
{y} =
5 s
e .
s
{y} =

5es
1
1
= 5es
.
s(s + 1)
s s+1
y=5
(t 1) 5e(t1)
Thus
(t 1).

s
Solving for
{y} we obtain
{y} =
{y} y(0) +
{y} =
1 2 s
e .
s s

1
1
2es
1
1
1
=
2es
.
s(s + 1) s(s + 1)
s s+1
s s+1
Thus

y = 1 et 2 1 e(t1)
(t 1).

s

(t 1)
{y} y(0) + 2
{y} =
179
1
s+1
es 2 .
2
s
s
Exercises 4.3
Solving for
{y} we obtain
{y} =

1
1 1
1 1
1 1 1 1
1 1
s s + 1
s 1 1
+
e
=
e
+
.
s2 (s + 2)
s2 (s + 1)
4 s 2 s2
4 s+2
4 s 2 s2
4 s+2

1 1
1 1
1
1
y = + t + e2t
+ (t 1) e2(t1) (t 1).
4 2
4
4 2
4
Thus

{y} sy(0) y (0) + 4
s2
Solving for
{y} =
1 es
.
s
s
{y} we obtain
{y} =

1s
1
1 1 1 s
1 2
1 s
s
s 1 1
e
=
.
s(s2 + 4)
s(s2 + 4)
4 s 4 s2 + 4 2 s2 + 4
4 s 4 s2 + 4
Thus
y=

1 1
1
1 1
cos 2t sin 2t
cos 2(t 1) (t 1).
4 4
2
4 4

{y} sy(0) y (0) + 4
s2
Solving for
{y} we obtain
{y} = e2s
s2
1
.
+1

s
1
1 2
2s 1
{y} = 2
+e
.
s +4
3 s2 + 1 6 s2 + 4

1
1
y = cos 2t +
sin(t 2) sin 2(t 2) (t 2).
3
6
Thus

{y} sy(0) y (0) 5 [s
s2
Solving for
{y} y(0)] + 6
{y} =
es
.
s
{y} we obtain
1
1
+
s(s 2)(s 3) (s 2)(s 3)

1 1 1 1
1 1
1
1
= es
+
.
6 s 2 s2 3 s3
s2 s3
{y} = es
Thus
1 1 2(t1) 1 3(t1)
+ e
e
6 2
3
y=

(t 1) + e3t e2t .

s2
Solving for
{y} sy(0) y (0) +
{y} we obtain
s
{y} = e
{y} =
e2s
es
.
s
s

1
s
s
1
2s 1
2
e
2
+ 2
.
s s +1
s s +1
s +1
Thus
y = [1 cos(t )]
(t ) [1 cos(t 2)]
180
(t 2) + sin t.
Exercises 4.3

{y} sy(0) y (0) + 4 s
s2
Solving for

{y} y(0) + 3
{y} =
1 e2s
e4s
e6s
+
.
s
s
s
s
{y} we obtain
{y} =
Thus
y=

1 1 1 1
1 1 1 1
1 1
1 1
+
e2s
+
3 s 2 s+1 6 s+3
3 s 2 s+1 6 s+3

1 1
1 1
1 1
1 1
4s 1 1
6s 1 1
e
+
+e
+
.
3 s 2 s+1 6 s+3
3 s 2 s+1 6 s+3

1 1 t 1 3t
1 1 (t2) 1 3(t2)
(t 2)
+ e
e + e
e
3 2
6
3 2
6

1 1 (t4) 1 3(t4)
1 1 (t6) 1 3(t6)
(t 4) +
(t 6).
+ e
+ e
e
e
3 2
6
3 2
6
71. Recall from Chapter 3 that mx = kx + f (t). Now m = W/g = 32/32 = 1 slug, and 32 = 2k so that
k = 16 lb/ft. Thus, the dierential equation is x + 16x = f (t). The initial conditions are x(0) = 0, x (0) = 0.
Also, since

20t, 0 t < 5
f (t) =
0,
t5
and 20t = 20(t 5) + 100 we can write
f (t) = 20t 20t
(t 5) = 20t 20(t 5)
(t 5) 100
(t 5).

s2
Solving for
{x} + 16
{x} =
20 20 5s 100 5s
2e
e .
s2
s
s
{x} we obtain
20
100
20
e5s
e5s
s2 (s2 + 16) s2 (s2 + 16)
s(s2 + 16)

4
s
5 1
5
25 1 25
5s
1e

e5s .
=
4 s2
16 s2 + 16
4 s
4 s2 + 16
{x} =
Thus
x(t) =
=

5
5
5
5
25 25
t
sin 4t (t 5)
sin 4(t 5)
(t 5)
cos 4(t 5)
(t 5)
4
16
4
16
4
4
5
5
5
t
sin 4t t
4
16
4
(t 5) +
5
sin 4(t 5)
16
(t 5) +
25
cos 4(t 5)
4
(t 5).
72. Recall from Chapter 3 that mx = kx + f (t). Now m = W/g = 32/32 = 1 slug, and 32 = 2k so that
k = 16 lb/ft. Thus, the dierential equation is x + 16x = f (t). The initial conditions are x(0) = 0, x (0) = 0.
Also, since

f (t) =
sin t, 0 t < 2
0,
t 2
and sin t = sin(t 2) we can write

f (t) = sin t sin(t 2) (t 2).
181
Exercises 4.3
{x} + 16
s2
Solving for
{x} =
s2
1
1
2
e2s .
+1 s +1
{x} we obtain
1
1
e2s
(s2 + 16) (s2 + 1) (s2 + 16) (s2 + 1)

1/15
1/15
1/15
1/15
+ 2
2
+ 2
e2s .
= 2
s + 16 s + 1
s + 16 s + 1
{x} =
Thus
x(t) =

=
1
1
1
sin 4t +
sin t +
sin 4(t 2)
60
15
60
1
60
sin 4t +
1
15
(t 2)
1
sin(t 2)
15
(t 2)
sin t, 0 t < 2
t 2.
0,
2.5
dq
+ 12.5q = 5
dt
(t 3).
{q} + 5
2 3s
e .
s

s
Solving for
{q} =
{q} we obtain
2
{q} =
e3s =
s(s + 5)
Thus
q(t) =
2
5
2 1 2
1

5 s 5 s+5
2
(t 3) e5(t3)
5
e3s .
(t 3).

dq
+ 10q = 30et 30et (t 1.5).
dt
10
s
Solving for
{q} we obtain
{q} =
Thus
q(t) =
{q} q0 +
3
q0
2
3
q0
2
{q} =
3
3e1.5 1.5s
.
e
s 1 s 1.5
1
3
1
+
3e1.5
s+1 2 s1
2/5
2/5
+
s+1
s 1.5

3
6
et + et + e1.5 e(t1.5) e1.5(t1.5)
2
5
(t 1.5).
75. (a) The dierential equation is

di
3
3
+ 10i = sin t + cos t
t
,
dt
2
2
i(0) = 0.

s
{i} + 10
{i} =
1
se3s/2
+
.
s2 + 1
s2 + 1
182
e1.55 .
Exercises 4.3
{i} we obtain
Solving for
1
s
+ 2
e3s/2
+ 1)(s + 10) (s + 1)(s + 10)

1
1
s
10
1
10
10s
1
=
2
+ 2
+
+ 2
+ 2
e3s/2 .
101 s + 10 s + 1 s + 1
101 s + 10 s + 1 s + 1
{i} =
Thus
i(t) =
(s2

1 10t
cos t + 10 sin t
e
101

1
3
3
3
+
10e10(t3/2) + 10 cos t
+ sin t
t
.
101
2
2
2
(b)
0.2
1
-0.2
The maximum value of i(t) is approximately 0.1 at t = 1.7, the minimum is approximately 0.1 at 4.7.
76. (a) The dierential equation is
50
or
dq
1
+
q = E0 [
dt
0.01
(t 1)
(t 3)],
q(0) = 0
dq
+ 100q = E0 [
dt
(t 1)
(t 3)],
q(0) = 0.
50

50s
{q} + 100

{q} = E0

1 s 1 3s
.
e e
s
s
{q} we obtain

E0
1 1
es
e3s
E0 1 1
1
1
{q} =
es
e3s .
50 s(s + 2) s(s + 2)
50 2 s s + 2
2 s s+2
Solving for
Thus
q(t) =
(b)

E0
(t 1) 1 e2(t3)
(t 3) .
1 e2(t1)
100
q
1
4
5
1
2
3
The maximum value of q(t) is approximately 1 at t = 3.

d4 y
= w0 [1 (x L/2)].
dx4
Taking the Laplace transform of both sides and using y(0) = y (0) = 0 we obtain

w0 1
s4 {y} sy (0) y (0) =
1 eLs/2 .
EI s
EI
183
Exercises 4.3
Letting y (0) = c1 and y (0) = c2 we have
{y} =
so that

c1
c2
w0 1
1 eLs/2
+ 4+
3
5
s
s
EI s

4
1
1
1 w0
L
2
3
y(x) = c1 x + c2 x +
x4 x
2
6
24 EI
2
To nd c1 and c2 we compute
2

1 w0
L
2
y (x) = c1 + c2 x +
x x
2 EI
2
L
x
2
L
x
2

.

w0
L
L
x x
x
.
EI
2
2
and
y (x) = c2 +
Then y (L) = y (L) = 0 yields the system
2
1 w0
L
3 w0 L2
2
c1 + c2 L +
= c1 + c2 L +
L
=0
2 EI
2
8 EI
c2 +
w0
EI

L
1 w0 L
= c2 +
= 0.
2
2 EI
Solving for c1 and c2 we obtain c1 = 18 w0 L2 /EI and c2 = 12 w0 L/EI. Thus

4

w0
L
1
1 4
1
1 2 2
L
3
y(x) =
x
L x Lx + x
x
.
EI 16
12
24
24
2
2
d4 y
= w0 [ (x L/3) (x 2L/3)].
dx4

w0 1 Ls/3
s4 {y} sy (0) y (0) =
e2Ls/3 .
e
EI s

c1
c2
w0 1 Ls/3
{y} = 3 + 4 +
e
e2Ls/3
5
s
s
EI s
so that

4

4

1
L
2L
1
1 w0
L
2L
2
3
y(x) = c1 x + c2 x +
x
x
x
x
.
2
6
24 EI
3
3
3
3
EI
1 w0
y (x) = c1 + c2 x +
2 EI
and
y (x) = c2 +
w0
EI
L
x
3
2
L
x
3
2L
x
3
2
2L
x
3

L
L
2L
2L
x
x
x
x
.
3
3
3
3

2
2
1 w0
L
1 w0 L2
2L
c1 + c2 L +
= c1 + c2 L +
=0
2 EI
3
3
6 EI
c2 +
w0
EI

1 w0 L
2L L
= c2 +
= 0.
3
3
3 EI
184
Exercises 4.3
Solving for c1 and c2 we obtain c1 = 16 w0 L2 /EI and c2 = 13 w0 L/EI. Thus

4

4
w0
1 2 2
L
2L
L
1
1
3
y(x) =
L x Lx +
x
x
x
EI 12
18
24
3
3
3
EI

d4 y
2w0 L
L
=
x
+
x
dx4
L
2
2

x
L
2
2L
x
3

.

2w0 L
1 Ls/2
1
4

s
.
{y} sy (0) y (0) =
+ 2e
EIL 2s s2
s
{y} =
so that

c1
c2
2w0
1
1 Ls/2
L
+
+
+
e
s3
s4
EIL 2s5
s6
s6

1
L
L
1
2w0 L 4
1 5
1
2
3
y(x) = c1 x + c2 x +
x
x +
x
x
2
6
EIL 48
120
120
2
2
5

L
1
5L 4
1
w0
L
x
= c1 x2 + c2 x3 +
x x5 + x
.
2
6
60EIL 2
2
2

3
w0
L
y (x) = c1 + c2 x +
30Lx2 20x3 + 20 x
60EIL
2
and

2
w0
L
2
y (x) = c2 +
60Lx 60x + 60 x
60EIL
2
L
x
2
L
x
2

.

w0
5 3
5w0 L2
3
3
c1 + c2 L +
30L 20L + L = c1 + c2 L +
=0
60EIL
2
24EI
w0
w0 L
c2 +
[60L2 60L2 + 15L2 ] = c2 +
= 0.
60EIL
4EI
Solving for c1 and c2 we obtain c1 = w0 L2 /24EI and c2 = w0 L/4EI. Thus

5
w0 L2 2
w0 L
L
w0
5L 4
5
y(x) =
x
+
x x + x
48EI
24EI
60EIL 2
2

d4 y
= w0 [1 (x L/2)].
dx4

w0 1
s4 {y} sy (0) y (0) =
1 eLs/2 .
EI s
EI

{y} =

c1
c2
w0 1
Ls/2
1
e
+
+
s3
s4
EI s5
185
L
x
2

.

.
Exercises 4.3

4
1
1
1 w0
L
2
3
4
y(x) = c1 x + c2 x +
x x
2
6
24 EI
2
so that
L
x
2
2

1 w0
L
2
y (x) = c1 + c2 x +
x x
2 EI
2
L
x
2

.

.
Then y(L) = y (L) = 0 yields the system
4
1
1
1
1 w0
L
1
5w0
2
3
4
= c1 L2 + c2 L3 +
c1 L + c2 L +
L
L4 = 0
2
6
24 EI
2
2
6
128EI
2
1 w0
L
3w0 2
2
c1 + c2 L +
= c1 + c2 L +
L
L = 0.
2 EI
2
8EI
9
57
Solving for c1 and c2 we obtain c1 = 128
w0 L2 /EI and c2 = 128
w0 L/EI. Thus

4

w0
L
19
1 4
1
9 2 2
L
3
y(x) =
x
L x
Lx + x
x
.
EI 256
256
24
24
2
2
{tekti } = 1/(s ki)2 . Then, using Eulers formula,
81. From Theorem 4.6 we have
{tekti } =
{t cos kt + it sin kt} =
{t cos kt} + i
{t sin kt}
1
(s + ki)
s k
2ks
= 2
= 2
+i 2
.
2
2
2
2
2
(s ki)
(s + k )
(s + k )
(s + k 2 )2
2
Equating real and imaginary parts we have

{t cos kt} =
s2 k 2
(s2 + k 2 )2
and
{t sin kt} =
2ks
.
(s2 + k 2 )2

s2
Solving for
{x} we obtain
{x} + 2
{x} =
{x} = s/(s2 + 2 )2 . Thus x = (1/2)t sin t.
Exercises 4.4
1.
2.
3.
4.
5.

s
s2 4
=
2
2
s +4
(s2 + 4)

3
6s
d
=
{t sinh 3t} =
2
2
ds s2 9
(s 9)

1
d2
6s2 + 2
{t2 sinh t} = 2
=
3
ds
s2 1
(s2 1)

2s s2 3
s
d2
d
1 s2
2
=
{t cos t} = 2
=
3
ds
s2 + 1
ds (s2 + 1)2
(s2 + 1)

2t

6
12(s 2)
d
=
te sin 6t =
2
2
ds (s 2) + 36
[(s 2)2 + 36]
{t cos 2t} =
d
ds
s
.
s2 + 2
186
Exercises 4.4
6.
7.
8.
9.
10.
11.
12.
13.
14.
15.
16.
17.
18.
19.

d
s+3
(s + 3)2 9
te3t cos 3t =
=
2
2
ds (s + 3) + 9
[(s + 3)2 + 9]

1 3!
6
1 t3 =
= 5
s s4
s
2

2
t tet = 3
s (s 1)2
t t

s1
e e cos t =
(s + 1) [(s 1)2 + 1]
2t

1
e sin t =
(s 2)(s2 + 1)
t

1
1
{et } =
e d =
s
s(s 1)
0
t

1
s
1
cos d =
{cos t} =
= 2
2 + 1)
s
s(s
s
+1
0
t

1
t
1
s+1
s+1
e cos d =
e cos t =
=
2+1
2 + 2s + 2)
s
s
(s
+
1)
s
(s
0
t

1
d
1
1 2s
1
2
{t sin t} =
=
sin d =
=
2+1
2 + 1)2
2 + 1)2
s
s
ds
s
s
(s
(s
0
t

1
t
e
d = {t} {et } = 2
s
(s
1)
0
t

s
sin cos(t ) d = {sin t} {cos t} =
2
2
(s + 1)
0
t

t

3s2 + 1
d
d 1 1
=
t
sin d =
sin d =
2
2
ds
ds s s + 1
s2 (s2 + 1)
0
0

t

t

3s + 1
d
d 1
1
= 2
t
e d =
e d =
t
2
ds
ds
s
(s
+
1)
s
(s + 1)3
0
0

t
1
1/(s 1)
(a)
e d = et 1
=
=
s(s 1)
s
0

t
1
1/s(s 1)
(b)
(e 1)d = et t 1
=
=
s2 (s 1)
s
0

t
1
1
1/s2 (s 1)
(c)
(e 1)d = et t2 t 1
=
=
s3 (s 1)
s
2
0

{F (s)G(s)} = f g, so identify
20. (a) The result in (4) is
F (s) =
2k 3
(s2 + k 2 )2
and G(s) =
4s
.
s2 + k 2
Then
f (t) = sin kt kt cos kt and g(t) = 4 cos kt
so
8k 3 s
(s2 + k 2 )2

{F (s)G(s)} = f g = 4
=
f ( )g(t )dt
0
(sin k k cos k ) cos k(t )d.
=4
0
187
Exercises 4.4
Using a CAS to evaluate the integral we get

8k 3 s
= t sin kt kt2 cos kt.
(s2 + k 2 )3
(b) Observe from part (a) that

and from Theorem 4.8 that
so
1
21. f (t) =
t
22. f (t) =
1
t
23.
{f (t)} =
24.
{f (t)} =
25.
{f (t)} =
26.
{f (t)} =
27.
{f (t)} =
28.
{f (t)} =

t(sin kt kt cos kt) =
8k 3 s
,
(s2 + k 2 )3

tf (t) = F (s). We saw in (5) that
{sin ktkt cos kt} = 2k 3 /(s2 +k 2 )2 ,

d
8k 3 s
2k 3
t(sin kt kt cos kt) =
= 2
.
2
2
2
ds (s + k )
(s + k 2 )3

d
1
1
1
1
[ln(s 3) ln(s + 1)] =
= e3t et
ds
t
s3 s+1
t

1
d 2
2s
2s
1
= (2 cos t 2 cos 2t)
ln s + 1 ln s2 + 4
=
2
2
2
ds
t
s +1 s +2
t
a

2a
1
1 eas
(1 eas )2
=
est dt
est dt =
2as
2as
1e
s(1 e
)
s(1 + eas )
0
a
a
1
1
est dt =
1 e2as 0
s(1 + eas )

b
1
a st
a 1
1
dt
=
te
1 ebs 0 b
s bs ebs 1
1

2
1
1 es
st
st
te
dt
+
(2
t)e
dt
= 2
2s
1e
s (1 e2s )
0
1

1
1
1
es/2 + es/2
s
st
e
sin
t
dt
=
= 2
coth
s
2
s/2
s/2
1e
s +1 e
s +1
2
e
0

1
1
1
est sin t dt = 2
2s
1e
s + 1 1 es
0

s
Solving for
{y} +
{y} =
(s2
2s
.
+ 1)2
{y} we obtain
{y} =
2s
1 1
s
1 1
1 s
1
=
+ 2
.
+
+
(s + 1)(s2 + 1)2
2 s + 1 2 s2 + 1 2 s2 + 1 (s2 + 1)2
(s + 1)2
Thus
1
y(t) = et
2
1
= et +
2
1
1
1
1
sin t + cos t + (sin t t cos t) + t sin t
2
2
2
2
1
1
1
cos t t cos t + t sin t.
2
2
2

s
{y}
{y} =
2(s 1)
.
((s2 1)2 + 1)2
188
Exercises 4.4
Solving for
{y} we obtain
{y} =
2
.
((s 1)2 + 1)2
Thus
y = et sin t tet cos t.
{y} sy(0) y (0) + 9
s2
Letting y(0) = 2 and y (0) = 5 and solving for

{y} =
{y} =
s2
s
.
+9
{y} we obtain
2s + 5s + 19s 45
2s
5
s
= 2
.
+
+
(s2 + 9)2
s + 9 s2 + 9 (s2 + 9)2
3
Thus
y = 2 cos 3t +
5
1
sin 3t + t sin 3t.
3
6

s2
Solving for
{y} sy(0) y (0) +
{y} =
1
.
s2 + 1
{y} we obtain
{y} =
s3 s2 + s
s
1
1
= 2
.
2
+ 2
2
2
(s + 1)
s + 1 s + 1 (s + 1)2
Thus
y = cos t
1
1
sin t t cos t.
2
2

s2
{y} sy(0) y (0) + 16
or
{y} =
1
s
s
+
2
es
s2 + 16 (s2 + 16)2
(s + 16)2
1
1
1
sin 4t + t sin 4t (t ) sin 4(t ) (t ).
4
8
8

s2
or
(t )}
s
es {cos 4(t + )}
s2 + 16
s
=1+ 2
es {cos 4t}
s + 16
s
s
=1+ 2
es .
s + 16 s2 + 16
Thus
y=
{cos 4t cos 4t
{y} = 1 +
(s2 + 16)
and
{y} =
{y} sy(0) y (0) +

(s2 + 1)
{y} =

1

+ sin t
t
2
2

sin t +
2
1 1 s/2
e
+ es/2
s s
1 1
= s + es/2 + es/2 {cos t}
s s
1 1 s/2
s
=s+ e
es/2 .
+ 2
s s
s +1
{y} = s +
189
Exercises 4.4
Thus
s
s
1
1
es/2
+
es/2 + 2
2
2
+ 1 s(s + 1) s(s + 1)
(s + 1)2

1
s
1
s
s
s
+ 2
2
es/2 + 2
= 2
es/2
s +1 s s +1
s s +1
(s + 1)2

1
s
1
s
=
es/2
2
es/2 + 2
s
s s +1
(s + 1)2
{y} =
and
s2

1

y = 1 1 cos t
t
+
t
sin t
2
2
2
2
2

1

= 1 (1 sin t)
t
+
t
cos t
t
.
2
2
2
2

{y} +
s2
{y} =
1
2s
.
+
(s2 + 1) (s2 + 1)2
Thus
1
2s
+ 2
(s2 + 1)2
(s + 1)3
{y} =
and, using Problem 20,
1
1
(sin t t cos t) + (t sin t t2 cos t).
2
4
y=
36. (a)
y
1
0.5
1
-0.5
-1
(b)
y
4
2
1
-2
-4
37. The Laplace transform of the given equation is

{f } +
Solving for
{f } we obtain
{f } =
{t}
{f } =
{t}.
1
. Thus, f (t) = sin t.
s2 + 1

{f } =
{2t} 4
190
{sin t}
{f }.

2
Exercises 4.4
Solving for
{f } we obtain
2s2 + 2
5
8
2 1
{f } = 2 2
+ 2
=
.
2
s (s + 5)
5 s
5 5 s +5
Thus
2
8
t + sin 5 t.
5
5 5
f (t) =
{f } =
Solving for

tet +
{t}
{f }.
{f } we obtain
{f } =
s2
1 1
3
1
2
1
1 1
=
+
.
+
3
2
3
(s 1) (s + 1)
8 s 1 4 (s 1)
4 (s 1)
8 s+1
Thus
f (t) =
1 t 3 t 1 2 t 1 t
e + te + t e e
8
4
4
8

{f } + 2
Solving for
{cos t}
{f } = 4

et +
{sin t}.
{f } we obtain
{f } =
4s2 + s + 5
4
2
7
=
+4
.
(s + 1)3
s + 1 (s + 1)2
(s + 1)3
Thus
f (t) = 4et 7tet + 4t2 et .
{f } +
Solving for
{f } we obtain
{f } =
{1}
{f } =
{1}.
1
. Thus, f (t) = et .
s+1

{f } =
Solving for
{cos t} +
et
{f }.
{f } we obtain
{f } =
s
1
+
.
s2 + 1 s2 + 1
Thus
f (t) = cos t + sin t.
{f } =
Solving for
{1} +
{t}
8
3
{t3 }
{f }.
{f } we obtain
{f } =
Thus
f (t) = cos
2 t cosh
s2 (s + 1)
s3
s2
= 4
+ 4
.
4
s + 16
s + 16 s + 16
1
2 t + (sin 2 t cosh 2 t + cos 2 t sinh 2 t).
2 2
191
Exercises 4.4
{t} 2
{f } we obtain
Solving for
{f } =
et et
{f }.
s2 1
1 1
1 3!
=
.
2s4
2 s2
12 s4
{f } =
Thus
1
1
t t3 .
2
12
f (t) =
{y} y(0) =
{1}
{sin t}
{1}
{y}.
{f } we obtain
Solving for
{y} =
s3 s2 + s
1
1
2s
= 2
.
+
s(s2 + 1)2
s + 1 2 (s2 + 1)2
Thus
y = sin t
1
t sin t.
2

{y} y(0) + 6
s
{f } we obtain
Solving for
{y} =
{y} + 9
{1}
{y} =
1
. Thus, y = te3t .
(s + 3)2
i
30

0.1
di
1
+ 3i +
dt
0.05
or
di
+ 30i + 200
st

i( )d = 100
(t 1)

(t 2)
0
t
{1}.

i( )d = 1000
20
10

(t 2) ,
(t 1)
0.5 1 1.5 2 2.5 3 t

-10
-20
where i(0) = 0. The Laplace transform of the dierential equation is

s
Solving for
{i} y(0) + 30
{i} +
200
s
{i} we obtain
1000es 1000e2s
{i} =
=
s2 + 30s + 200
Thus

i(t) = 100 e10(t1) e20(t1)
{i} =
-30
1000 s
(e e2s ).
s

100
100
(es e2s ).
s + 10 s + 20

(t 1) 100 e10(t2) e20(t2)
192
(t 2).
Exercises 4.4

di
1
0.005 + i +
dt
0.02
or
di
+ 200i + 10,000
st

i( )d = 100 t (t 1)

(t 1)
1.5

i( )d = 20,000 t (t 1)

(t 1) ,
0.5
where i(0) = 0. The Laplace transform of the dierential equation is

{i} + 200
s
Solving for
{i} we obtain
{i} =
{i} +
10,000
s

1
1
{i} = 20,000 2 2 es .
s
s
0.5
1.5
2 t

20,000
2
2
200
s
(1 es ).
(1
e
)
=
s(s + 100)2
s s + 100 (s + 100)2
Thus
i(t) = 2 2e100t 200te100t 2
(t 1) + 2e100(t1)
(t 1) + 200(t 1)e100(t1)
(t 1).
di
+ i = E(t),
dt
1
0.5
where i(0) = 0. The Laplace transform of this equation is

s
{i} +
{i} =
{E(t)}.
-0.5
From Problem 23 we have
-1
1 es
{E(t)} =
.
s(1 + es )
Thus
(s + 1)
and
{i} =
1 es
s(1 + es )
1 es
1 es
1
=
s
s(s + 1)(1 + e )
s(s + 1) 1 + es

1
1
(1 es )(1 es + e2s e3s + e4s )

=
s s+1

1
1
=
(1 2es + 2e2s 2e3s + 2e4s ).

s s+1
{i} =
Therefore

i(t) = 1 2 (t 1) + 2 (t 2) 2 (t 3) + 2 (t 4)

et + 2e(t1) (t 1) 2e(t2) (t 2)

+ 2e(t3) (t 3) 2e(t4) (t 4) +
= 1 et + 2

(1)n 1 e(tn)
n=1
193
(t n).
Exercises 4.4
i
1
di
+ i = E(t),
dt
0.5
where i(0) = 0. The Laplace transform of this equation is

s
{i} +
{i} =
{E(t)}.
-1
Thus
and
-0.5
From Problem 25 we have

1 1
1 1
1
1
{E(t)} =
= 2
.
s s es 1
s
s es 1
(s + 1)
{i} =
1
1 1
s2
s es 1
1
1
1
s2 (s + 1) s(s + 1) es 1

1
1
1
1
1
1
=
+
s2
s s+1
s s + 1 es 1

s
1
1
1
1
1
=
+
e + e2s + e3s + e4s .

2
s
s s+1
s s+1
{i} =
Therefore

i(t) = t 1 + et ) (1 e(t1)
(t 1) 1 e(t2)
(t 2)

1 e(t3)
(t 3) 1 e(t4)
(t 4)

= t1+e
!

1 e(tn)
(t n).
n=1
51. The dierential equation is x + 2x + 10x = 20f (t), where f (t) is the meander function with a = . Using the
initial conditions x(0) = x (0) = 0 and taking the Laplace transform we obtain
(s2 + 2s + 10)
20
1
(1 es )
s
1 + es
20
=
(1 es )(1 es + e2s e3s + )
s
20
=
(1 2es + 2e2s 2e3s + )
s
20 40 !
=
+
(1)n ens .
s
s n=1
{x(t)} =
Then
{x(t)} =
!
20
40
(1)n ens
+
s(s2 + 2s + 10) s(s2 + 2s + 10) n=1

!
4
2
2s + 4
4s + 8
(1)n
2
+
2
ens
s s + 2s + 10 n=1
s s + 2s + 10

!
2 2(s + 1) + 2
(s + 1) + 1
n 1
(1)
+
4
ens
2+9
s
(s + 1)2 + 9
s
(s
+
1)
n=1
194
Exercises 4.4
and

!
1 t
n
x(t) = 2 1 e cos 3t e sin 3t + 4
(1) 1 e(tn) cos 3(t n)
3
n=1

1 (tn)
e
sin 3(t n)
(t n).
3
The graph of x(t) on the interval [0, 2) is shown below.

x
3
52. The dierential equation is x + 2x + x = 5f (t), where f (t) is the square wave function with a = . Using the
initial conditions x(0) = x (0) = 0 and taking the Laplace transform, we obtain
(s2 + 2s + 1)
Then
5
5
1
= (1 es + e2s e3s + e4s )
s
s 1+e
s
!
5
=
(1)n ens .
s n=0
{x(t)} =

!
!
5
1
1
1
n ns
n
{x(t)} =
ens
(1) e
=5
(1)
2
s(s + 1)2 n=0
s
s
+
1
(s
+
1)
n=0
and
x(t) = 5
(1)n (1 e(tn) (t n)e(tn) )
(t n).
n=0
The graph of x(t) on the interval [0, 4) is shown below.

x
5
53. Let u = t so that du = d and
t

f g =
f ( )g(t ) d =
0
f ( )[g(t ) + h(t )] d =
0
f ( )g(t ) d +
0
195
f ( )h(t ) d
0
f ( )[g(t ) + h(t )] d = f g + f h
f (t u)g(u)du = g f.
54. f (g + h) =
Exercises 4.4
55. (a) The output for the rst three lines of the program are
9y[t] + 6y [t] + y [t] == t sin[t]
2s
(1 + s2 )2

11 4s 22s2 4s3 11s4 2s5
Y
(1 + s2 )2 (9 + 6s + s2 )
1 2s + 9Y + s2 Y + 6(2 + sY ) ==
The fourth line is the same as the third line with Y removed. The nal line of output shows a solution
involving complex coecients of eit and eit . To get the solution in more standard form write the last line
as two lines:
euler = {E(I t) -> Cos[t] + I Sin[t], E(-I t) -> Cos[t] - I Sin[t]}
InverseLaplaceTransform[Y,s,t]/.euler//Expand
We see that the solution is

487 247
1
y(t) =
+
t e3t +
(13 cos t 15t cos t 9 sin t + 20t sin t) .
250
50
250
(b) The solution is
1
1
y(t) = et et/2 cos 15 t
6
6
3/5 t/2
sin 15 t.
e
6
(c) The solution is

q(t) = 1 cos t + (6 6 cos t)
(t 3) (4 + 4 cos t)
5
t
Exercises 4.5
1. The Laplace transform of the dierential equation yields
{y} =
1 2s
e
s3
so that
y = e3(t2)
(t 2).

{y} =
2
es
+
s+1 s+1
so that
y = 2et + e(t1)
(t 1).

{y} =

1
1 + e2s
s2 + 1
196
(t ).
Exercises 4.5
so that
y = sin t + sin t
(t 2).

{y} =
so that
y=
1
4
e2s
2
4 s + 16
1
sin 4(t 2)
4
(t 2).

1 s/2
{y} = 2
+ e3s/2
e
s +1

3
3
y = sin t
t
+ sin t
t
2
2
2
2

= cos t
t
+ cos t
t
.
2
2
so that

{y} =
s2
s
1
+ 2
(e2s + e4s )
+1 s +1
so that
(t 2) +
y = cos t + sin t[
(t 4)].

1
1 1 1 1
s
{y} = 2
(1 + e ) =
(1 + es )
s + 2s
2 s 2 s+2

1 1 2t
1 1 2(t1)
y= e
(t 1).
+
e
2 2
2 2
so that

{y} =

s+1
3 1
1 1
1
3 1 1 1
1 1 2s
2s
=
+
+
e
e
s2 (s 2) s(s 2)
4 s 2 4 s 2 s2
2 s2 2 s
so that
y=

3 2t 3 1
1
1
e t + e2(t2)
4
4 2
2
2

{y} =
1
e2s
(s + 2)2 + 1
so that
y = e2(t2) sin t
(t 2).

{y} =
1
es
(s + 1)2
so that
y = (t 1)e(t1)
197
(t 1).
(t 2).
Exercises 4.5
{y} =
=
4+s
es + e3s
+
s2 + 4s + 13
s2 + 4s + 13
s

2
s+2
1
3
3
+
+
+ e3s
e
2
2
2
2
2
2
3 (s + 2) + 3
(s + 2) + 3
3 (s + 2) + 3
so that
y=
2 2t
1
sin 3t + e2t cos 3t + e2(t) sin 3(t )
e
3
3
1 2(t3)
+ e
sin 3(t 3) (t 3).
3
(t )

{y} =
1
e2s + e4s
+
2
(s 1) (s 6) (s 1)(s 6)

2s
1
1
1
1
1
1
1 1
1 1
=
+
+ e4s
+
+
e
25 s 1 5 (s 1)2
25 s 6
5 s1 5 s6
so that

1 t 1 t
1 6t
1 t2 1 6(t2)
y = e te + e + e
(t 2)
+ e
25
5
25
5
5

1
1
+ et4 + e6(t4)
(t 4).
5
5

{y} =
1 2
1 3!
1 P0 3! Ls/2
y (0) +
y (0) +
e
2 s3
6 s4
6 EI s4
so that
y=
1
1
1 P0
y (0)x2 + y (0)x3 +
2
6
6 EI

X
L
2
3

x
L
2

.
Using y (L) = 0 and y (L) = 0 we obtain

3
1 P0 L 2 1 P0 3 1 P0
L
x
x +
x
4 EI
6 EI
6 EI
2

P0 L x2 1 x3 , 0 x < L
EI 4
6
2
=

2
P0 L
1
L
L
x
,
x L.
4EI 2
12
2
y=
14. From Problem 13 we know that

y=
1
1
1 P0
y (0)x2 + y (0)x3 +
2
6
6 EI

X
L
2
3

x
L
2

x
L
2

.
Using y(L) = 0 and y (L) = 0 we obtain

3

1 P0 L 2
1 P0 3 1 P0
L
L
y=
x
x +
x
x
16 EI
12 EI
6 EI
2
2

P0 L 2
L
1
0x<
x x3 ,
EI 16
12
2
=

3
P
1
L
L 2
L
1 P0
0
,
x x3 +
x
x L.
EI 16
12
6 EI
2
2
198
Exercises 4.6
1
s2 + 2
{y} =
so that y(t) = sin t. Note that y (0) = 1, even though the initial condition was y (0) = 0.
Exercises 4.6
1. Taking the Laplace transform of the system gives
s
{x} =
{x} +
{y} 1 = 2
{y}
{x}
so that
{x} =
1
1 1
1 1
=
(s 1)(s + 2)
3 s1 3 s+2
and
{y} =
1
2
2 1
1 1
+
=
+
.
s s(s 1)(s + 2)
3 s1 3 s+2
Then
x=
1 t 1 2t
e e
3
3
and y =
2 t 1 2t
e + e .
3
3
so that
and
Then
{y} =
y=
{x} 1 = 2
{y} 1 = 8
1
s1
1
{x} 2
s
{y} +
s3 + 7s2 s + 1
1 1
8
1
173 1
53
1
=
s(s 1)(s2 16)

16 s 15 s 1
96 s 4 160 s + 4
1
173 4t
53 4t
8
et +
e
e .
16 15
96
160
x=
1 1
173 4t
53 4t
1
1
y + t = t et +
e +
e .
8
8
8
15
192
320
so that
and
Then
{x} + 1 =
{y} 2 = 5
{x} =
{y}
{x}
{y}
s 5
s
5 3
= 2
s2 + 9
s + 9 3 s2 + 9
x = cos 3t
y=
{x} 2
5
sin 3t.
3
1
7
1
x x = 2 cos 3t sin 3t.
2
2
3

{x} + s
{y} =
1
s
{x} + (s 1)
{y} =
1
s1
(s + 3)
(s 1)
199
Exercises 4.6
so that
{y} =
4
1
5s 1
1 1 1 1
+
+
=
2
3s(s 1)
3 s 3 s 1 3 (s 1)2
and
{x} =
1 2s
1
1
1 1 1 1
=
.
2
3s(s 1)
3 s 3 s 1 3 (s 1)2
Then
x=
1 1 t 1 t
e te
3 3
3
1 1
4
and y = + et + tet .
3 3
3

(2s 2)
(s 3)
{x} + s
{x} + (s 3)
1
s
2
{y} =
s
{y} =
so that
{x} =
s 3
1 1 5 1
2
=
+
s(s 2)(s 3)
2 s 2 s2 s3
and
{y} =
3s 1
1 1 5 1
8 1
=
+
.
s(s 2)(s 3)
6 s 2 s2 3 s3
Then
1 5
x = + e2t 2e3t
2 2
1 5
8
and y = e2t + e3t .
6 2
3

(s + 1)
{x} (s 1)
{y} = 1
{x} + (s + 2)
{y} = 1
so that
{y} =
and
{x} =
s + 1/2
s + 1/2
=
s2 + s + 1
(s + 1/2)2 + ( 3/2)2
s2
3/2
3/2
.
=
+s+1
(s + 1/2)2 + ( 3/2)2
Then
t/2
y=e
3
cos
t
2
t/2
and x = e
sin
3
t.
2

(s2 + 1)
so that
and
Then
{x}
{x} + (s + 1)
2
{y} = 2
{y} = 1
2s2 1
1 1
3 1
= 2
s4 + 2s2
2 s
2 s2 + 2
1
3
x = t sin 2 t.
2
2 2
{x} =
3
1
y = x + x = t + sin 2 t.
2
2 2

{x} +
{y} = 1
{x} (s + 1)
{y} = 1
(s + 1)
4
200
Exercises 4.6
so that
{x} =
and
{y} =
Then
s+1
2
s+2
1
=
+
2
2
+ 2s + 5
(s + 1) + 2
2 (s + 1)2 + 22
s2
s + 3
s+1
2
=
+2
.
s2 + 2s + 5
(s + 1)2 + 22
(s + 1)2 + 22
1
x = et cos 2t + et sin 2t
2
and y = et cos 2t + 2et sin 2t.
9. Adding the equations and then subtracting them gives

d2 x
1
= t2 + 2t
dt2
2
d2 y
1
= t2 2t.
dt2
2
Taking the Laplace transform of the system gives
1
1
{x} = 8 +
s 24
1 4!
{y} =
24 s5
and
so that
x=8+
1 4 1 3
t + t
24
3
1 3!
4!
+
5
s
3 s4
1 3!
3 s4
and y =
1 4 1 3
t t .
24
3

(s 4)
(s + 2)
so that
{x} =
and
{y} =
{x} + s3
{x} 2s3
{y} =
s2
6
+1
{y} = 0
4
4 1
4 s
8 1
=
2
2
(s 2)(s + 1)
5 s 2 5 s + 1 5 s2 + 1
s3 (s
2s + 4
2
1 1
1
2
6 s
8 1
= 2 2 3 +
+
.
2
2
2)(s + 1)
s s
s
5 s 2 5 s + 1 5 s2 + 1
4 2t 4
8
e cos t sin t
5
5
5
Then
x=
and
1
6
8
y = 1 2t 2t2 + e2t cos t + sin t.
5
5
5

s2
{x} + 3(s + 1)
s2
so that
{x} =
{x} + 3
{y} = 2
{y} =
1
(s + 1)2
2s + 1
1 2
1
1
1
= + 2+
.
s3 (s + 1)
s s
2 s3
s+1
Then
1
x = 1 + t + t2 et
2
and
y=
1 t 1
1
1
1
te x = tet + et .
3
3
3
3
3
201
Exercises 4.6
{x} + 2
{y} =
2es
s
{x} + (s + 1)
{y} =
1 es
+
2
s
(s 4)
3
1/2
1
+ es
(s 1)(s 2)
(s 1)(s 2)

1 1
1
1 1
1
=
+ es
+
2 s1 2 s2
s1 s2
so that
{x} =
and
{y} =
Then
and
es
s/4 1
s/2 + 2
+
+ es
s
(s 1)(s 2)
(s 1)(s 2)

3 1
1 1
3 1
1
s 1
=
+e
+
.
4 s1 2 s2
s 2 s1 s2
1 t 1 2t t1
(t 1)
+ e2(t1)
e e + e
2
2

3
1
3
y = et e2t + 1 et1 + e2(t1)
(t 1).
4
2
2
x=
13. The system is
x1 = 3x1 + 2(x2 x1 )

x2 = 2(x2 x1 )
x1 (0) = 0
x1 (0) = 1
x2 (0) = 1
x2 (0) = 0.
Taking the Laplace transform of the system gives

{x1 } 2
{x2 } = 1
{x1 } + (s + 2)
{x2 } = s
(s2 + 5)
2
so that
and
Then
and
6
s2 + 2s + 2
2 s
1 1
2 s
4
{x1 } = 4
=
+
+
s + 7s2 + 6
5 s2 + 1 5 s2 + 1 5 s2 + 6 5 6 s2 + 6
6
s3 + 5s + 2
4 s
2 1
1 s
2
{x2 } = 2
=
+
+

.
(s + 1)(s2 + 6)
5 s2 + 1 5 s2 + 1 5 s2 + 6 5 6 s2 + 6
1
2
2
4
cos t + sin t cos 6 t + sin 6 t
5
5
5
5 6
4
2
2
1
x2 = cos t + sin t + cos 6 t sin 6 t.
5
5
5
5 6
x1 =
14. In this system x1 and x2 represent displacements of masses m1 and m2 from their equilibrium positions. Since
the net forces acting on m1 and m2 are
k1 x1 + k2 (x2 x1 )
and
202
k2 (x2 x1 ) k3 x2 ,
Exercises 4.6
respectively, Newtons second law of motion gives
m1 x1 = k1 x1 + k2 (x2 x1 )
m2 x2 = k2 (x2 x1 ) k3 x2 .
Using k1 = k2 = k3 = 1, m1 = m2 = 1, x1 (0) = 0, x1 (0) = 1, x2 (0) = 0, and x2 (0) = 1, and taking the
Laplace transform of the system, we obtain
{x1 }
{x2 } = 1
{x1 } (2 + s )
{x2 } = 1
1
+3
{x2 } =
(2 + s2 )
{x1 } =
so that
s2
1
x1 = sin 3 t
3
Then
and
s2
1
.
+3
1
and x2 = sin 3 t.
3
15. (a) By Kirchos rst law we have i1 = i2 +i3 . By Kirchos second law, on each loop we have E(t) = Ri1 +L1 i2
and E(t) = Ri1 + L2 i3 or L1 i2 + Ri2 + Ri3 = E(t) and L2 i3 + Ri2 + Ri3 = E(t).
(b) Taking the Laplace transform of the system
0.01i2 + 5i2 + 5i3 = 100
0.0125i3 + 5i2 + 5i3 = 100
{i2 } + 500
{i3 } =
10,000
s
{i2 } + (s + 400)
{i3 } =
8,000
s
(s + 500)
gives
400
{i3 } =
so that
s2
8,000
80 1 80
1
=
.
+ 900s
9 s
9 s + 900
Then
i3 =
80 80 900t
e
9
9
and i2 = 20 0.0025i3 i3 =
100 100 900t

.
e
9
9
(c) i1 = i2 + i3 = 20 20e900t
16. (a) Taking the Laplace transform of the system
i2 + i3 + 10i2 = 120 120
(t 2)
10i2 + 5i3 + 5i3 = 0

(s + 10)
gives
10s
so that
{i2 } + s
{i2 } + 5(s + 1)
{i3 } =

120
1 e2s
s
{i3 } = 0
{i2 } =

48
120(s + 1)
60
12
2s
=
1
+
1 e2s
2
(3s + 11s + 10)s
s + 5/3 s + 2
s
{i3 } =

240
240
240
2s
=
1
1 e2s .
2
3s + 11s + 10
s + 5/3 s + 2
and
203
Exercises 4.6
Then
and

i2 = 12 + 48e5t/3 60e2t 12 + 48e5(t2)/3 60e2(t2) (t 2)

i3 = 240e5t/3 240e2t 240e5(t2)/3 240e2(t2) (t 2).

(b) i1 = i2 + i3 = 12 + 288e5t/3 300e2t 12 + 288e5(t2)/3 300e2(t2)
(t 2)
17. Taking the Laplace transform of the system

i2 + 11i2 + 6i3 = 50 sin t
i3 + 6i2 + 6i3 = 50 sin t
{i2 } + 6
(s + 11)
gives
{i2 } + (s + 6)
50
+1
50
{i3 } = 2
s +1
{i3 } =
s2
so that
{i2 } =
50s
20 1
375
1
145 s
85
1
=
+
+
+
.
(s + 2)(s + 15)(s2 + 1)
13 s + 2 1469 s + 15 113 s2 + 1 113 s2 + 1
Then
i2 =
and
i3 =
20 2t
375 15t 145
85
+
+
e
e
cos t +
sin t
13
1469
113
113
1
810
25
11
30 2t
250 15t 280
sin t i2 i2 =
e
e
cos t +
sin t.
+
3
6
6
13
1469
113
113

0.5i1 + 50i2 = 60
0.005i2 + i2 i1 = 0
s
gives
200
so that
{i2 } =
{i1 } + 100
{i1 } + (s + 200)
120
s
{i2 } = 0
{i2 } =
6 1 6
s + 100
100
24,000
6
=
.
s(s2 + 200s + 20,000)
5 s 5 (s + 100)2 + 1002
5 (s + 100)2 + 1002
6 6 100t
6
cos 100t e100t sin 100t
e
5 5
5
Then
i2 =
and
i1 = 0.005i2 + i2 =
6 6 100t
cos 100t.
e
5 5

2i1 + 50i2 = 60
0.005i2 + i2 i1 = 0
2s
gives
200
so that
{i2 } =
{i1 } + 50
{i1 } + (s + 200)
60
s
{i2 } = 0
{i2 } =
6,000
s(s2 + 200s + 5,000)
s + 100
50 2
6 1 6
6 2
.
5 s 5 (s + 100)2 (50 2 )2
5 (s + 100)2 (50 2 )2
204
Exercises 4.6
Then
and
6 6 100t
6 2 100t
i2 = e
cosh 50 2 t
sinh 50 2 t
e
5 5
5
6 6
9 2 100t
i1 = 0.005i2 + i2 = e100t cosh 50 2 t
e
sinh 50 2 t.
5 5
10
20. (a) Using Kirchos rst law we write i1 = i2 + i3 . Since i2 = dq/dt we have i1 i3 = dq/dt. Using Kirchos
second law and summing the voltage drops across the shorter loop gives
E(t) = iR1 +
so that
Then
i1 =
1
q,
C
(1)
1
1
E(t)
q.
R1
R1 C
dq
1
1
= i1 i3 =
q i3
E(t)
dt
R1
R1 C
dq
1
+ q + R1 i3 = E(t).
dt
C
Summing the voltage drops across the longer loop gives
and
R1
E(t) = i1 R1 + L
di3
+ R2 i3 .
dt
Combining this with (1) we obtain

di3
1
+ R2 i3 = i1 R1 + q
dt
C
di3
1
L
+ R2 i3 q = 0.
dt
C
i1 R1 + L
or
(b) Using L = R1 = R2 = C = 1, E(t) = 50et (t 1) = 50e1 e(t1)

the Laplace transform of the system we obtain
and
50e1 s
e
s+1
(s + 1)
{q} +
(s + 1)
{i3 }
{q} = 0,
{q} =
50e1 es
(s + 1)2 + 1
so that
q(t) = 50e1 e(t1) sin(t 1)
{i3 } =
(t 1) = 50et sin(t 1)
21. (a) Taking the Laplace transform of the system

41 + 2 + 81 = 0
1 + 2 + 22 = 0
gives

4 s2 + 2
2
s
so that
or
{1 } + s2

{1 } + s2 + 2

3s2 + 4 s2 + 4
{2 } =
(t 1), q(0) = i3 (0) = 0, and taking
{2 } = 3s
{2 } = 0
{2 } = 3s3
s
3 s
1
.
2 s2 + 4/3 2 s2 + 4
205
(t 1).
Exercises 4.6
Then
2 =
so that
2
1
3
cos t cos 2t
2
2
3
1 =
2
1
3
cos t + cos 2t.
4
4
3
(b)
and 1 = 2 22
6 t
6 t
1
2
Mass m2 has extreme displacements of greater magnitude. Mass m1 rst passes through its equilibrium
position at about t = 0.87, and mass m2 rst passes through its equilibrium position at about t = 0.66.
The motion of the pendulums is not periodic since cos 2t/ 3 has period 3 , cos 2t has period , and the
ratio of these periods is 3 , which is not a rational number.
(c) The Lissajous curve is plotted for 0 t 30.
2
1
1
-1-0.5 0.5 1
-1
-2
(d) t=0
t=3
t=1
t=4
t=2
t=5
206
1
2
3
4
5
6
7
8
9
10
-0.2111
-0.6585
0.4830
-0.1325
-0.4111
0.8327
0.0458
-0.9639
0.3534
0.4370
0.8263
0.6438
-1.9145
0.1715
1.6951
-0.8662
-0.3186
0.9452
-1.2741
-0.3502
Chapter 4 Review Exercises

t=6
t=7
t=8
t=9
(e) Using a CAS to solve 1 (t) = 2 (t) we see that 1 = 2 (so that the double pendulum
is straight out) when t is about 0.75 seconds.
t=10
t=0.75
(f ) To make a movie of the pendulum it is necessary to locate the mass in the plane as a function of time.
Suppose that the upper arm is attached to the origin and that the equilibrium position lies along the
negative y-axis. Then mass m1 is at (x, (t), y1 (t)) and mass m2 is at (x2 (t), y2 (t)), where
and y1 (t) = 16 cos 1 (t)
x1 (t) = 16 sin 1 (t)

and
x2 (t) = x1 (t) + 16 sin 2 (t)
and y2 (t) = y1 (t) 16 cos 2 (t).
A reasonable movie can be constructed by letting t range from 0 to 10 in increments of 0.1 seconds.

1.
{f (t)} =
st
te

2.
{f (t)} =
dt +
(2 t)est dt =
1
4
est dt =
1
2
2 es
2
s
s

1 2s
e4s
e
s
3. False; consider f (t) = t1/2 .

4. False, since f (t) = (et )10 = e10t .
5. True, since lims F (s) = 1 = 0. (See Theorem 4.5 in the text.)
6. False; consider f (t) = 1 and g(t) = 1.
7.
8.
9.
10.
11.

e7t =
1
s+7
7t
1
=
te
(s + 7)2
2
s2 + 4
3t

2
e
sin 2t =
(s + 3)2 + 4

d
2
4s
{t sin 2t} =
= 2
ds s2 + 4
(s + 4)2
{sin 2t} =
207
12.
{sin 2t
(t )} =
14.
15.
16.
17.
18.
19.
20
s6
21.
22.
23.
24.
s2
2
es
+4
= cos (t 1)

1
1 L
= 2
L2 s2 + n2 2
L n
5t
exists for s > 5.
e

20.
(t )} =

1 5!
1
= t5
6 s6
6

1
1
1
1
=
= et/3
3s 1
3 s 1/3
3

1
1
1
2
=
= t2 e5t
(s 5)3
2 (s 5)3
2

1
1
1
1
1
1
1
+
= e 5 t + e 5 t
2
s 5
5 s+ 5
5 s 5
5
5

s
5
5
s5
2
= e5t cos 2t + e5t sin 2t
+
=
s2 10s + 29
(s 5)2 + 22
2 (s 5)2 + 22
2

1 5s
= (t 5) (t 5)
e
s2

s + s
s
s
s
=
e
e
+
e
s2 + 2
s2 + 2
s2 + 2

13.
{sin 2(t )
(t 1) + sin (t 1) (t 1)

1
n/L
n
=
sin
t
s2 + (n2 2 )/L2
Ln
L

d
te8t f (t) = F (s 8).
ds
{eat f (t k) (t k)} = eks {ea(t+k) f (t)} = eks eak {eat f (t)} = ek(sa) F (s a)
t

1
F (s a)
{eat f (t)} =
, whereas
ea f ( ) d =
s
s
0

t

t

F (s)
F (s a)
eat
f ( ) d =
f ( ) d
=
=
.

s
sa
0
0
ssa
ssa
25. f (t)
(t t0 )
26. f (t) f (t)

27. f (t t0 )
(t t0 )
(t t0 )
28. f (t) f (t)
(t t0 ) + f (t)
(t t1 )
29. f (t) = t [(t 1) + 1] (t 1) +
(t 1)
(t 4) = t (t 1)
(t 1)
(t 4)
1
1
1
2 es e4s
s2
s
s
t

1
1
1 4(s1)
e f (t) =
e(s1)
e
(s 1)2
(s 1)2
s1
{f (t)} =
(t ) sin t (t 3) = sin(t ) (t ) + sin(t 3)

1
1
es + 2
e3s
{f (t)} = 2
s +1
s +1
t

1
1
e f (t) =
e(s1) +
e3(s1)
(s 1)2 + 1
(s 1)2 + 1
30. f (t) = sin t
208
(t 3)

31. f (t) = 2 2
(t 2) + [(t 2) + 2] (t 2) = 2 + (t 2)
2
1
{f (t)} = + 2 e2s
s s
t

2
1
e f (t) =
e2(s1)
+
s 1 (s 1)2
(t 2)
32. f (t) = t t
(t 1) + (2 t) (t 1) (2 t) (t 2) = t 2(t 1)
1
2
1
{f (t)} = 2 2 es + 2 e2s
s
s
s

t
1
2
1
e(s1) +
e2(s1)
e f (t) =
2
2
(s 1)
(s 1)
(s 1)2
(t 1) + (t 2)
(t 2)
33. Taking the Laplace transform of the dierential equation we obtain

{y} =
so that
5
1
2
+
(s 1)2
2 (s 1)3
1
y = 5tet + t2 et .
2

{y} =
=
(s
1
8s + 20)
1)2 (s2
6
6
5
1
1
1
s4
2
+
+
2
2
2
169 s 1 13 (s 1)
169 (s 4) + 2
338 (s 4)2 + 22
so that
y=
1
6 4t
5 4t
6 t
e + tet
e cos 2t +
e sin 2t.
169
13
169
338
35. Taking the Laplace transform of the given dierential equation we obtain
s3 + 6s2 + 1
2
1
2
e2s
e2s
2
s (s + 1)(s + 5) s (s + 1)(s + 5)
s(s + 1)(s + 5)
6 1 1 1
3
1
13
1
= + 2 +
25 s 5 s
2 s + 1 50 s + 5

6 1 1 1
1
1
1
1
+ 2+
e2s
25 s 5 s
4 s + 1 100 s + 5

1
1
1
2 1 1

+
e2s
5 5 2 s + 1 10 s + 5
{y} =
so that
y=
6
1
+ t2 +
25 5
1
+ e(t2)
4
3 t 13 5t
4
1
e e
(t 2) (t 2)2
2
50
25
5
9 5(t2)
e
(t 2)
(t 2).
100
(t 2)

{y} =
s3 + 2
2 + 2s + s2 s
e
s3 (s 5)
s3 (s 5)
=
so that
y=

2 1
37 1 12 1
1
2 1
1 2
127 1
1 2
37
es
+
125 s 25 s2
5 s3
125 s 5
125 s 25 s2
5 s3
125 s 5

2
127 5t
37
37 5(t1)
2
1
12
1
t t2 +
e
(t 1) (t 1)2 +
e
(t 1).
125 25
5
125
125 25
5
125
209

37. Taking the Laplace transform of the integral equation we obtain
{y} =
so that
1
1 2
1
+
+
s s2
2 s3
1
y(t) = 1 + t + t2 .
2
38. Taking the Laplace transform of the integral equation we obtain

6
s4
{f })2 = 6
or
{f } = 6
1
s2
so that f (t) = 6t.

s
4
{x} +
{y} =
{x} + s
1
+1
s2
{y} = 2
so that
{x} =
Then
s2 2s + 1
1 1 1 1
9 1
=
+
+
.
s(s 2)(s + 2)
4 s 8 s2 8 s+2
1 1
9
x = + e2t + e2t
4 8
8
and y = x + t =
9 2t 1 2t
e + t.
e
4
4

s2
{x} + s2
2s
{x} + s2
1
s2
1
{y} =
s2
{y} =
so that
{x} =
2
1 1 1 1
1
=
+
2
s(s 2)
2 s 2 s 2 (s 2)2
{y} =
s 2
1
3 1 1 1
3 1
=
+
.
s2 (s 2)2
4 s 2 s2
4 s 2 (s 2)2
and
Then
x=
1 1 2t
e + te2t
2 2
41. The integral equation is
3 1
3
and y = t + e2t te2t .
4 2
4
i( ) d = 2t2 + 2t.
10i + 2
0
Taking the Laplace transform we obtain

4
s
2
45
9
s+2
9
2
9
2
{i} =
+
= 2
= + 2 +
= + 2 +
.
3
2
s
s
10s + 2
s (5s + 2)
s s
5s + 1
s s
s + 1/5
Thus
i(t) = 9 + 2t + 9et/5 .
1 d2 q
dq
+ 10 + 100q = 10 10
2
2 dt
dt
210
(t 5).

Taking the Laplace transform we obtain
{q} =
2(s2

20
1 e5s
+ 20s + 200)

1 1
1
1
s + 10
10
=
1 e5s
2
2
2
2
10 s 10 (s + 10) + 10
10 (s + 10) + 10
so that
q(t) =
1
1
1
e10t cos 10t e10t sin 10t
10 10
10

1
1
1
e10(t5) cos 10(t 5) e10(t5) sin 10(t 5) (t 5).

10 10
10

2w0
c1 2!
L 4!
5!
5!
1
1
c2 3!
{y} =
5
6+
6 esL/2 +
+
EIL 48 s
120 s
120 s
2 s3
6 s4

5
2w0 L 4
1 5
1
L
y=
x
x +
x
EIL 48
120
120
2
so that
L
x
2
c2
c1
+ x2 + x3
2
6
where y (0) = c1 and y (0) = c2 . Using y (L) = 0 and y (L) = 0 we nd
c2 = w0 L/4EI.
c1 = w0 L2 /24EI,

5
w0
L
L2 3 L3 2 1
1
L
y=
x5 + x4
x +
x +
x
12EIL
5
2
2
4
5
2
Hence
L
x
2

.
{y} =
c1
2s
c2
4
w0
4
es/2
2 s4 + 4
4 s4 + 4 4EI s4 + 4
so that
y=
c1
c2
sin x sinh x + (sin x cosh x cos x sinh x)
2
4

w0

+
sin x
cosh x
cos x
sinh x
4EI
2
2
2
2

2

.
2
where y (0) = c1 and y (0) = c2 . Using y() = 0 and y () = 0 we nd

c1 =
w0 sinh 2
,
EI sinh
c2 =
w0 cosh 2
.
EI sinh
Hence
y=
w0 sinh 2
w0 cosh 2
sin x sinh x
(sin x cosh x cos x sinh x)
2EI sinh
4EI sinh

w0

+
sin x
cosh x
cos x
sinh x
4EI
2
2
2
2
211

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4

The Laplace Transform

{4t2 5 sin 3t} = 4

{cos 5t + sin 2t} =

39. (a) Using integration by parts for > 0,

(b) Let u = st so that du = s dt. Then

41. Identifying f (t) = tn we have f (t) = ntn1 , n = 1, 2, 3, . . . . Then, since f (0) = 0,

is unbounded near t = 0 and

Let f (t) = 2tet cos et =

is continuous and of exponential order,

{sin et } exists, and therefore

{2tet cos et } exists.

By Eulers formula, ei = cos + i sin , so

{eat (cos bt + i sin bt)}

{eat cos bt} + i

{eat sin bt}

Equating real and imaginary parts we get

{eat sin bt} =

46. We want f (x + y) = f (x) + f (y) or

= 4 + 3et + cos t + 3 sin t

= cos 2t + sin 2t e2t

31. The Laplace transform of the dierential equation is

34. The Laplace transform of the dierential equation is

35. The Laplace transform of the dierential equation is

{y} sy(0) y (0) + 5 [s

36. The Laplace transform of the dierential equation is

{y} sy(0) y (0) 4 [s

37. The Laplace transform of the dierential equation is

38. The Laplace transform of the dierential equation is

39. The Laplace transform of the dierential equation is

40. The Laplace transform of the dierential equation is

(s 3)(s2 4s) (s + 1)(s2 4s)

43. The Laplace transform of the dierential equation is

{g(t)} = 1, but f (t) = g(t).

{(1 et + 3e4t ) cos 5t} =

{cos 5t et cos 5t + 3e4t cos 5t} =

21. The Laplace transform of the dierential equation is

23. The Laplace transform of the dierential equation is

{y} sy(0) y (0) 6 [s

27. The Laplace transform of the dierential equation is

28. The Laplace transform of the dierential equation is

y = 2e5t cos(t/ 2 ) + 10 2 e5t sin(t/ 2 ).

29. The Laplace transform of the dierential equation is

{y} sy(0) y (0) [s

30. The Laplace transform of the dierential equation is

{y} sy(0) y (0) 2 [s

{y} sy(0) y (0) + 2s

To nd c we let y(1) = 2. Then 2 = ce1 + (c + 2)e1 = 2(c + 1)e1 and c = e 1. Thus

= ce4t sin 2t.

34. The dierential equation is

s(s2 + 20s + 200)

{q} and using partial fractions we obtain

Thus for > ,

36. The dierential equation is

When 1/RC = k we have by partial fractions

When 1/RC = k we have

63. The Laplace transform of the dierential equation is

64. The Laplace transform of the dierential equation is

65. The Laplace transform of the dierential equation is

66. The Laplace transform of the dierential equation is

67. The Laplace transform of the dierential equation is

68. The Laplace transform of the dierential equation is

69. The Laplace transform of the dierential equation is

{y} sy(0) y (0) +

{g(t)} = 1, but f (t) = g(t).

When 1/RC = k we have by partial fractions