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Exercises 4.1
1 ∞
1
−st
∞
−st 1 −st 1 −st
1. {f (t)} = −e dt + e dt = e −se
0 1 s 0 1
1 −s 1 1 −s 2 −s 1
= e − − 0− e = e − , s>0
s s s s s
2 2
4 4
2. {f (t)} = 4e−st dt = − e−st = − (e−2s − 1), s > 0
0 s 0 s
1 ∞ 1 ∞
−st −st 1 −st 1 −st 1 −st
3. {f (t)} = te dt + e dt = − te − 2e −se
0 1 s s 0 1
1 1 1 1 1
= − e−s − 2 e−s − 0 − 2 − (0 − e−s ) = 2 (1 − e−s ), s > 0
s s s s s
1 1
−st 2 −st 2 −st 1 −st
4. {f (t)} = (2t + 1)e dt = − te − 2e − e
0 s s s 0
2 −s 2 −s 1 −s 2 1 1 2
= − e − 2e − e − 0− 2 − = (1 − 3e−s ) + 2 (1 − e−s ), s > 0
s s s s s s s
π π
s 1
5. {f (t)} = (sin t)e−st dt = − 2 e−st sin t − 2 e−st cos t
0 s +1 s +1 0
1 −πs 1 1 −πs
= 0+ 2 e − 0− 2 = 2 (e + 1), s > 0
s +1 s +1 s +1
∞ ∞
s 1
6. {f (t)} = (cos t)e−st dt = − 2 e−st cos t + 2 e−st sin t
π/2 s +1 s +1 π/2
1 1
=0− 0+ 2 e−πs/2 = − 2 e−πs/2 , s > 0
s +1 s +1
0, 0 < t < 1
7. f (t) =
t, t > 1
∞ ∞
−st 1 −st 1 −st 1 −s 1 −s
{f (t)} = te dt = − te − 2e = s e + s2 e , s > 0
1 s s 1
0, 0<t<1
8. f (t) =
2t − 2, t > 1
∞ ∞
−st 1 −st 1 −st 2
{f (t)} = 2 (t − 1)e dt = 2 − (t − 1)e − 2e = 2 e−s , s > 0
1 s s 1 s
1 − t, 0 < t < 1
9. f (t) =
0, t>0
1 1
−st 1 −st 1 −st 1 −s 1 1
{f (t)} = (1 − t)e dt = − (1 − t)e + 2e = s2 e + s − s2 , s > 0
0 s s 0
0, 0 < t < a b b
c c
10. f (t) = c, a < t < b ; {f (t)} = ce−st dt = − e−st = (e−sa − e−sb ), s > 0
a s a s
0, t > b
165
Exercises 4.1
∞
∞ ∞
e7 (1−s)t e7 e7
11. {f (t)} = et+7 e−st dt = e7 e(1−s)t dt = e =0− = , s>1
0 0 1−s 0 1−s s−1
∞ ∞ ∞
e−5 −(s+2)t e−5
12. {f (t)} = e−2t−5 e−st dt = e−5 e−(s+2)t dt = − e = , s > −2
0 0 s+2 0 s+2
∞ ∞ ∞
1 1 1
13. {f (t)} = 4t −st
te e dt = te (4−s)t
dt = te (4−s)t
− e (4−s)t = , s>4
4 − s (4 − s) 2 (4 − s)2
0 0 0
∞ ∞
14. {f (t)} = t2 e−2t e−st dt = t2 e−(s+2)t dt
0 0
∞
1 2 −(s+2)t 2 2 2
= − t e − te−(s+2)t
− e −(s+2)t = , s > −2
s+2 (s + 2)2 (s + 2)3 (s + 2)3
0
∞ ∞
−t −st
15. {f (t)} = e (sin t)e dt = (sin t)e−(s+1)t dt
0 0
∞
−(s + 1) −(s+1)t 1
= 2
e sin t − 2
e −(s+1)t
cos t
(s + 1) + 1 (s + 1) + 1 0
1 1
= = 2 , s > −1
(s + 1)2 + 1 s + 2s + 2
∞ ∞
−st
16. {f (t)} = t
e (cos t)e dt = (cos t)e(1−s)t dt
0 0
∞
1−s 1
= e(1−s)t
cos t + e(1−s)t
sin t
(1 − s) + 1
2 (1 − s) + 1
2
0
1−s s−1
=− = 2 , s>1
(1 − s)2 + 1 s − 2s + 2
∞
17. {f (t)} = t(cos t)e−st dt
0
∞
st s2 − 1 t 2s
= − 2 − (cos t)e−st + + (sin t)e−st
s + 1 (s2 + 1)2 s2 + 1 (s2 + 1)2
0
s2 − 1
= 2 , s>0
(s2 + 1)
∞
18. {f (t)} = t(sin t)e−st dt
0
∞
t 2s −st st s2 − 1 −st
= − 2 − (cos t)e − + (sin t)e
s + 1 (s + 1)2
2 s2 + 1 (s2 + 1)2
0
2s
= 2 , s>0
(s2 + 1)
4! 5!
19. {2t4 } = 2 20. {t5 } =
s5 s6
4 10 7 3
21. {4t − 10} = 2
− 22. {7t + 3} = 2
+
s s s s
2 6 3 2 16 9
23. {t2 + 6t − 3} = 3
+ 2− 24. {−4t2 + 16t + 9} = −4 3
+ 2 +
s s s s s s
3! 2 3 1 3! 2 6 1
25. {t3 + 3t2 + 3t + 1} = 4
+3 3 + 2 + 26. {8t3 − 12t2 + 6t − 1} = 8 4
− 12 3 + 2 −
s s s s s s s s
166
Exercises 4.1
1 1 2 1 5
27. {1 + e4t } = + 28. {t2 − e−9t + 5} = − +
s s−4 s3 s+9 s
1 2 1 1 2 1
29. {1 + 2e2t + e4t } = + + 30. {e2t − 2 + e−2t } = − +
s s−2 s−4 s−2 s s+2
2 3 s 2
31. {4t2 − 5 sin 3t} = 4 −5 2 32. {cos 5t + sin 2t} = +
s3 s +9 s2 + 25 s2 + 4
k s
33. {sinh kt} = 34. {cosh kt} = 2
s2−k 2 s − k2
et − e−t 1 2t 1 1 1
35. {et sinh t} = et = e − = −
2 2 2 2(s − 2) 2s
t −t
−t −t e + e 1 1 −2t 1 1
36. {e cosh t} = e = + e = +
2 2 2 2s 2(s + 2)
1 2
37. {sin 2t cos 2t} = sin 4t = 2
2 s + 16
1 1 1 1 s
38. {cos t} =
2
+ cos 2t = +
2 2 2s 2 s2 + 4
39. (a) Using integration by parts for α > 0,
∞ ∞ ∞
Γ(α + 1) = tα e−t dt = −tα e−t + α tα−1 e−t dt = αΓ(α).
0 0 0
167
Exercises 4.1
2 d 2 2
Let f (t) = 2tet cos et = 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
d 2 a
e−st sin et dt = lim e−st sin et + s e−st sin et dt
2 2 2 2
{2tet cos et } =
0 dt a→∞ 0 0
∞
−st t2 t2
=s e sin e dt = s {sin e }.
0
t2 2 2 2
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 sufficiently
2
large and for any c. Thus, et is not of exponential order.
45. By part (c) of Theorem 4.1
1 1 (s − a) + ib s − a + ib
{e(a+ib)t } = = = .
s − (a + ib) (s − a) − ib (s − a) + ib (s − a)2 + b2
By Euler’s formula, eiθ = cos θ + i sin θ, so
{e(a+ib)t } = {eat eibt } {eat (cos bt + i sin bt)}
= {eat cos bt} + i {eat sin bt}
s−a b
= +i .
(s − a) + b
2 2 (s − a)2 + b2
Equating real and imaginary parts we get
s−a b
{eat cos bt} = and {eat sin bt} = .
(s − a)2 + b2 (s − a)2 + b2
46. We want f (αx + βy) = αf (x) + βf (y) or
m(αx + βy) + b = α(mx + b) + β(my + b) = m(αx + βy) + (α + β)b
for all real numbers α and β. Taking α = β = 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 1 2 1 2
1. = = t
s3 2 s3 2
1 1 3! 1
2. = = t3
s4 6 s4 6
1 48 1 48 4!
3. − 5 = − · = t − 2t4
s2 s s2 24 s5
2
2 1 1 4 3! 1 5! 2 1 5
4. − = 4· 2 − · 4 + · = 4t − t3 + t
s s3 s 6 s 120 s6 3 120
(s + 1)3 1 1 3 2 1 3! 3 1
5. = + 3 · + · + · = 1 + 3t + t2 + t3
s4 s s2 2 s3 6 s4 2 6
(s + 2)2 1 1 2
6. = + 4 · + 2 · = 1 + 4t + 2t2
s3 s s2 s3
168
Exercises 4.2
1 1 1
7. − + = t − 1 + e2t
s2 s s−2
4 6 1 1 1 4! 1 1
8. + 5− = 4· + · 5 − = 4 + t4 − e−8t
s s s+8 s 4 s s+8 4
1 1 1 1
9. = · = e−t/4
4s + 1 4 s + 1/4 4
1 1 1 1
10. = · = e2t/5
5s − 2 5 s − 2/5 5
5 5 7 5
11. = · = sin 7t
s2 + 49 7 s2 + 49 7
10s
12. 2
= 10 cos 4t
s + 16
4s s 1
13. 2
= 2
= cos t
4s + 1 s + 1/4 2
1 1 1/2 1 1
14. = · = sin t
4s2 + 1 2 s2 + 1/4 2 2
2s − 6 s 3
15. = 2· 2 −2· 2 = 2 cos 3t − 2 sin 3t
s2 + 9 s +9 s +9
√ √
s+1 s 1 2 √ 2 √
16. 2
= 2
+ √ 2
= cos 2t + sin 2 t
s +2 s +2 2 s +2 2
1 1 1 1 1 1 1
17. = · − · = − e−3t
s2 + 3s 3 s 3 s+3 3 3
s+1 1 1 5 1 1 5
18. = − · + · = − + e4t
s2 − 4s 4 s 4 s−4 4 4
s 1 1 3 1 1 3
19. = · + · = et + e−3t
s2 + 2s − 3 4 s−1 4 s+3 4 4
1 1 1 1 1 1 1
20. = · − · = e4t − e−5t
s2 + s − 20 9 s−4 9 s+5 9 9
0.9s 1 1
21. = (0.3) · + (0.6) · = 0.3e0.1t + 0.6e−0.2t
(s − 0.1)(s + 0.2) s − 0.1 s + 0.2
√
s−3 s √ 3 √ √ √
22. √ √ = 2−3
− 3· 2 = cosh 3 t − 3 sinh 3 t
(s − 3 )(s + 3 ) s s − 3
s 1 1 1 1 1 1 1
23. = · − + · = e2t − e3t + e6t
(s − 2)(s − 3)(s − 6) 2 s−2 s−3 2 s−6 2 2
s2 + 1 1 1 1 1 1 5 1
24. = · − − · + ·
s(s − 1)(s + 1)(s − 2) 2 s s−1 3 s+1 6 s−2
1 1 5
= − et − e−t + e2t
2 3 6
1 1 1 1 1 s 1 1 √
25. 3
= 2
= · − 2
= − cos 5t
s + 5s s(s + 5) 5 s 5 s +5 5 5
169
Exercises 4.2
s 1 s 1 2 1 1 1 1 1
26. = · 2 + · 2 − · = cos 2t + sin 2t − e−2t
(s2 + 4)(s + 2) 4 s +4 4 s +4 4 s+2 4 4 4
2s − 4 2s − 4 4 3 s 3
27. = = − + + +
(s2 + s)(s2 + 1) s(s2 + 1)2 s s + 1 s2 + 1 s2 + 1
170
Exercises 4.2
171
Exercises 4.2
Thus
13 t 13 −t 16 −2t 3 1
y= e − e + e + cos 3t − sin 3t.
60 20 39 130 65
41. For y + 6y = e4t the transfer function is W (s) = 1/(s + 6). The zero-input response is
2
y0 (t) = = 2e−6t ,
s+6
and the zero-state response is
1 1 1 1 1 1 −6t 1
y1 (t) = = − · + · =− e + e4t .
(s − 4)(s + 6) 10 s + 6 10 s − 4 10 10
42. For y − 4y = 6e3t − 3e−t the transfer function is W (s) = 1/(s2 − 4s). The zero-input response is
s−5 5 1 1 1 5 1
y0 (t) = = · − · = − e4t ,
s − 4s
2 4 s 4 s−4 4 4
and the zero-state response is
6 3
y1 (t) = −
(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 + − e−t .
20 4 5
43. The Laplace transform of the differential equation is
s+3 s+3
s {y} + {y} = 2
= 2 .
(s + 3) + 4 s + 6s + 13
Solving for {y} we obtain
s+3 1 1 1 s+1
{y} = 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
172
Exercises 4.3
Thus
1 −t 1
y= e − e−3t cos 2t + e−3t sin 2t.
4 4
1, t ≥ 0, t = 1
44. Let f (t) = 1 and g(t) = . Then {f (t)} = {g(t)} = 1, but f (t) = g(t).
0, t=1
Exercises 4.3
1
1. te10t =
(s − 10)2
1
2. te−6t =
(s + 6)2
3!
3. t3 e−2t =
(s + 2)4
10!
4. t10 e−7t =
(s + 7)11
2 2t 1 2 1
5. t et + e2t = te + 2te3t + te4t = + +
(s − 2)2 (s − 3)2 (s − 4)2
2 2 1
6. e2t (t − 1)2 = t2 e2t − 2te2t + e2t = − +
(s − 2)3 (s − 2)2 s−2
3
7. et sin 3t =
(s − 1)2 + 9
s+2
8. e−2t cos 4t =
(s + 2)2 + 16
s s−1 3(s + 4)
9. {(1 − et + 3e−4t ) cos 5t} = {cos 5t − et cos 5t + 3e−4t cos 5t} = − +
s2 + 25 (s − 1)2 + 25 (s + 4)2 + 25
t t 9 4 5
10. e3t 9 − 4t + 10 sin = 9e3t − 4te3t + 10e3t sin = − +
2 2 s − 3 (s − 3)2 (s − 3)2 + 1/4
1 1 2 1
11. = = t2 e−2t
(s + 2)3 2 (s + 2)3 2
1 1 3! 1
12. = = t3 et
(s − 1)4 6 (s − 1)4 6
1 1
13. = = e3t sin t
s2 − 6s + 10 (s − 3)2 + 12
1 1 2 1
14. = = e−t sin 2t
s2 + 2s + 5 2 (s + 1)2 + 22 2
s (s + 2) 1
15. = − 2 = e−2t cos t − 2e−2t sin t
s2 + 4s + 5 (s + 2)2 + 12 (s + 2)2 + 12
2s + 5 (s + 3) 1 5 1
16. = 2 − = 2e−3t cos 5t − e−3t sin 5t
s2 + 6s + 34 (s + 3)2 + 52 5 (s + 3)2 + 52 5
s s+1−1 1 1
17. = = − = e−t − te−t
(s + 1)2 (s + 1)2 s + 1 (s + 1)2
173
Exercises 4.3
5s 5(s − 2) + 10 5 10
18. = = + = 5e2t + 10te2t
(s − 2)2 (s − 2)2 s − 2 (s − 2)2
2s − 1 5 1 5 4 3 2 3
19. = − 2− − − = 5 − t − 5e−t − 4te−t − t2 e−t
s2 (s + 1)3 s s s + 1 (s + 1) 2 2 (s + 1)3 2
(s + 1)2 1 2 1 3! 1
20. = − + = te−2t − t2 e−2t + t3 e−2t
(s + 2)4 (s + 2)2 (s + 2)3 6 (s + 2) 4 6
21. The Laplace transform of the differential equation is
1
s {y} − y(0) + 4 {y} = .
s+4
1 2
Solving for {y} we obtain {y} = 2
+ . Thus
(s + 4) s+4
y = te−4t + 2e−4t .
174
Exercises 4.3
Thus
1 1 t 1
y= − e cos t + et sin t.
2 2 2
30. The Laplace transform of the differential equation is
1 1
s2 {y} − sy(0) − y (0) − 2 [s {y} − y(0)] + 5 {y} = + .
s s2
Solving for {y} we obtain
4s2 + s + 1 7 1 1 1 −7s/25 + 109/25
{y} = = + +
s2 (s2 − 2s + 5) 25 s 5 s2 s2 − 2s + 5
7 1 1 1 7 s−1 51 2
= + − + .
25 s 5 s2 25 (s − 1)2 + 22 25 (s − 1)2 + 22
175
Exercises 4.3
Thus
7 1 7 51
y= + t − et cos 2t + et sin 2t.
25 5 25 25
31. Taking the Laplace transform of both sides of the differential equation and letting c = y(0) we obtain
{y } + {2y } + {y} = 0
s2
{y} − sy(0) − y (0) + 2s {y} − 2y(0) + {y} = 0
s2 {y} − cs − 2 + 2s {y} − 2c + {y} = 0
s2 + 2s + 1 {y} = cs + 2c + 2
cs 2c + 2
{y} = +
(s + 1)2 (s + 1)2
s+1−1 2c + 2
=c +
(s + 1)2 (s + 1)2
c c+2
= + .
s + 1 (s + 1)2
Therefore,
1 1
y(t) = c + (c + 2) = ce−t + (c + 2)te−t .
s+1 (s + 1)2
To find c we let y(1) = 2. Then 2 = ce−1 + (c + 2)e−1 = 2(c + 1)e−1 and c = e − 1. Thus
32. Taking the Laplace transform of both sides of the differential equation and letting c = y (0) we obtain
{y } + {8y } + {20y} = 0
s2 {y} − y (0) + 8s {y} + 20 {y} = 0
2
s {y} − c + 8s {y} + 20 {y} = 0
(s2 + 8s + 20) {y} = c
c c
{y} = = .
s2 + 8s + 20 (s + 4)2 + 4
Therefore,
c
y(t) = = ce−4t sin 2t.
(s + 4)2 + 4
To find c we let y (π) = 0. Then 0 = y (π) = ce−4π and c = 0. Thus, y(t) = 0. (Since the differential 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 − βx . Now m = W/g = 4/32 = 18 slug, and 4 = 2k so that k = 2 lb/ft.
Thus, the differential equation is x + 7x + 16x = 0. The initial conditions are x(0) = −3/2 and x (0) = 0.
The Laplace transform of the differential equation is
3 21
s2 {x} + s + 7s {x} + + 16 {x} = 0.
2 2
Solving for {x} we obtain
√ √
−3s/2 − 21/2 3 s + 7/2 7 15 15/2
{x} = 2 =− √ − √ .
s + 7s + 16 2 (s + 7/2) + ( 15/2)
2 2 10 (s + 7/2) + ( 15/2)2
2
176
Exercises 4.3
Thus √ √ √
3 −7t/2 15 7 15 −7t/2 15
x=− e cos t− e sin t.
2 2 10 2
34. The differential equation is
d2 q dq
2
+ 20 + 200q = 150, q(0) = q (0) = 0.
dt dt
The Laplace transform of this equation is
150
s2 {q} + 20s {q} + 200 {q} = .
s
Solving for {q} we obtain
150 3 1 3 s + 10 3 10
{q} = = − − .
s(s2 + 20s + 200) 4 s 4 (s + 10)2 + 102 4 (s + 10)2 + 102
Thus
3 3 −10t 3
q(t) = − e cos 10t − e−10t sin 10t
4 4 4
and
i(t) = q (t) = 15e−10t sin 10t.
177
Exercises 4.3
Thus for λ = ω,
q(t) = E0 C 1 − e−λt − λte−λt .
178
Exercises 4.3
e−s e−s e−s
47. = − = (t − 1) − e−(t−1) (t − 1)
s(s + 1) s s+1
−2s
e−2s e e−2s e−2s
48. = − − 2 + = − (t − 2) − (t − 2) (t − 2) + et−2 (t − 2)
s (s − 1)
2 s s s−1
49. (c) 50. (e) 51. (f ) 52. (b) 53. (a) 54. (d)
2 4
55. 2−4 (t − 3) = − e−3s
s s
1 e−4s e−5s
56. 1 − (t − 4) + (t − 5) = − +
s s s
2
57. t (t − 1) = (t − 1) + 2t − 1
2
(t − 1) = (t − 1)2 + 2(t − 1) − 1 (t − 1)
2 2 1 −s
= + 2+ e
s3 s s
3π 3π 3π se−3πs/2
58. sin t t− = − cos t − t− =− 2
2 2 2 s +1
1 e−2s 2e−2s
59. t−t (t − 2) = t − (t − 2) (t − 2) − 2 (t − 2) = 2 − 2 −
s s s
1 e−2πs
60. sin t − sin t (t − 2π) = sin t − sin(t − 2π) (t − 2π) = −
s2 + 1 s2 + 1
e−as e−bs
61. f (t) = (t − a) − (t − b) = −
s s
e−s e−2s e−3s 1 e−s
62. f (t) = (t − 1) + (t − 2) + (t − 3) + · · · = + + + ··· =
s s s s 1 − e−s
63. The Laplace transform of the differential equation is
5 −s
s {y} − y(0) + {y} = e .
s
Solving for {y} we obtain
5e−s 1 1
{y} = = 5e−s − .
s(s + 1) s s+1
Thus
y=5 (t − 1) − 5e−(t−1) (t − 1).
179
Exercises 4.3
180
Exercises 4.3
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 differential 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, t≥5
and 20t = 20(t − 5) + 100 we can write
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 differential equation is x + 16x = f (t). The initial conditions are x(0) = 0, x (0) = 0.
Also, since
sin t, 0 ≤ t < 2π
f (t) =
0, t ≥ 2π
and sin t = sin(t − 2π) we can write
181
Exercises 4.3
182
Exercises 4.3
t
1 2 3 4 5 6
-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.
t
1 2 3 4 5 6
The maximum value of q(t) is approximately 1 at t = 3.
183
Exercises 4.3
184
Exercises 4.3
and
2
w0 L L
y (x) = c2 + 60Lx − 60x + 60 x −
2
x− .
60EIL 2 2
Then y (L) = y (L) = 0 yields the system
w0 5 3 5w0 L2
c1 + c2 L + 30L − 20L + L = c1 + c2 L +
3 3
=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 w0 5L 4 L L
y(x) = x − + x −x + x−
5
x− .
48EI 24EI 60EIL 2 2 2
185
Exercises 4.3
so that
4
1 1 1 w0 L L
2 3
y(x) = c1 x + c2 x + x − x−
4
x− .
2 6 24 EI 2 2
To find c1 and c2 we compute
2
1 w0 L L
y (x) = c1 + c2 x + x − x−
2
x− .
2 EI 2 2
81. From Theorem 4.6 we have {tekti } = 1/(s − ki)2 . Then, using Euler’s formula,
Exercises 4.4
d s s2 − 4
1. {t cos 2t} = − 2
= 2
ds s +4 (s2 + 4)
d 3 6s
2. {t sinh 3t} = − =
ds s2 − 9 (s − 9)
2 2
d2 1 6s2 + 2
3. {t2 sinh t} = 2 =
ds s2 − 1 (s2 − 1)
3
d2 s d 1 − s2 2s s2 − 3
4. {t cos t} = 2
2
= = 3
ds s2 + 1 ds (s2 + 1)2 (s2 + 1)
2t d 6 12(s − 2)
5. te sin 6t = − =
ds (s − 2) + 36
2
[(s − 2)2 + 36]
2
186
Exercises 4.4
d s+3 (s + 3)2 − 9
6. te−3t cos 3t = − 2
= 2
ds (s + 3) + 9 [(s + 3)2 + 9]
1 3! 6
7. 1 ∗ t3 = = 5
s s4 s
2 2
8. t ∗ tet = 3
s (s − 1)2
−t t s−1
9. e ∗ e cos t =
(s + 1) [(s − 1)2 + 1]
2t 1
10. e ∗ sin t =
(s − 2)(s2 + 1)
t
1 1
11. eτ dτ = {et } =
0 s s(s − 1)
t
1 s 1
12. cos τ dτ = {cos t} = 2 + 1)
= 2
0 s s(s s +1
t
1 −t 1 s+1 s+1
13. e−τ cos τ dτ = e cos t = 2+1
= 2 + 2s + 2)
0 s s (s + 1) s (s
t
1 1 d 1 1 −2s 2
14. τ sin τ dτ = {t sin t} = − =− =
s s ds s2+1 s (s 2 + 1)2 (s2 + 1)2
0
t
1
15. τe t−τ
dτ = {t} {et } = 2
0 s (s − 1)
t
s
16. sin τ cos(t − τ ) dτ = {sin t} {cos t} = 2
2
(s + 1)
0
t t
d d 1 1 3s2 + 1
17. t sin τ dτ = − sin τ dτ = − 2
= 2
0 ds 0 ds s s + 1 s2 (s2 + 1)
t t
−τ d −τ d 1 1 3s + 1
18. t τ e dτ = − t τ e dτ = − 2
= 2
0 ds 0 ds s (s + 1) s (s + 1)3
t
1 1/(s − 1)
19. (a) = = eτ dτ = et − 1
s(s − 1) s 0
t
1 1/s(s − 1)
(b) = = (eτ − 1)dτ = et − t − 1
s2 (s − 1) s 0
t
1 1/s2 (s − 1) 1
(c) = = (eτ − τ − 1)dτ = et − t2 − t − 1
s3 (s − 1) s 0 2
20. (a) The result in (4) is {F (s)G(s)} = f ∗ g, so identify
2k 3 4s
F (s) = and G(s) = .
(s2 + k 2 )2 s2 + k 2
Then
f (t) = sin kt − kt cos kt and g(t) = 4 cos kt
so t
8k 3 s
= {F (s)G(s)} = f ∗ g = 4 f (τ )g(t − τ )dt
(s2 + k 2 )2 0
t
=4 (sin kτ − kτ cos kτ ) cos k(t − τ )dτ.
0
187
Exercises 4.4
188
Exercises 4.4
or
s
(s2 + 16) {y} = 1 + − e−πs {cos 4(t + π)}
s2 + 16
s
=1+ 2 − e−πs {cos 4t}
s + 16
s s
=1+ 2 − e−πs .
s + 16 s2 + 16
Thus
1 s s
{y} = + − 2 e−πs
s2 + 16 (s2 + 16)2 (s + 16)2
and
1 1 1
y= sin 4t + t sin 4t − (t − π) sin 4(t − π) (t − π).
4 8 8
34. The Laplace transform of the differential equation is
π π
s2 {y} − sy(0) − y (0) + {y} = 1− t− + sin t t−
2 2
1 1 −πs/2 π
or (s2 + 1) {y} = s + − e + e−πs/2 sin t +
s s 2
1 1
= s + − e−πs/2 + e−πs/2 {cos t}
s s
1 1 −πs/2 s
=s+ − e + 2 e−πs/2 .
s s s +1
189
Exercises 4.4
Thus
s 1 1 s
{y} = + − e−πs/2 + 2 e−πs/2
s2 2 2
+ 1 s(s + 1) s(s + 1) (s + 1)2
s 1 s 1 s s
= 2 + − 2 − − 2 e−πs/2 + 2 e−πs/2
s +1 s s +1 s s +1 (s + 1)2
1 1 s s
= − − 2 e−πs/2 + 2 e−πs/2
s s s +1 (s + 1)2
and π π 1 π π π
y = 1 − 1 − cos t − t− + t− sin t − t−
2 2 2 2 2 2
π 1 π π
= 1 − (1 − sin t) t− + t− cos t t− .
2 2 2 2
35. The Laplace transform of the differential equation is
1 2s
s2 {y} + {y} = + .
(s2 + 1) (s2 + 1)2
Thus
1 2s
{y} = + 2
(s2 + 1)2 (s + 1)3
and, using Problem 20,
1 1
y= (sin t − t cos t) + (t sin t − t2 cos t).
2 4
36. (a)
y
0.5
t
1 2 3 4 5 6
-0.5
-1
(b)
y
4
2
t
1 2 3 4 5 6
-2
-4
{f } + {t} {f } = {t}.
1
Solving for {f } we obtain {f } = . Thus, f (t) = sin t.
s2 + 1
38. The Laplace transform of the given equation is
{f } = {2t} − 4 {sin t} {f }.
190
Exercises 4.4
{f } + {1} {f } = {1}.
1
Solving for {f } we obtain {f } = . Thus, f (t) = e−t .
s+1
42. The Laplace transform of the given equation is
{f } = {cos t} + e−t {f }.
191
Exercises 4.4
200 1000 −s
s {i} − y(0) + 30 {i} + {i} = (e − e−2s ).
s s
Solving for {i} we obtain
1000e−s − 1000e−2s 100 100
{i} = = − (e−s − e−2s ).
s2 + 30s + 200 s + 10 s + 20
Thus
i(t) = 100 e−10(t−1) − e−20(t−1) (t − 1) − 100 e−10(t−2) − e−20(t−2) (t − 2).
192
Exercises 4.4
where i(0) = 0. The Laplace transform of the differential equation is 0.5 1 1.5 2 t
10,000 1 1
s {i} + 200 {i} + {i} = 20,000 2 − 2 e−s .
s s s
Solving for {i} we obtain
20,000 −s 2 2 200
{i} = (1 − e ) = − − (1 − e−s ).
s(s + 100)2 s s + 100 (s + 100)2
Thus
193
Exercises 4.4
51. The differential equation is x + 2x + 10x = 20f (t), where f (t) is the meander function with a = π. Using the
initial conditions x(0) = x (0) = 0 and taking the Laplace transform we obtain
20 1
(s2 + 2s + 10) {x(t)} = (1 − e−πs )
s 1 + e−πs
20
= (1 − e−πs )(1 − e−πs + e−2πs − e−3πs + · · ·)
s
20
= (1 − 2e−πs + 2e−2πs − 2e−3πs + · · ·)
s
∞
20 40 !
= + (−1)n e−nπs .
s s n=1
Then
!∞
20 40
{x(t)} = + (−1)n e−nπs
s(s2 + 2s + 10) s(s2 + 2s + 10) n=1
∞
!
2 2s + 4 4 4s + 8
= − 2 + (−1)n − 2 e−nπs
s s + 2s + 10 n=1 s s + 2s + 10
!∞
2 2(s + 1) + 2 n 1 (s + 1) + 1
= − + 4 (−1) − e−nπs
s (s + 1)2 + 9 n=1
s (s + 1)2+9
194
Exercises 4.4
and
!∞
−t 1 −t
x(t) = 2 1 − e cos 3t − e sin 3t + 4 (−1) 1 − e−(t−nπ) cos 3(t − nπ)
n
3 n=1
1 −(t−nπ)
− e sin 3(t − nπ) (t − nπ).
3
The graph of x(t) on the interval [0, 2π) is shown below.
π 2π t
−3
52. The differential equation is x + 2x + x = 5f (t), where f (t) is the square wave function with a = π. Using the
initial conditions x(0) = x (0) = 0 and taking the Laplace transform, we obtain
5 1 5
(s2 + 2s + 1) {x(t)} = −πs
= (1 − e−πs + e−2πs − e−3πs + e−4πs − · · ·)
s 1+e s
!∞
5
= (−1)n e−nπs .
s n=0
Then
!∞ !∞
5 n −nπs 1 1 1
{x(t)} = (−1) e =5 (−1)n
− − e−nπs
s(s + 1)2 n=0 n=0
s s + 1 (s + 1)2
and
∞
!
x(t) = 5 (−1)n (1 − e−(t−nπ) − (t − nπ)e−(t−nπ) ) (t − nπ).
n=0
t
2π 4π
−5
195
Exercises 4.4
55. (a) The output for the first three lines of the program are
t
−5 π 3π
Exercises 4.5
1. The Laplace transform of the differential equation yields
1 −2s
{y} = e
s−3
so that
y = e3(t−2) (t − 2).
196
Exercises 4.5
so that
y = sin t + sin t (t − 2π).
197
Exercises 4.5
1 1 1 1 1 1 1 1 1 1 −2s
=− − + + − + e + e−4s
25 s − 1 5 (s − 1)2 25 s − 6 5 s−1 5 s−6
so that
1 t 1 t 1 6t 1 t−2 1 6(t−2)
y = − e − te + e + − e + e (t − 2)
25 5 25 5 5
1 1
+ − et−4 + e6(t−4) (t − 4).
5 5
13. The Laplace transform of the differential equation yields
1 2 1 3! 1 P0 3! −Ls/2
{y} = y (0) + y (0) + e
2 s3 6 s4 6 EI s4
so that 3
1 1 1 P0 L L
y= y (0)x2 + y (0)x3 + X− x− .
2 6 6 EI 2 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−
4 EI 6 EI 6 EI 2 2
P0 L x2 − 1 x3 , 0 ≤ x < L
EI 4 6 2
=
P0 L
2
1 L L
x− , ≤ x ≤ L.
4EI 2 12 2
14. From Problem 13 we know that
3
1 1 1 P0 L L
y= y (0)x2 + y (0)x3 + X− x− .
2 6 6 EI 2 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 1
x − x3 , 0≤x<
L
EI 16 12 2
=
3
P L 2 1 1 P0 L L
0 x − x3 + x− , ≤ x ≤ L.
EI 16 12 6 EI 2 2
198
Exercises 4.6
Exercises 4.6
1. Taking the Laplace transform of the system gives
s {x} = − {x} + {y}
s {y} − 1 = 2 {x}
1 1 1 1 1
so that {x} = = −
(s − 1)(s + 2) 3 s−1 3 s+2
1 2 2 1 1 1
and {y} = + = + .
s s(s − 1)(s + 2) 3 s−1 3 s+2
1 t 1 −2t 2 t 1 −2t
Then x= e − e and y = e + e .
3 3 3 3
2. Taking the Laplace transform of the system gives
1
s {x} − 1 = 2 {y} +
s−1
1
s {y} − 1 = 8 {x} − 2
s
s3 + 7s2 − s + 1 1 1 8 1 173 1 53 1
so that {y} = = − + −
s(s − 1)(s2 − 16) 16 s 15 s − 1 96 s − 4 160 s + 4
1 8 173 4t 53 −4t
and y= − et + e − e .
16 15 96 160
1 1 1 1 173 4t 53 −4t
Then x= y + t = t − et + e + e .
8 8 8 15 192 320
3. Taking the Laplace transform of the system gives
s {x} + 1 = {x} − 2 {y}
s {y} − 2 = 5 {x} − {y}
−s − 5 s 5 3
so that {x} = =− 2 −
s2 + 9 s + 9 3 s2 + 9
5
and x = − cos 3t − sin 3t.
3
1 1 7
Then y= x − x = 2 cos 3t − sin 3t.
2 2 3
4. Taking the Laplace transform of the system gives
1
(s + 3) {x} + s {y} =
s
1
(s − 1) {x} + (s − 1) {y} =
s−1
199
Exercises 4.6
5s − 1 1 1 1 1 4 1
so that {y} = =− + +
3s(s − 1)2 3 s 3 s − 1 3 (s − 1)2
1 − 2s 1 1 1 1 1 1
and {x} = = − − .
3s(s − 1)2 3 s 3 s − 1 3 (s − 1)2
1 1 t 1 t 1 1 4
Then x= − e − te and y = − + et + tet .
3 3 3 3 3 3
5. Taking the Laplace transform of the system gives
1
(2s − 2) {x} + s {y} =
s
2
(s − 3) {x} + (s − 3) {y} =
s
−s − 3 1 1 5 1 2
so that {x} = =− + −
s(s − 2)(s − 3) 2 s 2 s−2 s−3
3s − 1 1 1 5 1 8 1
and {y} = =− − + .
s(s − 2)(s − 3) 6 s 2 s−2 3 s−3
1 5 1 5 8
Then x = − + e2t − 2e3t and y = − − e2t + e3t .
2 2 6 2 3
6. Taking the Laplace transform of the system gives
(s + 1) {x} − (s − 1) {y} = −1
s {x} + (s + 2) {y} = 1
s + 1/2 s + 1/2
so that {y} = = √
s2 + s + 1 (s + 1/2)2 + ( 3/2)2
−3/2 −3/2
and {x} = = √ .
s2 +s+1 (s + 1/2)2 + ( 3/2)2
√ √
−t/2 3 −t/2 3
Then y=e cos t and x = e sin t.
2 2
7. Taking the Laplace transform of the system gives
(s2 + 1) {x} − {y} = −2
− {x} + (s + 1)
2
{y} = 1
−2s2 − 1 1 1 3 1
so that {x} = =− 2 −
s4 + 2s2 2 s 2 s2 + 2
1 3 √
and x = − t − √ sin 2 t.
2 2 2
1 3 √
Then y = x + x = − t + √ sin 2 t.
2 2 2
8. Taking the Laplace transform of the system gives
(s + 1) {x} + {y} = 1
4 {x} − (s + 1) {y} = 1
200
Exercises 4.6
s+2 s+1 1 2
so that {x} = = +
s2 + 2s + 5 2
(s + 1) + 22 2 (s + 1)2 + 22
−s + 3 s+1 2
and {y} = =− +2 .
s2 + 2s + 5 (s + 1)2 + 22 (s + 1)2 + 22
1
Then x = e−t cos 2t + e−t sin 2t and y = −e−t cos 2t + 2e−t sin 2t.
2
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 4! 1 3!
and {x} = 8 + 5
+
s 24 s 3 s4
1 4! 1 3!
{y} = −
24 s5 3 s4
1 4 1 3 1 4 1 3
so that x=8+ t + t and y = t − t .
24 3 24 3
10. Taking the Laplace transform of the system gives
6
(s − 4) {x} + s3 {y} =
s2 +1
(s + 2) {x} − 2s3 {y} = 0
4 4 1 4 s 8 1
so that {x} = = − −
(s − 2)(s + 1)
2 5 s − 2 5 s + 1 5 s2 + 1
2
2s + 4 1 2 2 1 1 6 s 8 1
and {y} = = − 2 −2 3 + − + .
s3 (s − 2)(s + 1)
2 s s s 5 s − 2 5 s + 1 5 s2 + 1
2
4 2t 4 8
Then x= e − cos t − sin t
5 5 5
1 6 8
and y = 1 − 2t − 2t2 + e2t − cos t + sin t.
5 5 5
11. Taking the Laplace transform of the system gives
s2 {x} + 3(s + 1) {y} = 2
1
s2 {x} + 3 {y} =
(s + 1)2
2s + 1 1 1 1 2 1
so that {x} = − = + 2+ − .
s3 (s + 1) s s 2 s3 s+1
1
Then x = 1 + t + t2 − e−t
2
1 −t 1 1 1 1
and y= te − x = te−t + e−t − .
3 3 3 3 3
201
Exercises 4.6
−1/2 1
so that {x} = + e−s
(s − 1)(s − 2) (s − 1)(s − 2)
1 1 1 1 1 1
= − + e−s − +
2 s−1 2 s−2 s−1 s−2
1 t 1 2t t−1
Then x= e − e + −e + e2(t−1) (t − 1)
2 2
3 1 3
and y = et − e2t + 1 − et−1 + e2(t−1) (t − 1).
4 2 2
2 1 2 √ 4 √
Then x1 = cos t + sin t − cos 6 t + √ sin 6 t
5 5 5 5 6
4 2 1 √ 2 √
and x2 = cos t + sin t + cos 6 t − √ sin 6 t.
5 5 5 5 6
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
202
Exercises 4.6
1 1
so that {x1 } = − and {x2 } = .
s2 +3 s2 +3
1 √ 1 √
Then x1 = − √ sin 3 t and x2 = √ sin 3 t.
3 3
15. (a) By Kirchoff’s first law we have i1 = i2 +i3 . By Kirchoff’s 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
10,000
gives (s + 500) {i2 } + 500 {i3 } =
s
8,000
400 {i2 } + (s + 400) {i3 } =
s
8,000 80 1 80 1
so that {i3 } = = − .
s2 + 900s 9 s 9 s + 900
Then
80 80 −900t 100 100 −900t
i3 = − e and i2 = 20 − 0.0025i3 − i3 = − e .
9 9 9 9
(c) i1 = i2 + i3 = 20 − 20e−900t
16. (a) Taking the Laplace transform of the system
i2 + i3 + 10i2 = 120 − 120 (t − 2)
−10i2 + 5i3 + 5i3 = 0
120
gives (s + 10) {i2 } + s {i3 } = 1 − e−2s
s
−10s {i2 } + 5(s + 1) {i3 } = 0
so that
120(s + 1) −2s
48 60 12
{i2 } = 2
1 − e = − + 1 − e−2s
(3s + 11s + 10)s s + 5/3 s + 2 s
and
240 −2s
240 240
{i3 } = 2
1 − e = − 1 − e−2s .
3s + 11s + 10 s + 5/3 s + 2
203
Exercises 4.6
Then i2 = 12 + 48e−5t/3 − 60e−2t − 12 + 48e−5(t−2)/3 − 60e−2(t−2) (t − 2)
and i3 = 240e−5t/3 − 240e−2t − 240e−5(t−2)/3 − 240e−2(t−2) (t − 2).
(b) i1 = i2 + i3 = 12 + 288e−5t/3 − 300e−2t − 12 + 288e−5(t−2)/3 − 300e−2(t−2) (t − 2)
17. Taking the Laplace transform of the system
i2 + 11i2 + 6i3 = 50 sin t
i3 + 6i2 + 6i3 = 50 sin t
50
gives (s + 11) {i2 } + 6 {i3 } =
s2
+1
50
6 {i2 } + (s + 6) {i3 } = 2
s +1
so that
50s 20 1 375 1 145 s 85 1
{i2 } = =− + + + .
(s + 2)(s + 15)(s2 + 1) 13 s + 2 1469 s + 15 113 s2 + 1 113 s2 + 1
20 −2t 375 −15t 145 85
Then i2 = − e + e + cos t + sin t
13 1469 113 113
25 1 11 30 −2t 250 −15t 280 810
and i3 = sin t − i2 − i2 = e + e − cos t + sin t.
3 6 6 13 1469 113 113
18. Taking the Laplace transform of the system
0.5i1 + 50i2 = 60
0.005i2 + i2 − i1 = 0
120
gives s {i1 } + 100 {i2 } =
s
−200 {i1 } + (s + 200) {i2 } = 0
so that
24,000 6 1 6 s + 100 6 100
{i2 } = = − − .
s(s2 + 200s + 20,000) 5 s 5 (s + 100)2 + 1002 5 (s + 100)2 + 1002
6 6 −100t 6
Then i2 = − e cos 100t − e−100t sin 100t
5 5 5
6 6 −100t
and i1 = 0.005i2 + i2 = − e cos 100t.
5 5
19. Taking the Laplace transform of the system
2i1 + 50i2 = 60
0.005i2 + i2 − i1 = 0
60
gives 2s {i1 } + 50 {i2 } =
s
−200 {i1 } + (s + 200) {i2 } = 0
6,000
so that {i2 } =
s(s2 + 200s + 5,000)
√ √
6 1 6 s + 100 6 2 50 2
= − √ − √ .
5 s 5 (s + 100)2 − (50 2 )2 5 (s + 100)2 − (50 2 )2
204
Exercises 4.6
√
6 6 −100t √ 6 2 −100t √
Then i2 = − e cosh 50 2 t − e sinh 50 2 t
5 5 5
√
6 6 √ 9 2 −100t √
and i1 = 0.005i2 + i2 = − e−100t cosh 50 2 t − e sinh 50 2 t.
5 5 10
20. (a) Using Kirchoff’s first law we write i1 = i2 + i3 . Since i2 = dq/dt we have i1 − i3 = dq/dt. Using Kirchoff’s
second law and summing the voltage drops across the shorter loop gives
1
E(t) = iR1 + q, (1)
C
1 1
so that i1 = E(t) − q.
R1 R1 C
dq 1 1
Then = i1 − i3 = E(t) − q − i3
dt R1 R1 C
dq 1
and R1+ q + R1 i3 = E(t).
dt C
Summing the voltage drops across the longer loop gives
di3
E(t) = i1 R1 + L + R2 i3 .
dt
Combining this with (1) we obtain
di3 1
i1 R1 + L + R2 i3 = i1 R1 + q
dt C
di3 1
or L + R2 i3 − q = 0.
dt C
(b) Using L = R1 = R2 = C = 1, E(t) = 50e−t (t − 1) = 50e−1 e−(t−1) (t − 1), q(0) = i3 (0) = 0, and taking
the Laplace transform of the system we obtain
50e−1 −s
(s + 1) {q} + {i3 } = e
s+1
(s + 1) {i3 } − {q} = 0,
50e−1 e−s
so that {q} =
(s + 1)2 + 1
1 s 3 s
or {θ2 } = − .
2 s2 + 4/3 2 s2 + 4
205
Exercises 4.6
1 2 3
Then θ2 = cos √ t − cos 2t and θ1 = −θ2 − 2θ2
2 3 2
1 2 3
so that θ1 = cos √ t + cos 2t.
4 3 4
(b) θ1 θ2
2 2
1 1
3π 6π t 3π 6π t
−1 −1
−2 −2
Mass m2 has extreme displacements of greater magnitude. Mass m1 first passes through its equilibrium
position at about t = 0.87, and mass m2 first 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 π, cos 2t has period π, and the
√
ratio of these periods is 3 , which is not a rational number.
θ2
(c) The Lissajous curve is plotted for 0 ≤ t ≤ 30.
2
θ1
-1-0.5 0.5 1
-1
-2
206
Chapter 4 Review Exercises
(e) Using a CAS to solve θ1 (t) = θ2 (t) we see that θ1 = θ2 (so that the double pendulum t=0.75
is straight out) when t is about 0.75 seconds.
(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
x2 (t) = x1 (t) + 16 sin θ2 (t) and y2 (t) = y1 (t) − 16 cos θ2 (t).
A reasonable movie can be constructed by letting t range from 0 to 10 in increments of 0.1 seconds.
207
Chapter 4 Review Exercises
2
12. {sin 2t (t − π)} = {sin 2(t − π) (t − π)} = e−πs
s2 +4
20 1 5! 1
13. = = t5
s6 6 s6 6
1 1 1 1
14. = = et/3
3s − 1 3 s − 1/3 3
1 1 2 1
15. = = t2 e5t
(s − 5)3 2 (s − 5)3 2
√
1 1 1 1 1 1 1 √
16. = − √ √ + √ √ = − √ e− 5 t + √ e 5 t
s −5
2
5 s+ 5 5 s− 5 5 5
s s−5 5 2 5
17. = + = e5t cos 2t + e5t sin 2t
s2 − 10s + 29 (s − 5)2 + 22 2 (s − 5)2 + 22 2
1 −5s
18. e = (t − 5) (t − 5)
s2
s + π −s s −s π −s
19. e = e + e
s2 + π 2 s2 + π 2 s2 + π 2
= cos π(t − 1) (t − 1) + sin π(t − 1) (t − 1)
1 1 L nπ/L 1 nπ
20. = 2 = sin t
L2 s2 + n2 π 2 L nπ s2 + (n2 π 2 )/L2 Lnπ L
−5t
21. e exists for s > −5.
d
22. te8t f (t) = − F (s − 8).
ds
23. {eat f (t − k) (t − k)} = e−ks {ea(t+k) f (t)} = e−ks eak {eat f (t)} = e−k(s−a) F (s − a)
t
1 F (s − a)
24. eaτ f (τ ) dτ = {eat f (t)} = , whereas
0 s s
t t
F (s) F (s − a)
eat f (τ ) dτ = f (τ ) dτ = = .
0 0 s→s−a s s→s−a s−a
25. f (t) (t − t0 )
26. f (t) − f (t) (t − t0 )
27. f (t − t0 ) (t − t0 )
28. f (t) − f (t) (t − t0 ) + f (t) (t − t1 )
208
Chapter 4 Review Exercises
209
Chapter 4 Review Exercises
s2 − 2s + 1 1 1 1 1 9 1
{x} = =− + + .
s(s − 2)(s + 2) 4 s 8 s−2 8 s+2
Then
1 1 9 9 −2t 1 2t
x = − + e2t + e−2t and y = −x + t = e − e + t.
4 8 8 4 4
40. Taking the Laplace transform of the system gives
1
s2 {x} + s2 {y} =
s−2
1
2s {x} + s2 {y} = −
s−2
so that
2 1 1 1 1 1
{x} = = − +
s(s − 2)2 2 s 2 s − 2 (s − 2)2
and
−s − 2 3 1 1 1 3 1 1
{y} = =− − + − .
s2 (s − 2)2 4 s 2 s2 4 s − 2 (s − 2)2
Then
1 1 2t 3 1 3
x= − e + te2t and y = − − t + e2t − te2t .
2 2 4 2 4
41. The integral equation is
t
10i + 2 i(τ ) dτ = 2t2 + 2t.
0
Taking the Laplace transform we obtain
4 2 s s+2 9 2 45 9 2 9
{i} = 3
+ 2
= 2 =− + 2 + =− + 2 + .
s s 10s + 2 s (5s + 2) s s 5s + 1 s s s + 1/5
Thus
i(t) = −9 + 2t + 9e−t/5 .
210
Chapter 4 Review Exercises
43. Taking the Laplace transform of the given differential equation we obtain
2w0 L 4! 1 5! 1 5! c1 2! c2 3!
{y} = · 5− · 6+ · 6 e−sL/2 + · + ·
EIL 48 s 120 s 120 s 2 s3 6 s4
so that
5
2w0 L 4 1 5 1 L L c1 c2
y= x − x + x− x− + x2 + x3
EIL 48 120 120 2 2 2 6
where y (0) = c1 and y (0) = c2 . Using y (L) = 0 and y (L) = 0 we find
Hence
5
w0 1 L L2 3 L3 2 1 L L
y= − x5 + x4 − x + x + x− x− .
12EIL 5 2 2 4 5 2 2
44. Taking the Laplace transform of the given differential equation we obtain
c1 2s c2 4 w0 4
{y} = · + · + · e−sπ/2
2 s4 + 4 4 s4 + 4 4EI s4 + 4
so that
c1 c2
y= sin x sinh x + (sin x cosh x − cos x sinh x)
2 4
w0 π π π π π
+ sin x − cosh x − − cos x − sinh x − x−
4EI 2 2 2 2 2
where y (0) = c1 and y (0) = c2 . Using y(π) = 0 and y (π) = 0 we find
w0 sinh π2 w0 cosh π2
c1 = , c2 = − .
EI sinh π EI sinh π
Hence
w0 sinh π2 w0 cosh π2
y= sin x sinh x − (sin x cosh x − cos x sinh x)
2EI sinh π 4EI sinh π
w0 π π π π π
+ sin x − cosh x − − cos x − sinh x − x− .
4EI 2 2 2 2 2
211