problems

183

3. Vary the constants C1 , C2 , . . . , Cn to make them functions of x, and obtain

(k)
n equations yP , k = 0, 1, . . . , n1,
yC(k) (x; C1 , C2 , . . . , Cn )

Ci ci (x)
====
i = 1, 2, . . . , n

(k) 

yP


x; c1 (x), c2 (x), . . . , cn (x) .

(k)

4. Differentiating yP with respect to x and comparing with the expressions

(k+1)
, k = 0, 1, . . . , n2, and substituting yP and the derivatives into the
yP
original differential equation yield n linear algebraic equations for c1 (x),
c2 (x), . . . , cn (x).
5. Solve these equations for c1 (x), c2 (x), . . . , cn (x).
6. Integrate to obtain the functions c1 (x), c2 (x), . . . , cn (x). A particular solu

tion yP x; c1 (x), c2 (x), . . . , cn (x) is then obtained.

Euler Differential Equations

(an x n D n + an1 x n1 D n1 + + a1 x D + a0 ) y = f (x),

D ( ) d( )/dx.

D ( ) d( )/dz, then
x n D n () = D ( D 1)( D 2) ( D n+1)(), n = positive integer.

Letting x = ez or z = ln x, x >0,

The Euler differential equation is converted to a differential equation with constant

coefcients.

Problems
Complementary Solutions
4.1

( D 3 2 D 2 + D 2) y = 0

ANS

yC = A cos x + B sin x + Ce2x

4.2

( D 3 + D 2 + 9 D + 9) y = 0

ANS

yC = A cos 3x + B sin 3x + Cex

4.3

( D 3 + D 2 D 1) y = 0

4.4

( D 3 + 8) y = 0

ANS

4.5

( D 3 8) y = 0

ANS

4.6

( D 4 + 4) y = 0

4.7

( D 4 + 18 D 2 + 81) y = 0

4.8

( D 4 4 D 2 + 16) y = 0

ANS

yC = e

3x

ANS

yC = (C0 +C1 x)ex + C ex



yC = ex A cos( 3x) + B sin( 3x) + Ce2x



yC = ex A cos( 3x) + B sin( 3x) + Ce2x

ANS

yC = ex (A1 cos x +B1 sin x)+ex (A2 cos x +B2 sin x)

ANS

yC = (A0 +A1 x) cos 3x +(B0 +B1 x) sin 3x

(A1 cos x + B1 sin x) + e

3x

(A2 cos x + B2 sin x

184

4.9
4.10

ANS

4 linear differential equations

ANS

( D 4 2 D 3 +2 D 2 2 D +1) y = 0

yC = (C0 +C1 x)ex +A cos x +B sin x

( D 4 5 D 3 + 5 D 2 + 5 D 6) y = 0
yC = C1 ex + C2 ex + C3 e2x + C4 e3x

ANS

4.11

(D 5 6D 4 + 9D 3) y = 0

4.12

( D 6 64) y = 0
ANS yC = C1 e2x + C2 e2x




+ ex A1 cos( 3x) + B1 sin( 3x) + ex A2 cos( 3x) + B2 sin( 3x)

yC = C0 +C1 x +C2 x 2 +(D0 +D1 x)e3x

Particular Solutions Method of Undetermined Coefcients

For the following differential equations, specify the form of a particular solution
using the method of undetermined coefcients.
4.13

( D 2 + 6 D + 10) y = 3x e3x 2e3x cos x

4.14

( D 2 8 D + 17) y = e4x (x 2 3x sin x)

4.15

( D 2 2 D + 2) y = (x + ex ) sin x

4.16

( D 2 + 4) y = sinh x sin 2x

4.17

( D 2 + 2 D + 2) y = cosh x sin x

4.18

( D 3 + D ) y = sin x + x cos x

4.19

( D 3 2 D 2 + 4 D 8) y = e2x sin 2x + 2x 2

4.20

( D 3 4 D 2 + 3 D ) y = x 2 + x e2x

4.21

( D 4 + D 2 ) y = 7x 3 cos x

4.22

( D 4 + 5 D 2 + 4) y = sin x cos 2x

Particular Solutions

D -Operator Method
ANS

4.23

( D 5 3 D 3 + 1) y = 9e2x

4.24

( D 1)3 y = 48x ex

ANS

yP = 2x 4 ex

4.25

( D 3 3 D ) y = 9x 2

ANS

yP = x 3 2x

4.26

(D 5 + 4D 3) y = 7 + x

4.27

( D 2 D 2) y = 36x e2x

4.28

( D 4 + 16) y = 64 cos 2x

4.29

( D 4 + 4 D 2 1) y = 44 sin 3x

ANS

yP = e2x

yP =

ANS
ANS

1 3
96 x (28+x)

yP = 2e2x (3x 2 2x)

yP = 2 cos 2x

ANS

yP = sin 3x

Problems

185

4.30

( D 3 + D 2 + 5 D + 5) y = 5 cos 2x

4.31

( D 2 + 3 D + 5) y = 5ex sin 2x

4.32

( D 4 1) y = 4ex

4.33

( D 2 + 4) y = 8 sin2 x

4.34

( D 3 D 2 + D 1) y = 4 sin x

4.35

( D 4 D 2 ) y = 2ex

ANS

ANS
ANS

yP = 2 sin 2x + cos 2x

yP = ex (2 cos 2x + sin 2x)

yP = x ex

ANS

yP = 1 x sin 2x

ANS

ANS

yP = x (cos x sin x)

yP = x ex

General Solutions
4.36

ANS
4.37

ANS

y  4 y  + 4 y = (1 + x)ex + 2e2x + 3e3x

y = (C0 +C1 x)e2x + (x +3)ex + x 2 e2x + 3e3x
( D 2 2 D + 5) y = 4ex cos 2x
y = ex (A cos 2x + B sin 2x) + x ex sin 2x

ANS

4.38

( D 2 + 4) y = 4 sin 2x

4.39

( D 2 1) y = 12x 2 ex + 3e2x + 10 cos 3x

ANS

yP = C1 ex + C2 ex + ex (2x 3 3x 2 +3x) + e2x cos 3x

4.40

y  + y = 2 sin x 3 cos 2x

4.41

y  y  = ex (10 + x 2 )

4.42

( D 2 4) y = 96x 2 e2x + 4e2x

ANS
4.43

ANS
4.44

ANS
4.45

ANS
4.46

ANS
4.47

ANS

y = A cos 2x + B sin 2x x cos 2x

ANS
ANS

y = A cos x +B sin x x cos x + cos 2x



y = C1 + C2 ex + ex 13 x 3 x 2 +12x

y = C1 e2x + C2 e2x + e2x (8x 3 6x 2 + 3x) xe2x

( D 2 + 2 D + 2) y = 5 cos x + 10 sin 2x
y = ex (A cos x +B sin x)+ cos x +2 sin x 2 cos 2x sin 2x
( D 2 2 D + 2) y = 4x 2 + 2ex sin x
y = ex (A cos x + B sin x) + 2x + 1 x ex cos x
( D 2 4 D + 4) y = 4x e2x sin 2x
y = (C0 +C1 x)e2x e2x (x sin 2x + cos 2x)
( D 3 D 2 + D 1) y = 15 sin 2x
y = Cex + A cos x + B sin x + 2 cos 2x + sin 2x
( D 3 + 3 D 2 4) y = 40 sin 2x
y = (C0 + C1 x)e2x + C2 ex + cos 2x 2 sin 2x

186

4.48

ANS
4.49

ANS
4.50

ANS
4.51

ANS
4.52

ANS
4.53

ANS

4 linear differential equations

y  y  + y  y = 2ex + 5e2x

y = A cos x + B sin x + Cex + x ex + e2x
( D 3 6 D 2 + 11 D 6) y = 10ex sin x
y = C1 ex + C2 e2x + C3 e3x + ex (3 sin x cos x)
( D 3 2 D 4) y = 50(sin x + e2x )
y = Ce2x +ex (A cos x +B sin x)+6 cos x 8 sin x + 5x e2x
y  3 y  + 4 y = 12e2x + 4e3x
y = (C0 + C1 x)e2x + C3 ex + 2x 2 e2x + e3x
( D 4 8 D 2 + 16) y = 32e2x + 16x 3
y = (C0 +C1 x)e2x + (D0 +D1 x)e2x + x 2 e2x + x 3 + 3x
( D 4 18 D 2 + 81) y = 72e3x + 729x 2
y = (C0 + C1 x)e3x + (D0 + D1 x)e3x + x 2 e3x + 9x 2 + 4

Method of Variation of Parameters

4.54

y  y = x 1 2x 3

4.55

y  y =

4.56

y  2 y  + y =

4.57

y  + 3 y  + 2 y = sin ex

4.58

y  3 y  + 2 y = sin ex

4.59

y  + y = sec3 x

4.60


 1
y  y = 1e2x 2

4.61

y  y = e2x sin ex

4.62

y  + 2 y  + y = 15ex x +1

4.63

y  + 4 y = 2 tan x

ANS

1
sinh x

y = C1 ex + C2 ex x 1

ANS

ANS
ex
x



y = C1 ex +C2 ex x ex + sinh x ln1e2x 
 

y = C0 + C1 x + x lnx  ex

ANS

ANS
ANS

y = C1 e2x + C2 ex e2x sin ex

ANS
ANS

y = C1 ex + C2 e2x e2x sin ex

y = A cos x + B sin x + 12 sec x

y = C1 ex +C2 ex 12 ex sin1 ex 12

ANS


1e2x

y = C1 ex +C2 ex sin ex ex cos ex


5
ANS y = ex C0 + C1 x + 4(x +1) 2



y = A cos 2x + B sin 2x + sin 2x lncos x  x cos 2x

4.64

y  2 y  + y =

4.65

y  + y  =

e2x
(ex + 1)2

1
1 + ex

ANS

ANS

y = (C0 +C1 x)ex + ex ln(1+ex )

y = C1 +C2 ex ln(ex +1)ex ln(ex +1)

Problems

187

Euler Differential Equations

4.66
4.67

ANS
4.68

ANS
4.69

ANS
4.70

ANS

(x 2 D 2 x D + 1) y = ln x

ANS

y = (C0 +C1 ln x)x + 2 + ln x

5
x 2 y  + 3x y  + 5 y = 2 ln x
x




1
y=x
A cos(2 ln x) + B sin(2 ln x) + x 2 25 + ln x
(x 3 D 3 + 2x 2 D 2 x D + 1) y = 9x 2 ln x
yC = C1 x 1 + (C2 + C3 ln x)x + (3 ln x 7)x 2


(x 2)2 D 2 3(x 2) D + 4 y = x



yC = (x 2)2 C0 +C1 lnx 2 +x 32
x 3 y  + 3x 2 y  + x y  y = x 2
3

 x 2
1 
ln x + B sin
ln x +
y = C x + A cos
2
2
7
x

232

5 applications of linear differential equations

On the record paper, the distance d between two adjacent peaks is measured in
length, which needs to be changed to time to yield the period T of the response.
Since the drum rotates at a speed of v rpm, i.e., it rotates an angle of 2v in 60
seconds, hence the time T it takes to rotate an angle , as shown in the gure, is
given by

30
T
= T =
=
.
60
2v
v
Furthermore, since d = r, which is the arc length corresponding to angle , one
has
30d
30 d
=
.
T=
v r
rv
The frequency of vibration of tip D is
f =

1
rv
=
.
T
30d

Since the steady-state response and the excitation have the same frequency, one
obtains
2 rv
.
 = 2f =
15d

Problems
5.1 A circular cylinder of radius r and mass m is supported by a spring of stiffness
k and partially submerges in a liquid of density . Suppose that, during vibration,
the cylinder does not completely submerge in the liquid. Set up the equation
of motion of the cylinder for the oscillation about the equilibrium position and
determine the period of the oscillation.
%
m
2
m
y

+
(k
+

r
)
y
=
0,
T
=
2
NS
A
k + r 2

m
y, y, y

Problems

233

5.2 A cylinder of radius r, height h, and mass m oats with its axis vertical in a
liquid of density as shown in the following gure.

Archimedes' Principle: An object partially or totally submerged in a fluid

is buoyed up by a force equal to the weight of the fluid displaced.
r
x(t)
h

Equilibrium
Position

Liquid Level

1. Set up the differential equation governing the displacement x(t), measured

relative to the equilibrium position, and determine the period of oscillation.
2. If the cylinder is set into oscillation by being pushed down a displacement x0
at t = 0 and then released, determine the response x(t).
%
%
2 m

2
ANS m x + r x = 0, T = r ; x(t) = x0 cos 0 t, 0 = r m
5.3 A cube of mass m is immersed in a liquid as shown. The length of each side
of the cube is L. At time t = 0, the top surface of the cube is leveled with the surface
of the liquid due to buoyancy. The cube is lifted by a constant force F. Show that
the time T when the bottom surface is leveled with the liquid surface is given by
(

L
mg

cos1 1
.
T=
g
F
F
F
t =0

y, y, y

t =T

L
Time t
L

234

5 applications of linear differential equations

5.4 A mass m is dropped with zero initial velocity from a height of h above a
spring of stiffness k as shown in the following gure. Determine the maximum
compression of the spring and the duration between the time when the mass contacts the spring and the time when the spring reaches maximum compression.
%
%
%

mg
mg
mg
m
1 mg
ANS ymax = k 2h+ k + k , T = k 2 + tan
2hk

m
h

5.5 A uniform chain of length L with mass density per unit length is laid on a
rough horizontal table with an initial hang of length l, i.e., y = l at t = 0 as shown
in the following gure. The coefcients of static and kinetic friction between the
chain and the surface have the same value . The chain is released from rest at time
t = 0 and it starts sliding off the table if (1+)l >L. Show that the time T it
takes for the chain to leave the table is
(


L
L
1
cosh
.
T=
(1+)g
(1+)l L

Ly
y, y, y
y(t)

5.6 A uniform chain of length L with mass density per unit length is laid on a
smooth inclined surface with y = 0 at t = 0 as shown in the following gure. The
chain is released from rest at time t = 0. Show that the time T it takes for the chain
to leave the surface is
(
1

L
cosh1
.
T=
(1 sin )g
sin

Problems

235

Ly

y(t)

y, y, y

5.7 A uniform chain of length L with mass density per unit length is hung on a
small smooth pulley with y(t) = l when t = 0, l >L/2, as shown in the Figure 5.27.
The chain is released from rest at time t = 0. Show that the time T it takes for the
chain to leave the pulley is
(
L

L
cosh1
.
T=
2g
2l L

k1

A
a

y, y, y
L y(t)

b
k2

y(t)

B
L

r
Figure 5.28

Figure 5.27

5.8 A pendulum as shown in Figure 5.28 consists of a uniform solid sphere of

radius r and mass m connected by a weightless bar to hinge O. The bar is further
constrained by two linear springs of stiffnesses k1 and k2 at A and B, respectively.
It is known that the moment of inertia of a solid sphere of radius r and mass m
about its diameter is 25 mr 2 . Show that the equation of motion governing the angle
of rotation of the pendulum about O and the natural period of oscillation of the
pendulum are given by
2


2

m 5 r 2 +L + (k1 a2 +k2 b2 +mg L) = 0,

T = 2

2
3
3
4



m 25 r 2 +L2

k1 a2 +k2 b2 +mg L

236

5 applications of linear differential equations

5.9 A mass m is attached to the end C of a massless rod AC as shown in the

following gure. The rod is hinged at one end A and supported by a spring of
stiffness k at the middle B. A dashpot damper having a damping coefcient c is
attached at the middle. A sinusoidal load F sin t is applied at end C.

k
A

mC

B
L

L
c

Fsint

1. Show that the equation of motion governing displacement x(t) of end C is

4m x + c x + k x = 4F sin t.
2. Show that the natural circular frequency d of the damped free vibration of
the system is given by
(
%
c2
1 k
d = 0 1
,
0 =
.
16km
2 m
5.10 A massless rod is hinged at one end A and supported by a spring of stiffness
k at the other end D as shown in the following gure. A mass m is attached at 13 of
the length from the hinge and a dash-pot damper having a damping coefcient c is
attached at 23 of the length from the hinge. A sinusoidal load F sin t is applied at
end D.

c
A
L

B
m

C
L

D
L
F sint

1. Show that the equation of motion governing displacement x(t) of end D is

m x + 4c x + 9k x = 9F sin t.
2. Show that the natural circular frequency d of the damped free vibration of
the system is given by
(
%
k
4c 2
d = 0 1
,
0 = 3
.
9km
m

Problems

237

5.11 A damped single degree-of-freedom system is shown in the following gure.

The displacement of the mass M is described by x(t). The excitation is provided
by x0 (t) = a sin t.
x0 (t)
x(t)
K2

K1
M

c1

c2

1. Show that the equation of motion governing the displacement of the mass M
is given by
x + 2 0 x + 02 x = sin t + cos t,
where

%
0 =

K1 +K2
,
M

2 0 =

c1 +c2
,
M

aK1
,
M

ac1
.
M

2. Determine the amplitude of the steady-state response xP (t).


2 
2
(02 2 )+2 0  + (02 2 )2 0 

ANS

(02 2 )2 + (2 0 )2

5.12 The single degree-of-freedom system shown in the following gure is subjected to dynamic force F(t) = F0 sin t .

x(t)
F(t)

k
c

1. Set up the equation of motion in terms of x(t) and determine the damped
natural circular frequency.
2. Determine the steady-state response of the system xP (t).
(
c2

2k
ANS m x + c x + 2k x = F0 sin t, d = m 1 8km


F0 (2k m2 ) sin t c cos t
xP (t) =
(2k m2 )2 +c 2 2

238

5 applications of linear differential equations

5.13 The single degree-of-freedom system shown in the following gure is subjected to dynamic displacement x0 (t) = a sin t at point A.

x(t)
k1
m

k2

A x0 (t)=a sint

1. Set up the equation of motion in terms of of x(t).

2. If the system is lightly damped, determine the steady-state response of the
system xP (t).

ANS

m x + c x + (k1 +k2 )x = ak2 sin t

xP (t) = ak2

(k1 +k2 m2 ) sin t c cos t

(k1 +k2 m2 )2 +c 2 2

5.14 A precision instrument having a mass of m = 400 kg is to be mounted on a

oor. It is known that the oor vibrates vertically with a peak-to-peak amplitude
of 2 mm and frequency of 5 Hz. To reduce the effect of vibration of the oor on
the instrument, four identical springs are placed underneath the instrument. If the
peak-to-peak amplitude of vibration of the instrument is to be limited to less than
0.2 mm, determine the stiffness of each spring. Neglect damping.

ANS

k = 8.97 kN/m

5.15 The single degree-of-freedom system, shown in the following gure, is

subjected to a sinusoidal load F(t) = F0 sin t at point A. Assume that the mass m,
the spring stiffnesses k1 and k2 , and F0 and  are known. The system is at rest
when t = 0.
y(t)
k1

x(t)
k2
m

F(t)=F0 sint

1. Show that the differential equation governing the displacement of the mass
x(t) is
(
k1 k2
k2
, f =
F .
x + 02 x = f sin t, 0 =
m(k1 +k2 )
m(k1 +k2 ) 0

Problems

239

2. For the case  = 0 , determine the response of the system x(t).

3. For the case  = 0 , determine the response of the system x(t).


f
ANS 2.  = 0 : x(t) = 2 2 sin 0 t + sin t ;
0 
0
3.  = 0 : x(t) =


f 

sin

t
+

t
cos

t
0
0
0
202

5.16 A vehicle is modeled by a damped single degree-of-freedom system with

mass M, spring stiffness K, and damping coefcient c as shown in the following
gure. The absolute displacement of the mass M is described by y(t). The vehicle
is moving at a constant speed U on a wavy surface with prole y0 (x) = sin x.
At time t = 0, the vehicle is at x = 0.

y
M
K

c
y0(x)

U
y0
x

O
1. Show that the equation of motion governing the relative displacement of the
vehicle given by z(t) = y(t)y0 (t) is
%
K
c
2
2 2
z + 2 0 z + 0 z =  U sin(U t), 0 =
, 2 0 = .
M
M
2. Determine the amplitude of the steady-state response z(t), which is a particular solution of the equation of motion.
3. Assuming that the damping coefcient c = 0, determine the speed U at which
resonance occurs.
%
2 U 2
1 K
; U=
ANS 
 M
(2 2 U 2 )2 + (2 U )2
0

5.17 The landing gear of an airplane as shown in Figure 5.8 can be modeled as a
mass connected to the airplane by a spring of stiffness K and a damper of damping
coefcient c. A spring of stiffness k is used to model the forces on the tires. The
airplane lands at time t = 0 with x = 0 and moves at a constant speed U on a
wavy surface with prole y0 (x) = sin x. Assuming that the airplane moves in

240

5 applications of linear differential equations

the horizontal direction only, determine the steady-state response of the absolute
displacement y(t) of the mass m.

ANS

k sin(U t )
y(t) = 
,
(K +k m2 U 2 )2 + (c U )2

= tan1

c U
K +k m2 U 2

5.18 In Section 5.1, it is derived that the equation of motion of a single story
shear building under the base excitation x0 (t) is given by
m y (t) + c y (t) + k y = m x 0 (t),
or
y (t) + 2 0 y (t) + 02 y = x 0 (t),
where
02 =

k
,
m

2 0 =

c
,
m

and y(t) = x(t)x0 (t) is the relative displacement between the girder and the base.
Rigid girder

x(t)

m
k

Weightless columns
c

x0(t) =a sint

For x0 (t) = a sin t, determine the Dynamic Magnication Factor (DMF) dened as


 y (t)
P
 max ,
DMF = 
x (t)
0

max

where yP (t) is the steady-state response of the relative displacement or the particular solution due to the base excitation. Plot DMF versus the frequency ratio
r = /0 for = 0, 0.1, 0.2, and 0.3.

ANS

DMF = 

r2
(1r 2 )2

+ (2 r)2

r=


0

5.19 Consider the undamped single degree-of-freedom system with m = 10 kg,

k = 1 kN/m. The system is subjected to a dynamic load F(t) as shown in the
following gure. The system is at rest at time t = 0.
Determine the analytical expression of the displacement as a function of time up
to t = 10 sec.

ANS

x(t) = 0.02(10t sin 10t), 0  t  5

x(t) = 1.005 cos 10(t 5) + 0.0007 sin 10(t 5), 5  t  10

Problems

241

x(t)

F(t) (kN)
1

F(t)

10

t (sec)

5.20 The following gure shows the conguration of a displacement meter used
for measuring the vibration of the structure that the meter is mounted on. The
structure undergoes vertical displacement a0 sin t and excites the mass-springdamper system of the displacement meter. The displacement of the mass is recorded
on the rotating drum. It is known that m = 1 kg, k = 1000 N/m, c = 5 N sec/m,
and the steady-state record on the rotating drum shows a sinusoidal function with
frequency of 5 Hz and peak-to-peak amplitude of 50 mm. Determine the amplitude
a0 and the frequency f = /(2) of the displacement of the structure.

ANS

a0 = 4.0 mm,

f = 5 Hz

c
m

2a
k
a0 sint

5.21 For the circuit shown in Figure 5.29(a), the switch has been at position a for
a long time prior to t = 0 . At t = 0, the switch is moved to position b. Determine

ANS

i(t) for t >0.

i(t) = (39t)e5t (A)

5.22 For the circuit shown in Figure 5.29(b), the switch has been at position a for
a long time prior to t = 0 . At t = 0, the switch is moved to position b. Show that
the differential equation governing vC (t) for t >0 is
d2 vC
1
R dvC
V (t)
+
vC =
,
+
2
dt
L dt
LC
LC

vC (0+ ) = RI0 ,

dvC (0+ )
= 0.
dt

1
For R = 6 , C = 25
F, L = 1 H, I0 = 1 A, V (t) = 39 sin 2t (V), determine vC (t)

for t >0.

ANS

vC (t) = 7e3t (2 cos 4t sin 4t)+35 sin 2t 20 cos 2t (V)

242

5 applications of linear differential equations

0.02 F

2H

14 

t=0

12 V

b
a

t=0

I0

vC

2

V(t)

6
4A

(a)

t=0

(b)

R1

R2

C1

t=0

t=0
R1

V(t)

vC

C2

R2

I(t)

vC

V0
(c)

(d)
Figure 5.29

Second-order circuits.

5.23 For the circuit shown in Figure 5.29(c), show that the differential equation
governing vC (t) for t >0 is
R1 C1 R2 C2

d2 v C
dv
dV (t)
,
+ (R1 C1 +R1 C2 +R2 C2 ) C + vC = R1 C1
2
dt
dt
dt

with the initial conditions given by vC (0+ ) = 0,

dvC (0+ ) V (0+ )

=
.
dt
R2 C2

For R1 = 1 , R2 = 2 , C1 = 2 F, C2 = 1 F, V (t) = 12et (V), determine vC (t) for

t >0.

ANS

vC (t) = 83 e 4 + 83 (1+3t)et (V)

t

5.24 For the circuit shown in Figure 5.29(d), show that the differential equation
governing vC (t) for t >0 is
R +R2 dvC
V +R2 I(t)
d2 vC
1
+
vC = 0
,
+ 1
2
dt
L
dt
LC
LC

vC (0+ ) = V0 ,

dvC (0+ )
= 0.
dt

For R1 = R2 = 5 , C = 0.2 F, L = 5 H, V0 = 12 V, I(t) = 2 sin t (A), determine

vC (t) for t >0.

ANS

vC (t) = 5(1+t)et + 12 5 cos t (V)

Problems

243

5.25 Consider column AB clamped at the base and pin-supported at the top by
an elastic spring of stiffness k. Show that the buckling equation for the column is

kL3 
tan(L) (L) + (L)3 = 0,
EI

2 =

P
.
EI

P
k
B
EI, L
x

5.26 Consider the beam-column shown in the following gure. Determine the
lateral deection y(x).
!
"
1 x sin x

x2

w Lx
P
ANS y(x) = P 6 1 L2 + 2 L sin L , 2 = EI .
w(x)= x w
L

P
EI, L
y

problems

291

The Heaviside step function dened as


H(t a) =

0, t < a,
1, t >a,

is very useful in describing piecewise smooth functions by combining the

following results

f (t), t < a,


f (t) 1 H(t a) =
0,
t >a,

t < a,

0,


f (t) H(t a) H(t b) = f (t), a< t < b,

0,
t >b,

0,
t < a,
f (t) H(t a) =
f (t), t >a.
The Dirac delta function (t a) is a mathematical idealization of impulse
functions. It is useful in modeling impulse functions, such as concentrated or
point loads.
Applying the Laplace transform to an nth-order linear differential equation
with constant coefcients
an y (n) (t) + an1 y (n1) (t) + + a1 y (t) + a0 y(t) = f (t)
)
*
converts it into a linear algebraic equation for Y(s) = L y(t) , which can
easily be solved. The solution of the differential equation can be obtained by
)
*
determining the inverse Laplace transform y(t) = L 1 Y(s) .
The method of Laplace transform is preferable and advantageous in solving
linear ordinary differential equations with the right-hand side functions f (t)
involving the Heaviside step function and the Dirac delta function.

Problems
Evaluate the Laplace transform of the following functions.
244s +5s3
s4
4s
6
F(s) = 2 2
s +4 s +25
4s +23
ANS F(s) = s2 +4s +13

ANS F(s) =

6.1

f (t) = 4t 3 2t 2 + 5

6.2

f (t) = 3 sin 2t 4 cos 5t

6.3

f (t) = e2t (4 cos 3t + 5 sin 3t)

ANS

292

6 the laplace transform and its applications

ANS F(s) =

6.4

f (t) = 3 cosh 6t + 8 sinh 3t

6.5

f (t) = 3t cos 2t + t 2 et

6.6

f (t) = t cosh 2t + t 2 sin 5t + t 3

6.7

f (t) = 7e5t cos 2t + 9 sinh2 2t



6.8

f (t) =


6.9

6.10

6.11

6.12

f (t) =

ANS F(s) =

t < ,

0,

3(s2 4)
2
+
(s2 +4)2
(s 1)3
s2 +4
10(3s2 25) 6
+
+ 4
(s2 4)2
(s2 +25)3
s
7(s +5)
72
F(s) =
+
2
2
(s +5) +4 s (s 16)

ANS F(s) =
ANS

e s

ANS F(s) = s2 +1

sin t, t >.

t < 1,

0,

3s
24
+
s2 36 s2 9

4t 2 +3t 8, t >1.

0,
t < 1,

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

0,
t >2.

sin t,
t < ,
f (t) =
4 sin 3t, t >.

2t,
0< t < 2,

2 + t, 2< t < 4,
f (t) =

10 t, 4< t < 10,

0,
t >10.

ANS F(s) = es
ANS F(s) =

8
s3

11
1

s2
s

2(s +1)es (3s2 +4s +2)e2s

s3

ANS F(s) =

ANS F(s) =

e s (11s2 +3)
1

s2 +1 (s2 +1)(s2 +9)

2e2s 2e4s + e10s
s2

ANS F(s) = 8e2s 3e s

6.13

f (t) = t 3 (t 2) + 3 cos 5t (t )

6.14

f (t) = sinh 4t (t +2) + e2t (t 1) + t 2 e3t (t 2) + cos t (t 3)

ANS F(s) = e2s + 4e62s e3s

Express the following periodic functions using the Heaviside function or the Dirac
function and evaluate the Laplace transform.
6.15

f (t)
a
t

2T

3T

ANS

a
F(s) =
s


1+2

1
n=1


n nT s

(1) e

4T

5T

Problems

293

6.16

f (t)
a

t
0

ANS

2T

3T

4T

5T

3T

4T

5T

a
a 1 (n+1)T s
F(s) = 2
e
Ts
s
n=0

6.17

f (t)
a sin t
T

t
0

ANS F(s) =

2T

1
aT
enT s
T 2 s2 + 2
n=0

6.18

f (t)
I

I
T

5T

3T

4T

2T
I

ANS F(s) = I

(1)n enT s

n=0

Evaluate the inverse Laplace transform of the following functions.

 1 2  t
s
6.19 F(s) =
NS f (t) = t
A
2t e
(s +1)3
4(2s +1)
3t
t
6.20 F(s) = 2
NS f (t) = 7e + e
A
s 2s 3
3s +2
6.21 F(s) = 2
ANS f (t) = e3t (3 cos t 7 sin t)
s +6s +10
6.22
6.23
6.24
6.25

3s2 +2s 1
ANS f (t) = 3(t) + 32e3t 15e2t
s2 5s +6
30
F(s) = 2
ANS f (t) = 3 sin t + sinh 3t
(s +1)(s2 9)
13s
F(s) = 2
ANS f (t) = cos 3t + cosh 2t
(s 4)(s2 +9)
40s
F(s) =
ANS f (t) = 10e3t 16e2t + 5et + e3t
(s +1)(s +2)(s2 9)

F(s) =

294

6.26
6.27
6.28
6.29

6 the laplace transform and its applications

2
ANS f (t) = 2 cos t + t 2 2
s3 (s2 +1)
s
F(s) =
ANS f (t) = (t 2 +t +1)e2t et
(s +1)(s +2)3
8
t
t
F(s) =
NS f (t) = e (2t +3)e +2 cos t 2 sin t
A
2
2
(s 1)(s +1) (s +1)
162
F(s) = 3 2
ANS f (t) = 9t 2 2 + 2 cosh 3t
s (s 9)

F(s) =

Evaluate the inverse Laplace transform of the following functions using convolution
integral.
6.30

Y(s) =

6.31

Y(s) =

6.32

Y(s) =

6.33

Y(s) =

6.34

Y(s) =

6.35

Y(s) =

1
s(s2 +a2 )2
1
s2 (s2 +a2 )2
4
2
s(s +4s +4)
16
3
2
s (s +4s +4)
6
2
s(s +4s +3)
5
2
s(s +4s +5)

1
(22 cos at at sin at)
2a4
1
y(t) = 5 (2at +at cos at 3 sin at)
2a

ANS

y(t) =

ANS

y(t) = 1(2t +1)e2t

ANS
ANS

y(t) = (2t +3)e2t +2t 2 4t +3

ANS

y(t) = 3et +e3t +2

ANS

y(t) = e2t (2 sin t + cos t)+1

Solve the following differential equations.

6.36

ANS

y(0) = 1, y (0) = 1

y  + 4 y  + 3 y = 60 cos 3t,

y(t) = 5e3t 2et 2 cos 3t + 4 sin 3t

6.37

y  + y  2 y = 9e2t , y(0) = 3, y (0) = 6

6.38

y  y  2 y = 2t 2 + 1,

ANS
6.39

ANS
6.40

ANS
6.41

ANS

ANS

y(t) = et (3t 2)e2t

y(0) = 6, y (0) = 2

y(t) = 5et + 3e2t t 2 + t 2

y  + 4 y = 8 sin 2t,

y(0) = 1, y (0) = 4

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

y  2 y  + y = 4et + 2et ,

y(0) = 1, y (0) = 2

y(t) = et + (t 2 +5t 2)et

y  2 y  + 2 y = 8et sin t,

y(0) = 1, y (0) = 1

y(t) = et sin t + et (cos t + sin t)

Problems

6.42

ANS
6.43

ANS
6.44

ANS
6.45

ANS
6.46

ANS
6.47

ANS
6.48

ANS
6.49

ANS
6.50

ANS
6.51

ANS
6.52

295

y  2 y  + 5 y = 8et sin 2t,

y(0) = 1, y (0) = 1

y(t) = (2t 1)et cos 2t

y  + y  2 y = 54t e2t ,

y(0) = 6, y (0) = 0

y(t) = (9t 2 +6t)e2t + 6et

y  y  2 y = 9e2t H(t 1), y(0) = 6, y (0) = 0


y(t) = 4et + 2e2t + (3t 4)e2t + e3t H(t 1)
y  + 2 y  + y = 2 sin t H(t ), y(0) = 1, y (0) = 0


y(t) = (t +1)et cos t + (t +1)et H(t )
y  + 4 y = 8 sin 2t H(t ), y(0) = 0, y (0) = 2


y(t) = sin 2t + 2( t) cos 2t + sin 2t H(t )
y  + 4 y = 8(t 2 +t 1)H(t 2), y(0) = 1, y (0) = 2


y(t) = sin 2t + cos 2t + 2t 2 +2t 39 cos(2t 4)5 sin(2t 4) H(t 2)
y  3 y  + 2 y = et H(t 2), y(0) = 1, y (0) = 2


y(t) = e2t + (1t)et + e2t2 H(t 2)
y  5 y  + 6 y = (t 2), y(0) = 1, y (0) = 1


y(t) = 4e2t + 3e3t + e3(t2) e2(t2) H(t 2)
y  + 4 y = 4H(t ) + 2(t ),

y(0) = 1, y (0) = 2

y(t) = sin 2t cos 2t + (1 + sin 2t cos 2t)H(t )

y  y  + 4 y  4 y = 10et ,

y(0) = 5, y (0) = 2, y (0) = 0

y(t) = et + 5et + cos 2t 4 sin 2t

y  5 y  +4 y = 120e3t H(t 1), y(0) = 15, y (0) = 6, y (0) = 0,
y (0) = 0

ANS

y(t) = 6et +14et 2e2t 3e2t + (10et+2 5et+4

10e2t+1 +2e2t+5 +3e3t )H(t 1)

6.53

ANS
6.54

y  + 3 y  4 y = 40t 2 H(t 2), y(0) = y (0) = y (0) = y (0) = 0



y(t) = 10t 2 15+40et2 +8e2t +7 cos(2t 4)+4 sin(2t 4) H(t2)
y  + 4 y = (2t 2 + t + 1)(t 1),
y (0) = 0

6.55

ANS

y(0) = 1, y (0) = 2, y (0) = 0,


y(t) = et cos t sin t cosh t + sin(t 1) cosh(t 1)

cos(t 1) sinh(t 1) H(t 1)

Determine the lateral deection y(x) of the beam-column as shown.

296

6 the laplace transform and its applications

a
EI, L

ANS

W
P

y




W (L a) sin (L a)
W 1 cos (L a)
,
W1 =
,
W0 =
3 EI
2 EI
W
W (1 cos L)
W0 ,
y (0) = 1 ,
y(0) = 1
sin L
sin L


W (x a) sin (x a) H(x a)
1 cos x 
y(x) = y(0) +
.
y (0) +
3 EI
2

For the single degree-of-freedom system shown in Figure 6.6, determine the forced
vibration response xForced (t) due to the externally applied load f (t) shown. The
system is assumed to be underdamped, i.e., 0< < 1.
f (t)

6.56
f0

t
0

ANS

xForced (t) =


f0 
1 (t) 1 (t T)H(t T)
m

f (t)

6.57
f0

t
0

ANS

xForced (t) =

2T

3T

f0 
(t) 2 (t T)H(t T)
mT 2

2 (t 2T)H(t 2T) + 2 (t 3T)H(t 3T)

f (t)

6.58
f0

t
0

ANS

2T

3T

4T

5T

f0 1 
xForced (t) =
1 (t 2nT)H(t 2nT)
m

 

n=0
1 t (2n+1)T H t (2n+1)T

Problems

297

f (t)

6.59
f0

t
0

ANS

6.60

xForced (t) =

f0
mT

2T

3T

4T

5T


1

 

2 (t)2
2 t (2n1)T H t (2n1)T
n=1



2 (t 2nT)H(t 2nT)

For the circuit shown in Figure 6.9(a), the current source I(t) is
I(t) = I0 H(t) + I1 (t)H(t).

Show that the differential equation governing i(t) is

R1 I0
i(0+ )
,
= 0.
R1 +R2
dt


For R1 = 1 , R2 = 8 , C = 41 F, L = 4 H, I(t) = 13 sin 2t H(t)H(t ) (A),
I0 = 0 A, determine i(t) for t >0.

 3t  12

13 +2(t ) e3(t ) H(t )
ANS i(t) = 12
13 +2t e


1
(5 sin 2t 12 cos 2t) 1H(t ) (A)
+ 13
L +R1 R2 C
R +R2 di
I (t)
di
+
i+ 1
= 1 ,
dt
R1 LC
R1 LC dt
LC

i(0+ ) =

R2
i

I(t)
R1

C1

Figure 6.9

Electric circuits.

(a)

6.61

V(t)

C2

(b)

For the circuit shown in Figure 6.9(b), the voltage source V (t) is
V (t) = V0 H(t) + V1 (t)H(t).

Show that the differential equation governing i(t) is

1
1 di
1 d2 V1 (t)
1 dV1 (t)
d3 i C1 +C2 d2 i
+
,
+
+
i
=
+
RC1 C2 dt 2 LC2 dt
RLC1 C2
L dt 2
RLC1 dt
dt 3

298

6 the laplace transform and its applications

with the initial condtions

+

i(0 ) = 0,

V (0+ )V0
di(0+ )
=
,
dt
L

"
!
1 dV (0+ ) V (0+ )V0
d2 i(0+ )
.
=

dt 2
L
dt
RC2

1
For R = 8 , C1 = 41 F, C2 = 20
F, L = 5 H, V (t) = 10 H(t)+10e2t H(t) (V),

i(t) = 3e2t + (2+ cos t 3 sin t)et (A)

ANS

determine i(t) for t >0.

6.62 Determine the deection of a beam pinned at both ends under a uniformly
distributed load as shown.

w
EI, L

a
b

ANS

y(x) = y (0) 2 (x) + y (0) 0 (x)

$



w #
+
(x
a)
H(x
a)

(x
b)
H(x
b)
,
1

3
3
4EI 4
0 2 (L)2 0 (L)
2 2 (L)+4 4 0 0 (L)

(0)
=
,
y
,
22 (L)+4 4 02 (L)
22 (L)+4 4 02 (L)


w 
w

(L
a)
(L
b)
,

(L
a)
(L
b)
.
0 =
3
3
2
1
1
4EI 4
EI
y (0) =

6.63 Determine the deection of a beam clamped at both ends under a concentrated load as shown.

W
EI, L
a

ANS

0 (x a)H(x a),
y(x) = y (0) 1 (x) + y (0) 0 (x) + W
y (0) =

0 1 (L) 1 0 (L)
,
12 (L) 0 (L)2 (L)

0 (L a),
0 = W

y (0) =

=
W

1 1 (L) 0 2 (L)
,
12 (L) 0 (L)2 (L)

1 (L a).
1 = W

W
EI

Problems

299

6.64 Determine the deection of a free-clamped beam under a triangularly distributed load as shown.
w
EI, L
a

b
y

ANS

y(x) = y(0) 3 (x) + y (0) 2 (x)+ w

#


(x a)2 (x a) H(x a)

$


(x a)2 (x b)(ba)3 (x b) H(x b) ,
w =

w
,
4(ba)EI 4

0 3 (L) 1 2 (L)
1 3 (L) + 4 4 0 0 (L)

(0)
=
,
,
y
32 (L) + 4 4 0 (L)2 (L)
32 (L) + 4 4 0 (L)2 (L)


0 = w 2 (L b) 2 (L a) + (b a)3 (L b) ,


1 = w 3 (L b) 3 (L a) 4 4 (b a)0 (L b) .
y(0) =

6.65 Determine the deection of a sliding-clamped beam under a triangularly

distributed load as shown.

w
EI, L
a

ANS

)
y(x) = y(0) 3 (x) + y (0) 1 (x) w x a 2 (x) + a 3 (x)

*

w
w =
,
(x a) 2 (x a) H(x a) ,
4aEI 4

1 3 (L)+4 4 0 0 (L)
0 2 (L)1 1 (L)

,
y
,
(0)
=
1 (L)3 (L)+4 4 0 (L)1 (L)
1 (L)3 (L)+4 4 0 (L)1 (L)


0 = w 2 (L) + a 3 (L) + 2 (L a) ,


1 = w 3 (L) 4a 4 0 (L) + 3 (L a) .
y(0) =